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Version 1.3.19T

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- Set maximum acceleration. If "steps per unit" is Change the acc were not recalculatet
- Extra Parameter for Max Extruder Jerk
- New Parameter (max_e_jerk) in EEPROM
--> Default settings after update !!
This commit is contained in:
midopple 2012-06-12 18:23:14 +02:00
parent cbaf809d76
commit 02eb9b9099
4 changed files with 83 additions and 31 deletions
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3
Sprinter/Configuration.h
View file

@ -186,6 +186,7 @@ const long min_time_before_dir_change = 30; //milliseconds
#define _RETRACT_ACCELERATION 2000 // Extruder Normal acceleration mm/s^2
#define _MAX_XY_JERK 20.0
#define _MAX_Z_JERK 0.4
#define _MAX_E_JERK 5.0 // (mm/sec)
//#define _MAX_START_SPEED_UNITS_PER_SECOND {25.0,25.0,0.2,10.0}
#define _MAX_ACCELERATION_UNITS_PER_SQ_SECOND {5000,5000,50,5000} // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
@ -193,7 +194,7 @@ const long min_time_before_dir_change = 30; //milliseconds
// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
// of the buffer and all stops. This should not be much greater than zero and should only be changed
// if unwanted behavior is observed on a user's machine when running at very slow speeds.
#define MINIMUM_PLANNER_SPEED 2.0 // (mm/sec)
#define MINIMUM_PLANNER_SPEED 0.05 // (mm/sec)
#define DEFAULT_MINIMUMFEEDRATE 0.0 // minimum feedrate
#define DEFAULT_MINTRAVELFEEDRATE 0.0

