Advanced role jerk control

src/libslic3r/GCode.cpp

@@ -2900,6 +2900,8 @@ std::string GCodeGenerator::extrude_loop(const ExtrusionLoop &loop_src, bool rev
 
     // reset acceleration
     gcode += m_writer.set_print_acceleration(fast_round_up<unsigned int>(m_config.default_acceleration.value));
+    //reset jerk
+    gcode += m_writer.set_jerk(fast_round_up<unsigned int>(m_config.default_jerk.value));
 
     if (m_wipe.enabled()) {
         // Wipe will hide the seam.
@@ -2947,6 +2949,8 @@ std::string GCodeGenerator::extrude_skirt(
 
     // reset acceleration
     gcode += m_writer.set_print_acceleration(fast_round_up<unsigned int>(m_config.default_acceleration.value));
+    // reset jerk
+    gcode += m_writer.set_jerk(fast_round_up<unsigned int>(m_config.default_jerk.value));
 
     if (m_wipe.enabled())
         // Wipe will hide the seam.
@@ -2972,6 +2976,8 @@ std::string GCodeGenerator::extrude_multi_path(const ExtrusionMultiPath &multipa
     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));
+    // reset jerk
+    gcode += m_writer.set_jerk(m_config.default_jerk.value);
     return gcode;
 }
 
@@ -3011,6 +3017,8 @@ std::string GCodeGenerator::extrude_path(const ExtrusionPath &path, bool reverse
     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));
+    // reset jerk
+    gcode += m_writer.set_jerk(m_config.default_jerk.value);
     return gcode;
 }
 
@@ -3169,6 +3177,31 @@ std::string GCodeGenerator::_extrude(
         gcode += m_writer.set_print_acceleration((unsigned int)floor(acceleration + 0.5));
     }
 
+    // adjust jerk
+    if (m_config.default_jerk.value > 0) {
+        int jerk;
+        if (this->on_first_layer() && m_config.first_layer_jerk.value > 0) {
+            jerk = m_config.first_layer_jerk.value;
+        } else if (this->object_layer_over_raft() && m_config.first_layer_jerk_over_raft.value > 0) {
+            jerk = m_config.first_layer_jerk_over_raft.value;
+        } else if (m_config.bridge_jerk.value > 0 && path_attr.role.is_bridge()) {
+            jerk = m_config.bridge_jerk.value;
+        } else if (m_config.top_solid_infill_jerk > 0 && path_attr.role == ExtrusionRole::TopSolidInfill) {
+            jerk = m_config.top_solid_infill_jerk.value;
+        } else if (m_config.solid_infill_jerk > 0 && path_attr.role.is_solid_infill()) {
+            jerk = m_config.solid_infill_jerk.value;
+        } else if (m_config.infill_jerk.value > 0 && path_attr.role.is_infill()) {
+            jerk = m_config.infill_jerk.value;
+        } else if (m_config.external_perimeter_jerk > 0 && path_attr.role.is_external_perimeter()) {
+            jerk = m_config.external_perimeter_jerk.value;
+        } else if (m_config.perimeter_jerk.value > 0 && path_attr.role.is_perimeter()) {
+            jerk = m_config.perimeter_jerk.value;
+        } else {
+            jerk = m_config.default_jerk.value;
+        }
+        gcode += m_writer.set_jerk(jerk);
+    }
+
     // calculate extrusion length per distance unit
     double e_per_mm = m_writer.extruder()->e_per_mm3() * path_attr.mm3_per_mm;
     if (m_writer.extrusion_axis().empty())
@@ -3606,6 +3639,8 @@ std::string GCodeGenerator::generate_travel_gcode(
     // 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);
+    if (m_config.default_jerk > 0 && m_config.travel_jerk > 0)
+        gcode += this->m_writer.set_jerk(m_config.travel_jerk);
 
     for (const Vec3crd& point : travel) {
         gcode += this->m_writer.travel_to_xyz(to_3d(this->point_to_gcode(point.head<2>()), unscaled(point.z())), comment);
@@ -3618,6 +3653,8 @@ std::string GCodeGenerator::generate_travel_gcode(
         gcode += this->m_writer.set_travel_acceleration(acceleration);
     }
 
+    if (m_config.default_jerk > 0 && m_config.travel_jerk > 0)
+        gcode += this->m_writer.set_jerk(m_config.default_jerk);
     return gcode;
 }
 

src/libslic3r/GCode/GCodeWriter.cpp

@@ -51,6 +51,11 @@ void GCodeWriter::apply_print_config(const PrintConfig &print_config)
         print_config.machine_max_acceleration_extruding.values.front() : 0));
     m_max_travel_acceleration = static_cast<unsigned int>(std::round((use_mach_limits && print_config.machine_limits_usage.value == MachineLimitsUsage::EmitToGCode && supports_separate_travel_acceleration(print_config.gcode_flavor.value)) ?
         print_config.machine_max_acceleration_travel.values.front() : 0));
+
+    m_max_jerk_x = static_cast<unsigned int>(std::round((use_mach_limits && print_config.machine_limits_usage.value == MachineLimitsUsage::EmitToGCode) ?
+        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));
 }
 
 void GCodeWriter::set_extruders(std::vector<unsigned int> extruder_ids)
@@ -212,6 +217,30 @@ std::string GCodeWriter::set_acceleration_internal(Acceleration type, unsigned i
     return gcode.str();
 }
 
