Corrected pressure advance for new time units

6 files changed, 20 insertions, 17 deletions

diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp
index 173a2989..741ae844 100644
--- a/src/Movement/DDA.cpp
+++ b/src/Movement/DDA.cpp
@@ -388,11 +388,11 @@ bool DDA::InitStandardMove(DDARing& ring, const RawMove &nextMove, bool doMotorM
 				}
 				if (flags.xyMoving && nextMove.usePressureAdvance)
 				{
-					const float compensationTime = reprap.GetMove().GetPressureAdvance(LogicalDriveToExtruder(drive));
-					if (compensationTime > 0.0)
+					const float compensationClocks = reprap.GetMove().GetPressureAdvanceClocks(LogicalDriveToExtruder(drive));
+					if (compensationClocks > 0.0)
 					{
 						// Compensation causes instant velocity changes equal to acceleration * k, so we may need to limit the acceleration
-						accelerations[drive] = min<float>(accelerations[drive], reprap.GetPlatform().GetInstantDv(drive)/compensationTime);
+						accelerations[drive] = min<float>(accelerations[drive], reprap.GetPlatform().GetInstantDv(drive)/compensationClocks);
 					}
 				}
 			}
diff --git a/src/Movement/DriveMovement.cpp b/src/Movement/DriveMovement.cpp
index 0d63df0f..e8b13466 100644
--- a/src/Movement/DriveMovement.cpp
+++ b/src/Movement/DriveMovement.cpp
@@ -67,8 +67,8 @@ void DriveMovement::DebugPrint() const noexcept
 		}
 		else if (isExtruder)
 		{
-			debugPrintf(" pa=%.1f eed=%.3f ep=%.3f\n",
-							(double)mp.cart.pressureAdvanceK, (double)mp.cart.extraExtrusionDistance, (double)reprap.GetMove().GetExtruderShaper(LogicalDriveToExtruder(drive)).GetK());
+			debugPrintf(" pa=%.1f eed=%.3f ep=%" PRIu32 "\n",
+							(double)mp.cart.pressureAdvanceK, (double)mp.cart.extraExtrusionDistance, (uint32_t)reprap.GetMove().GetExtruderShaper(LogicalDriveToExtruder(drive)).GetKclocks());
 		}
 		else
 		{
@@ -379,10 +379,10 @@ bool DriveMovement::PrepareExtruder(const DDA& dda, const PrepParams& params) no
 	float forwardDistance = distanceSoFar;
 	float reverseDistance;
 
-	if (dda.flags.usePressureAdvance && shaper.GetK() > 0.0)
+	if (dda.flags.usePressureAdvance && shaper.GetKclocks() > 0.0)
 	{
 		// We are using nonzero pressure advance. Movement must be forwards.
-		mp.cart.pressureAdvanceK = shaper.GetK() * StepClockRate;
+		mp.cart.pressureAdvanceK = shaper.GetKclocks();
 		mp.cart.extraExtrusionDistance = mp.cart.pressureAdvanceK * dda.acceleration * params.accelClocks;
 		forwardDistance += mp.cart.extraExtrusionDistance;
 
diff --git a/src/Movement/ExtruderShaper.h b/src/Movement/ExtruderShaper.h
index 75594e9a..8bd68a1a 100644
--- a/src/Movement/ExtruderShaper.h
+++ b/src/Movement/ExtruderShaper.h
@@ -8,6 +8,8 @@
 #ifndef SRC_MOVEMENT_EXTRUDERSHAPER_H_
 #define SRC_MOVEMENT_EXTRUDERSHAPER_H_
 
+#include <RepRapFirmware.h>
+
 class DDA;
 class BasicPrepParams;
 class MoveSegment;
@@ -21,13 +23,14 @@ public:
 	ExtruderShaper() : k(0.0), extrusionPending(0.0) /*, lastSpeed(0.0)*/ { }
 
 	// Temporary functions until we support more sophisticated pressure advance
-	float GetK() const noexcept { return k; }
-	void SetK(float val) noexcept { k = val; }
+	float GetKclocks() const noexcept { return k; }								// get pressure advance in step clocks
+	float GetKseconds() const noexcept { return k * StepClockRate; }
+	void SetKseconds(float val) noexcept { k = val * (1.0/StepClockRate); }		// set pressure advance in seconds
 	float GetExtrusionPending() const noexcept { return extrusionPending; }
 	void SetExtrusionPending(float ep) noexcept { extrusionPending = ep; }
 
