commit
6903eb1c5b
17 changed files with 176 additions and 146 deletions
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@ -455,6 +455,7 @@
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// @section extras
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// Arc interpretation settings:
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#define ARC_SUPPORT // Disabling this saves ~2660bytes
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#define MM_PER_ARC_SEGMENT 1
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#define N_ARC_CORRECTION 25
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@ -506,7 +506,9 @@ void stop();
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void get_available_commands();
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void process_next_command();
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void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
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#if ENABLED(ARC_SUPPORT)
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void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
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#endif
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void serial_echopair_P(const char* s_P, int v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
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void serial_echopair_P(const char* s_P, long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
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@ -2461,7 +2463,8 @@ inline void gcode_G0_G1() {
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* G2: Clockwise Arc
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* G3: Counterclockwise Arc
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*/
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inline void gcode_G2_G3(bool clockwise) {
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#if ENABLED(ARC_SUPPORT)
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inline void gcode_G2_G3(bool clockwise) {
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if (IsRunning()) {
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#if ENABLED(SF_ARC_FIX)
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@ -2486,7 +2489,8 @@ inline void gcode_G2_G3(bool clockwise) {
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refresh_cmd_timeout();
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}
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}
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}
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#endif
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/**
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* G4: Dwell S<seconds> or P<milliseconds>
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@ -6484,7 +6488,7 @@ void process_next_command() {
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break;
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// G2, G3
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#if DISABLED(SCARA)
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#if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
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case 2: // G2 - CW ARC
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case 3: // G3 - CCW ARC
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gcode_G2_G3(codenum == 2);
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@ -7423,7 +7427,8 @@ void prepare_move() {
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set_current_to_destination();
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}
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/**
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#if ENABLED(ARC_SUPPORT)
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/**
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* Plan an arc in 2 dimensions
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*
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* The arc is approximated by generating many small linear segments.
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@ -7432,11 +7437,11 @@ void prepare_move() {
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* larger segments will tend to be more efficient. Your slicer should have
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* options for G2/G3 arc generation. In future these options may be GCode tunable.
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*/
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void plan_arc(
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void plan_arc(
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float target[NUM_AXIS], // Destination position
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float* offset, // Center of rotation relative to current_position
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uint8_t clockwise // Clockwise?
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) {
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) {
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float radius = hypot(offset[X_AXIS], offset[Y_AXIS]),
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center_X = current_position[X_AXIS] + offset[X_AXIS],
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@ -7509,8 +7514,16 @@ void plan_arc(
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float feed_rate = feedrate * feedrate_multiplier / 60 / 100.0;
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millis_t previous_ms = millis();
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for (i = 1; i < segments; i++) { // Iterate (segments-1) times
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millis_t now = millis();
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if (now - previous_ms > 200UL) {
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previous_ms = now;
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idle();
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}
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if (++count < N_ARC_CORRECTION) {
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// Apply vector rotation matrix to previous r_X / 1
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r_new_Y = r_X * sin_T + r_Y * cos_T;
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@ -7563,7 +7576,8 @@ void plan_arc(
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// motion control system might still be processing the action and the real tool position
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// in any intermediate location.
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set_current_to_destination();
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}
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}
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#endif
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#if HAS_CONTROLLERFAN
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@ -455,6 +455,7 @@
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// @section extras
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// Arc interpretation settings:
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#define ARC_SUPPORT // Disabling this saves ~2660bytes
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#define MM_PER_ARC_SEGMENT 1
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#define N_ARC_CORRECTION 25
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@ -455,6 +455,7 @@
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// @section extras
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// Arc interpretation settings:
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#define ARC_SUPPORT // Disabling this saves ~2660bytes
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#define MM_PER_ARC_SEGMENT 1
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#define N_ARC_CORRECTION 25
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@ -455,6 +455,7 @@
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// @section extras
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// Arc interpretation settings:
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#define ARC_SUPPORT // Disabling this saves ~2660bytes
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#define MM_PER_ARC_SEGMENT 1
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#define N_ARC_CORRECTION 25
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@ -461,6 +461,7 @@
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// @section extras
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// Arc interpretation settings:
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#define ARC_SUPPORT // Disabling this saves ~2660bytes
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#define MM_PER_ARC_SEGMENT 1
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#define N_ARC_CORRECTION 25
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@ -455,6 +455,7 @@
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// @section extras
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// Arc interpretation settings:
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#define ARC_SUPPORT // Disabling this saves ~2660bytes
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#define MM_PER_ARC_SEGMENT 1
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#define N_ARC_CORRECTION 25
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@ -455,6 +455,7 @@
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// @section extras
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// Arc interpretation settings:
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#define ARC_SUPPORT // Disabling this saves ~2660bytes
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#define MM_PER_ARC_SEGMENT 1
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#define N_ARC_CORRECTION 25
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@ -463,6 +463,7 @@
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// @section extras
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// Arc interpretation settings:
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#define ARC_SUPPORT // Disabling this saves ~2660bytes
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#define MM_PER_ARC_SEGMENT 1
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#define N_ARC_CORRECTION 25
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@ -455,6 +455,7 @@
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// @section extras
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// Arc interpretation settings:
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#define ARC_SUPPORT // Disabling this saves ~2660bytes
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#define MM_PER_ARC_SEGMENT 1
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#define N_ARC_CORRECTION 25
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@ -457,6 +457,7 @@
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// @section extras
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// Arc interpretation settings:
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#define ARC_SUPPORT // Disabling this saves ~2660bytes
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#define MM_PER_ARC_SEGMENT 1
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#define N_ARC_CORRECTION 25
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@ -457,6 +457,7 @@
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// @section extras
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// Arc interpretation settings:
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#define ARC_SUPPORT // Disabling this saves ~2660bytes
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#define MM_PER_ARC_SEGMENT 1
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#define N_ARC_CORRECTION 25
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@ -456,6 +456,7 @@
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// @section extras
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// Arc interpretation settings:
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#define ARC_SUPPORT // Disabling this saves ~2660bytes
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#define MM_PER_ARC_SEGMENT 1
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#define N_ARC_CORRECTION 25
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@ -461,6 +461,7 @@
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// @section extras
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// Arc interpretation settings:
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#define ARC_SUPPORT // Disabling this saves ~2660bytes
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#define MM_PER_ARC_SEGMENT 1
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#define N_ARC_CORRECTION 25
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@ -457,6 +457,7 @@
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// @section extras
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// Arc interpretation settings:
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#define ARC_SUPPORT // Disabling this saves ~2660bytes
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#define MM_PER_ARC_SEGMENT 1
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#define N_ARC_CORRECTION 25
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@ -455,6 +455,7 @@
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// @section extras
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// Arc interpretation settings:
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#define ARC_SUPPORT // Disabling this saves ~2660bytes
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#define MM_PER_ARC_SEGMENT 1
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#define N_ARC_CORRECTION 25
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@ -455,6 +455,7 @@
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// @section extras
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// Arc interpretation settings:
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#define ARC_SUPPORT // Disabling this saves ~2660bytes
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#define MM_PER_ARC_SEGMENT 1
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#define N_ARC_CORRECTION 25
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