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Marlin/Configuration_adv.h

@@ -2267,10 +2267,9 @@
 /**
  * Nonlinear Extrusion Control
  *
- * Enables control over extrusion rate based on instantaneous extruder velocity. This can be used
- * to correct for underextrusion at high extruder speeds that are otherwise well-behaved (e.g.
- * not yet skipping).
-*/
+ * Control extrusion rate based on instantaneous extruder velocity. Can be used to correct for
+ * underextrusion at high extruder speeds that are otherwise well-behaved (i.e., not skipping).
+ */
 //#define NONLINEAR_EXTRUSION
 
 // @section leveling

Marlin/src/core/language.h

@@ -299,6 +299,7 @@
 #define STR_CHAMBER_PID                     "Chamber PID"
 #define STR_STEPS_PER_UNIT                  "Steps per unit"
 #define STR_LINEAR_ADVANCE                  "Linear Advance"
+#define STR_NONLINEAR_EXTRUSION             "Nonlinear Extrusion"
 #define STR_CONTROLLER_FAN                  "Controller Fan"
 #define STR_STEPPER_MOTOR_CURRENTS          "Stepper motor currents"
 #define STR_RETRACT_S_F_Z                   "Retract (S<length> F<feedrate> Z<lift>)"

Marlin/src/gcode/feature/nonlinear/M592.cpp

@@ -27,28 +27,25 @@
 #include "../../gcode.h"
 #include "../../../module/stepper.h"
 
+void GcodeSuite::M592_report(const bool forReplay/*=true*/) {
+  report_heading(forReplay, F(STR_NONLINEAR_EXTRUSION));
+  SERIAL_ECHOLNPGM("  M593 A", stepper.ne.A, " B", stepper.ne.B, " C", stepper.ne.C);
+}
+
 /**
  * M592: Get or set nonlinear extrusion parameters
  *  A<factor>   Linear coefficient (default 0.0)
  *  B<factor>   Quadratic coefficient (default 0.0)
  *  C<factor>   Constant coefficient (default 1.0)
  *
- *  Adjusts the amount of extrusion based on the instantaneous velocity of extrusion, as a multiplier.
- *  The amount of extrusion is multiplied by max(C, C + A*v + B*v^2) where v is extruder velocity in mm/s.
- *  Only adjusts forward extrusions, since those are the ones affected by backpressure.
+ * Adjusts the amount of extrusion based on the instantaneous velocity of extrusion, as a multiplier.
+ * The amount of extrusion is multiplied by max(C, C + A*v + B*v^2) where v is extruder velocity in mm/s.
+ * Only adjusts forward extrusions, since those are the ones affected by backpressure.
  */
 void GcodeSuite::M592() {
-  if (parser.seenval('A')) {
-    stepper.ne_A = parser.value_float();
-  }
-
-  if (parser.seenval('B')) {
-    stepper.ne_B = parser.value_float();
-  }
-
-  if (parser.seenval('C')) {
-    stepper.ne_C = parser.value_float();
-  }
+  if (parser.seenval('A')) stepper.ne.A = parser.value_float();
+  if (parser.seenval('B')) stepper.ne.B = parser.value_float();
+  if (parser.seenval('C')) stepper.ne.C = parser.value_float();
 }
 
 #endif // NONLINEAR_EXTRUSION

Marlin/src/gcode/gcode.h

@@ -1109,6 +1109,7 @@ class GcodeSuite {
 
   #if ENABLED(NONLINEAR_EXTRUSION)
     static void M592();
+    static void M592_report(const bool forReplay=true);
   #endif
 
   #if HAS_ZV_SHAPING

Marlin/src/inc/SanityCheck.h

@@ -853,19 +853,15 @@ static_assert(COUNT(arm) == LOGICAL_AXES, "AXIS_RELATIVE_MODES must contain " _L
 #endif
 
 /**
- *  Nonlinear Extrusion requirements
+ * Nonlinear Extrusion requirements
  */
 #if ENABLED(NONLINEAR_EXTRUSION)
   #if DISABLED(ADAPTIVE_STEP_SMOOTHING)
-    #error "ADAPTIVE_STEP_SMOOTHING is required for NONLINEAR_EXTRUSION"
-  #endif
-
-  #if EXTRUDERS > 1
-    #error "NONLINEAR_EXTRUSION doesn't currently support multi-extruder setups"
-  #endif
-
-  #if DISABLED(CPU_32_BIT)
-    #error "NONLINEAR_EXTRUSION requires 32-bit CPU"
+    #error "ADAPTIVE_STEP_SMOOTHING is required for NONLINEAR_EXTRUSION."
+  #elif HAS_MULTI_EXTRUDER
+    #error "NONLINEAR_EXTRUSION doesn't currently support multi-extruder setups."
+  #elif DISABLED(CPU_32_BIT)
+    #error "NONLINEAR_EXTRUSION requires a 32-bit CPU."
   #endif
 #endif
 

