From f2c3b0d47646c5b56804f2474ae96c0884b783c8 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Mon, 11 Jun 2018 21:29:31 -0500 Subject: [PATCH 1/2] Use bit flags for homed/known --- Marlin/src/Marlin.cpp | 2 +- Marlin/src/Marlin.h | 20 ++++++++----- Marlin/src/gcode/calibrate/G28.cpp | 6 ++-- .../src/gcode/feature/trinamic/M911-M915.cpp | 2 +- Marlin/src/lcd/dogm/status_screen_DOGM.h | 4 +-- .../src/lcd/dogm/status_screen_lite_ST7920.h | 4 +-- Marlin/src/lcd/ultralcd.cpp | 30 +++++++++---------- Marlin/src/lcd/ultralcd_impl_HD44780.h | 4 +-- Marlin/src/module/delta.cpp | 2 +- Marlin/src/module/motion.cpp | 15 +++++----- Marlin/src/module/probe.cpp | 4 +-- Marlin/src/module/temperature.h | 4 +-- Marlin/src/module/tool_change.cpp | 2 +- 13 files changed, 50 insertions(+), 49 deletions(-) diff --git a/Marlin/src/Marlin.cpp b/Marlin/src/Marlin.cpp index a13d7f19a..c182efc41 100644 --- a/Marlin/src/Marlin.cpp +++ b/Marlin/src/Marlin.cpp @@ -161,7 +161,7 @@ bool Running = true; * Flags that the position is known in each linear axis. Set when homed. * Cleared whenever a stepper powers off, potentially losing its position. */ -bool axis_homed[XYZ] = { false }, axis_known_position[XYZ] = { false }; +uint8_t axis_homed, axis_known_position; // = 0 #if ENABLED(TEMPERATURE_UNITS_SUPPORT) TempUnit input_temp_units = TEMPUNIT_C; diff --git a/Marlin/src/Marlin.h b/Marlin/src/Marlin.h index 6dae6b5d5..1259a385c 100644 --- a/Marlin/src/Marlin.h +++ b/Marlin/src/Marlin.h @@ -44,10 +44,10 @@ void manage_inactivity(const bool ignore_stepper_queue=false); #if HAS_X2_ENABLE #define enable_X() do{ X_ENABLE_WRITE( X_ENABLE_ON); X2_ENABLE_WRITE( X_ENABLE_ON); }while(0) - #define disable_X() do{ X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0) + #define disable_X() do{ X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); CBI(axis_known_position, X_AXIS); }while(0) #elif HAS_X_ENABLE #define enable_X() X_ENABLE_WRITE( X_ENABLE_ON) - #define disable_X() do{ X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0) + #define disable_X() do{ X_ENABLE_WRITE(!X_ENABLE_ON); CBI(axis_known_position, X_AXIS); }while(0) #else #define enable_X() NOOP #define disable_X() NOOP @@ -55,10 +55,10 @@ void manage_inactivity(const bool ignore_stepper_queue=false); #if HAS_Y2_ENABLE #define enable_Y() do{ Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }while(0) - #define disable_Y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0) + #define disable_Y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); CBI(axis_known_position, Y_AXIS); }while(0) #elif HAS_Y_ENABLE #define enable_Y() Y_ENABLE_WRITE( Y_ENABLE_ON) - #define disable_Y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0) + #define disable_Y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); CBI(axis_known_position, Y_AXIS); }while(0) #else #define enable_Y() NOOP #define disable_Y() NOOP @@ -66,10 +66,10 @@ void manage_inactivity(const bool ignore_stepper_queue=false); #if HAS_Z2_ENABLE #define enable_Z() do{ Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }while(0) - #define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0) + #define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); CBI(axis_known_position, Z_AXIS); }while(0) #elif HAS_Z_ENABLE #define enable_Z() Z_ENABLE_WRITE( Z_ENABLE_ON) - #define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0) + #define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); CBI(axis_known_position, Z_AXIS); }while(0) #else #define