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[2.0.x] Adaptive multi-axis step smoothing, some fixes #10922

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Merged
thinkyhead merged 2 commits into from
Jun 10, 2018
Merged

[2.0.x] Adaptive multi-axis step smoothing, some fixes #10922

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39a7e77
Adaptive multiaxis step smoothing
ejtagle Jun 3, 2018
6f14bca
Add MAXIMUM_STEPPER_RATE, enforce in multi-stepping
ejtagle Jun 3, 2018
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3 changes: 0 additions & 3 deletions Marlin/Configuration.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -838,9 +838,6 @@
#define INVERT_Y_DIR true
#define INVERT_Z_DIR false

// Enable this option for Toshiba stepper drivers
//#define CONFIG_STEPPERS_TOSHIBA

// @section extruder

// For direct drive extruder v9 set to true, for geared extruder set to false.
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21 changes: 21 additions & 0 deletions Marlin/Configuration_adv.h
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Original file line number Diff line number Diff line change
Expand Up @@ -450,6 +450,14 @@
//#define JUNCTION_DEVIATION_INCLUDE_E
#endif

/**
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
* lowest stepping frequencies.
*/
//#define ADAPTIVE_STEP_SMOOTHING

// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]

Expand Down Expand Up @@ -827,12 +835,25 @@
/**
* Minimum stepper driver pulse width (in µs)
* 0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
* 1 : Minimum for LV8729 stepper drivers
* 2 : Minimum for DRV8825 stepper drivers
* 3 : Minimum for TB6600 stepper drivers
* 30 : Minimum for TB6560 stepper drivers
*/
#define MINIMUM_STEPPER_PULSE 2

/**
* Maximum stepping rate (in Hz) the stepper driver allows
* If undefined, defaults to 1MHz / (2 * MINIMUM_STEPPER_PULSE)
* 500000 : Maximum for A4988 stepper driver
* 400000 : Maximum for TMC2xxx stepper drivers
* 250000 : Maximum for DRV8825 stepper driver
* 150000 : Maximum for TB6600 stepper driver
* 130000 : Maximum for LV8729 stepper driver
* 15000 : Maximum for TB6560 stepper driver
*/
#define MAXIMUM_STEPPER_RATE 250000

// @section temperature

// Control heater 0 and heater 1 in parallel.
Expand Down
3 changes: 0 additions & 3 deletions Marlin/src/config/default/Configuration.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -838,9 +838,6 @@
#define INVERT_Y_DIR true
#define INVERT_Z_DIR false

// Enable this option for Toshiba stepper drivers
//#define CONFIG_STEPPERS_TOSHIBA

// @section extruder

// For direct drive extruder v9 set to true, for geared extruder set to false.
Expand Down
21 changes: 21 additions & 0 deletions Marlin/src/config/default/Configuration_adv.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -450,6 +450,14 @@
//#define JUNCTION_DEVIATION_INCLUDE_E
#endif

/**
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
* lowest stepping frequencies.
*/
//#define ADAPTIVE_STEP_SMOOTHING

// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]

Expand Down Expand Up @@ -827,12 +835,25 @@
/**
* Minimum stepper driver pulse width (in µs)
* 0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
* 1 : Minimum for LV8729 stepper drivers
* 2 : Minimum for DRV8825 stepper drivers
* 3 : Minimum for TB6600 stepper drivers
* 30 : Minimum for TB6560 stepper drivers
*/
#define MINIMUM_STEPPER_PULSE 2

/**
* Maximum stepping rate (in Hz) the stepper driver allows
* If undefined, defaults to 1MHz / (2 * MINIMUM_STEPPER_PULSE)
* 500000 : Maximum for A4988 stepper driver
* 400000 : Maximum for TMC2xxx stepper drivers
* 250000 : Maximum for DRV8825 stepper driver
* 150000 : Maximum for TB6600 stepper driver
* 130000 : Maximum for LV8729 stepper driver
* 15000 : Maximum for TB6560 stepper driver
*/
#define MAXIMUM_STEPPER_RATE 250000

// @section temperature

// Control heater 0 and heater 1 in parallel.
Expand Down
3 changes: 0 additions & 3 deletions Marlin/src/config/examples/AlephObjects/TAZ4/Configuration.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -858,9 +858,6 @@
#define INVERT_Y_DIR true
#define INVERT_Z_DIR false

// Enable this option for Toshiba stepper drivers
//#define CONFIG_STEPPERS_TOSHIBA

// @section extruder

// For direct drive extruder v9 set to true, for geared extruder set to false.
Expand Down
21 changes: 21 additions & 0 deletions Marlin/src/config/examples/AlephObjects/TAZ4/Configuration_adv.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -450,6 +450,14 @@
//#define JUNCTION_DEVIATION_INCLUDE_E
#endif

