diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 7818fbfa2e..1cc3bc148c 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -687,69 +687,35 @@ void Planner::calculate_volumetric_multipliers() {
#endif // PLANNER_LEVELING
/**
- * Planner::_buffer_line
+ * Planner::_buffer_steps
*
- * Add a new linear movement to the buffer.
+ * Add a new linear movement to the buffer (in terms of steps).
*
- * Leveling and kinematics should be applied ahead of calling this.
- *
- * a,b,c,e - target positions in mm or degrees
- * fr_mm_s - (target) speed of the move
- * extruder - target extruder
+ * target - target position in steps units
+ * fr_mm_s - (target) speed of the move
+ * extruder - target extruder
*/
-void Planner::_buffer_line(const float &a, const float &b, const float &c, const float &e, float fr_mm_s, const uint8_t extruder) {
-
- // The target position of the tool in absolute steps
- // Calculate target position in absolute steps
- //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
- const long target[XYZE] = {
- LROUND(a * axis_steps_per_mm[X_AXIS]),
- LROUND(b * axis_steps_per_mm[Y_AXIS]),
- LROUND(c * axis_steps_per_mm[Z_AXIS]),
- LROUND(e * axis_steps_per_mm[E_AXIS_N])
- };
-
- // When changing extruders recalculate steps corresponding to the E position
- #if ENABLED(DISTINCT_E_FACTORS)
- if (last_extruder != extruder && axis_steps_per_mm[E_AXIS_N] != axis_steps_per_mm[E_AXIS + last_extruder]) {
- position[E_AXIS] = LROUND(position[E_AXIS] * axis_steps_per_mm[E_AXIS_N] * steps_to_mm[E_AXIS + last_extruder]);
- last_extruder = extruder;
- }
- #endif
+void Planner::_buffer_steps(const int32_t target[XYZE], float fr_mm_s, const uint8_t extruder) {
const int32_t da = target[X_AXIS] - position[X_AXIS],
db = target[Y_AXIS] - position[Y_AXIS],
dc = target[Z_AXIS] - position[Z_AXIS];
- /*
- SERIAL_ECHOPAIR(" Planner FR:", fr_mm_s);
- SERIAL_CHAR(' ');
- #if IS_KINEMATIC
- SERIAL_ECHOPAIR("A:", a);
- SERIAL_ECHOPAIR(" (", da);
- SERIAL_ECHOPAIR(") B:", b);
- #else
- SERIAL_ECHOPAIR("X:", a);
- SERIAL_ECHOPAIR(" (", da);
- SERIAL_ECHOPAIR(") Y:", b);
- #endif
- SERIAL_ECHOPAIR(" (", db);
- #if ENABLED(DELTA)
- SERIAL_ECHOPAIR(") C:", c);
- #else
- SERIAL_ECHOPAIR(") Z:", c);
- #endif
- SERIAL_ECHOPAIR(" (", dc);
- SERIAL_CHAR(')');
- SERIAL_EOL();
- //*/
-
- // DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
- if (DEBUGGING(DRYRUN))
- position[E_AXIS] = target[E_AXIS];
-
int32_t de = target[E_AXIS] - position[E_AXIS];
+ /* <-- add a slash to enable
+ SERIAL_ECHOPAIR(" _buffer_steps FR:", fr_mm_s);
+ SERIAL_ECHOPAIR(" A:", target[A_AXIS]);
+ SERIAL_ECHOPAIR(" (", da);
+ SERIAL_ECHOPAIR(" steps) B:", target[B_AXIS]);
+ SERIAL_ECHOPAIR(" (", db);
+ SERIAL_ECHOLNPGM(" steps) C:", target[C_AXIS]);
+ SERIAL_ECHOPAIR(" (", dc);
+ SERIAL_ECHOLNPGM(" steps) E:", target[E_AXIS]);
+ SERIAL_ECHOPAIR(" (", de);
+ SERIAL_ECHOLNPGM(" steps)");
+ //*/
+
#if ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE)
if (de) {
#if ENABLED(PREVENT_COLD_EXTRUSION)
@@ -1056,6 +1022,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// Segment time im micro seconds
uint32_t segment_time_us = LROUND(1000000.0 / inverse_secs);
#endif
+
#if ENABLED(SLOWDOWN)
if (WITHIN(moves_queued, 2, (BLOCK_BUFFER_SIZE) / 2 - 1)) {
if (segment_time_us < min_segment_time_us) {
@@ -1294,7 +1261,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
}
}
- if (moves_queued > 1 && !UNEAR_ZERO(previous_nominal_speed)) {
+ if (moves_queued && !UNEAR_ZERO(previous_nominal_speed)) {
// Estimate a maximum velocity allowed at a joint of two successive segments.
// If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities,
// then the machine is not coasting anymore and the safe entry / exit velocities shall be used.
@@ -1368,7 +1335,6 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
previous_safe_speed = safe_speed;
#if ENABLED(LIN_ADVANCE)
-
/**
*
* Use LIN_ADVANCE for blocks if all these are true:
@@ -1407,9 +1373,79 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
recalculate();
+} // _buffer_steps()
+
+/**
+ * Planner::_buffer_line
+ *
+ * Add a new linear movement to the buffer in axis units.
+ *
+ * Leveling and kinematics should be applied ahead of calling this.
