[FEATURE] Klipper accel to decel support

Author: mjonuschat

src/libslic3r/GCode.cpp

@@ -2863,9 +2863,13 @@ std::string GCodeGenerator::extrude_loop(const ExtrusionLoop &loop_src, const GC
         gcode += this->_extrude(el.path_attributes, el.path, description, speed);
 
     // reset acceleration
-    gcode += m_writer.set_print_acceleration(fast_round_up<unsigned int>(m_config.default_acceleration.value));
+    gcode += m_writer.set_print_acceleration(
+        fast_round_up<unsigned int>(m_config.default_acceleration.value),
+        fast_round_up<unsigned int>(m_config.default_accel_to_decel.value),
+        "Default"
+    );
     //reset jerk
-    gcode += m_writer.set_jerk(fast_round_up<unsigned int>(m_config.default_jerk.value));
+    gcode += m_writer.set_jerk(fast_round_up<unsigned int>(m_config.default_jerk.value), "Default");
 
     if (m_wipe.enabled()) {
         // Wipe will hide the seam.
@@ -2913,9 +2917,13 @@ std::string GCodeGenerator::extrude_skirt(
     }
 
     // reset acceleration
-    gcode += m_writer.set_print_acceleration(fast_round_up<unsigned int>(m_config.default_acceleration.value));
+    gcode += m_writer.set_print_acceleration(
+        fast_round_up<unsigned int>(m_config.default_acceleration.value),
+        fast_round_up<unsigned int>(m_config.default_accel_to_decel.value),
+        "Default"
+    );
     // reset jerk
-    gcode += m_writer.set_jerk(fast_round_up<unsigned int>(m_config.default_jerk.value));
+    gcode += m_writer.set_jerk(fast_round_up<unsigned int>(m_config.default_jerk.value), "Default");
 
     if (m_wipe.enabled())
         // Wipe will hide the seam.
@@ -2940,9 +2948,13 @@ std::string GCodeGenerator::extrude_multi_path(const ExtrusionMultiPath &multipa
         gcode += this->_extrude(el.path_attributes, el.path, description, speed);
     m_wipe.set_path(std::move(smooth_path), true);
     // reset acceleration
-    gcode += m_writer.set_print_acceleration((unsigned int)floor(m_config.default_acceleration.value + 0.5));
+    gcode += m_writer.set_print_acceleration(
+        fast_round_up<unsigned int>(m_config.default_acceleration.value),
+        fast_round_up<unsigned int>(m_config.default_accel_to_decel.value),
+        "Default"
+    );
     // reset jerk
-    gcode += m_writer.set_jerk(m_config.default_jerk.value);
+    gcode += m_writer.set_jerk(m_config.default_jerk.value, "Default");
     return gcode;
 }
 
@@ -2966,9 +2978,13 @@ std::string GCodeGenerator::extrude_path(const ExtrusionPath &path, bool reverse
     Geometry::ArcWelder::reverse(smooth_path);
     m_wipe.set_path(std::move(smooth_path));
     // reset acceleration
-    gcode += m_writer.set_print_acceleration((unsigned int)floor(m_config.default_acceleration.value + 0.5));
+    gcode += m_writer.set_print_acceleration(
+        fast_round_up<unsigned int>(m_config.default_acceleration.value),
+        fast_round_up<unsigned int>(m_config.default_accel_to_decel.value),
+        "Default"
+    );
     // reset jerk
-    gcode += m_writer.set_jerk(m_config.default_jerk.value);
+    gcode += m_writer.set_jerk(m_config.default_jerk.value, "Default");
     return gcode;
 }
 