88
Sprinter/Sprinter.pde
View file

@ -46,7 +46,7 @@
- New Command
* M202 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
* M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2
* M205 - advanced settings: minimum travel speed S=while printing T=travel only, X= maximum xy jerk, Z=maximum Z jerk
* M205 - advanced settings: minimum travel speed S=while printing T=travel only, X= maximum xy jerk, Z=maximum Z jerk, E = max E jerk
- Remove unused Variables
- Check Uart Puffer while circle processing (CMD: G2 / G3)
- Fast Xfer Function --> move Text to Flash
@ -120,6 +120,15 @@
- M303 - PID relay autotune possible
- G4 Wait until last move is done
Version 1.3.18T
- Problem with Thermistor 3 table when sensor is brocken and temp is -20 °C
Version 1.3.19T
- Set maximum acceleration. If "steps per unit" is Change the acc were not recalculatet
- Extra Parameter for Max Extruder Jerk
- New Parameter (max_e_jerk) in EEPROM --> Default settings after update !
*/
@ -226,7 +235,7 @@ void __cxa_pure_virtual(){};
// M603 - Show Free Ram
#define _VERSION_TEXT "1.3.17T / 04.05.2012"
#define _VERSION_TEXT "1.3.19T / 11.06.2012"
//Stepper Movement Variables
char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
@ -240,6 +249,7 @@ float move_acceleration = _ACCELERATION; // Normal acceleration mm/s^2
float retract_acceleration = _RETRACT_ACCELERATION; // Normal acceleration mm/s^2
float max_xy_jerk = _MAX_XY_JERK;
float max_z_jerk = _MAX_Z_JERK;
float max_e_jerk = _MAX_E_JERK;
long max_acceleration_units_per_sq_second[4] = _MAX_ACCELERATION_UNITS_PER_SQ_SECOND; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
@ -785,10 +795,7 @@ void setup()
SET_OUTPUT(E_STEP_PIN);
#endif
for(int8_t i=0; i < NUM_AXIS; i++)
{
axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
}
// for(int i=0; i < NUM_AXIS; i++){
// axis_max_interval[i] = 100000000.0 / (max_start_speed_units_per_second[i] * axis_steps_per_unit[i]);
@ -849,6 +856,12 @@ void setup()
Serial.print((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
showString(PSTR(" / "));
Serial.println(BLOCK_BUFFER_SIZE);
for(int8_t i=0; i < NUM_AXIS; i++)
{
axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
}
}
@ -1670,7 +1683,11 @@ FORCE_INLINE void process_commands()
case 92: // M92
for(int i=0; i < NUM_AXIS; i++)
{
if(code_seen(axis_codes[i])) axis_steps_per_unit[i] = code_value();
if(code_seen(axis_codes[i]))
{
axis_steps_per_unit[i] = code_value();
axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
}
}
// Update start speed intervals and axis order. TODO: refactor axis_max_interval[] calculation into a function, as it
@ -1772,12 +1789,13 @@ FORCE_INLINE void process_commands()
if(code_seen('S')) move_acceleration = code_value() ;
if(code_seen('T')) retract_acceleration = code_value() ;
break;
case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E= max E jerk
if(code_seen('S')) minimumfeedrate = code_value();
if(code_seen('T')) mintravelfeedrate = code_value();
//if(code_seen('B')) minsegmenttime = code_value() ;
if(code_seen('X')) max_xy_jerk = code_value() ;
if(code_seen('Z')) max_z_jerk = code_value() ;
if(code_seen('E')) max_e_jerk = code_value() ;
break;
case 206: // M206 additional homeing offset
for(int8_t cnt_i=0; cnt_i < 3; cnt_i++)
@ -1827,11 +1845,19 @@ FORCE_INLINE void process_commands()
case 501: // Read settings from EEPROM
{
EEPROM_RetrieveSettings(false,true);
for(int8_t i=0; i < NUM_AXIS; i++)
{
axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
}
}
break;
case 502: // Revert to default settings
{
EEPROM_RetrieveSettings(true,true);
for(int8_t i=0; i < NUM_AXIS; i++)
{
axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
}
}
break;
case 503: // print settings currently in memory
@ -2255,10 +2281,17 @@ void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *n
// implements the reverse pass.
void planner_reverse_pass() {
uint8_t block_index = block_buffer_head;
if(((block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
//Make a local copy of block_buffer_tail, because the interrupt can alter it
CRITICAL_SECTION_START;
unsigned char tail = block_buffer_tail;
CRITICAL_SECTION_END;
if(((block_buffer_head-tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3)
{
block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
block_t *block[3] = { NULL, NULL, NULL };
while(block_index != block_buffer_tail) {
while(block_index != tail) {
block_index = prev_block_index(block_index);
block[2]= block[1];
block[1]= block[0];
@ -2667,21 +2700,29 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate)
#endif
// Start with a safe speed
float vmax_junction = max_xy_jerk/2;
float vmax_junction_factor = 1.0;
if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2)
vmax_junction = max_z_jerk/2;
vmax_junction = min(vmax_junction, max_z_jerk/2);
if(fabs(current_speed[E_AXIS]) > max_e_jerk/2)
vmax_junction = min(vmax_junction, max_e_jerk/2);
vmax_junction = min(vmax_junction, block->nominal_speed);
float safe_speed = vmax_junction;
if ((moves_queued > 1) && (previous_nominal_speed > 0.0)) {
if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
if((previous_speed[X_AXIS] != 0.0) || (previous_speed[Y_AXIS] != 0.0)) {
// if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
vmax_junction = block->nominal_speed;
}
// }
if (jerk > max_xy_jerk) {
vmax_junction *= (max_xy_jerk/jerk);
vmax_junction_factor = (max_xy_jerk/jerk);
}
if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
vmax_junction *= (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
vmax_junction_factor= min(vmax_junction_factor, (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS])));
}
if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
vmax_junction_factor = min(vmax_junction_factor, (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS])));
}
vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
}
block->max_entry_speed = vmax_junction;
@ -2697,8 +2738,12 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate)
// block nominal speed limits both the current and next maximum junction speeds. Hence, in both
// the reverse and forward planners, the corresponding block junction speed will always be at the
// the maximum junction speed and may always be ignored for any speed reduction checks.
if (block->nominal_speed <= v_allowable) { block->nominal_length_flag = true; }
else { block->nominal_length_flag = false; }
if (block->nominal_speed <= v_allowable) {
block->nominal_length_flag = true;
}
else {
block->nominal_length_flag = false;
}
block->recalculate_flag = true; // Always calculate trapezoid for new block
// Update previous path unit_vector and nominal speed
@ -2727,10 +2772,8 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate)
#endif // ADVANCE
calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
MINIMUM_PLANNER_SPEED/block->nominal_speed);
safe_speed/block->nominal_speed);
// Move buffer head
block_buffer_head = next_buffer_head;
@ -2815,7 +2858,6 @@ void getHighESpeed()
// Stepper
// intRes = intIn1 * intIn2 >> 16
@ -3263,8 +3305,10 @@ ISR(TIMER1_COMPA_vect)
WRITE(E_STEP_PIN, LOW);
}
#endif //!ADVANCE
step_events_completed += 1;
if(step_events_completed >= current_block->step_event_count) break;
}
// Calculare new timer value
unsigned short timer;

