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				https://github.com/Klipper3d/klipper.git
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	extruder: Allow dynamic adjustment of pressure advance (#6635)
Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
		@@ -142,8 +142,9 @@ defs_kin_winch = """
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defs_kin_extruder = """
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    struct stepper_kinematics *extruder_stepper_alloc(void);
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    void extruder_stepper_free(struct stepper_kinematics *sk);
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    void extruder_set_pressure_advance(struct stepper_kinematics *sk
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        , double pressure_advance, double smooth_time);
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        , double print_time, double pressure_advance, double smooth_time);
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"""
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defs_kin_shaper = """
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@@ -9,9 +9,15 @@
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#include <string.h> // memset
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#include "compiler.h" // __visible
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#include "itersolve.h" // struct stepper_kinematics
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#include "list.h" // list_node
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#include "pyhelper.h" // errorf
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#include "trapq.h" // move_get_distance
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struct pa_params {
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    double pressure_advance, active_print_time;
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    struct list_node node;
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};
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// Without pressure advance, the extruder stepper position is:
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//     extruder_position(t) = nominal_position(t)
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// When pressure advance is enabled, additional filament is pushed
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@@ -52,17 +58,25 @@ extruder_integrate_time(double base, double start_v, double half_accel
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// Calculate the definitive integral of extruder for a given move
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static double
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pa_move_integrate(struct move *m, double pressure_advance
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pa_move_integrate(struct move *m, struct list_head *pa_list
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                  , double base, double start, double end, double time_offset)
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{
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    if (start < 0.)
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        start = 0.;
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    if (end > m->move_t)
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        end = m->move_t;
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    // Calculate base position and velocity with pressure advance
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    // Determine pressure_advance value
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    int can_pressure_advance = m->axes_r.y != 0.;
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    if (!can_pressure_advance)
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        pressure_advance = 0.;
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    double pressure_advance = 0.;
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    if (can_pressure_advance) {
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        struct pa_params *pa = list_last_entry(pa_list, struct pa_params, node);
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        while (unlikely(pa->active_print_time > m->print_time) &&
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                !list_is_first(&pa->node, pa_list)) {
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            pa = list_prev_entry(pa, node);
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        }
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        pressure_advance = pa->pressure_advance;
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    }
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    // Calculate base position and velocity with pressure advance
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    base += pressure_advance * m->start_v;
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    double start_v = m->start_v + pressure_advance * 2. * m->half_accel;
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    // Calculate definitive integral
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@@ -75,20 +89,20 @@ pa_move_integrate(struct move *m, double pressure_advance
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// Calculate the definitive integral of the extruder over a range of moves
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static double
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pa_range_integrate(struct move *m, double move_time
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                   , double pressure_advance, double hst)
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                   , struct list_head *pa_list, double hst)
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{
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    // Calculate integral for the current move
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    double res = 0., start = move_time - hst, end = move_time + hst;
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    double start_base = m->start_pos.x;
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    res += pa_move_integrate(m, pressure_advance, 0., start, move_time, start);
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    res -= pa_move_integrate(m, pressure_advance, 0., move_time, end, end);
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    res += pa_move_integrate(m, pa_list, 0., start, move_time, start);
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    res -= pa_move_integrate(m, pa_list, 0., move_time, end, end);
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    // Integrate over previous moves
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    struct move *prev = m;
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    while (unlikely(start < 0.)) {
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        prev = list_prev_entry(prev, node);
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        start += prev->move_t;
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        double base = prev->start_pos.x - start_base;
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        res += pa_move_integrate(prev, pressure_advance, base, start
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        res += pa_move_integrate(prev, pa_list, base, start
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                                 , prev->move_t, start);
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    }
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    // Integrate over future moves
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@@ -96,14 +110,15 @@ pa_range_integrate(struct move *m, double move_time
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        end -= m->move_t;
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        m = list_next_entry(m, node);
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        double base = m->start_pos.x - start_base;
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        res -= pa_move_integrate(m, pressure_advance, base, 0., end, end);
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        res -= pa_move_integrate(m, pa_list, base, 0., end, end);
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    }
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    return res;
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}
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struct extruder_stepper {
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    struct stepper_kinematics sk;
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    double pressure_advance, half_smooth_time, inv_half_smooth_time2;
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    struct list_head pa_list;
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    double half_smooth_time, inv_half_smooth_time2;
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};
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static double
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@@ -116,22 +131,45 @@ extruder_calc_position(struct stepper_kinematics *sk, struct move *m
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        // Pressure advance not enabled
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        return m->start_pos.x + move_get_distance(m, move_time);
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    // Apply pressure advance and average over smooth_time
