Merge pull request #10615 from thinkyhead/bf1_synced_planner_set_position
[1.1.x] Improve sync of planner / stepper position, asynchronous G92
This commit is contained in:
Scott Lahteine
GitHub
commit
1f991f07be
@ -204,8 +204,6 @@
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destination[E_AXIS] = current_position[E_AXIS];
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G26_line_to_destination(feed_value);
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stepper.synchronize();
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set_destination_from_current();
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}
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@ -220,8 +218,6 @@
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destination[E_AXIS] += e_delta;
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G26_line_to_destination(feed_value);
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stepper.synchronize();
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set_destination_from_current();
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}
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@ -267,13 +263,12 @@
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if (Total_Prime >= EXTRUDE_MAXLENGTH) return G26_ERR;
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#endif
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G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
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set_destination_from_current();
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stepper.synchronize(); // Without this synchronize, the purge is more consistent,
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// but because the planner has a buffer, we won't be able
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// to stop as quickly. So we put up with the less smooth
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// action to give the user a more responsive 'Stop'.
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set_destination_from_current();
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idle();
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SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
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}
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@ -295,7 +290,6 @@
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set_destination_from_current();
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destination[E_AXIS] += g26_prime_length;
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G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
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stepper.synchronize();
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set_destination_from_current();
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retract_filament(destination);
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}
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@ -703,7 +697,6 @@
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if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) {
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do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
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stepper.synchronize();
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set_current_from_destination();
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}
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@ -738,7 +731,7 @@
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lcd_external_control = true;
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#endif
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// debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern."));
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//debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern."));
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/**
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* Pre-generate radius offset values at 30 degree intervals to reduce CPU load.
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@ -358,7 +358,7 @@
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stepper.synchronize();
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planner.buffer_line(startCoord[X_AXIS],startCoord[Y_AXIS],startCoord[Z_AXIS],
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planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
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stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
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stepper.synchronize();
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@ -415,10 +415,10 @@
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startCoord[encoderAxis] = startDistance;
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endCoord[encoderAxis] = endDistance;
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LOOP_L_N(i, iter) {
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stepper.synchronize();
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stepper.synchronize();
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planner.buffer_line(startCoord[X_AXIS],startCoord[Y_AXIS],startCoord[Z_AXIS],
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LOOP_L_N(i, iter) {
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planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
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stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
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stepper.synchronize();
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@ -427,7 +427,7 @@
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//do_blocking_move_to(endCoord[X_AXIS],endCoord[Y_AXIS],endCoord[Z_AXIS]);
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planner.buffer_line(endCoord[X_AXIS],endCoord[Y_AXIS],endCoord[Z_AXIS],
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planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS],
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stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
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stepper.synchronize();
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@ -2984,7 +2984,7 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
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#else
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sync_plan_position();
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current_position[axis] = distance;
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current_position[axis] = distance; // Set delta/cartesian axes directly
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
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#endif
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@ -5337,8 +5337,8 @@ void home_all_axes() { gcode_G28(true); }
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
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#endif
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enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
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stepper.synchronize();
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enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
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#endif
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// Auto Bed Leveling is complete! Enable if possible.
