diff options
Diffstat (limited to 'klippy/chelper/kin_extruder.c')
| -rw-r--r-- | klippy/chelper/kin_extruder.c | 83 |
1 files changed, 69 insertions, 14 deletions
diff --git a/klippy/chelper/kin_extruder.c b/klippy/chelper/kin_extruder.c index b8d1cc22..0cd6523c 100644 --- a/klippy/chelper/kin_extruder.c +++ b/klippy/chelper/kin_extruder.c @@ -9,9 +9,15 @@ #include <string.h> // memset #include "compiler.h" // __visible #include "itersolve.h" // struct stepper_kinematics +#include "list.h" // list_node #include "pyhelper.h" // errorf #include "trapq.h" // move_get_distance +struct pa_params { + double pressure_advance, active_print_time; + struct list_node node; +}; + // Without pressure advance, the extruder stepper position is: // extruder_position(t) = nominal_position(t) // When pressure advance is enabled, additional filament is pushed @@ -52,17 +58,25 @@ extruder_integrate_time(double base, double start_v, double half_accel // Calculate the definitive integral of extruder for a given move static double -pa_move_integrate(struct move *m, double pressure_advance +pa_move_integrate(struct move *m, struct list_head *pa_list , double base, double start, double end, double time_offset) { if (start < 0.) start = 0.; if (end > m->move_t) end = m->move_t; - // Calculate base position and velocity with pressure advance + // Determine pressure_advance value int can_pressure_advance = m->axes_r.y != 0.; - if (!can_pressure_advance) - pressure_advance = 0.; + double pressure_advance = 0.; + if (can_pressure_advance) { + struct pa_params *pa = list_last_entry(pa_list, struct pa_params, node); + while (unlikely(pa->active_print_time > m->print_time) && + !list_is_first(&pa->node, pa_list)) { + pa = list_prev_entry(pa, node); + } + pressure_advance = pa->pressure_advance; + } + // Calculate base position and velocity with pressure advance base += pressure_advance * m->start_v; double start_v = m->start_v + pressure_advance * 2. * m->half_accel; // Calculate definitive integral @@ -75,20 +89,20 @@ pa_move_integrate(struct move *m, double pressure_advance // Calculate the definitive integral of the extruder over a range of moves static double pa_range_integrate(struct move *m, double move_time - , double pressure_advance, double hst) + , struct list_head *pa_list, double hst) { // Calculate integral for the current move double res = 0., start = move_time - hst, end = move_time + hst; double start_base = m->start_pos.x; - res += pa_move_integrate(m, pressure_advance, 0., start, move_time, start); - res -= pa_move_integrate(m, pressure_advance, 0., move_time, end, end); + res += pa_move_integrate(m, pa_list, 0., start, move_time, start); + res -= pa_move_integrate(m, pa_list, 0., move_time, end, end); // Integrate over previous moves struct move *prev = m; while (unlikely(start < 0.)) { prev = list_prev_entry(prev, node); start += prev->move_t; double base = prev->start_pos.x - start_base; - res += pa_move_integrate(prev, pressure_advance, base, start + res += pa_move_integrate(prev, pa_list, base, start , prev->move_t, start); } // Integrate over future moves @@ -96,14 +110,15 @@ pa_range_integrate(struct move *m, double move_time end -= m->move_t; m = list_next_entry(m, node); double base = m->start_pos.x - start_base; - res -= pa_move_integrate(m, pressure_advance, base, 0., end, end); + res -= pa_move_integrate(m, pa_list, base, 0., end, end); } return res; } struct extruder_stepper { struct stepper_kinematics sk; - double pressure_advance, half_smooth_time, inv_half_smooth_time2; + struct list_head pa_list; + double half_smooth_time, inv_half_smooth_time2; }; static double @@ -116,22 +131,45 @@ extruder_calc_position(struct stepper_kinematics *sk, struct move *m // Pressure advance not enabled return m->start_pos.x + move_get_distance(m, move_time); // Apply pressure advance and average over smooth_time - double area = pa_range_integrate(m, move_time, es->pressure_advance, hst); + double area = pa_range_integrate(m, move_time, &es->pa_list, hst); return m->start_pos.x + area * es->inv_half_smooth_time2; } void __visible -extruder_set_pressure_advance(struct stepper_kinematics *sk +extruder_set_pressure_advance(struct stepper_kinematics *sk, double print_time , double pressure_advance, double smooth_time) { struct extruder_stepper *es = container_of(sk, struct extruder_stepper, sk); - double hst = smooth_time * .5; + double hst = smooth_time * .5, old_hst = es->half_smooth_time; es->half_smooth_time = hst; es->sk.gen_steps_pre_active = es->sk.gen_steps_post_active = hst; + + // Cleanup old pressure advance parameters + double cleanup_time = sk->last_flush_time - (old_hst > hst ? old_hst : hst); + struct pa_params *first_pa = list_first_entry( + &es->pa_list, struct pa_params, node); + while (!list_is_last(&first_pa->node, &es->pa_list)) { + struct pa_params *next_pa = list_next_entry(first_pa, node); + if (next_pa->active_print_time >= cleanup_time) break; + list_del(&first_pa->node); + first_pa = next_pa; + } + if (! hst) return; es->inv_half_smooth_time2 = 1. / (hst * hst); - es->pressure_advance = pressure_advance; + + if (list_last_entry(&es->pa_list, struct pa_params, node)->pressure_advance + == pressure_advance) { + // Retain old pa_params + return; + } + // Add new pressure advance parameters + struct pa_params *pa = malloc(sizeof(*pa)); + memset(pa, 0, sizeof(*pa)); + pa->pressure_advance = pressure_advance; + pa->active_print_time = print_time; + list_add_tail(&pa->node, &es->pa_list); } struct stepper_kinematics * __visible @@ -141,5 +179,22 @@ extruder_stepper_alloc(void) memset(es, 0, sizeof(*es)); es->sk.calc_position_cb = extruder_calc_position; es->sk.active_flags = AF_X; + list_init(&es->pa_list); + struct pa_params *pa = malloc(sizeof(*pa)); + memset(pa, 0, sizeof(*pa)); + list_add_tail(&pa->node, &es->pa_list); return &es->sk; } + +void __visible +extruder_stepper_free(struct stepper_kinematics *sk) +{ + struct extruder_stepper *es = container_of(sk, struct extruder_stepper, sk); + while (!list_empty(&es->pa_list)) { + struct pa_params *pa = list_first_entry( + &es->pa_list, struct pa_params, node); + list_del(&pa->node); + free(pa); + } + free(sk); +} |