diff options
Diffstat (limited to 'klippy/extruder.py')
| -rw-r--r-- | klippy/extruder.py | 83 |
1 files changed, 25 insertions, 58 deletions
diff --git a/klippy/extruder.py b/klippy/extruder.py index 35a1140c..c6c351e7 100644 --- a/klippy/extruder.py +++ b/klippy/extruder.py @@ -4,7 +4,7 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import math, logging -import stepper, homing +import stepper, homing, chelper EXTRUDE_DIFF_IGNORE = 1.02 @@ -47,6 +47,13 @@ class PrinterExtruder: 'pressure_advance_lookahead_time', 0.010, minval=0.) self.need_motor_enable = True self.extrude_pos = 0. + # Setup iterative solver + ffi_main, ffi_lib = chelper.get_ffi() + self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free) + self.extruder_move_fill = ffi_lib.extruder_move_fill + sk = ffi_main.gc(ffi_lib.extruder_stepper_alloc(), ffi_lib.free) + self.stepper.setup_itersolve(sk) + # Setup SET_PRESSURE_ADVANCE command gcode = self.printer.lookup_object('gcode') if self.name in ('extruder', 'extruder0'): gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER", None, @@ -154,82 +161,42 @@ class PrinterExtruder: self.stepper.motor_enable(print_time, 1) self.need_motor_enable = False axis_d = move.axes_d[3] - axis_r = abs(axis_d) / move.move_d + axis_r = axis_d / move.move_d accel = move.accel * axis_r start_v = move.start_v * axis_r cruise_v = move.cruise_v * axis_r - end_v = move.end_v * axis_r accel_t, cruise_t, decel_t = move.accel_t, move.cruise_t, move.decel_t - accel_d = move.accel_r * axis_d - cruise_d = move.cruise_r * axis_d - decel_d = move.decel_r * axis_d - - retract_t = retract_d = retract_v = 0. - decel_v = cruise_v # Update for pressure advance + extra_accel_v = extra_decel_v = 0. start_pos = self.extrude_pos if (axis_d >= 0. and (move.axes_d[0] or move.axes_d[1]) and self.pressure_advance): - # Increase accel_d and start_v when accelerating + # Calculate extra_accel_v pressure_advance = self.pressure_advance * move.extrude_r prev_pressure_d = start_pos - move.start_pos[3] - if accel_d: + if accel_t: npd = move.cruise_v * pressure_advance extra_accel_d = npd - prev_pressure_d if extra_accel_d > 0.: - accel_d += extra_accel_d - start_v += extra_accel_d / accel_t + extra_accel_v = extra_accel_d / accel_t + axis_d += extra_accel_d prev_pressure_d += extra_accel_d - # Update decel and retract parameters when decelerating + # Calculate extra_decel_v emcv = move.extrude_max_corner_v - if decel_d and emcv < move.cruise_v: + if decel_t and emcv < move.cruise_v: npd = max(emcv, move.end_v) * pressure_advance - extra_decel_d = prev_pressure_d - npd - if extra_decel_d > 0.: + extra_decel_d = npd - prev_pressure_d + if extra_decel_d < 0.: + axis_d += extra_decel_d extra_decel_v = extra_decel_d / decel_t - decel_v -= extra_decel_v - end_v -= extra_decel_v - if decel_v <= 0.: - # The entire decel phase is replaced with retraction - retract_t = decel_t - retract_d = -(end_v + decel_v) * 0.5 * decel_t - retract_v = -decel_v - decel_t = decel_d = 0. - elif end_v < 0.: - # Split decel phase into decel and retraction - retract_t = -end_v / accel - retract_d = -end_v * 0.5 * retract_t - decel_t -= retract_t - decel_d = decel_v * 0.5 * decel_t - else: - # There is still only a decel phase (no retraction) - decel_d -= extra_decel_d - - # Prepare for steps - step_const = self.stepper.step_const - move_time = print_time - # Acceleration steps - if accel_d: - step_const(move_time, start_pos, accel_d, start_v, accel) - start_pos += accel_d - move_time += accel_t - # Cruising steps - if cruise_d: - step_const(move_time, start_pos, cruise_d, cruise_v, 0.) - start_pos += cruise_d - move_time += cruise_t - # Deceleration steps - if decel_d: - step_const(move_time, start_pos, decel_d, decel_v, -accel) - start_pos += decel_d - move_time += decel_t - # Retraction steps - if retract_d: - step_const(move_time, start_pos, -retract_d, retract_v, accel) - start_pos -= retract_d - self.extrude_pos = start_pos + # Generate steps + self.extruder_move_fill( + self.cmove, print_time, accel_t, cruise_t, decel_t, start_pos, + start_v, cruise_v, accel, extra_accel_v, extra_decel_v) + self.stepper.step_itersolve(self.cmove) + self.extrude_pos = start_pos + axis_d cmd_SET_PRESSURE_ADVANCE_help = "Set pressure advance parameters" def cmd_default_SET_PRESSURE_ADVANCE(self, params): extruder = self.printer.lookup_object('toolhead').get_extruder() |