Add LIN_ADVANCE

Marlin/Configuration_adv.h

@@ -457,6 +457,15 @@
   #define MESH_MAX_Y (Y_MAX_POS - (MESH_INSET))
 #endif
 
+//Implementation of a linear pressure control
+//Assumption: advance = k * (delta velocity)
+//K=0 means advance disabled. A good value for a gregs wade extruder will be around K=75
+#define LIN_ADVANCE
+
+#if ENABLED(LIN_ADVANCE)
+  #define LIN_K 75
+#endif
+
 // @section extras
 
 // Arc interpretation settings:

Marlin/Marlin_main.cpp

@@ -6468,6 +6468,16 @@ inline void gcode_M503() {
 
 #endif // DUAL_X_CARRIAGE
 
+#if ENABLED(LIN_ADVANCE)
+/**
+ * M905: Set advance factor
+ */
+inline void gcode_M905() {
+  stepper.synchronize();
+  stepper.advance_M905();
+}
+#endif
+
 /**
  * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
  */
@@ -7340,6 +7350,12 @@ void process_next_command() {
           break;
       #endif // DUAL_X_CARRIAGE
       
+      #if ENABLED(LIN_ADVANCE)
+        case 905: // M905 Set advance factor.
+          gcode_M905();
+          break;
+      #endif
+
       case 907: // M907 Set digital trimpot motor current using axis codes.
         gcode_M907();
         break;

Marlin/planner.cpp

@@ -1046,6 +1046,18 @@ void Planner::check_axes_activity() {
   block->nominal_length_flag = (block->nominal_speed <= v_allowable);
   block->recalculate_flag = true; // Always calculate trapezoid for new block
   
+  #ifdef LIN_ADVANCE
+    //bse = allsteps: A problem occures if there is a very tiny move before a retract.
+    //In this case, the retract and the move will be executed together. This leads to an enormus amount advance steps due to a hughe e_acceleration.
+    //The math is correct, but you don't want a retract move done with advance! This situation has to be filtered out.
+    if ((!bse || (!bsx && !bsy && !bsz)) || (stepper.get_advance_k() == 0) || (bse == allsteps)) {
+      block->use_advance_lead = false;
+    } else {
+      block->use_advance_lead = true;
+      block->e_speed_multiplier8 = (block->steps[E_AXIS] << 8) / block->step_event_count;
+    }
+  #endif
+
   // Update previous path unit_vector and nominal speed
   for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = current_speed[i];
   previous_nominal_speed = block->nominal_speed;

Marlin/planner.h

@@ -70,6 +70,10 @@ typedef struct {
     volatile long final_advance;
     float advance;
   #endif
+  #ifdef LIN_ADVANCE
+    bool use_advance_lead;
+    int e_speed_multiplier8; //factorised by 2^8 to avoid float
+  #endif
 
   // Fields used by the motion planner to manage acceleration
   float nominal_speed,                               // The nominal speed for this block in mm/sec

Marlin/stepper.cpp

@@ -352,6 +352,22 @@ void Stepper::isr() {
         }
       #endif //ADVANCE
       
+      #if ENABLED(LIN_ADVANCE)
+        counter_E += current_block->steps[E_AXIS];
+        if (counter_E > 0) {
+          counter_E -= current_block->step_event_count;
+          count_position[_AXIS(E)] += count_direction[_AXIS(E)];
+          e_steps[current_block->active_extruder] += motor_direction(E_AXIS) ? -1 : 1;
+        }
+        
+        if (current_block->use_advance_lead){
+          int delta_adv_steps; //Maybe a char would be enough?
+          delta_adv_steps = (((long)extruder_advance_k * current_estep_rate[current_block->active_extruder]) >> 9) - current_adv_steps[current_block->active_extruder];
+          e_steps[current_block->active_extruder] += delta_adv_steps;
+          current_adv_steps[current_block->active_extruder] += delta_adv_steps;
+        }
+      #endif //LIN_ADVANCE
+
       #define _COUNTER(AXIS) counter_## AXIS
       #define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
       #define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
@@ -363,7 +379,7 @@ void Stepper::isr() {
       STEP_ADD(X);
       STEP_ADD(Y);
       STEP_ADD(Z);
-      #if DISABLED(ADVANCE)
+      #if (DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE))
         STEP_ADD(E);
       #endif
 
