Merge pull request #3751 from AnHardt/fix-arcs

Idle during long arcs
2016-05-14 14:33:56 -07:00 · 2016-05-14 14:33:56 -07:00 · 6903eb1c5b
commit 6903eb1c5b
parent 14cd0f4c92 8a4376d51f
17 changed files with 176 additions and 146 deletions
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@ -455,6 +455,7 @@
 // @section extras

 // Arc interpretation settings:
+#define ARC_SUPPORT  // Disabling this saves ~2660bytes
 #define MM_PER_ARC_SEGMENT 1
 #define N_ARC_CORRECTION 25

--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@ -506,7 +506,9 @@ void stop();
 void get_available_commands();
 void process_next_command();

-void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
+#if ENABLED(ARC_SUPPORT)
+  void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
+#endif

 void serial_echopair_P(const char* s_P, int v)           { serialprintPGM(s_P); SERIAL_ECHO(v); }
 void serial_echopair_P(const char* s_P, long v)          { serialprintPGM(s_P); SERIAL_ECHO(v); }
@ -2461,7 +2463,8 @@ inline void gcode_G0_G1() {
 * G2: Clockwise Arc
 * G3: Counterclockwise Arc
 */
-inline void gcode_G2_G3(bool clockwise) {
+#if ENABLED(ARC_SUPPORT)
+  inline void gcode_G2_G3(bool clockwise) {
    if (IsRunning()) {

      #if ENABLED(SF_ARC_FIX)
@ -2486,7 +2489,8 @@ inline void gcode_G2_G3(bool clockwise) {

      refresh_cmd_timeout();
    }
-}
+  }
+#endif

 /**
 * G4: Dwell S<seconds> or P<milliseconds>
@ -6484,7 +6488,7 @@ void process_next_command() {
        break;

      // G2, G3
-      #if DISABLED(SCARA)
+      #if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
        case 2: // G2  - CW ARC
        case 3: // G3  - CCW ARC
          gcode_G2_G3(codenum == 2);
@ -7423,7 +7427,8 @@ void prepare_move() {
  set_current_to_destination();
 }

-/**
+#if ENABLED(ARC_SUPPORT)
+  /**
   * Plan an arc in 2 dimensions
   *
   * The arc is approximated by generating many small linear segments.
@ -7432,11 +7437,11 @@ void prepare_move() {
   * larger segments will tend to be more efficient. Your slicer should have
   * options for G2/G3 arc generation. In future these options may be GCode tunable.
   */
-void plan_arc(
+  void plan_arc(
    float target[NUM_AXIS], // Destination position
    float* offset,          // Center of rotation relative to current_position
    uint8_t clockwise       // Clockwise?
-) {
+  ) {

    float radius = hypot(offset[X_AXIS], offset[Y_AXIS]),
          center_X = current_position[X_AXIS] + offset[X_AXIS],
@ -7509,8 +7514,16 @@ void plan_arc(

    float feed_rate = feedrate * feedrate_multiplier / 60 / 100.0;

+    millis_t previous_ms = millis();
+
    for (i = 1; i < segments; i++) { // Iterate (segments-1) times

+      millis_t now = millis();
+      if (now - previous_ms > 200UL) {
+        previous_ms = now;
+        idle();
+      }
+
      if (++count < N_ARC_CORRECTION) {
        // Apply vector rotation matrix to previous r_X / 1
        r_new_Y = r_X * sin_T + r_Y * cos_T;
@ -7563,7 +7576,8 @@ void plan_arc(
    // motion control system might still be processing the action and the real tool position
    // in any intermediate location.
    set_current_to_destination();
-}
+  }
+#endif

 #if HAS_CONTROLLERFAN

--- a/Marlin/example_configurations/Felix/Configuration_adv.h
+++ b/Marlin/example_configurations/Felix/Configuration_adv.h
@ -455,6 +455,7 @@
 // @section extras

 // Arc interpretation settings:
+#define ARC_SUPPORT  // Disabling this saves ~2660bytes
 #define MM_PER_ARC_SEGMENT 1
 #define N_ARC_CORRECTION 25

--- a/Marlin/example_configurations/Hephestos/Configuration_adv.h
+++ b/Marlin/example_configurations/Hephestos/Configuration_adv.h
@ -455,6 +455,7 @@
 // @section extras

 // Arc interpretation settings:
+#define ARC_SUPPORT  // Disabling this saves ~2660bytes
 #define MM_PER_ARC_SEGMENT 1
 #define N_ARC_CORRECTION 25