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    double area = pa_range_integrate(m, move_time, es->pressure_advance, hst);
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    double area = pa_range_integrate(m, move_time, &es->pa_list, hst);
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    return m->start_pos.x + area * es->inv_half_smooth_time2;
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}
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void __visible
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extruder_set_pressure_advance(struct stepper_kinematics *sk
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extruder_set_pressure_advance(struct stepper_kinematics *sk, double print_time
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                              , double pressure_advance, double smooth_time)
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{
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    struct extruder_stepper *es = container_of(sk, struct extruder_stepper, sk);
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    double hst = smooth_time * .5;
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    double hst = smooth_time * .5, old_hst = es->half_smooth_time;
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    es->half_smooth_time = hst;
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    es->sk.gen_steps_pre_active = es->sk.gen_steps_post_active = hst;
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    // Cleanup old pressure advance parameters
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    double cleanup_time = sk->last_flush_time - (old_hst > hst ? old_hst : hst);
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    struct pa_params *first_pa = list_first_entry(
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            &es->pa_list, struct pa_params, node);
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    while (!list_is_last(&first_pa->node, &es->pa_list)) {
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        struct pa_params *next_pa = list_next_entry(first_pa, node);
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        if (next_pa->active_print_time >= cleanup_time) break;
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        list_del(&first_pa->node);
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        first_pa = next_pa;
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    }
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    if (! hst)
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        return;
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    es->inv_half_smooth_time2 = 1. / (hst * hst);
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    es->pressure_advance = pressure_advance;
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    if (list_last_entry(&es->pa_list, struct pa_params, node)->pressure_advance
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            == pressure_advance) {
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        // Retain old pa_params
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        return;
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    }
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    // Add new pressure advance parameters
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    struct pa_params *pa = malloc(sizeof(*pa));
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    memset(pa, 0, sizeof(*pa));
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    pa->pressure_advance = pressure_advance;
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    pa->active_print_time = print_time;
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    list_add_tail(&pa->node, &es->pa_list);
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}
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struct stepper_kinematics * __visible
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@@ -141,5 +179,22 @@ extruder_stepper_alloc(void)
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    memset(es, 0, sizeof(*es));
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    es->sk.calc_position_cb = extruder_calc_position;
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    es->sk.active_flags = AF_X;
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    list_init(&es->pa_list);
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    struct pa_params *pa = malloc(sizeof(*pa));
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    memset(pa, 0, sizeof(*pa));
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    list_add_tail(&pa->node, &es->pa_list);
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    return &es->sk;
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}
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void __visible
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extruder_stepper_free(struct stepper_kinematics *sk)
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{
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    struct extruder_stepper *es = container_of(sk, struct extruder_stepper, sk);
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    while (!list_empty(&es->pa_list)) {
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        struct pa_params *pa = list_first_entry(
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                &es->pa_list, struct pa_params, node);
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        list_del(&pa->node);
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        free(pa);
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    }
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    free(sk);
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}
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@@ -18,7 +18,7 @@ class ExtruderStepper:
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        self.stepper = stepper.PrinterStepper(config)
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        ffi_main, ffi_lib = chelper.get_ffi()
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        self.sk_extruder = ffi_main.gc(ffi_lib.extruder_stepper_alloc(),
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                                       ffi_lib.free)
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                                       ffi_lib.extruder_stepper_free)
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        self.stepper.set_stepper_kinematics(self.sk_extruder)
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        self.motion_queue = None
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        # Register commands
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@@ -71,11 +71,14 @@ class ExtruderStepper:
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        if not pressure_advance:
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            new_smooth_time = 0.
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        toolhead = self.printer.lookup_object("toolhead")
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        toolhead.note_step_generation_scan_time(new_smooth_time * .5,
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                                                old_delay=old_smooth_time * .5)
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        if new_smooth_time != old_smooth_time:
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            toolhead.note_step_generation_scan_time(
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                    new_smooth_time * .5, old_delay=old_smooth_time * .5)
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        ffi_main, ffi_lib = chelper.get_ffi()
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        espa = ffi_lib.extruder_set_pressure_advance
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        espa(self.sk_extruder, pressure_advance, new_smooth_time)
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        toolhead.register_lookahead_callback(
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            lambda print_time: espa(self.sk_extruder, print_time,
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                                    pressure_advance, new_smooth_time))
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        self.pressure_advance = pressure_advance
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        self.pressure_advance_smooth_time = smooth_time
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    cmd_SET_PRESSURE_ADVANCE_help = "Set pressure advance parameters"
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@@ -40,7 +40,7 @@ SET_VELOCITY_LIMIT ACCEL=100 VELOCITY=20 SQUARE_CORNER_VELOCITY=1 ACCEL_TO_DECEL
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M204 S500
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SET_PRESSURE_ADVANCE EXTRUDER=extruder ADVANCE=.001
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SET_PRESSURE_ADVANCE ADVANCE=.002 ADVANCE_LOOKAHEAD_TIME=.001
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SET_PRESSURE_ADVANCE ADVANCE=.002 SMOOTH_TIME=.001
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# Restart command (must be last in test)
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RESTART
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										68
									