@@ -377,7 +393,7 @@ void Stepper::isr() {
       STEP_IF_COUNTER(X);
       STEP_IF_COUNTER(Y);
       STEP_IF_COUNTER(Z);
-      #if DISABLED(ADVANCE)
+      #if (DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE))
         STEP_IF_COUNTER(E);
       #endif
 
@@ -399,6 +415,12 @@ void Stepper::isr() {
       OCR1A = timer;
       acceleration_time += timer;
       
+      #if ENABLED(LIN_ADVANCE)
+        if (current_block->use_advance_lead){
+          current_estep_rate[current_block->active_extruder] = ((unsigned long)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
+        }
+      #endif
+
       #if ENABLED(ADVANCE)
 
         advance += advance_rate * step_loops;
@@ -425,6 +447,12 @@ void Stepper::isr() {
       OCR1A = timer;
       deceleration_time += timer;
       
+      #if ENABLED(LIN_ADVANCE)
+        if (current_block->use_advance_lead){
+          current_estep_rate[current_block->active_extruder] = ((unsigned long)step_rate * current_block->e_speed_multiplier8) >> 8;
+        }
+      #endif
+
       #if ENABLED(ADVANCE)
         advance -= advance_rate * step_loops;
         NOLESS(advance, final_advance);
@@ -436,6 +464,12 @@ void Stepper::isr() {
       #endif //ADVANCE
     }
     else {
+      #ifdef LIN_ADVANCE
+        if (current_block->use_advance_lead){
+          current_estep_rate[current_block->active_extruder] = final_estep_rate;
+        }
+      #endif
+      
       OCR1A = OCR1A_nominal;
       // ensure we're running at the correct step rate, even if we just came off an acceleration
       step_loops = step_loops_nominal;
@@ -491,6 +525,55 @@ void Stepper::isr() {
 
 #endif // ADVANCE
 
+#if ENABLED(LIN_ADVANCE)
+unsigned char old_OCR0A;
+// Timer interrupt for E. e_steps is set in the main routine;
+// Timer 0 is shared with millies
+ISR(TIMER0_COMPA_vect) { stepper.advance_isr(); }
+
+void Stepper::advance_isr() {
+  old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz) war 52
+  OCR0A = old_OCR0A;
+
+#define STEP_E_ONCE(INDEX) \
+  if (e_steps[INDEX] != 0) { \
+    E## INDEX ##_STEP_WRITE(INVERT_E_STEP_PIN); \
+    if (e_steps[INDEX] < 0) { \
+      E## INDEX ##_DIR_WRITE(INVERT_E## INDEX ##_DIR); \
+      e_steps[INDEX]++; \
+    } \
+    else if (e_steps[INDEX] > 0) { \
+      E## INDEX ##_DIR_WRITE(!INVERT_E## INDEX ##_DIR); \
+      e_steps[INDEX]--; \
+    } \
+    E## INDEX ##_STEP_WRITE(!INVERT_E_STEP_PIN); \
+  }
+
+  // Step all E steppers that have steps, up to 4 steps per interrupt
+  for (unsigned char i = 0; i < 4; i++) {
+    #if EXTRUDERS > 3
+      switch(current_block->active_extruder){case 3:STEP_E_ONCE(3);break;case 2:STEP_E_ONCE(2);break;case 1:STEP_E_ONCE(1);break;default:STEP_E_ONCE(0);}
+    #elif EXTRUDERS > 2
+      switch(current_block->active_extruder){case 2:STEP_E_ONCE(2);break;case 1:STEP_E_ONCE(1);break;default:STEP_E_ONCE(0);}
+    #elif EXTRUDERS > 1
+      #if DISABLED(DUAL_X_CARRIAGE)
+        if(current_block->active_extruder == 1){STEP_E_ONCE(1)}else{STEP_E_ONCE(0);}
+      #else
+        extern bool extruder_duplication_enabled;
+        if(extruder_duplication_enabled){
+          STEP_E_ONCE(0);
+          STEP_E_ONCE(1);
+        }else {
+          if(current_block->active_extruder == 1){STEP_E_ONCE(1)}else{STEP_E_ONCE(0);}
+        }
+      #endif
+    #else
+      STEP_E_ONCE(0);
+    #endif
+  }
+}
+#endif // LIN_ADVANCE
+
 void Stepper::init() {
 