--- a/Marlin/example_configurations/Hephestos_2/Configuration_adv.h
+++ b/Marlin/example_configurations/Hephestos_2/Configuration_adv.h
@ -455,6 +455,7 @@
 // @section extras

 // Arc interpretation settings:
+#define ARC_SUPPORT  // Disabling this saves ~2660bytes
 #define MM_PER_ARC_SEGMENT 1
 #define N_ARC_CORRECTION 25

--- a/Marlin/example_configurations/K8200/Configuration_adv.h
+++ b/Marlin/example_configurations/K8200/Configuration_adv.h
@ -461,6 +461,7 @@
 // @section extras

 // Arc interpretation settings:
+#define ARC_SUPPORT  // Disabling this saves ~2660bytes
 #define MM_PER_ARC_SEGMENT 1
 #define N_ARC_CORRECTION 25

--- a/Marlin/example_configurations/RigidBot/Configuration_adv.h
+++ b/Marlin/example_configurations/RigidBot/Configuration_adv.h
@ -455,6 +455,7 @@
 // @section extras

 // Arc interpretation settings:
+#define ARC_SUPPORT  // Disabling this saves ~2660bytes
 #define MM_PER_ARC_SEGMENT 1
 #define N_ARC_CORRECTION 25

--- a/Marlin/example_configurations/SCARA/Configuration_adv.h
+++ b/Marlin/example_configurations/SCARA/Configuration_adv.h
@ -455,6 +455,7 @@
 // @section extras

 // Arc interpretation settings:
+#define ARC_SUPPORT  // Disabling this saves ~2660bytes
 #define MM_PER_ARC_SEGMENT 1
 #define N_ARC_CORRECTION 25

--- a/Marlin/example_configurations/TAZ4/Configuration_adv.h
+++ b/Marlin/example_configurations/TAZ4/Configuration_adv.h
@ -463,6 +463,7 @@
 // @section extras

 // Arc interpretation settings:
+#define ARC_SUPPORT  // Disabling this saves ~2660bytes
 #define MM_PER_ARC_SEGMENT 1
 #define N_ARC_CORRECTION 25

--- a/Marlin/example_configurations/WITBOX/Configuration_adv.h
+++ b/Marlin/example_configurations/WITBOX/Configuration_adv.h
@ -455,6 +455,7 @@
 // @section extras

 // Arc interpretation settings:
+#define ARC_SUPPORT  // Disabling this saves ~2660bytes
 #define MM_PER_ARC_SEGMENT 1
 #define N_ARC_CORRECTION 25

--- a/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h
@ -457,6 +457,7 @@
 // @section extras

 // Arc interpretation settings:
+#define ARC_SUPPORT  // Disabling this saves ~2660bytes
 #define MM_PER_ARC_SEGMENT 1
 #define N_ARC_CORRECTION 25

--- a/Marlin/example_configurations/delta/generic/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/generic/Configuration_adv.h
@ -457,6 +457,7 @@
 // @section extras

 // Arc interpretation settings:
+#define ARC_SUPPORT  // Disabling this saves ~2660bytes
 #define MM_PER_ARC_SEGMENT 1
 #define N_ARC_CORRECTION 25

--- a/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
@ -456,6 +456,7 @@
 // @section extras

 // Arc interpretation settings:
+#define ARC_SUPPORT  // Disabling this saves ~2660bytes
 #define MM_PER_ARC_SEGMENT 1
 #define N_ARC_CORRECTION 25

--- a/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
@ -461,6 +461,7 @@
 // @section extras

 // Arc interpretation settings:
+#define ARC_SUPPORT  // Disabling this saves ~2660bytes
 #define MM_PER_ARC_SEGMENT 1
 #define N_ARC_CORRECTION 25

--- a/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
@ -457,6 +457,7 @@
 // @section extras

 // Arc interpretation settings:
+#define ARC_SUPPORT  // Disabling this saves ~2660bytes
 #define MM_PER_ARC_SEGMENT 1
 #define N_ARC_CORRECTION 25

--- a/Marlin/example_configurations/makibox/Configuration_adv.h
+++ b/Marlin/example_configurations/makibox/Configuration_adv.h
@ -455,6 +455,7 @@
 // @section extras

 // Arc interpretation settings:
+#define ARC_SUPPORT  // Disabling this saves ~2660bytes
 #define MM_PER_ARC_SEGMENT 1
 #define N_ARC_CORRECTION 25

--- a/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
+++ b/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
@ -455,6 +455,7 @@
 // @section extras

 // Arc interpretation settings:
+#define ARC_SUPPORT  // Disabling this saves ~2660bytes
 #define MM_PER_ARC_SEGMENT 1
 #define N_ARC_CORRECTION 25