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@ -6134,9 +6134,8 @@ void home_all_axes() { gcode_G28(true); }
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}
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#endif
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stepper.synchronize(); // wait until the machine is idle
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// Move until destination reached or target hit
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stepper.synchronize();
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endstops.enable(true);
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G38_move = true;
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G38_endstop_hit = false;
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@ -6158,13 +6157,13 @@ void home_all_axes() { gcode_G28(true); }
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LOOP_XYZ(i) destination[i] += retract_mm[i];
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endstops.enable(false);
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prepare_move_to_destination();
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stepper.synchronize();
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feedrate_mm_s /= 4;
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// Bump the target more slowly
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LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
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stepper.synchronize();
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endstops.enable(true);
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G38_move = true;
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prepare_move_to_destination();
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@ -6258,8 +6257,6 @@ void home_all_axes() { gcode_G28(true); }
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*/
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inline void gcode_G92() {
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stepper.synchronize();
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#if ENABLED(CNC_COORDINATE_SYSTEMS)
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switch (parser.subcode) {
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case 1:
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@ -6319,10 +6316,9 @@ inline void gcode_G92() {
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COPY(coordinate_system[active_coordinate_system], position_shift);
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#endif
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if (didXYZ)
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SYNC_PLAN_POSITION_KINEMATIC();
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else if (didE)
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sync_plan_position_e();
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// Update planner/steppers only if the native coordinates changed
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if (didXYZ) SYNC_PLAN_POSITION_KINEMATIC();
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else if (didE) sync_plan_position_e();
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report_current_position();
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}
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@ -6349,6 +6345,8 @@ inline void gcode_G92() {
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const bool has_message = !hasP && !hasS && args && *args;
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stepper.synchronize();
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#if ENABLED(ULTIPANEL)
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if (has_message)
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@ -6372,8 +6370,6 @@ inline void gcode_G92() {
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KEEPALIVE_STATE(PAUSED_FOR_USER);
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wait_for_user = true;
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stepper.synchronize();
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if (ms > 0) {
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ms += millis(); // wait until this time for a click
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while (PENDING(millis(), ms) && wait_for_user) idle();
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@ -6524,8 +6520,8 @@ inline void gcode_M17() {
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set_destination_from_current();
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destination[E_AXIS] += length / planner.e_factor[active_extruder];
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planner.buffer_line_kinematic(destination, fr, active_extruder);
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stepper.synchronize();
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set_current_from_destination();
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stepper.synchronize();
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}
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static float resume_position[XYZE];
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@ -6813,12 +6809,12 @@ inline void gcode_M17() {
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#endif
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print_job_timer.pause();
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// Wait for synchronize steppers
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stepper.synchronize();
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// Save current position
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COPY(resume_position, current_position);
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// Wait for synchronize steppers
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stepper.synchronize();
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// Initial retract before move to filament change position
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if (retract && thermalManager.hotEnoughToExtrude(active_extruder))
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do_pause_e_move(retract, PAUSE_PARK_RETRACT_FEEDRATE);
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@ -8508,7 +8504,6 @@ inline void gcode_M81() {
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safe_delay(1000); // Wait 1 second before switching off
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#if HAS_SUICIDE
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stepper.synchronize();
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suicide();
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#elif HAS_POWER_SWITCH
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PSU_OFF();
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@ -8644,8 +8639,6 @@ void report_current_position() {
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void report_current_position_detail() {
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stepper.synchronize();
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SERIAL_PROTOCOLPGM("\nLogical:");
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const float logical[XYZ] = {
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LOGICAL_X_POSITION(current_position[X_AXIS]),
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@ -8680,6 +8673,8 @@ void report_current_position() {
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report_xyz(delta);
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#endif
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stepper.synchronize();
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SERIAL_PROTOCOLPGM("Stepper:");
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LOOP_XYZE(i) {
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SERIAL_CHAR(' ');
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@ -13369,8 +13364,8 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
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current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
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planner.max_feedrate_mm_s[X_AXIS], 1
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);
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SYNC_PLAN_POSITION_KINEMATIC();
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stepper.synchronize();
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SYNC_PLAN_POSITION_KINEMATIC();
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extruder_duplication_enabled = true;
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active_extruder_parked = false;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -13978,6 +13973,7 @@ void manage_inactivity(const bool ignore_stepper_queue/*=false*/) {
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planner.buffer_line_kinematic(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
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current_position[E_AXIS] = olde;
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planner.set_e_position_mm(olde);
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stepper.synchronize();
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#if ENABLED(SWITCHING_EXTRUDER)
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E0_ENABLE_WRITE(oldstatus);
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@ -107,7 +107,7 @@ void FWRetract::retract(const bool retracting
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// G11 priority to recover the long retract if activated
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if (!retracting) swapping = retracted_swap[active_extruder];
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#else
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const bool swapping = false;
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constexpr bool swapping = false;
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#endif
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/* // debugging
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@ -127,54 +127,47 @@ void FWRetract::retract(const bool retracting
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SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
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//*/
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const float old_feedrate_mm_s = feedrate_mm_s;
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const float old_feedrate_mm_s = feedrate_mm_s,
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renormalize = RECIPROCAL(planner.e_factor[active_extruder]),
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base_retract = swapping ? swap_retract_length : retract_length,
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old_z = current_position[Z_AXIS],
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old_e = current_position[E_AXIS];
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// The current position will be the destination for E and Z moves
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set_destination_from_current();
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stepper.synchronize(); // Wait for buffered moves to complete
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const float renormalize = 1.0 / planner.e_factor[active_extruder];
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if (retracting) {
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// Retract by moving from a faux E position back to the current E position
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feedrate_mm_s = retract_feedrate_mm_s;
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current_position[E_AXIS] += (swapping ? swap_retract_length : retract_length) * renormalize;
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sync_plan_position_e();
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prepare_move_to_destination(); // set_current_to_destination
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destination[E_AXIS] -= base_retract * renormalize;
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prepare_move_to_destination(); // set_current_to_destination
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// Is a Z hop set, and has the hop not yet been done?