enable_Z() NOOP #define disable_Z() NOOP @@ -169,8 +169,12 @@ extern bool Running; inline bool IsRunning() { return Running; } inline bool IsStopped() { return !Running; } -extern bool axis_known_position[XYZ]; -extern bool axis_homed[XYZ]; +extern uint8_t axis_homed, axis_known_position; + +constexpr uint8_t xyz_bits = _BV(X_AXIS) | _BV(Y_AXIS) | _BV(Z_AXIS); +FORCE_INLINE bool all_axes_homed() { return (axis_homed & xyz_bits) == xyz_bits; } +FORCE_INLINE bool all_axes_known() { return (axis_known_position & xyz_bits) == xyz_bits; } + extern volatile bool wait_for_heatup; #if HAS_RESUME_CONTINUE diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp index 453562168..2a57b52f3 100644 --- a/Marlin/src/gcode/calibrate/G28.cpp +++ b/Marlin/src/gcode/calibrate/G28.cpp @@ -88,7 +88,7 @@ inline void home_z_safely() { // Disallow Z homing if X or Y are unknown - if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) { + if (!TEST(axis_known_position, X_AXIS) || !TEST(axis_known_position, Y_AXIS)) { LCD_MESSAGEPGM(MSG_ERR_Z_HOMING); SERIAL_ECHO_START(); SERIAL_ECHOLNPGM(MSG_ERR_Z_HOMING); @@ -172,7 +172,7 @@ void GcodeSuite::G28(const bool always_home_all) { } #endif - if ((axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]) && parser.boolval('O')) { // home only if needed + if (all_axes_known() && parser.boolval('O')) { // home only if needed #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOLNPGM("> homing not needed, skip"); @@ -246,7 +246,7 @@ void GcodeSuite::G28(const bool always_home_all) { const float z_homing_height = ( #if ENABLED(UNKNOWN_Z_NO_RAISE) - !axis_known_position[Z_AXIS] ? 0 : + !TEST(axis_known_position, Z_AXIS) ? 0 : #endif (parser.seenval('R') ? parser.value_linear_units() : Z_HOMING_HEIGHT) ); diff --git a/Marlin/src/gcode/feature/trinamic/M911-M915.cpp b/Marlin/src/gcode/feature/trinamic/M911-M915.cpp index b812bd572..8a5983765 100644 --- a/Marlin/src/gcode/feature/trinamic/M911-M915.cpp +++ b/Marlin/src/gcode/feature/trinamic/M911-M915.cpp @@ -332,7 +332,7 @@ void GcodeSuite::M912() { const uint16_t _rms = parser.seenval('S') ? parser.value_int() : CALIBRATION_CURRENT, _z = parser.seenval('Z') ? parser.value_linear_units() : CALIBRATION_EXTRA_HEIGHT; - if (!axis_known_position[Z_AXIS]) { + if (!TEST(axis_known_position, Z_AXIS)) { SERIAL_ECHOLNPGM("\nPlease home Z axis first"); return; } diff --git a/Marlin/src/lcd/dogm/status_screen_DOGM.h b/Marlin/src/lcd/dogm/status_screen_DOGM.h index 869b470f9..fc8f2324c 100644 --- a/Marlin/src/lcd/dogm/status_screen_DOGM.h +++ b/Marlin/src/lcd/dogm/status_screen_DOGM.h @@ -108,11 +108,11 @@ FORCE_INLINE void _draw_axis_value(const AxisEnum axis, const char *value, const if (blink) lcd_put_u8str(value); else { - if (!axis_homed[axis]) + if (!TEST(axis_homed, axis)) while (const char c = *value++) lcd_put_wchar(c <= '.' ? c : '?'); else { #if DISABLED(HOME_AFTER_DEACTIVATE) && DISABLED(DISABLE_REDUCED_ACCURACY_WARNING) - if (!axis_known_position[axis]) + if (!TEST(axis_known_position, axis)) lcd_put_u8str_P(axis == Z_AXIS ? PSTR(" ") : PSTR(" ")); else #endif diff --git a/Marlin/src/lcd/dogm/status_screen_lite_ST7920.h b/Marlin/src/lcd/dogm/status_screen_lite_ST7920.h index 4102cb9ed..23a7f1a10 100644 --- a/Marlin/src/lcd/dogm/status_screen_lite_ST7920.h +++ b/Marlin/src/lcd/dogm/status_screen_lite_ST7920.h @@ -868,9 +868,7 @@ void ST7920_Lite_Status_Screen::update_status_or_position(bool forceUpdate) { #if ENABLED(DISABLE_REDUCED_ACCURACY_WARNING) true #else - axis_known_position[X_AXIS] && - axis_known_position[Y_AXIS] && - axis_known_position[Z_AXIS] + all_axes_known() #endif ); } diff --git a/Marlin/src/lcd/ultralcd.cpp b/Marlin/src/lcd/ultralcd.cpp index a8297f9aa..80e0240ad 100644 --- a/Marlin/src/lcd/ultralcd.cpp +++ b/Marlin/src/lcd/ultralcd.cpp @@ -2026,8 +2026,7 @@ void lcd_quick_feedback(const bool clear_buttons) { void _lcd_level_bed_homing() { if (lcdDrawUpdate) lcd_implementation_drawedit(PSTR(MSG_LEVEL_BED_HOMING), NULL); lcdDrawUpdate = LCDVIEW_CALL_NO_REDRAW; - if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) - lcd_goto_screen(_lcd_level_bed_homing_done); + if (all_axes_homed()) lcd_goto_screen(_lcd_level_bed_homing_done); } #if ENABLED(PROBE_MANUALLY) @@ -2039,7 +2038,7 @@ void lcd_quick_feedback(const bool clear_buttons) { */ void _lcd_level_bed_continue() { defer_return_to_status = true; - axis_homed[X_AXIS] = axis_homed[Y_AXIS] = axis_homed[Z_AXIS] = false; + axis_homed = 0; lcd_goto_screen(_lcd_level_bed_homing); enqueue_and_echo_commands_P(PSTR("G28")); } @@ -2369,7 +2368,7 @@ void lcd_quick_feedback(const bool clear_buttons) { defer_return_to_status = true; if (lcdDrawUpdate) lcd_implementation_drawmenu_static(LCD_HEIGHT < 3 ? 0 : (LCD_HEIGHT > 4 ? 2 : 1), PSTR(MSG_LEVEL_BED_HOMING)); lcdDrawUpdate = LCDVIEW_CALL_NO_REDRAW; - if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) { + if (all_axes_homed()) { ubl.lcd_map_control = true; // Return to the map screen lcd_goto_screen(_lcd_ubl_output_map_lcd); } @@ -2414,7 +2413,7 @@ void lcd_quick_feedback(const bool clear_buttons) { void _lcd_ubl_output_map_lcd() { static int16_t step_scaler = 0; - if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) + if (!all_axes_known()) return lcd_goto_screen(_lcd_ubl_map_homing); if (use_click()) return _lcd_ubl_map_lcd_edit_cmd(); @@ -2463,8 +2462,8 @@ void lcd_quick_feedback(const bool clear_buttons) { * UBL Homing before LCD map */ void _lcd_ubl_output_map_lcd_cmd() { - if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) { - axis_homed[X_AXIS] = axis_homed[Y_AXIS] = axis_homed[Z_AXIS] = false; + if (!all_axes_known()) { + axis_homed = 0; enqueue_and_echo_commands_P(PSTR("G28")); } lcd_goto_screen(_lcd_ubl_map_homing); @@ -2592,7 +2591,7 @@ void lcd_quick_feedback(const bool clear_buttons) { START_MENU(); MENU_BACK(MSG_PREPARE); - const bool is_homed = axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]; + const bool is_homed = all_axes_known(); // Auto Home if not using manual probing #if DISABLED(PROBE_MANUALLY) && DISABLED(MESH_BED_LEVELING) @@ -2634,8 +2633,7 @@ void lcd_quick_feedback(const bool clear_buttons) { #if ENABLED(LEVEL_BED_CORNERS) // Move to the next corner for leveling - if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) - MENU_ITEM(submenu, MSG_LEVEL_CORNERS, _lcd_level_bed_corners); + if (all_axes_homed()) MENU_ITEM(submenu, MSG_LEVEL_CORNERS, _lcd_level_bed_corners); #endif #if ENABLED(EEPROM_SETTINGS) @@ -2665,7 +2663,7 @@ void lcd_quick_feedback(const bool clear_buttons) { // Move Axis // #if ENABLED(DELTA) - if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) + if (all_axes_homed()) #endif MENU_ITEM(submenu, MSG_MOVE_AXIS, lcd_move_menu); @@ -2709,7 +2707,7 @@ void lcd_quick_feedback(const bool clear_buttons) { #endif #if ENABLED(LEVEL_BED_CORNERS) && DISABLED(LCD_BED_LEVELING) - if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) + if (all_axes_homed()) MENU_ITEM(function, MSG_LEVEL_CORNERS, _lcd_level_bed_corners); #endif @@ -2839,7 +2837,7 @@ void lcd_quick_feedback(const bool clear_buttons) { void _lcd_calibrate_homing() { if (lcdDrawUpdate) lcd_implementation_drawmenu_static(LCD_HEIGHT >= 4 ? 