@@ -3168,26 +3184,40 @@ std::string GCodeGenerator::_extrude(
     // adjust acceleration
     if (m_config.default_acceleration.value > 0) {
         double acceleration;
+        double accel_to_decel;
         if (this->on_first_layer() && m_config.first_layer_acceleration.value > 0) {
             acceleration = m_config.first_layer_acceleration.value;
+            accel_to_decel = m_config.first_layer_accel_to_decel.value;
         } else if (this->object_layer_over_raft() && m_config.first_layer_acceleration_over_raft.value > 0) {
             acceleration = m_config.first_layer_acceleration_over_raft.value;
+            accel_to_decel = m_config.first_layer_accel_to_decel_over_raft.value;
         } else if (m_config.bridge_acceleration.value > 0 && path_attr.role.is_bridge()) {
             acceleration = m_config.bridge_acceleration.value;
+            accel_to_decel = m_config.bridge_accel_to_decel.value;
         } else if (m_config.top_solid_infill_acceleration > 0 && path_attr.role == ExtrusionRole::TopSolidInfill) {
             acceleration = m_config.top_solid_infill_acceleration.value;
+            accel_to_decel = m_config.top_solid_infill_accel_to_decel.value;
         } else if (m_config.solid_infill_acceleration > 0 && path_attr.role.is_solid_infill()) {
             acceleration = m_config.solid_infill_acceleration.value;
+            accel_to_decel = m_config.solid_infill_accel_to_decel.value;
         } else if (m_config.infill_acceleration.value > 0 && path_attr.role.is_infill()) {
             acceleration = m_config.infill_acceleration.value;
+            accel_to_decel = m_config.infill_accel_to_decel.value;
         } else if (m_config.external_perimeter_acceleration > 0 && path_attr.role.is_external_perimeter()) {
             acceleration = m_config.external_perimeter_acceleration.value;
+            accel_to_decel = m_config.external_perimeter_accel_to_decel.value;
         } else if (m_config.perimeter_acceleration.value > 0 && path_attr.role.is_perimeter()) {
             acceleration = m_config.perimeter_acceleration.value;
+            accel_to_decel = m_config.perimeter_accel_to_decel.value;
         } else {
             acceleration = m_config.default_acceleration.value;
+            accel_to_decel = m_config.default_accel_to_decel.value;
         }
-        gcode += m_writer.set_print_acceleration((unsigned int)floor(acceleration + 0.5));
+        gcode += m_writer.set_print_acceleration(
+            fast_round_up<unsigned int>(acceleration),
+            fast_round_up<unsigned int>(accel_to_decel),
+            gcode_extrusion_role_to_string(extrusion_role_to_gcode_extrusion_role(path_attr.role))
+        );
     }
 
     // adjust jerk
@@ -3212,7 +3242,7 @@ std::string GCodeGenerator::_extrude(
         } else {
             jerk = m_config.default_jerk.value;
         }
-        gcode += m_writer.set_jerk(jerk);
+        gcode += m_writer.set_jerk(jerk, gcode_extrusion_role_to_string(extrusion_role_to_gcode_extrusion_role(path_attr.role)));
     }
 
     // calculate extrusion length per distance unit
@@ -3420,17 +3450,18 @@ std::string GCodeGenerator::generate_travel_gcode(
 ) {
     std::string gcode;
 
-    const unsigned acceleration =(unsigned)(m_config.travel_acceleration.value + 0.5);
+    const unsigned acceleration = fast_round_up<unsigned int>(m_config.travel_acceleration.value);
+    const unsigned accel_to_decel = fast_round_up<unsigned int>(m_config.travel_accel_to_decel.value);
 
     if (travel.empty()) {
         return "";
     }
 
     // generate G-code for the travel move
     // use G1 because we rely on paths being straight (G0 may make round paths)
-    gcode += this->m_writer.set_travel_acceleration(acceleration);
+    gcode += this->m_writer.set_travel_acceleration(acceleration, accel_to_decel);
     if (m_config.default_jerk > 0 && m_config.travel_jerk > 0)
-        gcode += this->m_writer.set_jerk(m_config.travel_jerk);
+        gcode += this->m_writer.set_jerk(m_config.travel_jerk, "Travel");
 