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// No double zlifting
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// Feedrate to the max
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if (retract_zlift > 0.01 && !hop_amount) { // Apply hop only once
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const float old_z = current_position[Z_AXIS];
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hop_amount += retract_zlift; // Add to the hop total (again, only once)
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destination[Z_AXIS] += retract_zlift; // Raise Z by the zlift (M207 Z) amount
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feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Maximum Z feedrate
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prepare_move_to_destination(); // Raise up, set_current_to_destination
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current_position[Z_AXIS] = old_z; // Spoof the Z position in the planner
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SYNC_PLAN_POSITION_KINEMATIC();
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}
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}
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else {
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// If a hop was done and Z hasn't changed, undo the Z hop
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if (hop_amount) {
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current_position[Z_AXIS] += hop_amount; // Set actual Z (due to the prior hop)
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SYNC_PLAN_POSITION_KINEMATIC(); // Spoof the Z position in the planner
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destination[Z_AXIS] -= hop_amount; // Move back down by the total hop amount
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feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Z feedrate to max
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prepare_move_to_destination(); // Lower Z, set_current_to_destination
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hop_amount = 0.0; // Clear the hop amount
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}
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// A retract multiplier has been added here to get faster swap recovery
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destination[E_AXIS] += (base_retract + (swapping ? swap_retract_recover_length : retract_recover_length)) * renormalize;
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feedrate_mm_s = swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s;
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current_position[E_AXIS] -= (swapping ? swap_retract_length + swap_retract_recover_length
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: retract_length + retract_recover_length) * renormalize;
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sync_plan_position_e();
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prepare_move_to_destination(); // Recover E, set_current_to_destination
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}
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feedrate_mm_s = old_feedrate_mm_s; // Restore original feedrate
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current_position[Z_AXIS] = old_z; // Restore Z and E positions
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current_position[E_AXIS] = old_e;
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SYNC_PLAN_POSITION_KINEMATIC(); // As if the move never took place
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retracted[active_extruder] = retracting; // Active extruder now retracted / recovered
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@ -819,15 +819,9 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
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const float esteps_float = de * e_factor[extruder];
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const int32_t esteps = abs(esteps_float) + 0.5;
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// Calculate the buffer head after we push this byte
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const uint8_t next_buffer_head = next_block_index(block_buffer_head);
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// If the buffer is full: good! That means we are well ahead of the robot.
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// Rest here until there is room in the buffer.
