From 4b4de71304a426e0d9b2696dae4e82eb55ba7079 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sun, 29 Aug 2021 13:57:47 -0500 Subject: [PATCH] =?UTF-8?q?=E2=9A=A1=EF=B8=8F=20Improve=20G2/G3=20arc=20ha?= =?UTF-8?q?ndling=20(#22599)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Marlin/Configuration_adv.h | 25 ++-- Marlin/src/core/macros.h | 2 + Marlin/src/gcode/gcode.cpp | 2 +- Marlin/src/gcode/motion/G0_G1.cpp | 2 +- Marlin/src/gcode/motion/G2_G3.cpp | 235 ++++++++++++++++++------------ Marlin/src/inc/SanityCheck.h | 14 +- 6 files changed, 174 insertions(+), 106 deletions(-) diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index 80606df733..9e232f95bb 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -2052,20 +2052,23 @@ // // G2/G3 Arc Support // -#define ARC_SUPPORT // Disable this feature to save ~3226 bytes +#define ARC_SUPPORT // Requires ~3226 bytes #if ENABLED(ARC_SUPPORT) - #define MM_PER_ARC_SEGMENT 1 // (mm) Length (or minimum length) of each arc segment - //#define ARC_SEGMENTS_PER_R 1 // Max segment length, MM_PER = Min - #define MIN_ARC_SEGMENTS 24 // Minimum number of segments in a complete circle - //#define ARC_SEGMENTS_PER_SEC 50 // Use feedrate to choose segment length (with MM_PER_ARC_SEGMENT as the minimum) - #define N_ARC_CORRECTION 25 // Number of interpolated segments between corrections - //#define ARC_P_CIRCLES // Enable the 'P' parameter to specify complete circles - //#define CNC_WORKSPACE_PLANES // Allow G2/G3 to operate in XY, ZX, or YZ planes - //#define SF_ARC_FIX // Enable only if using SkeinForge with "Arc Point" fillet procedure + #define MIN_ARC_SEGMENT_MM 0.1 // (mm) Minimum length of each arc segment + #define MAX_ARC_SEGMENT_MM 1.0 // (mm) Maximum length of each arc segment + #define MIN_CIRCLE_SEGMENTS 72 // Minimum number of segments in a complete circle + //#define ARC_SEGMENTS_PER_SEC 50 // Use the feedrate to choose the segment length + #define N_ARC_CORRECTION 25 // Number of interpolated segments between corrections + //#define ARC_P_CIRCLES // Enable the 'P' parameter to specify complete circles + //#define SF_ARC_FIX // Enable only if using SkeinForge with "Arc Point" fillet procedure #endif -// Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes. -//#define BEZIER_CURVE_SUPPORT +// G5 Bézier Curve Support with XYZE destination and IJPQ offsets +//#define BEZIER_CURVE_SUPPORT // Requires ~2666 bytes + +#if EITHER(ARC_SUPPORT, BEZIER_CURVE_SUPPORT) + //#define CNC_WORKSPACE_PLANES // Allow G2/G3/G5 to operate in XY, ZX, or YZ planes +#endif /** * Direct Stepping diff --git a/Marlin/src/core/macros.h b/Marlin/src/core/macros.h index 86368bf5e7..0174e21add 100644 --- a/Marlin/src/core/macros.h +++ b/Marlin/src/core/macros.h @@ -260,6 +260,7 @@ #define CODE_3( A,B,C,...) A; B; C #define CODE_2( A,B,...) A; B #define CODE_1( A,...) A +#define CODE_0(...) #define _CODE_N(N,V...) CODE_##N(V) #define CODE_N(N,V...) _CODE_N(N,V) @@ -279,6 +280,7 @@ #define GANG_3( A,B,C,...) A B C #define GANG_2( A,B,...) A B #define GANG_1( A,...) A +#define GANG_0(...) #define _GANG_N(N,V...) GANG_##N(V) #define GANG_N(N,V...) _GANG_N(N,V) #define GANG_N_1(N,K) _GANG_N(N,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K) diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp index 7933c3141a..94496f2b25 100644 --- a/Marlin/src/gcode/gcode.cpp +++ b/Marlin/src/gcode/gcode.cpp @@ -136,7 +136,7 @@ int8_t GcodeSuite::get_target_e_stepper_from_command() { } /** - * Set XYZE destination and feedrate from the current GCode command + * Set XYZIJKE destination and feedrate from the current GCode command * * - Set destination from included axis codes * - Set to current for missing axis codes diff --git a/Marlin/src/gcode/motion/G0_G1.cpp b/Marlin/src/gcode/motion/G0_G1.cpp index eb79180c69..cc6979b74c 100644 --- a/Marlin/src/gcode/motion/G0_G1.cpp +++ b/Marlin/src/gcode/motion/G0_G1.cpp @@ -71,7 +71,7 @@ void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) { #endif #endif - get_destination_from_command(); // Get X Y Z E F (and set cutter power) + get_destination_from_command(); // Get X Y [Z[I[J[K]]]] [E] F (and set cutter power) #ifdef G0_FEEDRATE if (fast_move) { diff --git a/Marlin/src/gcode/motion/G2_G3.cpp b/Marlin/src/gcode/motion/G2_G3.cpp index 094afdb70e..f9f9c2b3da 100644 --- a/Marlin/src/gcode/motion/G2_G3.cpp +++ b/Marlin/src/gcode/motion/G2_G3.cpp @@ -39,14 +39,21 @@ #undef N_ARC_CORRECTION #define N_ARC_CORRECTION 1 #endif +#ifndef MIN_CIRCLE_SEGMENTS + #define