/**
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
* lowest stepping frequencies.
*/
//#define ADAPTIVE_STEP_SMOOTHING

// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
#define MICROSTEP_MODES { 16, 16, 4, 16, 16 } // [1,2,4,8,16]

Expand Down Expand Up @@ -827,12 +835,25 @@
/**
* Minimum stepper driver pulse width (in µs)
* 0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
* 1 : Minimum for LV8729 stepper drivers
* 2 : Minimum for DRV8825 stepper drivers
* 3 : Minimum for TB6600 stepper drivers
* 30 : Minimum for TB6560 stepper drivers
*/
#define MINIMUM_STEPPER_PULSE 2

/**
* Maximum stepping rate (in Hz) the stepper driver allows
* If undefined, defaults to 1MHz / (2 * MINIMUM_STEPPER_PULSE)
* 500000 : Maximum for A4988 stepper driver
* 400000 : Maximum for TMC2xxx stepper drivers
* 250000 : Maximum for DRV8825 stepper driver
* 150000 : Maximum for TB6600 stepper driver
* 130000 : Maximum for LV8729 stepper driver
* 15000 : Maximum for TB6560 stepper driver
*/
#define MAXIMUM_STEPPER_RATE 250000

// @section temperature

// Control heater 0 and heater 1 in parallel.
Expand Down
3 changes: 0 additions & 3 deletions Marlin/src/config/examples/AliExpress/CL-260/Configuration.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -838,9 +838,6 @@
#define INVERT_Y_DIR true
#define INVERT_Z_DIR false

// Enable this option for Toshiba stepper drivers
//#define CONFIG_STEPPERS_TOSHIBA

// @section extruder

// For direct drive extruder v9 set to true, for geared extruder set to false.
Expand Down
3 changes: 0 additions & 3 deletions Marlin/src/config/examples/Anet/A6/Configuration.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -917,9 +917,6 @@
#define INVERT_Y_DIR false
#define INVERT_Z_DIR true

// Enable this option for Toshiba stepper drivers
//#define CONFIG_STEPPERS_TOSHIBA

// @section extruder

// For direct drive extruder v9 set to true, for geared extruder set to false.
Expand Down
21 changes: 21 additions & 0 deletions Marlin/src/config/examples/Anet/A6/Configuration_adv.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -450,6 +450,14 @@
//#define JUNCTION_DEVIATION_INCLUDE_E
#endif

/**
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
* lowest stepping frequencies.
*/
//#define ADAPTIVE_STEP_SMOOTHING

// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]

Expand Down Expand Up @@ -827,12 +835,25 @@
/**
* Minimum stepper driver pulse width (in µs)
* 0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
* 1 : Minimum for LV8729 stepper drivers
* 2 : Minimum for DRV8825 stepper drivers
* 3 : Minimum for TB6600 stepper drivers
* 30 : Minimum for TB6560 stepper drivers
*/
#define MINIMUM_STEPPER_PULSE 2

/**
* Maximum stepping rate (in Hz) the stepper driver allows
* If undefined, defaults to 1MHz / (2 * MINIMUM_STEPPER_PULSE)
* 500000 : Maximum for A4988 stepper driver
* 400000 : Maximum for TMC2xxx stepper drivers
* 250000 : Maximum for DRV8825 stepper driver
* 150000 : Maximum for TB6600 stepper driver
* 130000 : Maximum for LV8729 stepper driver
* 15000 : Maximum for TB6560 stepper driver
*/
#define MAXIMUM_STEPPER_RATE 250000

// @section temperature

// Control heater 0 and heater 1 in parallel.
Expand Down
3 changes: 0 additions & 3 deletions Marlin/src/config/examples/Anet/A8/Configuration.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -845,9 +845,6 @@
#define INVERT_Y_DIR false
#define INVERT_Z_DIR true

// Enable this option for Toshiba stepper drivers
//#define CONFIG_STEPPERS_TOSHIBA

// @section extruder

// For direct drive extruder v9 set to true, for geared extruder set to false.
Expand Down
21 changes: 21 additions & 0 deletions Marlin/src/config/examples/Anet/A8/Configuration_adv.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -450,6 +450,14 @@
//#define JUNCTION_DEVIATION_INCLUDE_E
#endif

/**
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
* lowest stepping frequencies.
*/
//#define ADAPTIVE_STEP_SMOOTHING

// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]

Expand Down Expand Up @@ -827,12 +835,25 @@
/**
* Minimum stepper driver pulse width (in µs)
* 0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
* 1 : Minimum for LV8729 stepper drivers
* 2 : Minimum for DRV8825 stepper drivers
* 3 : Minimum for TB6600 stepper drivers
* 30 : Minimum for TB6560 stepper drivers
*/
#define MINIMUM_STEPPER_PULSE 2