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while (block_buffer_tail == next_buffer_head) idle();
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// Prepare to set up new block
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block_t* block = &block_buffer[block_buffer_head];
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// Wait for the next available block
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uint8_t next_buffer_head;
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block_t * const block = get_next_free_block(next_buffer_head);
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// Clear all flags, including the "busy" bit
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block->flag = 0x00;
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@ -1467,6 +1461,26 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
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} // _buffer_steps()
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/**
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* Planner::buffer_sync_block
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* Add a block to the buffer that just updates the position
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*/
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void Planner::buffer_sync_block() {
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// Wait for the next available block
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uint8_t next_buffer_head;
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block_t * const block = get_next_free_block(next_buffer_head);
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block->steps[A_AXIS] = position[A_AXIS];
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block->steps[B_AXIS] = position[B_AXIS];
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block->steps[C_AXIS] = position[C_AXIS];
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block->steps[E_AXIS] = position[E_AXIS];
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block->flag = BLOCK_FLAG_SYNC_POSITION;
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block_buffer_head = next_buffer_head;
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stepper.wake_up();
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} // buffer_sync_block()
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/**
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* Planner::buffer_segment
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*
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@ -1595,19 +1609,19 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c
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#else
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#define _EINDEX E_AXIS
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#endif
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const int32_t na = position[A_AXIS] = LROUND(a * axis_steps_per_mm[A_AXIS]),
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nb = position[B_AXIS] = LROUND(b * axis_steps_per_mm[B_AXIS]),
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nc = position[C_AXIS] = LROUND(c * axis_steps_per_mm[C_AXIS]),
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ne = position[E_AXIS] = LROUND(e * axis_steps_per_mm[_EINDEX]);
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position[A_AXIS] = LROUND(a * axis_steps_per_mm[A_AXIS]),
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position[B_AXIS] = LROUND(b * axis_steps_per_mm[B_AXIS]),
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position[C_AXIS] = LROUND(c * axis_steps_per_mm[C_AXIS]),
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position[E_AXIS] = LROUND(e * axis_steps_per_mm[_EINDEX]);
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#if HAS_POSITION_FLOAT
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position_float[X_AXIS] = a;
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position_float[Y_AXIS] = b;
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position_float[Z_AXIS] = c;
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position_float[A_AXIS] = a;
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position_float[B_AXIS] = b;
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position_float[C_AXIS] = c;
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position_float[E_AXIS] = e;
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#endif
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stepper.set_position(na, nb, nc, ne);
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previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
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ZERO(previous_speed);
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buffer_sync_block();
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}
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void Planner::set_position_mm_kinematic(const float (&cart)[XYZE]) {
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@ -1655,23 +1669,23 @@ void Planner::set_position_mm(const AxisEnum axis, const float &v) {
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#if HAS_POSITION_FLOAT
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position_float[axis] = v;
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#endif
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stepper.set_position(axis, position[axis]);
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previous_speed[axis] = 0.0;
|
||||
buffer_sync_block();
|
||||
}
|
||||
|
||||
// Recalculate the steps/s^2 acceleration rates, based on the mm/s^2
|
||||
void Planner::reset_acceleration_rates() {
|
||||
#if ENABLED(DISTINCT_E_FACTORS)
|
||||
#define HIGHEST_CONDITION (i < E_AXIS || i == E_AXIS + active_extruder)
|
||||
#define AXIS_CONDITION (i < E_AXIS || i == E_AXIS + active_extruder)
|
||||
#else
|
||||
#define HIGHEST_CONDITION true
|
||||
#define AXIS_CONDITION true
|
||||
#endif
|
||||
uint32_t highest_rate = 1;
|
||||
LOOP_XYZE_N(i) {
|
||||
max_acceleration_steps_per_s2[i] = max_acceleration_mm_per_s2[i] * axis_steps_per_mm[i];
|
||||
if (HIGHEST_CONDITION) NOLESS(highest_rate, max_acceleration_steps_per_s2[i]);
|
||||
if (AXIS_CONDITION) NOLESS(highest_rate, max_acceleration_steps_per_s2[i]);
|
||||
}
|
||||
cutoff_long = 4294967295UL / highest_rate;
|
||||
cutoff_long = 4294967295UL / highest_rate; // 0xFFFFFFFFUL
|
||||
}
|
||||
|
||||
// Recalculate position, steps_to_mm if axis_steps_per_mm changes!