   digipot_init(); //Initialize Digipot Motor Current
@@ -656,6 +739,18 @@ void Stepper::init() {
   TCNT1 = 0;
   ENABLE_STEPPER_DRIVER_INTERRUPT();
   
+  #if ENABLED(LIN_ADVANCE)
+    for (int i = 0; i < EXTRUDERS; i++){
+      e_steps[i] = 0;
+      current_adv_steps[i] = 0;
+    }
+    #if defined(TCCR0A) && defined(WGM01)
+      CBI(TCCR0A, WGM01);
+      CBI(TCCR0A, WGM00);
+    #endif
+    SBI(TIMSK0, OCIE0A);
+  #endif //LIN_ADVANCE
+
   #if ENABLED(ADVANCE)
     #if defined(TCCR0A) && defined(WGM01)
       CBI(TCCR0A, WGM01);
@@ -1040,3 +1135,17 @@ void Stepper::microstep_readings() {
     SERIAL_PROTOCOLLN(digitalRead(E1_MS2_PIN));
   #endif
 }
+
+#if ENABLED(LIN_ADVANCE)
+  void Stepper::advance_M905() {
+    if (code_seen('K')) extruder_advance_k = code_value();
+    SERIAL_ECHO_START;
+    SERIAL_ECHOPGM("Advance factor:");
+    SERIAL_CHAR(' ');
+    SERIAL_ECHOLN(extruder_advance_k);
+  }
+
+  int Stepper::get_advance_k(){
+    return extruder_advance_k;
+  }
+#endif

Marlin/stepper.h

@@ -94,6 +94,10 @@ class Stepper {
       static long e_steps[EXTRUDERS];
     #endif
     
+    #if ENABLED(LIN_ADVANCE)
+      int extruder_advance_k = LIN_K;
+    #endif
+
   private:
 
     static unsigned char last_direction_bits;        // The next stepping-bits to be output
@@ -112,6 +116,14 @@ class Stepper {
       static long advance_rate, advance, old_advance, final_advance;
     #endif
     
+    #if ENABLED(LIN_ADVANCE)
+      unsigned char old_OCR0A;
+      volatile int e_steps[EXTRUDERS];
+      int final_estep_rate;
+      int current_estep_rate[EXTRUDERS]; //Actual extruder speed [steps/s]
+      int current_adv_steps[EXTRUDERS]; //The amount of current added esteps due to advance. Think of it as the current amount of pressure applied to the spring (=filament).
+    #endif
+
     static long acceleration_time, deceleration_time;
     //unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
     static unsigned short acc_step_rate; // needed for deceleration start point
@@ -160,6 +172,12 @@ class Stepper {
       static void advance_isr();
     #endif
     
+    #if ENABLED(LIN_ADVANCE)
+      void advance_isr();
+      void advance_M905();
+      int get_advance_k();
+    #endif
+
     //
     // Block until all buffered steps are executed
     //
@@ -316,6 +334,13 @@ class Stepper {
       acceleration_time = calc_timer(acc_step_rate);
       OCR1A = acceleration_time;
       
+      #if ENABLED(LIN_ADVANCE)
+        if (current_block->use_advance_lead){
+          current_estep_rate[current_block->active_extruder] = ((unsigned long)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
+          final_estep_rate = (current_block->nominal_rate * current_block->e_speed_multiplier8) >> 8;
+        }
+      #endif
+
       // SERIAL_ECHO_START;
       // SERIAL_ECHOPGM("advance :");
       // SERIAL_ECHO(current_block->advance/256.0);