     Vec3d previous_point{this->point_to_gcode(travel.front())};
     for (const Vec3crd& point : travel) {
@@ -3444,11 +3475,11 @@ std::string GCodeGenerator::generate_travel_gcode(
     if (! GCodeWriter::supports_separate_travel_acceleration(config().gcode_flavor)) {
         // In case that this flavor does not support separate print and travel acceleration,
         // reset acceleration to default.
-        gcode += this->m_writer.set_travel_acceleration(acceleration);
+        gcode += this->m_writer.set_print_acceleration(m_config.default_acceleration, m_config.default_accel_to_decel, "Default");
     }
 
     if (m_config.default_jerk > 0 && m_config.travel_jerk > 0)
-        gcode += this->m_writer.set_jerk(m_config.default_jerk);
+        gcode += this->m_writer.set_jerk(m_config.default_jerk, "Default");
     return gcode;
 }
 

src/libslic3r/GCode/GCodeWriter.cpp

@@ -56,6 +56,9 @@ void GCodeWriter::apply_print_config(const PrintConfig &print_config)
         print_config.machine_max_jerk_x.values.front() : 0));
     m_max_jerk_y = static_cast<unsigned int>(std::round((use_mach_limits && print_config.machine_limits_usage.value == MachineLimitsUsage::EmitToGCode) ?
         print_config.machine_max_jerk_y.values.front() : 0));
+
+    m_max_accel_to_decel = static_cast<unsigned int>(std::round((use_mach_limits && print_config.machine_limits_usage.value == MachineLimitsUsage::EmitToGCode) ?
+        print_config.machine_max_acceleration_extruding.values.front() : 0));
 }
 
 void GCodeWriter::set_extruders(std::vector<unsigned int> extruder_ids)
@@ -186,38 +189,50 @@ std::string GCodeWriter::set_bed_temperature(unsigned int temperature, bool wait
     return gcode.str();
 }
 
-std::string GCodeWriter::set_acceleration_internal(Acceleration type, unsigned int acceleration)
+std::string GCodeWriter::set_acceleration_internal(Acceleration type, unsigned int acceleration, unsigned int accel_to_decel, const std::string_view comment)
 {
     // Clamp the acceleration to the allowed maximum.
     if (type == Acceleration::Print && m_max_acceleration > 0 && acceleration > m_max_acceleration)
         acceleration = m_max_acceleration;
     if (type == Acceleration::Travel && m_max_travel_acceleration > 0 && acceleration > m_max_travel_acceleration)
         acceleration = m_max_travel_acceleration;
 
+    // Clamp the accel_to_decel to the allowed maximum.
+    if (m_max_accel_to_decel > 0 && accel_to_decel > m_max_accel_to_decel)
+        accel_to_decel = m_max_accel_to_decel;
+
     // Are we setting travel acceleration for a flavour that supports separate travel and print acc?
     bool separate_travel = (type == Acceleration::Travel && supports_separate_travel_acceleration(this->config.gcode_flavor));
 
-    auto& last_value = separate_travel ? m_last_travel_acceleration : m_last_acceleration ;
-    if (acceleration == 0 || acceleration == last_value)
+    auto& last_acceleration_value =   separate_travel ? m_last_travel_acceleration : m_last_acceleration ;
+    auto& last_accel_to_decel_value = m_last_accel_to_decel;
+    if ((acceleration == 0 || acceleration == last_acceleration_value) && (accel_to_decel == 0 || accel_to_decel == last_accel_to_decel_value))
         return {};
 
-    last_value = acceleration;
+    last_acceleration_value = acceleration;
+    last_accel_to_decel_value = accel_to_decel;
 
     std::ostringstream gcode;
-    if (FLAVOR_IS(gcfRepetier))
+    if (FLAVOR_IS(gcfKlipper)) {
+        gcode << "SET_VELOCITY_LIMIT ACCEL=" << acceleration;
+        if (accel_to_decel > 0)
+            gcode << " ACCEL_TO_DECEL=" << accel_to_decel;
+    } else if (FLAVOR_IS(gcfRepetier))
         gcode << (separate_travel ? "M202 X" : "M201 X") << acceleration << " Y" << acceleration;
     else if (FLAVOR_IS(gcfRepRapFirmware) || FLAVOR_IS(gcfMarlinFirmware))
         gcode << (separate_travel ? "M204 T" : "M204 P") << acceleration;
     else
         gcode << "M204 S" << acceleration;
 