|
||||
|
||||
@ -53,14 +53,18 @@ enum BlockFlagBit : char {
|
||||
BLOCK_BIT_BUSY,
|
||||
|
||||
// The block is segment 2+ of a longer move
|
||||
BLOCK_BIT_CONTINUED
|
||||
BLOCK_BIT_CONTINUED,
|
||||
|
||||
// Sync the stepper counts from the block
|
||||
BLOCK_BIT_SYNC_POSITION
|
||||
};
|
||||
|
||||
enum BlockFlag : char {
|
||||
BLOCK_FLAG_RECALCULATE = _BV(BLOCK_BIT_RECALCULATE),
|
||||
BLOCK_FLAG_NOMINAL_LENGTH = _BV(BLOCK_BIT_NOMINAL_LENGTH),
|
||||
BLOCK_FLAG_BUSY = _BV(BLOCK_BIT_BUSY),
|
||||
BLOCK_FLAG_CONTINUED = _BV(BLOCK_BIT_CONTINUED)
|
||||
BLOCK_FLAG_CONTINUED = _BV(BLOCK_BIT_CONTINUED),
|
||||
BLOCK_FLAG_SYNC_POSITION = _BV(BLOCK_BIT_SYNC_POSITION)
|
||||
};
|
||||
|
||||
/**
|
||||
@ -409,6 +413,20 @@ class Planner {
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
/**
|
||||
* Planner::get_next_free_block
|
||||
*
|
||||
* - Get the next head index (passed by reference)
|
||||
* - Wait for a space to open up in the planner
|
||||
* - Return the head block
|
||||
*/
|
||||
FORCE_INLINE static block_t* get_next_free_block(uint8_t &next_buffer_head) {
|
||||
next_buffer_head = next_block_index(block_buffer_head);
|
||||
while (block_buffer_tail == next_buffer_head) idle(); // while (is_full)
|
||||
return &block_buffer[block_buffer_head];
|
||||
}
|
||||
|
||||
/**
|
||||
* Planner::_buffer_steps
|
||||
*
|
||||
@ -426,6 +444,12 @@ class Planner {
|
||||
, float fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
|
||||
);
|
||||
|
||||
/**
|
||||
* Planner::buffer_sync_block
|
||||
* Add a block to the buffer that just updates the position
|
||||
*/
|
||||
static void buffer_sync_block();
|
||||
|
||||
/**
|
||||
* Planner::buffer_segment
|
||||
*
|
||||
@ -505,7 +529,7 @@ class Planner {
|
||||
static void set_position_mm_kinematic(const float (&cart)[XYZE]);
|
||||
static void set_position_mm(const AxisEnum axis, const float &v);
|
||||
FORCE_INLINE static void set_z_position_mm(const float &z) { set_position_mm(Z_AXIS, z); }
|
||||
FORCE_INLINE static void set_e_position_mm(const float &e) { set_position_mm(AxisEnum(E_AXIS), e); }
|
||||
FORCE_INLINE static void set_e_position_mm(const float &e) { set_position_mm(E_AXIS, e); }
|
||||
|
||||
/**
|
||||
* Sync from the stepper positions. (e.g., after an interrupted move)
|
||||
@ -515,7 +539,7 @@ class Planner {
|
||||
/**
|
||||
* Does the buffer have any blocks queued?
|
||||
*/
|
||||
static inline bool has_blocks_queued() { return (block_buffer_head != block_buffer_tail); }
|
||||
FORCE_INLINE static bool has_blocks_queued() { return (block_buffer_head != block_buffer_tail); }
|
||||
|
||||
/**
|
||||
* "Discard" the block and "release" the memory.