								
								test/klippy/pressure_advance.cfg
									
									
									
									
									
										Normal file
									
								
							
							
						
						
									
										68
									
								
								test/klippy/pressure_advance.cfg
									
									
									
									
									
										Normal file
									
								
							@@ -0,0 +1,68 @@
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# Config for extruder testing
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[stepper_x]
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step_pin: PF0
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dir_pin: PF1
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enable_pin: !PD7
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microsteps: 16
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rotation_distance: 40
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endstop_pin: ^PE5
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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[stepper_y]
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step_pin: PF6
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dir_pin: !PF7
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enable_pin: !PF2
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microsteps: 16
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rotation_distance: 40
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endstop_pin: ^PJ1
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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[stepper_z]
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step_pin: PL3
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dir_pin: PL1
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enable_pin: !PK0
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microsteps: 16
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rotation_distance: 8
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endstop_pin: ^PD3
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position_endstop: 0.5
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position_max: 200
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[extruder]
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step_pin: PA4
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dir_pin: PA6
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enable_pin: !PA2
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microsteps: 16
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rotation_distance: 33.5
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nozzle_diameter: 0.500
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filament_diameter: 3.500
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heater_pin: PB4
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sensor_type: EPCOS 100K B57560G104F
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sensor_pin: PK5
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control: pid
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pid_Kp: 22.2
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pid_Ki: 1.08
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pid_Kd: 114
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min_temp: 0
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max_temp: 210
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[extruder_stepper my_extra_stepper]
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extruder: extruder
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step_pin: PH5
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dir_pin: PH6
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enable_pin: !PB5
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microsteps: 16
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rotation_distance: 28.2
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[mcu]
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serial: /dev/ttyACM0
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[printer]
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kinematics: cartesian
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max_velocity: 300
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max_accel: 3000
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max_z_velocity: 5
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max_z_accel: 100
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										38
									
								
								test/klippy/pressure_advance.test
									
									
									
									
									
										Normal file
									
								
							
							
						
						
									
										38
									
								
								test/klippy/pressure_advance.test
									
									
									
									
									
										Normal file
									
								
							@@ -0,0 +1,38 @@
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# Extruder tests
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DICTIONARY atmega2560.dict
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CONFIG pressure_advance.cfg
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SET_PRESSURE_ADVANCE ADVANCE=0.1
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# Home and extrusion moves
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G28
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G1 X20 Y20 Z1 F6000
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G1 E7
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G1 X25 Y25 E7.5
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# Update pressure advance for my_extra_stepper
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SET_PRESSURE_ADVANCE EXTRUDER=my_extra_stepper ADVANCE=0.02
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G1 X30 Y30 E8.0
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# Unsync my_extra_stepper from extruder
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SYNC_EXTRUDER_MOTION EXTRUDER=my_extra_stepper MOTION_QUEUE=
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# Update pressure advance for primary extruder
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SET_PRESSURE_ADVANCE ADVANCE=0.01
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G1 X35 Y35 E8.5
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# Update pressure advance both extruders
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SET_PRESSURE_ADVANCE EXTRUDER=my_extra_stepper ADVANCE=0.05
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SET_PRESSURE_ADVANCE ADVANCE=0.05
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# Sync my_extra_stepper to extruder
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SYNC_EXTRUDER_MOTION EXTRUDER=my_extra_stepper MOTION_QUEUE=extruder
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G1 X40 Y40 E9.0
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# Update smooth_time
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SET_PRESSURE_ADVANCE SMOOTH_TIME=0.02
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SET_PRESSURE_ADVANCE EXTRUDER=my_extra_stepper SMOOTH_TIME=0.02
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G1 X45 Y45 E9.5
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# Updating both smooth_time and pressure advance
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SET_PRESSURE_ADVANCE SMOOTH_TIME=0.03 ADVANCE=0.1
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SET_PRESSURE_ADVANCE EXTRUDER=my_extra_stepper SMOOTH_TIME=0.03 ADVANCE=0.1
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G1 X50 Y50 E10.0
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