 private:
-	float k;								// the pressure advance constant in seconds
+	float k;								// the pressure advance constant in step clocks
 	float extrusionPending;					// extrusion we have been asked to do but haven't because it is less than one microstep, in mm
 //	float lastSpeed;						// the speed we were moving at at the end of the last extrusion, needed to implement pressure advance
 };
diff --git a/src/Movement/Move.cpp b/src/Movement/Move.cpp
index 08c8761f..3ad5350a 100644
--- a/src/Movement/Move.cpp
+++ b/src/Movement/Move.cpp
@@ -1038,7 +1038,7 @@ GCodeResult Move::ConfigurePressureAdvance(GCodeBuffer& gb, const StringRef& rep
 					rslt = GCodeResult::error;
 					break;
 				}
-				extruderShapers[extruder].SetK(advance);
+				extruderShapers[extruder].SetKseconds(advance);
 #if SUPPORT_CAN_EXPANSION
 				const DriverId did = platform.GetExtruderDriver(extruder);
 				if (did.IsRemote())
@@ -1072,7 +1072,7 @@ GCodeResult Move::ConfigurePressureAdvance(GCodeBuffer& gb, const StringRef& rep
 #else
 				ct->IterateExtruders([this, advance](unsigned int extruder)
 										{
-											extruderShapers[extruder].SetK(advance);
+											extruderShapers[extruder].SetKseconds(advance);
 										}
 									);
 #endif
@@ -1090,7 +1090,7 @@ GCodeResult Move::ConfigurePressureAdvance(GCodeBuffer& gb, const StringRef& rep
 	char c = ':';
 	for (size_t i = 0; i < reprap.GetGCodes().GetNumExtruders(); ++i)
 	{
-		reply.catf("%c %.3f", c, (double)extruderShapers[i].GetK());
+		reply.catf("%c %.3f", c, (double)extruderShapers[i].GetKseconds());
 		c = ',';
 	}
 	return GCodeResult::ok;
diff --git a/src/Movement/Move.h b/src/Movement/Move.h
index 5bca6653..85c66b32 100644
--- a/src/Movement/Move.h
+++ b/src/Movement/Move.h
@@ -96,7 +96,7 @@ public:
 	GCodeResult ConfigureMovementQueue(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);		// process M595
 	GCodeResult ConfigurePressureAdvance(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);	// process M572
 
-	float GetPressureAdvance(size_t extruder) const noexcept;
+	float GetPressureAdvanceClocks(size_t extruder) const noexcept;
 
 #if SUPPORT_REMOTE_COMMANDS
 	GCodeResult EutSetRemotePressureAdvance(const CanMessageMultipleDrivesRequest<float>& msg, size_t dataLength, const StringRef& reply) noexcept;
@@ -337,9 +337,9 @@ inline void Move::ResetExtruderPositions() noexcept
 	mainDDARing.ResetExtruderPositions();
 }
 
-inline float Move::GetPressureAdvance(size_t extruder) const noexcept
+inline float Move::GetPressureAdvanceClocks(size_t extruder) const noexcept
 {
-	return (extruder < MaxExtruders) ? extruderShapers[extruder].GetK() : 0.0;
+	return (extruder < MaxExtruders) ? extruderShapers[extruder].GetKclocks() : 0.0;
 }
 
 #if HAS_SMART_DRIVERS
diff --git a/src/Platform/Platform.cpp b/src/Platform/Platform.cpp
index e2c4091a..8c580323 100644
--- a/src/Platform/Platform.cpp
+++ b/src/Platform/Platform.cpp
@@ -294,7 +294,7 @@ constexpr ObjectModelTableEntry Platform::objectModelTable[] =
 	{ "microstepping",		OBJECT_MODEL_FUNC(self, 8),																												ObjectModelEntryFlags::none },
 	{ "nonlinear",			OBJECT_MODEL_FUNC(self, 5),																												ObjectModelEntryFlags::none },
 	{ "position",			OBJECT_MODEL_FUNC_NOSELF(ExpressionValue(reprap.GetMove().LiveCoordinate(ExtruderToLogicalDrive(context.GetLastIndex()), reprap.GetCurrentTool()), 1)),	ObjectModelEntryFlags::live },
-	{ "pressureAdvance",	OBJECT_MODEL_FUNC_NOSELF(reprap.GetMove().GetPressureAdvance(context.GetLastIndex()), 2),												ObjectModelEntryFlags::none },
+	{ "pressureAdvance",	OBJECT_MODEL_FUNC_NOSELF(reprap.GetMove().GetPressureAdvanceClocks(context.GetLastIndex()) * StepClockRate, 2),							ObjectModelEntryFlags::none },
 	{ "rawPosition",		OBJECT_MODEL_FUNC_NOSELF(ExpressionValue(reprap.GetGCodes().GetRawExtruderTotalByDrive(context.GetLastIndex()), 1)), 					ObjectModelEntryFlags::live },
 	{ "speed",				OBJECT_MODEL_FUNC(InverseConvertSpeedToMmPerMin(self->MaxFeedrate(ExtruderToLogicalDrive(context.GetLastIndex()))), 1),					ObjectModelEntryFlags::none },
 	{ "stepsPerMm",			OBJECT_MODEL_FUNC(self->driveStepsPerUnit[ExtruderToLogicalDrive(context.GetLastIndex())], 2),											ObjectModelEntryFlags::none },