Marlin/src/module/settings.cpp

@@ -635,10 +635,10 @@ typedef struct SettingsDataStruct {
   #endif
 
   //
-  // NONLINEAR_EXTRUSION
+  // Nonlinear Extrusion
   //
   #if ENABLED(NONLINEAR_EXTRUSION)
-    float ne_A, ne_B, ne_C;                             // M592 A B C
+    ne_coeff_t stepper_ne;                              // M592 A B C
   #endif
 
 } SettingsData;
@@ -1737,12 +1737,10 @@ void MarlinSettings::postprocess() {
     #endif
 
     //
-    // NONLINEAR_EXTRUSION
+    // Nonlinear Extrusion
     //
     #if ENABLED(NONLINEAR_EXTRUSION)
-      EEPROM_WRITE(stepper.ne_A);
-      EEPROM_WRITE(stepper.ne_B);
-      EEPROM_WRITE(stepper.ne_C);
+      EEPROM_WRITE(stepper.ne);
     #endif
 
     //
@@ -2820,12 +2818,10 @@ void MarlinSettings::postprocess() {
       #endif
 
       //
-      // NONLINEAR_EXTRUSION
+      // Nonlinear Extrusion
       //
       #if ENABLED(NONLINEAR_EXTRUSION)
-        EEPROM_READ(stepper.ne_A);
-        EEPROM_READ(stepper.ne_B);
-        EEPROM_READ(stepper.ne_C);
+        EEPROM_READ(stepper.ne);
       #endif
 
       //
@@ -3421,15 +3417,13 @@ void MarlinSettings::reset() {
   //
   // Heated Bed PID
   //
-
   #if ENABLED(PIDTEMPBED)
     thermalManager.temp_bed.pid.set(DEFAULT_bedKp, DEFAULT_bedKi, DEFAULT_bedKd);
   #endif
 
   //
   // Heated Chamber PID
   //
-
   #if ENABLED(PIDTEMPCHAMBER)
     thermalManager.temp_chamber.pid.set(DEFAULT_chamberKp, DEFAULT_chamberKi, DEFAULT_chamberKd);
   #endif
@@ -3481,7 +3475,6 @@ void MarlinSettings::reset() {
   //
   // Volumetric & Filament Size
   //
-
   #if DISABLED(NO_VOLUMETRICS)
     parser.volumetric_enabled = ENABLED(VOLUMETRIC_DEFAULT_ON);
     for (uint8_t q = 0; q < COUNT(planner.filament_size); ++q)
@@ -3623,6 +3616,11 @@ void MarlinSettings::reset() {
   //
   TERN_(FT_MOTION, fxdTiCtrl.set_defaults());
 
+  //
+  // Nonlinear Extrusion
+  //
+  TERN_(NONLINEAR_EXTRUSION, stepper.ne.reset());
+
   //
   // Input Shaping
   //
@@ -3892,6 +3890,11 @@ void MarlinSettings::reset() {
     //
     TERN_(FT_MOTION, gcode.M493_report(forReplay));
 
+    //
+    // Nonlinear Extrusion
+    //
+    TERN_(NONLINEAR_EXTRUSION, gcode.M592_report(forReplay));
+
     //
     // Input Shaping
     //

Marlin/src/module/stepper.cpp

@@ -246,13 +246,9 @@ uint32_t Stepper::advance_divisor = 0,
 #endif
 
 #if ENABLED(NONLINEAR_EXTRUSION)
+  ne_coeff_t Stepper::ne;
+  ne_fix_t Stepper::ne_fix;
   int32_t Stepper::ne_edividend;
-  float Stepper::ne_A = 0;
-  float Stepper::ne_B = 0;
-  float Stepper::ne_C = 1;
-  int32_t Stepper::ne_Afix;
-  int32_t Stepper::ne_Bfix;
-  int32_t Stepper::ne_Cfix;
   uint32_t Stepper::ne_scale;
 #endif
 
@@ -2206,11 +2202,11 @@ hal_timer_t Stepper::calc_timer_interval(uint32_t step_rate) {
 hal_timer_t Stepper::calc_multistep_timer_interval(uint32_t step_rate) {
 
   #if ENABLED(NONLINEAR_EXTRUSION)
-    uint32_t velocity = ne_scale * step_rate; // scale step_rate first so all intermediate values stay in range of 8.24 fixed point math
-    int32_t vd = (((int64_t)ne_Afix * velocity) >> 24) + (((((int64_t)ne_Bfix * velocity) >> 24) * velocity) >> 24);
-    if (vd < 0) vd = 0;
+    const uint32_t velocity = ne_scale * step_rate; // Scale step_rate first so all intermediate values stay in range of 8.24 fixed point math
+    int32_t vd = (((int64_t)nefix.A * velocity) >> 24) + (((((int64_t)nefix.B * velocity) >> 24) * velocity) >> 24);
+    NOLESS(vd, 0);
 