10
Sprinter/store_eeprom.cpp
View file

@ -67,6 +67,7 @@ void EEPROM_StoreSettings()
EEPROM_writeAnything(i,ul_help); //Min Segment Time, not used yet
EEPROM_writeAnything(i,max_xy_jerk);
EEPROM_writeAnything(i,max_z_jerk);
EEPROM_writeAnything(i,max_e_jerk);
//PID Settings, not used yet --> placeholder
ui_help = 2560;
@ -124,7 +125,7 @@ void EEPROM_printSettings()
showString(PSTR(" T"));
Serial.println(retract_acceleration);
showString(PSTR("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), X=maximum xY jerk (mm/s), Z=maximum Z jerk (mm/s)\r\n"));
showString(PSTR("Advanced variables (mm/s): S=Min feedrate, T=Min travel feedrate, X=max xY jerk, Z=max Z jerk, E=max E jerk\r\n"));
showString(PSTR(" M205 S"));
Serial.print(minimumfeedrate );
@ -135,7 +136,10 @@ void EEPROM_printSettings()
showString(PSTR(" X"));
Serial.print(max_xy_jerk );
showString(PSTR(" Z"));
Serial.println(max_z_jerk);
Serial.print(max_z_jerk);
showString(PSTR(" E"));
Serial.println(max_e_jerk);
#ifdef PIDTEMP
/*
@ -174,6 +178,7 @@ void EEPROM_RetrieveSettings(bool def, bool printout)
EEPROM_readAnything(i,ul_help); //min Segmenttime --> not used yet
EEPROM_readAnything(i,max_xy_jerk);
EEPROM_readAnything(i,max_z_jerk);
EEPROM_readAnything(i,max_e_jerk);
unsigned int Kp,Ki,Kd;
EEPROM_readAnything(i,Kp);
@ -200,6 +205,7 @@ void EEPROM_RetrieveSettings(bool def, bool printout)
mintravelfeedrate=DEFAULT_MINTRAVELFEEDRATE;
max_xy_jerk=_MAX_XY_JERK;
max_z_jerk=_MAX_Z_JERK;
max_e_jerk=_MAX_E_JERK;
showString(PSTR("Using Default settings\r\n"));
}

3
Sprinter/store_eeprom.h
View file

@ -27,7 +27,7 @@
// the default values are used whenever there is a change to the data, to prevent
// wrong data being written to the variables.
// ALSO: always make sure the variables in the Store and retrieve sections are in the same order.
#define EEPROM_VERSION "S01"
#define EEPROM_VERSION "S02"
extern float axis_steps_per_unit[4];
@ -39,6 +39,7 @@ extern float mintravelfeedrate;
extern float minimumfeedrate;
extern float max_xy_jerk;
extern float max_z_jerk;
extern float max_e_jerk;
extern void EEPROM_RetrieveSettings(bool def, bool printout );