1 : 0, PSTR(MSG_LEVEL_BED_HOMING)); lcdDrawUpdate = LCDVIEW_CALL_REDRAW_NEXT; - if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) + if (all_axes_homed()) lcd_goto_previous_menu(); } @@ -2894,7 +2892,7 @@ void lcd_quick_feedback(const bool clear_buttons) { MENU_ITEM(submenu, MSG_DELTA_SETTINGS, lcd_delta_settings); #if ENABLED(DELTA_CALIBRATION_MENU) MENU_ITEM(submenu, MSG_AUTO_HOME, _lcd_delta_calibrate_home); - if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) { + if (all_axes_homed()) { MENU_ITEM(submenu, MSG_DELTA_CALIBRATE_X, _goto_tower_x); MENU_ITEM(submenu, MSG_DELTA_CALIBRATE_Y, _goto_tower_y); MENU_ITEM(submenu, MSG_DELTA_CALIBRATE_Z, _goto_tower_z); @@ -3190,7 +3188,7 @@ void lcd_quick_feedback(const bool clear_buttons) { */ #if IS_KINEMATIC || ENABLED(NO_MOTION_BEFORE_HOMING) - #define _MOVE_XYZ_ALLOWED (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) + #define _MOVE_XYZ_ALLOWED (all_axes_homed()) #else #define _MOVE_XYZ_ALLOWED true #endif @@ -4930,7 +4928,7 @@ void lcd_quick_feedback(const bool clear_buttons) { if (REPRAPWORLD_KEYPAD_MOVE_Z_UP) reprapworld_keypad_move_z_up(); #endif - if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) { + if (all_axes_homed()) { #if ENABLED(DELTA) || Z_HOME_DIR != -1 if (REPRAPWORLD_KEYPAD_MOVE_Z_UP) reprapworld_keypad_move_z_up(); #endif diff --git a/Marlin/src/lcd/ultralcd_impl_HD44780.h b/Marlin/src/lcd/ultralcd_impl_HD44780.h index 66b69aab8..4ea2fdc22 100644 --- a/Marlin/src/lcd/ultralcd_impl_HD44780.h +++ b/Marlin/src/lcd/ultralcd_impl_HD44780.h @@ -493,11 +493,11 @@ FORCE_INLINE void _draw_axis_value(const AxisEnum axis, const char *value, const if (blink) lcd_put_u8str(value); else { - if (!axis_homed[axis]) + if (!TEST(axis_homed, axis)) while (const char c = *value++) lcd_put_wchar(c <= '.' ? c : '?'); else { #if DISABLED(HOME_AFTER_DEACTIVATE) && DISABLED(DISABLE_REDUCED_ACCURACY_WARNING) - if (!axis_known_position[axis]) + if (!TEST(axis_known_position, axis)) lcd_put_u8str_P(axis == Z_AXIS ? PSTR(" ") : PSTR(" ")); else #endif diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp index ca8109ba2..dded33f9f 100644 --- a/Marlin/src/module/delta.cpp +++ b/Marlin/src/module/delta.cpp @@ -73,7 +73,7 @@ void recalc_delta_settings() { delta_diagonal_rod_2_tower[B_AXIS] = sq(delta_diagonal_rod + drt[B_AXIS]); delta_diagonal_rod_2_tower[C_AXIS] = sq(delta_diagonal_rod + drt[C_AXIS]); update_software_endstops(Z_AXIS); - axis_homed[X_AXIS] = axis_homed[Y_AXIS] = axis_homed[Z_AXIS] = false; + axis_homed = 0; } /** diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index 458770498..e8e3ee5bb 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -957,13 +957,13 @@ void prepare_move_to_destination() { bool axis_unhomed_error(const bool x/*=true*/, const bool y/*=true*/, const bool z/*=true*/) { #if ENABLED(HOME_AFTER_DEACTIVATE) - const bool xx = x && !axis_known_position[X_AXIS], - yy = y && !axis_known_position[Y_AXIS], - zz = z && !axis_known_position[Z_AXIS]; + const bool xx = x && !TEST(axis_known_position, X_AXIS), + yy = y && !TEST(axis_known_position, Y_AXIS), + zz = z && !TEST(axis_known_position, Z_AXIS); #else - const bool xx = x && !axis_homed[X_AXIS], - yy = y && !axis_homed[Y_AXIS], - zz = z && !axis_homed[Z_AXIS]; + const bool xx = x && !TEST(axis_homed, X_AXIS), + yy = y && !TEST(axis_homed, Y_AXIS), + zz = z && !TEST(axis_homed, Z_AXIS); #endif if (xx || yy || zz) { SERIAL_ECHO_START(); @@ -1173,7 +1173,8 @@ void set_axis_is_at_home(const AxisEnum axis) { } #endif - axis_known_position[axis] = axis_homed[axis] = true; + SBI(axis_known_position, axis); + SBI(axis_homed, axis); #if HAS_POSITION_SHIFT position_shift[axis] = 0; diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp index 65fbff882..f3503cfad 100644 --- a/Marlin/src/module/probe.cpp +++ b/Marlin/src/module/probe.cpp @@ -386,7 +386,7 @@ bool set_probe_deployed(const bool deploy) { // For beds that fall when Z is powered off only raise for trusted Z #if ENABLED(UNKNOWN_Z_NO_RAISE) - const bool unknown_condition = axis_known_position[Z_AXIS]; + const bool unknown_condition = TEST(axis_known_position, Z_AXIS); #else constexpr float unknown_condition = true; #endif @@ -562,7 +562,7 @@ static float run_z_probe() { // Stop the probe before it goes too low to prevent damage. // If Z isn't known then probe to -10mm. - const float z_probe_low_point = axis_known_position[Z_AXIS] ? -zprobe_zoffset + Z_PROBE_LOW_POINT : -10.0; + const float z_probe_low_point = TEST(axis_known_position, Z_AXIS) ? -zprobe_zoffset + Z_PROBE_LOW_POINT : -10.0; // Double-probing does a fast probe followed by a slow probe #if MULTIPLE_PROBING == 2 diff --git a/Marlin/src/module/temperature.h b/Marlin/src/module/temperature.h index 9be142cb8..bc9aa9a76 100644 --- a/Marlin/src/module/temperature.h +++ b/Marlin/src/module/temperature.h @@ -31,7 +31,7 @@ #include "../inc/MarlinConfig.h" #if ENABLED(BABYSTEPPING) - extern bool axis_known_position[XYZ]; + extern uint8_t axis_known_position; #endif #if ENABLED(AUTO_POWER_CONTROL) @@ -504,7 +504,7 @@ class Temperature { #if ENABLED(BABYSTEPPING) static void babystep_axis(const AxisEnum axis, const int16_t distance) { - if (axis_known_position[axis]) { + if (TEST(axis_known_position, axis)) { #if IS_CORE #if ENABLED(BABYSTEP_XY) switch (axis) { diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp index 7cad6d168..d013c2c7a 100644 --- a/Marlin/src/module/tool_change.cpp +++ b/Marlin/src/module/tool_change.cpp @@ -80,7 +80,7 @@ } } -#endif // SWITCHING_EXTRUDER +#endif // DO_SWITCH_EXTRUDER #if ENABLED(SWITCHING_NOZZLE) From 9d04f47d9809a22f2ed41cb8cc093ce68e5f5753 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Mon, 11 Jun 2018 18:49:08 -0500 Subject: [PATCH 2/2] Improvements for junction_deviation_mm - Drop `max_jerk` with `JUNCTION_DEVIATION` - Add `max_e_jerk_factor` for use by `LIN_ADVANCE` - Recalculate `max_e_jerk_factor` when `junction_deviation_mm` changes - Fix LCD editing of `junction_deviation_mm` --- Marlin/src/gcode/config/M200-M205.cpp | 6 ++-- Marlin/src/gcode/config/M92.cpp | 4 ++- Marlin/src/lcd/ultralcd.cpp | 4 +-- Marlin/src/module/configuration_store.cpp | 22 ++++++++----- Marlin/src/module/planner.cpp | 24 +++++++++----- Marlin/src/module/planner.h | 38 +++++++++++++++-------- 6 files changed, 64 insertions(+), 34 deletions(-) diff --git a/Marlin/src/gcode/config/M200-M205.cpp b/Marlin/src/gcode/config/M200-M205.cpp index 2feab3c55..c73f8da3c 100644 --- a/Marlin/src/gcode/config/M200-M205.cpp +++ b/Marlin/src/gcode/config/M200-M205.cpp @@ -134,8 +134,10 @@ void GcodeSuite::M205() { #if ENABLED(JUNCTION_DEVIATION) if (parser.seen('J')) { const float junc_dev = parser.value_linear_units(); - if (WITHIN(junc_dev, 0.01, 0.3)) + if (WITHIN(junc_dev, 0.01, 0.3)) { planner.junction_deviation_mm = junc_dev; + planner.recalculate_max_e_jerk_factor(); + } else { SERIAL_ERROR_START(); SERIAL_ERRORLNPGM("?J out of range (0.01 to 0.3)"); @@ -151,8 +153,6 @@ void GcodeSuite::M205() { SERIAL_ECHOLNPGM("WARNING! Low Z Jerk may lead to unwanted pauses."); #endif } - #endif - #if DISABLED(JUNCTION_DEVIATION) || ENABLED(LIN_ADVANCE) if (parser.seen('E')) planner.max_jerk[E_AXIS] = parser.value_linear_units(); #endif } diff --git a/Marlin/src/gcode/config/M92.cpp b/Marlin/src/gcode/config/M92.cpp index 25c79fe0b..c1b8ed2ee 100644 --- a/Marlin/src/gcode/config/M92.cpp +++ b/Marlin/src/gcode/config/M92.cpp @@ -39,7 +39,9 @@ void GcodeSuite::M92() { const float value = parser.value_per_axis_unit((AxisEnum)(E_AXIS + TARGET_EXTRUDER)); if (value < 20.0) { float factor = planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] / value; // increase e constants if M92 E14 is given for netfab. - planner.max_jerk[E_AXIS] *= factor; + #if DISABLED(JUNCTION_DEVIATION) + planner.max_jerk[E_AXIS] *= factor; + #endif planner.max_feedrate_mm_s[E_AXIS + TARGET_EXTRUDER] *= factor; planner.max_acceleration_steps_per_s2[E_AXIS + TARGET_EXTRUDER] *= factor; } diff --git a/Marlin/src/lcd/ultralcd.cpp b/Marlin/src/lcd/ultralcd.cpp index 80e0240ad..9a7ad5c81 100644 --- a/Marlin/src/lcd/ultralcd.cpp +++ b/Marlin/src/lcd/ultralcd.cpp @@ -3752,7 +3752,7 @@ void lcd_quick_feedback(const bool clear_buttons) { MENU_BACK(MSG_MOTION); #if ENABLED(JUNCTION_DEVIATION) - MENU_ITEM_EDIT(float3, MSG_JUNCTION_DEVIATION, &planner.junction_deviation_mm, 0.01, 0.3); + MENU_ITEM_EDIT_CALLBACK(float43, MSG_JUNCTION_DEVIATION, &planner.junction_deviation_mm, 0.01, 0.3, planner.recalculate_max_e_jerk_factor); #else MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_VA_JERK, &planner.max_jerk[A_AXIS], 1, 990); MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_VB_JERK, &planner.max_jerk[B_AXIS], 1, 990); @@ -3761,8 +3761,8 @@ void lcd_quick_feedback(const bool clear_buttons) { #else MENU_MULTIPLIER_ITEM_EDIT(float52sign, MSG_VC_JERK, &planner.max_jerk[C_AXIS], 0.1, 990); #endif + MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_VE_JERK, &planner.max_jerk[E_AXIS], 1, 990); #endif - MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_VE_JERK, &planner.max_jerk[E_AXIS], 1, 990); END_MENU(); } diff --git a/Marlin/src/module/configuration_store.cpp b/Marlin/src/module/configuration_store.cpp index 3dbf3fa75..0a6e60b5d 100644 --- a/Marlin/src/module/configuration_store.cpp +++ b/Marlin/src/module/configuration_store.cpp @@ -330,6 +330,10 @@ void MarlinSettings::postprocess() { fwretract.refresh_autoretract(); #endif + #if ENABLED(JUNCTION_DEVIATION) && ENABLED(LIN_ADVANCE) + planner.recalculate_max_e_jerk_factor(); + #endif + // Refresh steps_to_mm with the reciprocal of axis_steps_per_mm // and init stepper.count[], planner.position[] with current_position planner.refresh_positioning(); @@ -411,11 +415,13 @@ void MarlinSettings::postprocess() { EEPROM_WRITE(planner.travel_acceleration); EEPROM_WRITE(planner.min_feedrate_mm_s); EEPROM_WRITE(planner.min_travel_feedrate_mm_s); - EEPROM_WRITE(planner.max_jerk); #if ENABLED(JUNCTION_DEVIATION) + const float planner_max_jerk[] = { DEFAULT_XJERK, DEFAULT_YJERK, DEFAULT_ZJERK, DEFAULT_EJERK }; + EEPROM_WRITE(planner_max_jerk); EEPROM_WRITE(planner.junction_deviation_mm); #else + EEPROM_WRITE(planner.max_jerk); dummy = 0.02; EEPROM_WRITE(dummy); #endif @@ -1008,11 +1014,12 @@ void