/**
* Maximum stepping rate (in Hz) the stepper driver allows
* If undefined, defaults to 1MHz / (2 * MINIMUM_STEPPER_PULSE)
* 500000 : Maximum for A4988 stepper driver
* 400000 : Maximum for TMC2xxx stepper drivers
* 250000 : Maximum for DRV8825 stepper driver
* 150000 : Maximum for TB6600 stepper driver
* 130000 : Maximum for LV8729 stepper driver
* 15000 : Maximum for TB6560 stepper driver
*/
#define MAXIMUM_STEPPER_RATE 250000

// @section temperature

// Control heater 0 and heater 1 in parallel.
Expand Down
3 changes: 0 additions & 3 deletions Marlin/src/config/examples/Azteeg/X5GT/Configuration.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -838,9 +838,6 @@
#define INVERT_Y_DIR true
#define INVERT_Z_DIR false

// Enable this option for Toshiba stepper drivers
//#define CONFIG_STEPPERS_TOSHIBA

// @section extruder

// For direct drive extruder v9 set to true, for geared extruder set to false.
Expand Down
21 changes: 21 additions & 0 deletions Marlin/src/config/examples/Azteeg/X5GT/Configuration_adv.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -450,6 +450,14 @@
//#define JUNCTION_DEVIATION_INCLUDE_E
#endif

/**
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
* lowest stepping frequencies.
*/
//#define ADAPTIVE_STEP_SMOOTHING

// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]

Expand Down Expand Up @@ -827,12 +835,25 @@
/**
* Minimum stepper driver pulse width (in µs)
* 0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
* 1 : Minimum for LV8729 stepper drivers
* 2 : Minimum for DRV8825 stepper drivers
* 3 : Minimum for TB6600 stepper drivers
* 30 : Minimum for TB6560 stepper drivers
*/
#define MINIMUM_STEPPER_PULSE 2

/**
* Maximum stepping rate (in Hz) the stepper driver allows
* If undefined, defaults to 1MHz / (2 * MINIMUM_STEPPER_PULSE)
* 500000 : Maximum for A4988 stepper driver
* 400000 : Maximum for TMC2xxx stepper drivers
* 250000 : Maximum for DRV8825 stepper driver
* 150000 : Maximum for TB6600 stepper driver
* 130000 : Maximum for LV8729 stepper driver
* 15000 : Maximum for TB6560 stepper driver
*/
#define MAXIMUM_STEPPER_RATE 250000

// @section temperature

// Control heater 0 and heater 1 in parallel.
Expand Down
3 changes: 0 additions & 3 deletions Marlin/src/config/examples/BIBO/TouchX/cyclops/Configuration.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -838,9 +838,6 @@
#define INVERT_Y_DIR false
#define INVERT_Z_DIR false

// Enable this option for Toshiba stepper drivers
//#define CONFIG_STEPPERS_TOSHIBA

// @section extruder

// For direct drive extruder v9 set to true, for geared extruder set to false.
Expand Down
21 changes: 21 additions & 0 deletions Marlin/src/config/examples/BIBO/TouchX/cyclops/Configuration_adv.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -450,6 +450,14 @@
//#define JUNCTION_DEVIATION_INCLUDE_E
#endif

/**
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
* lowest stepping frequencies.
*/
//#define ADAPTIVE_STEP_SMOOTHING

// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]

Expand Down Expand Up @@ -827,12 +835,25 @@
/**
* Minimum stepper driver pulse width (in µs)
* 0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
* 1 : Minimum for LV8729 stepper drivers
* 2 : Minimum for DRV8825 stepper drivers
* 3 : Minimum for TB6600 stepper drivers
* 30 : Minimum for TB6560 stepper drivers
*/
#define MINIMUM_STEPPER_PULSE 2

/**
* Maximum stepping rate (in Hz) the stepper driver allows
* If undefined, defaults to 1MHz / (2 * MINIMUM_STEPPER_PULSE)
* 500000 : Maximum for A4988 stepper driver
* 400000 : Maximum for TMC2xxx stepper drivers
* 250000 : Maximum for DRV8825 stepper driver
* 150000 : Maximum for TB6600 stepper driver
* 130000 : Maximum for LV8729 stepper driver
* 15000 : Maximum for TB6560 stepper driver
*/
#define MAXIMUM_STEPPER_RATE 250000

// @section temperature

// Control heater 0 and heater 1 in parallel.
Expand Down
3 changes: 0 additions & 3 deletions Marlin/src/config/examples/BIBO/TouchX/default/Configuration.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -838,9 +838,6 @@
#define INVERT_Y_DIR true
#define INVERT_Z_DIR false

// Enable this option for Toshiba stepper drivers
//#define CONFIG_STEPPERS_TOSHIBA

// @section extruder

// For direct drive extruder v9 set to true, for geared extruder set to false.
Expand Down
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