+std::string GCodeWriter::set_jerk(unsigned int jerk)
+{
+    if (jerk == 0)
+        return {};
+
+    // Clamp the acceleration to the allowed maximum.
+    int jerk_x = jerk, jerk_y = jerk;
+    if (m_max_jerk_x > 0 && jerk > m_max_jerk_x)
+        jerk_x = m_max_jerk_x;
+    if (m_max_jerk_y > 0 && jerk > m_max_jerk_y)
+        jerk_y = m_max_jerk_y;
+
+    std::ostringstream gcode;
+    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";
+    gcode << "\n";
+
+    return gcode.str();
+}
+
 std::string GCodeWriter::reset_e(bool force)
 {
     return

src/libslic3r/GCode/GCodeWriter.hpp

@@ -54,6 +54,7 @@ class GCodeWriter {
     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 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
@@ -112,6 +113,9 @@ class GCodeWriter {
     unsigned int    m_max_acceleration;
     unsigned int    m_max_travel_acceleration;
 
+    unsigned int    m_max_jerk_x;
+    unsigned int    m_max_jerk_y;
+
     unsigned int    m_last_bed_temperature;
     bool            m_last_bed_temperature_reached;
     Vec3d           m_pos = Vec3d::Zero();

src/libslic3r/Preset.cpp

@@ -459,6 +459,9 @@ static std::vector<std::string> s_Preset_print_options {
     "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",
     "draft_shield_loops",
+    "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",
     "min_skirt_length", "brim_width", "brim_separation", "brim_type", "support_material", "support_material_auto", "support_material_threshold", "support_material_enforce_layers",
     "raft_layers", "raft_first_layer_density", "raft_first_layer_expansion", "raft_contact_distance", "raft_expansion",
     "support_material_pattern", "support_material_with_sheath", "support_material_spacing", "support_material_closing_radius", "support_material_style",

src/libslic3r/Print.cpp

@@ -88,6 +88,7 @@ bool Print::invalidate_state_by_config_options(const ConfigOptionResolver & /* n
         "between_objects_gcode",
         "binary_gcode",
         "bridge_acceleration",
+        "bridge_jerk",
         "bridge_fan_speed",
         "enable_dynamic_fan_speeds",
         "overhang_fan_speed_0",
@@ -99,12 +100,14 @@ bool Print::invalidate_state_by_config_options(const ConfigOptionResolver & /* n
         "colorprint_heights",
         "cooling",
         "default_acceleration",
+        "default_jerk",
         "deretract_speed",
         "disable_fan_first_layers",
         "duplicate_distance",
         "end_gcode",
         "end_filament_gcode",
         "external_perimeter_acceleration",
+        "external_perimeter_jerk",
         "extrusion_axis",
         "extruder_clearance_height",
         "extruder_clearance_radius",
@@ -122,11 +125,14 @@ bool Print::invalidate_state_by_config_options(const ConfigOptionResolver & /* n
         "filament_spool_weight",
         "first_layer_acceleration",
         "first_layer_acceleration_over_raft",
+        "first_layer_jerk",
+        "first_layer_jerk_over_raft",
         "first_layer_bed_temperature",
         "first_layer_speed_over_raft",
         "gcode_comments",
         "gcode_label_objects",
         "infill_acceleration",
+        "infill_jerk",
         "layer_gcode",
         "min_fan_speed",
         "max_fan_speed",
@@ -140,6 +146,7 @@ bool Print::invalidate_state_by_config_options(const ConfigOptionResolver & /* n
         "only_retract_when_crossing_perimeters",
         "output_filename_format",
         "perimeter_acceleration",
+        "perimeter_jerk",
         "post_process",
         "gcode_substitutions",
         "printer_notes",
@@ -162,12 +169,15 @@ bool Print::invalidate_state_by_config_options(const ConfigOptionResolver & /* n
         "single_extruder_multi_material_priming",
         "slowdown_below_layer_time",
         "solid_infill_acceleration",
+        "solid_infill_jerk",
         "standby_temperature_delta",
         "start_gcode",
         "start_filament_gcode",
         "toolchange_gcode",
         "top_solid_infill_acceleration",
+        "top_solid_infill_jerk",
         "travel_acceleration",
+        "travel_jerk",
         "thumbnails",
         "thumbnails_format",
         "use_firmware_retraction",