-    advance_dividend.e = ((uint64_t)(ne_Cfix + vd) * ne_edividend) >> 24;
+    advance_dividend.e = (uint64_t(nefix.C + vd) * ne_edividend) >> 24;
   #endif
 
   #if ENABLED(OLD_ADAPTIVE_MULTISTEPPING)
@@ -2655,9 +2651,10 @@ hal_timer_t Stepper::block_phase_isr() {
       acceleration_time = deceleration_time = 0;
 
       #if ENABLED(ADAPTIVE_STEP_SMOOTHING)
-        oversampling_factor = 0;                          // Assume no axis smoothing (via oversampling)
         #if ENABLED(NONLINEAR_EXTRUSION)
-          oversampling_factor = 1;                        // We need at least 2x oversampling to ensure we can increase extruder step rate
+          oversampling_factor = 1;                        // Need at least 2x oversampling to permit increase of E step rate
+        #else
+          oversampling_factor = 0;                        // Assume no axis smoothing (via oversampling)
         #endif
         // Decide if axis smoothing is possible
         uint32_t max_rate = current_block->nominal_rate;  // Get the step event rate
@@ -2777,16 +2774,16 @@ hal_timer_t Stepper::block_phase_isr() {
 
       #if ENABLED(NONLINEAR_EXTRUSION)
         ne_edividend = advance_dividend.e;
-        float scale = (float(ne_edividend) / advance_divisor) * planner.mm_per_step[E_AXIS_N(current_block->extruder)];
+        const float scale = (float(ne_edividend) / advance_divisor) * planner.mm_per_step[E_AXIS_N(current_block->extruder)];
         ne_scale = (1L << 24) * scale;
         if (current_block->direction_bits.e) {
-          ne_Afix = (1L << 24) * ne_A;
-          ne_Bfix = (1L << 24) * ne_B;
-          ne_Cfix = (1L << 24) * ne_C;
-        } else {
-          ne_Afix = 0;
-          ne_Bfix = 0;
-          ne_Cfix = (1L << 24);
+          ne_fix.A = (1L << 24) * ne.A;
+          ne_fix.B = (1L << 24) * ne.B;
+          ne_fix.C = (1L << 24) * ne.C;
+        }
+        else {
+          ne_fix.A = ne_fix.B = 0;
+          ne_fix.C = (1L << 24);
         }
       #endif
 

Marlin/src/module/stepper.h

@@ -284,6 +284,11 @@ constexpr ena_mask_t enable_overlap[] = {
 
 #endif // HAS_ZV_SHAPING
 
+#if ENABLED(NONLINEAR_EXTRUSION)
+  typedef struct { float A, B, C; void reset() { A = B = 0.0f; C = 1.0f; } } ne_coeff_t;
+  typedef struct { int32_t A, B, C; } ne_fix_t;
+#endif
+
 //
 // Stepper class definition
 //
@@ -327,9 +332,7 @@ class Stepper {
     #endif
 
     #if ENABLED(NONLINEAR_EXTRUSION)
-      static float ne_A;
-      static float ne_B;
-      static float ne_C;
+      static ne_coeff_t nla;
     #endif
 
   private:
@@ -423,11 +426,9 @@ class Stepper {
     #endif
 
     #if ENABLED(NONLINEAR_EXTRUSION)
-        static int32_t ne_edividend;
-        static int32_t ne_Afix;
-        static int32_t ne_Bfix;
-        static int32_t ne_Cfix;
-        static uint32_t ne_scale;
+      static int32_t ne_edividend;
+      static uint32_t ne_scale;
+      static ne_fix_t ne_fix;
     #endif
 
     #if ENABLED(BABYSTEPPING)

buildroot/tests/STM32F103RC_btt

@@ -12,7 +12,7 @@ set -e
 restore_configs
 opt_set MOTHERBOARD BOARD_BTT_SKR_MINI_E3_V1_0 SERIAL_PORT 1 SERIAL_PORT_2 -1 \
         X_DRIVER_TYPE TMC2209 Y_DRIVER_TYPE TMC2209 Z_DRIVER_TYPE TMC2209 E0_DRIVER_TYPE TMC2209
-opt_enable CR10_STOCKDISPLAY PINS_DEBUGGING Z_IDLE_HEIGHT FT_MOTION FT_MOTION_MENU
+opt_enable CR10_STOCKDISPLAY PINS_DEBUGGING Z_IDLE_HEIGHT FT_MOTION FT_MOTION_MENU NONLINEAR_EXTRUSION
 exec_test $1 $2 "BigTreeTech SKR Mini E3 1.0 - TMC2209 HW Serial, FT_MOTION" "$3"
 
 # clean up