|
||||
|
||||
@ -91,10 +91,10 @@ int16_t Stepper::cleaning_buffer_counter = 0;
|
||||
bool Stepper::locked_z_motor = false, Stepper::locked_z2_motor = false;
|
||||
#endif
|
||||
|
||||
long Stepper::counter_X = 0,
|
||||
Stepper::counter_Y = 0,
|
||||
Stepper::counter_Z = 0,
|
||||
Stepper::counter_E = 0;
|
||||
int32_t Stepper::counter_X = 0,
|
||||
Stepper::counter_Y = 0,
|
||||
Stepper::counter_Z = 0,
|
||||
Stepper::counter_E = 0;
|
||||
|
||||
volatile uint32_t Stepper::step_events_completed = 0; // The number of step events executed in the current block
|
||||
|
||||
@ -123,13 +123,13 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
|
||||
|
||||
#endif // LIN_ADVANCE
|
||||
|
||||
long Stepper::acceleration_time, Stepper::deceleration_time;
|
||||
int32_t Stepper::acceleration_time, Stepper::deceleration_time;
|
||||
|
||||
volatile long Stepper::count_position[NUM_AXIS] = { 0 };
|
||||
volatile int32_t Stepper::count_position[NUM_AXIS] = { 0 };
|
||||
volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
|
||||
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
long Stepper::counter_m[MIXING_STEPPERS];
|
||||
int32_t Stepper::counter_m[MIXING_STEPPERS];
|
||||
#endif
|
||||
|
||||
uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
|
||||
@ -137,7 +137,7 @@ uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
|
||||
uint16_t Stepper::OCR1A_nominal,
|
||||
Stepper::acc_step_rate; // needed for deceleration start point
|
||||
|
||||
volatile long Stepper::endstops_trigsteps[XYZ];
|
||||
volatile int32_t Stepper::endstops_trigsteps[XYZ];
|
||||
|
||||
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
|
||||
#define LOCKED_X_MOTOR locked_x_motor
|
||||
@ -449,18 +449,30 @@ void Stepper::isr() {
|
||||
|
||||
// If there is no current block, attempt to pop one from the buffer
|
||||
if (!current_block) {
|
||||
|
||||
// Anything in the buffer?
|
||||
if ((current_block = planner.get_current_block())) {
|
||||
|
||||
// Sync block? Sync the stepper counts and return
|
||||
while (TEST(current_block->flag, BLOCK_BIT_SYNC_POSITION)) {
|
||||
_set_position(
|
||||
current_block->steps[A_AXIS], current_block->steps[B_AXIS],
|
||||
current_block->steps[C_AXIS], current_block->steps[E_AXIS]
|
||||
);
|
||||
planner.discard_current_block();
|
||||
if (!(current_block = planner.get_current_block())) return;
|
||||
}
|
||||
|
||||
trapezoid_generator_reset();
|
||||
|
||||
// Initialize Bresenham counters to 1/2 the ceiling
|
||||
counter_X = counter_Y = counter_Z = counter_E = -(current_block->step_event_count >> 1);
|
||||
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
MIXING_STEPPERS_LOOP(i)
|
||||
counter_m[i] = -(current_block->mix_event_count[i] >> 1);
|
||||
#endif
|
||||
|
||||
// No step events completed so far
|
||||
step_events_completed = 0;
|
||||
|
||||
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
|
||||
@ -469,6 +481,7 @@ void Stepper::isr() {
|
||||
#endif
|
||||
|
||||
#if ENABLED(Z_LATE_ENABLE)
|
||||
// If delayed Z enable, postpone move for 1mS
|
||||
if (current_block->steps[Z_AXIS] > 0) {
|
||||
enable_Z();
|
||||
_NEXT_ISR(2000); // Run at slow speed - 1 KHz
|
||||
@ -595,7 +608,6 @@ void Stepper::isr() {
|
||||
#endif
