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- #include "la10compat.h"
- #include "Marlin.h"
- #include <float.h>
- static LA10C_MODE la10c_mode = LA10C_UNKNOWN; // Current LA compatibility mode
- static float la10c_orig_jerk = 0; // Unadjusted/saved e-jerk
- LA10C_MODE la10c_mode_get()
- {
- return la10c_mode;
- }
- void la10c_mode_change(LA10C_MODE mode)
- {
- if(mode == la10c_mode) return;
- // always restore to the last unadjusted E-jerk value
- if(la10c_orig_jerk)
- cs.max_jerk[E_AXIS] = la10c_orig_jerk;
- SERIAL_ECHOPGM("LA10C: Linear Advance mode: ");
- switch(mode)
- {
- case LA10C_UNKNOWN: SERIAL_ECHOLNPGM("UNKNOWN"); break;
- case LA10C_LA15: SERIAL_ECHOLNPGM("1.5"); break;
- case LA10C_LA10: SERIAL_ECHOLNPGM("1.0"); break;
- }
- la10c_mode = mode;
- // adjust the E-jerk if needed
- cs.max_jerk[E_AXIS] = la10c_jerk(cs.max_jerk[E_AXIS]);
- }
- // Approximate a LA10 value to a LA15 equivalent.
- static float la10c_convert(float k)
- {
- float new_K = k * 0.004 - 0.05;
- return new_K < 0? 0:
- new_K > (LA_K_MAX - FLT_EPSILON)? (LA_K_MAX - FLT_EPSILON):
- new_K;
- }
- float la10c_value(float k)
- {
- if(la10c_mode == LA10C_UNKNOWN)
- {
- // do not autodetect until a valid value is seen
- if(k == 0)
- return 0;
- else if(k < 0)
- return -1;
- la10c_mode_change(k < LA_LA10_MIN? LA10C_LA15: LA10C_LA10);
- }
- if(la10c_mode == LA10C_LA15)
- return (k >= 0 && k < LA_K_MAX? k: -1);
- else
- return (k >= 0? la10c_convert(k): -1);
- }
- float la10c_jerk(float j)
- {
- la10c_orig_jerk = j;
- if(la10c_mode != LA10C_LA10)
- return j;
- // check for a compatible range of values prior to convert (be sure that
- // a higher E-jerk would still be compatible wrt the E accell range)
- if(j < 4.5 && cs.max_acceleration_units_per_sq_second_normal[E_AXIS] < 2000)
- return j;
- // bring low E-jerk values into equivalent LA 1.5 values by
- // flattening the response in the (1-4.5) range using a piecewise
- // function. Is it truly worth to preserve the difference between
- // 1.5/2.5 E-jerk for LA1.0? Probably not, but we try nonetheless.
- j = j < 1.0? j * 3.625:
- j < 4.5? j * 0.25 + 3.375:
- j;
- SERIAL_ECHOPGM("LA10C: Adjusted E-Jerk: ");
- SERIAL_ECHOLN(j);
- return j;
- }
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