-    if (this->config.gcode_comments) gcode << " ; adjust acceleration";
+    if (this->config.gcode_comments)
+        gcode << " ; adjust acceleration (" << comment << ")";
+
     gcode << "\n";
 
     return gcode.str();
 }
 
-std::string GCodeWriter::set_jerk(unsigned int jerk)
+std::string GCodeWriter::set_jerk(unsigned int jerk, const std::string_view comment)
 {
     if (jerk == 0 || jerk == m_last_jerk)
         return {};
@@ -232,12 +247,16 @@ std::string GCodeWriter::set_jerk(unsigned int jerk)
     m_last_jerk = jerk;
 
     std::ostringstream gcode;
-    if (FLAVOR_IS(gcfRepRapFirmware))
+    if (FLAVOR_IS(gcfKlipper))
+        gcode << "SET_VELOCITY_LIMIT SQUARE_CORNER_VELOCITY=" << jerk;
+    else if (FLAVOR_IS(gcfRepRapFirmware))
         gcode << "M566 X" << jerk_x << " Y" << jerk_y;
     else
         gcode << "M205 X" << jerk_x << " Y" << jerk_y;
 
-    if (this->config.gcode_comments) gcode << " ; adjust jerk";
+    if (this->config.gcode_comments)
+        gcode << " ; adjust jerk (" << comment << ")";
+
     gcode << "\n";
 
     return gcode.str();

src/libslic3r/GCode/GCodeWriter.hpp

@@ -14,6 +14,7 @@
 #include "../Point.hpp"
 #include "../PrintConfig.hpp"
 #include "CoolingBuffer.hpp"
+#include "libslic3r/ExtrusionRole.hpp"
 
 #include <string>
 #include <string_view>
@@ -29,7 +30,7 @@ class GCodeWriter {
     GCodeWriter() : 
         multiple_extruders(false), m_extrusion_axis("E"), m_extruder(nullptr),
         m_single_extruder_multi_material(false),
-        m_last_acceleration(0), m_max_acceleration(0), m_last_jerk(0),
+        m_last_acceleration(0), m_max_acceleration(0), m_max_accel_to_decel(0), m_last_jerk(0),
         m_last_bed_temperature(0), m_last_bed_temperature_reached(true)
         {}
     Extruder*            extruder()             { return m_extruder; }
@@ -52,9 +53,9 @@ class GCodeWriter {
     std::string postamble() const;
     std::string set_temperature(unsigned int temperature, bool wait = false, int tool = -1) const;
     std::string set_bed_temperature(unsigned int temperature, bool wait = false);
-    std::string set_print_acceleration(unsigned int acceleration)   { return set_acceleration_internal(Acceleration::Print, acceleration); }
-    std::string set_travel_acceleration(unsigned int acceleration)  { return set_acceleration_internal(Acceleration::Travel, acceleration); }
-    std::string set_jerk(unsigned int jerk);
+    std::string set_print_acceleration(unsigned int acceleration, unsigned int accel_to_decel, const std::string_view comment)   { return set_acceleration_internal(Acceleration::Print, acceleration, accel_to_decel, comment); }
+    std::string set_travel_acceleration(unsigned int acceleration, unsigned int accel_to_decel)  { return set_acceleration_internal(Acceleration::Travel, acceleration, accel_to_decel, "Travel"); }
+    std::string set_jerk(unsigned int jerk, const std::string_view comment);
     std::string reset_e(bool force = false);
     std::string update_progress(unsigned int num, unsigned int tot, bool allow_100 = false) const;
     // return false if this extruder was already selected
@@ -120,11 +121,13 @@ class GCodeWriter {
     bool            m_single_extruder_multi_material;
     Extruder*       m_extruder;
     unsigned int    m_last_acceleration = (unsigned int)(-1);
+    unsigned int    m_last_accel_to_decel = (unsigned int)(-1);
     unsigned int    m_last_travel_acceleration = (unsigned int)(-1); // only used for flavors supporting separate print/travel acc
     // Limit for setting the acceleration, to respect the machine limits set for the Marlin firmware.
     // If set to zero, the limit is not in action.
     unsigned int    m_max_acceleration;
     unsigned int    m_max_travel_acceleration;
+    unsigned int    m_max_accel_to_decel;
 