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
|
||||
counter_E += current_block->steps[E_AXIS];
|
||||
if (counter_E > 0) {
|
||||
#if DISABLED(MIXING_EXTRUDER)
|
||||
@ -708,7 +720,6 @@ void Stepper::isr() {
|
||||
acceleration_time += interval;
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
|
||||
if (current_block->use_advance_lead) {
|
||||
if (step_events_completed == step_loops || (e_steps && eISR_Rate != current_block->advance_speed)) {
|
||||
nextAdvanceISR = 0; // Wake up eISR on first acceleration loop and fire ISR if final adv_rate is reached
|
||||
@ -719,7 +730,6 @@ void Stepper::isr() {
|
||||
eISR_Rate = ADV_NEVER;
|
||||
if (e_steps) nextAdvanceISR = 0;
|
||||
}
|
||||
|
||||
#endif // LIN_ADVANCE
|
||||
}
|
||||
else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
|
||||
@ -742,7 +752,6 @@ void Stepper::isr() {
|
||||
deceleration_time += interval;
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
|
||||
if (current_block->use_advance_lead) {
|
||||
if (step_events_completed <= (uint32_t)current_block->decelerate_after + step_loops || (e_steps && eISR_Rate != current_block->advance_speed)) {
|
||||
nextAdvanceISR = 0; // Wake up eISR on first deceleration loop
|
||||
@ -753,16 +762,13 @@ void Stepper::isr() {
|
||||
eISR_Rate = ADV_NEVER;
|
||||
if (e_steps) nextAdvanceISR = 0;
|
||||
}
|
||||
|
||||
#endif // LIN_ADVANCE
|
||||
}
|
||||
else {
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
|
||||
// If we have esteps to execute, fire the next advance_isr "now"
|
||||
if (e_steps && eISR_Rate != current_block->advance_speed) nextAdvanceISR = 0;
|
||||
|
||||
#endif
|
||||
|
||||
SPLIT(OCR1A_nominal); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
|
||||
@ -902,6 +908,7 @@ void Stepper::isr() {
|
||||
}
|
||||
|
||||
void Stepper::advance_isr_scheduler() {
|
||||
|
||||
// Run main stepping ISR if flagged
|
||||
if (!nextMainISR) isr();
|
||||
|
||||
@ -1120,12 +1127,7 @@ void Stepper::synchronize() { while (planner.has_blocks_queued() || cleaning_buf
|
||||
* This allows get_axis_position_mm to correctly
|
||||
* derive the current XYZ position later on.
|
||||
*/
|
||||
void Stepper::set_position(const long &a, const long &b, const long &c, const long &e) {
|
||||
|
||||
synchronize(); // Bad to set stepper counts in the middle of a move
|
||||
|
||||
CRITICAL_SECTION_START;
|
||||
|
||||
void Stepper::_set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
|
||||
#if CORE_IS_XY
|
||||
// corexy positioning
|
||||
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
|
||||
@ -1148,29 +1150,15 @@ void Stepper::set_position(const long &a, const long &b, const long &c, const lo
|
||||
count_position[Y_AXIS] = b;
|
||||
count_position[Z_AXIS] = c;
|
||||
#endif
|
||||
|
||||
count_position[E_AXIS] = e;
|
||||
CRITICAL_SECTION_END;
|
||||
}
|
||||
|
||||
void Stepper::set_position(const AxisEnum &axis, const long &v) {
|
||||
CRITICAL_SECTION_START;
|
||||
count_position[axis] = v;
|
||||
CRITICAL_SECTION_END;
|
||||
}
|
||||
|
||||
void Stepper::set_e_position(const long &e) {
|
||||
CRITICAL_SECTION_START;
|
||||
count_position[E_AXIS] = e;
|
||||
CRITICAL_SECTION_END;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get a stepper's position in steps.