MarlinSettings::postprocess() { EEPROM_READ(planner.travel_acceleration); EEPROM_READ(planner.min_feedrate_mm_s); EEPROM_READ(planner.min_travel_feedrate_mm_s); - EEPROM_READ(planner.max_jerk); #if ENABLED(JUNCTION_DEVIATION) + for (uint8_t q = 4; q--;) EEPROM_READ(dummy); EEPROM_READ(planner.junction_deviation_mm); #else + EEPROM_READ(planner.max_jerk); EEPROM_READ(dummy); #endif @@ -1724,13 +1731,14 @@ void MarlinSettings::reset(PORTARG_SOLO) { planner.travel_acceleration = DEFAULT_TRAVEL_ACCELERATION; planner.min_feedrate_mm_s = DEFAULT_MINIMUMFEEDRATE; planner.min_travel_feedrate_mm_s = DEFAULT_MINTRAVELFEEDRATE; - planner.max_jerk[X_AXIS] = DEFAULT_XJERK; - planner.max_jerk[Y_AXIS] = DEFAULT_YJERK; - planner.max_jerk[Z_AXIS] = DEFAULT_ZJERK; - planner.max_jerk[E_AXIS] = DEFAULT_EJERK; #if ENABLED(JUNCTION_DEVIATION) planner.junction_deviation_mm = JUNCTION_DEVIATION_MM; + #else + planner.max_jerk[X_AXIS] = DEFAULT_XJERK; + planner.max_jerk[Y_AXIS] = DEFAULT_YJERK; + planner.max_jerk[Z_AXIS] = DEFAULT_ZJERK; + planner.max_jerk[E_AXIS] = DEFAULT_EJERK; #endif #if HAS_HOME_OFFSET @@ -2135,8 +2143,6 @@ void MarlinSettings::reset(PORTARG_SOLO) { SERIAL_ECHOPAIR_P(port, " X", LINEAR_UNIT(planner.max_jerk[X_AXIS])); SERIAL_ECHOPAIR_P(port, " Y", LINEAR_UNIT(planner.max_jerk[Y_AXIS])); SERIAL_ECHOPAIR_P(port, " Z", LINEAR_UNIT(planner.max_jerk[Z_AXIS])); - #endif - #if DISABLED(JUNCTION_DEVIATION) || ENABLED(LIN_ADVANCE) SERIAL_ECHOPAIR_P(port, " E", LINEAR_UNIT(planner.max_jerk[E_AXIS])); #endif diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index 87a3d1a2a..db02c8f43 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -121,11 +121,15 @@ float Planner::max_feedrate_mm_s[XYZE_N], // (mm/s) M203 XYZE - Max speeds Planner::acceleration, // (mm/s^2) M204 S - Normal acceleration. DEFAULT ACCELERATION for all printing moves. Planner::retract_acceleration, // (mm/s^2) M204 R - Retract acceleration. Filament pull-back and push-forward while standing still in the other axes Planner::travel_acceleration, // (mm/s^2) M204 T - Travel acceleration. DEFAULT ACCELERATION for all NON printing moves. - Planner::max_jerk[XYZE], // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration. Planner::min_travel_feedrate_mm_s; // (mm/s) M205 T - Minimum travel feedrate #if ENABLED(JUNCTION_DEVIATION) float Planner::junction_deviation_mm; // (mm) M205 J + #if ENABLED(LIN_ADVANCE) + float Planner::max_e_jerk_factor; // Calculated from junction_deviation_mm + #endif +#else + float Planner::max_jerk[XYZE]; // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration. #endif #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) @@ -134,6 +138,9 @@ float Planner::max_feedrate_mm_s[XYZE_N], // (mm/s) M203 XYZE - Max speeds #if ENABLED(DISTINCT_E_FACTORS) uint8_t Planner::last_extruder = 0; // Respond to extruder change + #define _EINDEX (E_AXIS + active_extruder) +#else + #define _EINDEX E_AXIS #endif int16_t Planner::flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100); // Extrusion factor for each extruder @@ -2021,6 +2028,13 @@ bool Planner::_populate_block(block_t * const block, bool split_move, accel = CEIL((esteps ? acceleration : travel_acceleration) * steps_per_mm); #if ENABLED(LIN_ADVANCE) + + #if ENABLED(JUNCTION_DEVIATION) + #define MAX_E_JERK (max_e_jerk_factor * max_acceleration_mm_per_s2[_EINDEX]) + #else + #define MAX_E_JERK max_jerk[E_AXIS] + #endif + /** * * Use LIN_ADVANCE for blocks if all these are true: @@ -2051,10 +2065,9 @@ bool Planner::_populate_block(block_t * const block, bool split_move, if (block->e_D_ratio > 3.0) block->use_advance_lead = false; else { - const uint32_t max_accel_steps_per_s2 = max_jerk[E_AXIS] / (extruder_advance_K * block->e_D_ratio) * steps_per_mm; + const uint32_t max_accel_steps_per_s2 = MAX_E_JERK / (extruder_advance_K * block->e_D_ratio) * steps_per_mm; #if ENABLED(LA_DEBUG) - if (accel > max_accel_steps_per_s2) - SERIAL_ECHOLNPGM("Acceleration limited."); + if (accel > max_accel_steps_per_s2) SERIAL_ECHOLNPGM("Acceleration limited."); #endif NOMORE(accel, max_accel_steps_per_s2); } @@ -2459,10 +2472,7 @@ bool Planner::buffer_segment(const float &a, const float &b, const float &c, con void Planner::_set_position_mm(const float &a, const float &b, const float &c, const float &e) { #if ENABLED(DISTINCT_E_FACTORS) - #define _EINDEX (E_AXIS + active_extruder) last_extruder = active_extruder; - #else - #define _EINDEX E_AXIS #endif position[A_AXIS] = LROUND(a * axis_steps_per_mm[A_AXIS]), position[B_AXIS] = LROUND(b * axis_steps_per_mm[B_AXIS]), diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h index 2d880c8bd..0e313152d 100644 --- a/Marlin/src/module/planner.h +++ b/Marlin/src/module/planner.h @@ -195,21 +195,25 @@ class Planner { // May be auto-adjusted by a filament width sensor #endif - static uint32_t max_acceleration_steps_per_s2[XYZE_N], - max_acceleration_mm_per_s2[XYZE_N], // Use M201 to override - min_segment_time_us; // Use 'M205 B<µs>' to override - static float max_feedrate_mm_s[XYZE_N], // Max speeds in mm per second - axis_steps_per_mm[XYZE_N], - steps_to_mm[XYZE_N], - min_feedrate_mm_s, - acceleration, // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX - retract_acceleration, // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX - travel_acceleration, // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX - max_jerk[XYZE], // The largest speed change requiring no acceleration - min_travel_feedrate_mm_s; + static uint32_t max_acceleration_mm_per_s2[XYZE_N], // (mm/s^2) M201 XYZE + max_acceleration_steps_per_s2[XYZE_N], // (steps/s^2) Derived from mm_per_s2 + min_segment_time_us; // (µs) M205 B + static float max_feedrate_mm_s[XYZE_N], // (mm/s) M203 XYZE - Max speeds + axis_steps_per_mm[XYZE_N], // (steps) M92 XYZE - Steps per millimeter + steps_to_mm[XYZE_N], // (mm) Millimeters per step + min_feedrate_mm_s, // (mm/s) M205 S - Minimum linear feedrate + acceleration, // (mm/s^2) M204 S - Normal acceleration. DEFAULT ACCELERATION for all printing moves. + retract_acceleration, // (mm/s^2) M204 R - Retract acceleration. Filament pull-back and push-forward while standing still in the other axes + travel_acceleration, // (mm/s^2) M204 T - Travel acceleration. DEFAULT ACCELERATION for all NON printing moves. + min_travel_feedrate_mm_s; // (mm/s) M205 T - Minimum travel feedrate #if ENABLED(JUNCTION_DEVIATION) - static float junction_deviation_mm; // Initialized by EEPROM + static float junction_deviation_mm; // (mm) M205 J + #if ENABLED(LIN_ADVANCE) + static float max_e_jerk_factor; // Calculated from junction_deviation_mm + #endif + #else + static float max_jerk[XYZE]; // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration. #endif #if HAS_LEVELING @@ -745,6 +749,14 @@ class Planner { static void autotemp_M104_M109(); #endif + #if ENABLED(JUNCTION_DEVIATION) + FORCE_INLINE static void recalculate_max_e_jerk_factor() { + #if ENABLED(LIN_ADVANCE) + max_e_jerk_factor = SQRT(SQRT(0.5) * junction_deviation_mm) * RECIPROCAL(1.0 - SQRT(0.5)); + #endif + } + #endif + private: /**