From f2c3b0d47646c5b56804f2474ae96c0884b783c8 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
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 a13d7f19a9d..c182efc418f 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 6dae6b5d5a5..1259a385c6d 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 45356216882..2a57b52f340 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 b812bd57223..8a59837658a 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 869b470f947..fc8f2324c0c 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 4102cb9ed04..23a7f1a10a6 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 a8297f9aad5..80e0240adcb 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 66b69aab814..4ea2fdc22bb 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 ca8109ba2f1..dded33f9fde 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 45877049836..e8e3ee5bb76 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 65fbff8822d..f3503cfad13 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 9be142cb822..bc9aa9a7667 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 7cad6d16820..d013c2c7a1f 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 <github@thinkyhead.com>
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 2feab3c55ee..c73f8da3cce 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 25c79fe0b82..c1b8ed2eecc 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 80e0240adcb..9a7ad5c8151 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 3dbf3fa7578..0a6e60b5d30 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 87a3d1a2ae6..db02c8f4388 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 2d880c8bd9d..0e313152dd6 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:
/**