     unsigned int    m_last_jerk = (unsigned int)(-1);
     unsigned int    m_max_jerk_x;
@@ -140,7 +143,7 @@ class GCodeWriter {
     };
 
     std::string _retract(double length, double restart_extra, const std::string_view comment);
-    std::string set_acceleration_internal(Acceleration type, unsigned int acceleration);
+    std::string set_acceleration_internal(Acceleration type, unsigned int acceleration, unsigned int accel_to_decel, const std::string_view comment);
 };
 
 class GCodeFormatter {

src/libslic3r/Preset.cpp

@@ -449,9 +449,10 @@ static std::vector<std::string> s_Preset_print_options {
     "perimeter_speed", "small_perimeter_speed", "external_perimeter_speed", "infill_speed", "solid_infill_speed",
     "enable_dynamic_overhang_speeds", "overhang_speed_0", "overhang_speed_1", "overhang_speed_2", "overhang_speed_3",
     "top_solid_infill_speed", "support_material_speed", "support_material_xy_spacing", "support_material_interface_speed",
-    "bridge_speed", "gap_fill_speed", "gap_fill_enabled", "travel_speed", "travel_speed_z", "first_layer_speed", "first_layer_speed_over_raft", "perimeter_acceleration", "infill_acceleration",
-    "external_perimeter_acceleration", "top_solid_infill_acceleration", "solid_infill_acceleration", "travel_acceleration",
-    "bridge_acceleration", "first_layer_acceleration", "first_layer_acceleration_over_raft", "default_acceleration", "skirts", "skirt_distance", "skirt_height", "draft_shield",
+    "bridge_speed", "gap_fill_speed", "gap_fill_enabled", "travel_speed", "travel_speed_z", "first_layer_speed", "first_layer_speed_over_raft", "perimeter_acceleration", "perimeter_accel_to_decel",
+    "infill_acceleration", "infill_accel_to_decel", "external_perimeter_acceleration", "external_perimeter_accel_to_decel", "top_solid_infill_acceleration", "top_solid_infill_accel_to_decel",
+    "solid_infill_acceleration", "solid_infill_accel_to_decel", "travel_acceleration", "travel_accel_to_decel", "bridge_acceleration", "bridge_accel_to_decel", "first_layer_acceleration",
+    "first_layer_accel_to_decel", "first_layer_acceleration_over_raft", "first_layer_accel_to_decel_over_raft", "default_acceleration", "default_accel_to_decel", "skirts", "skirt_distance", "skirt_height", "draft_shield",
     "perimeter_jerk", "infill_jerk",
     "external_perimeter_jerk", "top_solid_infill_jerk", "solid_infill_jerk", "travel_jerk",
     "bridge_jerk", "first_layer_jerk", "first_layer_jerk_over_raft", "default_jerk",
@@ -508,7 +509,7 @@ static std::vector<std::string> s_Preset_filament_options {
 };
 
 static std::vector<std::string> s_Preset_machine_limits_options {
-    "machine_max_acceleration_extruding", "machine_max_acceleration_retracting", "machine_max_acceleration_travel",
+    "machine_max_acceleration_extruding", "machine_max_acceleration_retracting", "machine_max_acceleration_travel", "machine_max_accel_to_decel",
     "machine_max_acceleration_x", "machine_max_acceleration_y", "machine_max_acceleration_z", "machine_max_acceleration_e",
     "machine_max_feedrate_x", "machine_max_feedrate_y", "machine_max_feedrate_z", "machine_max_feedrate_e",
     "machine_min_extruding_rate", "machine_min_travel_rate",