|
||||
*/
|
||||
long Stepper::position(const AxisEnum axis) {
|
||||
int32_t Stepper::position(const AxisEnum axis) {
|
||||
CRITICAL_SECTION_START;
|
||||
const long count_pos = count_position[axis];
|
||||
const int32_t count_pos = count_position[axis];
|
||||
CRITICAL_SECTION_END;
|
||||
return count_pos;
|
||||
}
|
||||
@ -1239,9 +1227,9 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
|
||||
|
||||
void Stepper::report_positions() {
|
||||
CRITICAL_SECTION_START;
|
||||
const long xpos = count_position[X_AXIS],
|
||||
ypos = count_position[Y_AXIS],
|
||||
zpos = count_position[Z_AXIS];
|
||||
const int32_t xpos = count_position[X_AXIS],
|
||||
ypos = count_position[Y_AXIS],
|
||||
zpos = count_position[Z_AXIS];
|
||||
CRITICAL_SECTION_END;
|
||||
|
||||
#if CORE_IS_XY || CORE_IS_XZ || IS_DELTA || IS_SCARA
|
||||
|
||||
@ -119,7 +119,7 @@ class Stepper {
|
||||
#endif
|
||||
|
||||
// Counter variables for the Bresenham line tracer
|
||||
static long counter_X, counter_Y, counter_Z, counter_E;
|
||||
static int32_t counter_X, counter_Y, counter_Z, counter_E;
|
||||
static volatile uint32_t step_events_completed; // The number of step events executed in the current block
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
@ -142,19 +142,19 @@ class Stepper {
|
||||
|
||||
#endif // !LIN_ADVANCE
|
||||
|
||||
static long acceleration_time, deceleration_time;
|
||||
static int32_t acceleration_time, deceleration_time;
|
||||
static uint8_t step_loops, step_loops_nominal;
|
||||
|
||||
static uint16_t OCR1A_nominal,
|
||||
acc_step_rate; // needed for deceleration start point
|
||||
|
||||
static volatile long endstops_trigsteps[XYZ];
|
||||
static volatile long endstops_stepsTotal, endstops_stepsDone;
|
||||
static volatile int32_t endstops_trigsteps[XYZ];
|
||||
static volatile int32_t endstops_stepsTotal, endstops_stepsDone;
|
||||
|
||||
//
|
||||
// Positions of stepper motors, in step units
|
||||
//
|
||||
static volatile long count_position[NUM_AXIS];
|
||||
static volatile int32_t count_position[NUM_AXIS];
|
||||
|
||||
//
|
||||
// Current direction of stepper motors (+1 or -1)
|
||||
@ -165,7 +165,7 @@ class Stepper {
|
||||
// Mixing extruder mix counters
|
||||
//
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
static long counter_m[MIXING_STEPPERS];
|
||||
static int32_t counter_m[MIXING_STEPPERS];
|
||||
#define MIXING_STEPPERS_LOOP(VAR) \
|
||||
for (uint8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++) \
|
||||
if (current_block->mix_event_count[VAR])
|
||||
@ -202,9 +202,32 @@ class Stepper {
|
||||
//
|
||||
// Set the current position in steps
|
||||
//
|
||||
static void set_position(const long &a, const long &b, const long &c, const long &e);
|
||||
static void set_position(const AxisEnum &a, const long &v);
|
||||
static void set_e_position(const long &e);
|
||||
static void _set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
|
||||
|
||||
FORCE_INLINE static void _set_position(const AxisEnum a, const int32_t &v) { count_position[a] = v; }
|
||||
|
||||
FORCE_INLINE static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
|
||||
synchronize();
|
||||
CRITICAL_SECTION_START;
|
||||
_set_position(a, b, c, e);
|
||||
CRITICAL_SECTION_END;
|
||||
}
|
||||
|
||||
static void set_position(const AxisEnum a, const int32_t &v) {
|
||||
synchronize();
|
||||
CRITICAL_SECTION_START;
|
||||
count_position[a] = v;
|
||||
CRITICAL_SECTION_END;
|
||||
}
|
||||
|
||||
FORCE_INLINE static void _set_e_position(const int32_t &e) { count_position[E_AXIS] = e; }
|
||||
|
||||
static void set_e_position(const int32_t &e) {
|
||||
synchronize();
|
||||
CRITICAL_SECTION_START;
|
||||
count_position[E_AXIS] = e;
|
||||
CRITICAL_SECTION_END;
|
||||
}
|
||||
|
||||
//
|
||||
// Set direction bits for all steppers
|
||||
@ -214,7 +237,7 @@ class Stepper {
|
||||
//
|
||||
// Get the position of a stepper, in steps
|
||||
//
|
||||
static long position(const AxisEnum axis);
|
||||
static int32_t position(const AxisEnum axis);
|
||||
|
||||
//
|
||||
// Report the positions of the steppers, in steps
|
||||
|
||||
Loading…
Reference in New Issue
Block a user