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@@ -2,13 +2,24 @@
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#include "Marlin.h"
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-static LA10C_MODE la10c_mode = LA10C_UNKNOWN;
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+static LA10C_MODE la10c_mode = LA10C_UNKNOWN; // Current LA compatibility mode
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+static float la10c_orig_jerk = 0; // Unadjusted/saved e-jerk
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+
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+
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+LA10C_MODE la10c_mode_get()
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+{
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+ return la10c_mode;
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+}
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void la10c_mode_change(LA10C_MODE mode)
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{
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if(mode == la10c_mode) return;
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+ // always restore to the last unadjusted E-jerk value
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+ if(la10c_orig_jerk)
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+ cs.max_jerk[E_AXIS] = la10c_orig_jerk;
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+
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SERIAL_ECHOPGM("LA10C: Linear Advance mode: ");
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switch(mode)
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{
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@@ -17,6 +28,9 @@ void la10c_mode_change(LA10C_MODE mode)
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case LA10C_LA10: SERIAL_ECHOLNPGM("1.0"); break;
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}
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la10c_mode = mode;
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+
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+ // adjust the E-jerk if needed
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+ cs.max_jerk[E_AXIS] = la10c_jerk(cs.max_jerk[E_AXIS]);
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}
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@@ -46,3 +60,29 @@ float la10c_value(float k)
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else
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return (k >= 0? la10c_convert(k): -1);
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}
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+
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+
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+float la10c_jerk(float j)
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+{
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+ la10c_orig_jerk = j;
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+
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+ if(la10c_mode != LA10C_LA10)
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+ return j;
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+
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+ // check for a compatible range of values prior to convert (be sure that
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+ // a higher E-jerk would still be compatible wrt the E accell range)
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+ if(j < 4.5 && cs.max_acceleration_units_per_sq_second_normal[E_AXIS] < 2000)
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+ return j;
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+
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+ // bring low E-jerk values into equivalent LA 1.5 values by
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+ // flattening the response in the (1-4.5) range using a piecewise
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+ // function. Is it truly worth to preserve the difference between
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+ // 1.5/2.5 E-jerk for LA1.0? Probably not, but we try nonetheless.
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+ j = j < 1.0? j * 3.625:
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+ j < 4.5? j * 0.25 + 3.375:
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+ j;
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+
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+ SERIAL_ECHOPGM("LA10C: Adjusted E-Jerk: ");
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+ SERIAL_ECHOLN(j);
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+ return j;
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+}
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