+ *
+ * a,b,c,e - target positions in mm and/or degrees
+ * fr_mm_s - (target) speed of the move
+ * extruder - target extruder
+ */
+void Planner::_buffer_line(const float &a, const float &b, const float &c, const float &e, const float &fr_mm_s, const uint8_t extruder) {
+ // When changing extruders recalculate steps corresponding to the E position
+ #if ENABLED(DISTINCT_E_FACTORS)
+ if (last_extruder != extruder && axis_steps_per_mm[E_AXIS_N] != axis_steps_per_mm[E_AXIS + last_extruder]) {
+ position[E_AXIS] = LROUND(position[E_AXIS] * axis_steps_per_mm[E_AXIS_N] * steps_to_mm[E_AXIS + last_extruder]);
+ last_extruder = extruder;
+ }
+ #endif
+
+ // The target position of the tool in absolute steps
+ // Calculate target position in absolute steps
+ const int32_t target[XYZE] = {
+ LROUND(a * axis_steps_per_mm[X_AXIS]),
+ LROUND(b * axis_steps_per_mm[Y_AXIS]),
+ LROUND(c * axis_steps_per_mm[Z_AXIS]),
+ LROUND(e * axis_steps_per_mm[E_AXIS_N])
+ };
+
+ /* <-- add a slash to enable
+ SERIAL_ECHOPAIR(" _buffer_line FR:", fr_mm_s);
+ #if IS_KINEMATIC
+ SERIAL_ECHOPAIR(" A:", a);
+ SERIAL_ECHOPAIR(" (", target[A_AXIS]);
+ SERIAL_ECHOPAIR(" steps) B:", b);
+ #else
+ SERIAL_ECHOPAIR(" X:", a);
+ SERIAL_ECHOPAIR(" (", target[X_AXIS]);
+ SERIAL_ECHOPAIR(" steps) Y:", b);
+ #endif
+ SERIAL_ECHOPAIR(" (", target[Y_AXIS]);
+ #if ENABLED(DELTA)
+ SERIAL_ECHOPAIR(" steps) C:", c);
+ #else
+ SERIAL_ECHOPAIR(" steps) Z:", c);
+ #endif
+ SERIAL_ECHOPAIR(" (", target[Z_AXIS]);
+ SERIAL_ECHOPAIR(" steps) E:", e);
+ SERIAL_ECHOPAIR(" (", target[E_AXIS]);
+ SERIAL_ECHOLNPGM(" steps)");
+ //*/
+
+ // DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
+ if (DEBUGGING(DRYRUN))
+ position[E_AXIS] = target[E_AXIS];
+
+ // Always split the first move in two so it can chain
+ if (!blocks_queued()) {
+ DISABLE_STEPPER_DRIVER_INTERRUPT();
+ #define _BETWEEN(A) (position[A##_AXIS] + target[A##_AXIS]) >> 1
+ const int32_t between[XYZE] = { _BETWEEN(X), _BETWEEN(Y), _BETWEEN(Z), _BETWEEN(E) };
+ _buffer_steps(between, fr_mm_s, extruder);
+ _buffer_steps(target, fr_mm_s, extruder);
+ ENABLE_STEPPER_DRIVER_INTERRUPT();
+ }
+ else
+ _buffer_steps(target, fr_mm_s, extruder);
+
stepper.wake_up();
-} // buffer_line()
+} // _buffer_line()
/**
* Directly set the planner XYZ position (and stepper positions)
diff --git a/Marlin/planner.h b/Marlin/planner.h
index a00b637d25..4706090257 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -349,17 +349,28 @@ class Planner {
#endif
/**
- * Planner::_buffer_line
+ * Planner::_buffer_steps
*
- * Add a new direct linear movement to the buffer.
+ * Add a new linear movement to the buffer (in terms of steps).
*
- * Leveling and kinematics should be applied ahead of this.
- *
- * a,b,c,e - target position in mm or degrees
- * fr_mm_s - (target) speed of the move (mm/s)
+ * target - target position in steps units
+ * fr_mm_s - (target) speed of the move
* extruder - target extruder
*/
- static void _buffer_line(const float &a, const float &b, const float &c, const float &e, float fr_mm_s, const uint8_t extruder);
+ static void _buffer_steps(const int32_t target[XYZE], float fr_mm_s, const uint8_t extruder);
+
+ /**
+ * Planner::_buffer_line
+ *
+ * Add a new linear movement to the buffer in axis units.
+ *
+ * Leveling and kinematics should be applied ahead of calling this.
+ *
+ * a,b,c,e - target positions in mm and/or degrees
+ * fr_mm_s - (target) speed of the move
+ * extruder - target extruder
+ */
+ static void _buffer_line(const float &a, const float &b, const float &c, const float &e, const float &fr_mm_s, const uint8_t extruder);
static void _set_position_mm(const float &a, const float &b, const float &c, const float &e);
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index bf99b4afda..e085206ef6 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -286,9 +286,6 @@ volatile long Stepper::endstops_trigsteps[XYZ];
// Some useful constants
-#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
-#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
-
/**
* __________________________
* /| |\ _________________ ^
diff --git a/Marlin/stepper.h b/Marlin/stepper.h
index 6ec4311c9d..7724eed14d 100644
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@@ -52,6 +52,9 @@
class Stepper;
extern Stepper stepper;
+#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
+#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
+
// intRes = intIn1 * intIn2 >> 16
// uses:
// r26 to store 0