MIN_CIRCLE_SEGMENTS 72 // 5° per segment +#endif +#if !defined(MAX_ARC_SEGMENT_MM) && defined(MIN_ARC_SEGMENT_MM) + #define MAX_ARC_SEGMENT_MM MIN_ARC_SEGMENT_MM +#elif !defined(MIN_ARC_SEGMENT_MM) && defined(MAX_ARC_SEGMENT_MM) + #define MIN_ARC_SEGMENT_MM MAX_ARC_SEGMENT_MM +#endif + +#define ARC_LIJK_CODE(L,I,J,K) CODE_N(SUB2(LINEAR_AXES),L,I,J,K) +#define ARC_LIJKE_CODE(L,I,J,K,E) ARC_LIJK_CODE(L,I,J,K); CODE_ITEM_E(E) /** - * Plan an arc in 2 dimensions, with optional linear motion in a 3rd dimension - * - * The arc is traced by generating many small linear segments, as configured by - * MM_PER_ARC_SEGMENT (Default 1mm). In the future we hope more slicers will include - * an option to generate G2/G3 arcs for curved surfaces, as this will allow faster - * boards to produce much smoother curved surfaces. + * Plan an arc in 2 dimensions, with linear motion in the other axes. + * The arc is traced with many small linear segments according to the configuration. */ void plan_arc( const xyze_pos_t &cart, // Destination position @@ -55,41 +62,45 @@ void plan_arc( const uint8_t circles // Take the scenic route ) { #if ENABLED(CNC_WORKSPACE_PLANES) - AxisEnum p_axis, q_axis, l_axis; + AxisEnum axis_p, axis_q, axis_l; switch (gcode.workspace_plane) { default: - case GcodeSuite::PLANE_XY: p_axis = X_AXIS; q_axis = Y_AXIS; l_axis = Z_AXIS; break; - case GcodeSuite::PLANE_YZ: p_axis = Y_AXIS; q_axis = Z_AXIS; l_axis = X_AXIS; break; - case GcodeSuite::PLANE_ZX: p_axis = Z_AXIS; q_axis = X_AXIS; l_axis = Y_AXIS; break; + case GcodeSuite::PLANE_XY: axis_p = X_AXIS; axis_q = Y_AXIS; axis_l = Z_AXIS; break; + case GcodeSuite::PLANE_YZ: axis_p = Y_AXIS; axis_q = Z_AXIS; axis_l = X_AXIS; break; + case GcodeSuite::PLANE_ZX: axis_p = Z_AXIS; axis_q = X_AXIS; axis_l = Y_AXIS; break; } #else - constexpr AxisEnum p_axis = X_AXIS, q_axis = Y_AXIS OPTARG(HAS_Z_AXIS, l_axis = Z_AXIS); + constexpr AxisEnum axis_p = X_AXIS, axis_q = Y_AXIS OPTARG(HAS_Z_AXIS, axis_l = Z_AXIS); #endif // Radius vector from center to current location ab_float_t rvec = -offset; const float radius = HYPOT(rvec.a, rvec.b), - center_P = current_position[p_axis] - rvec.a, - center_Q = current_position[q_axis] - rvec.b, - rt_X = cart[p_axis] - center_P, - rt_Y = cart[q_axis] - center_Q - OPTARG(HAS_Z_AXIS, start_L = current_position[l_axis]); + center_P = current_position[axis_p] - rvec.a, + center_Q = current_position[axis_q] - rvec.b, + rt_X = cart[axis_p] - center_P, + rt_Y = cart[axis_q] - center_Q; - #ifdef MIN_ARC_SEGMENTS - uint16_t min_segments = MIN_ARC_SEGMENTS; - #else - constexpr uint16_t min_segments = 1; - #endif + ARC_LIJK_CODE( + const float start_L = current_position[axis_l], + const float start_I = current_position.i, + const float start_J = current_position.j, + const float start_K = current_position.k + ); // Angle of rotation between position and target from the circle center. float angular_travel, abs_angular_travel; + // Minimum number of segments in an arc move + uint16_t min_segments = 1; + // Do a full circle if starting and ending positions are "identical" - if (NEAR(current_position[p_axis], cart[p_axis]) && NEAR(current_position[q_axis], cart[q_axis])) { + if (NEAR(current_position[axis_p], cart[axis_p]) && NEAR(current_position[axis_q], cart[axis_q])) { // Preserve direction for circles angular_travel = clockwise ? -RADIANS(360) : RADIANS(360); abs_angular_travel = RADIANS(360); + min_segments = MIN_CIRCLE_SEGMENTS; } else { // Calculate the angle @@ -106,61 +117,90 @@ void plan_arc( abs_angular_travel = ABS(angular_travel); - #ifdef MIN_ARC_SEGMENTS - min_segments = CEIL(min_segments * abs_angular_travel / RADIANS(360)); - NOLESS(min_segments, 1U); - #endif + // Apply minimum segments to the arc + const float portion_of_circle = abs_angular_travel / RADIANS(360); // Portion of a complete circle (0 < N < 1) + min_segments = CEIL((MIN_CIRCLE_SEGMENTS) * portion_of_circle); // Minimum segments for the arc } - #if HAS_Z_AXIS - float linear_travel = cart[l_axis] - start_L; - #endif - #if HAS_EXTRUDERS - float extruder_travel = cart.e - current_position.e; - #endif + ARC_LIJKE_CODE( + float travel_L = cart[axis_l] - start_L, + float travel_I = cart.i - start_I, + float travel_J = cart.j - start_J, + float travel_K = cart.k - start_K, + float travel_E = cart.e - current_position.e + ); - // If circling around... + // If "P" specified circles, call plan_arc recursively then continue with the rest of the arc if (TERN0(ARC_P_CIRCLES, circles)) { - const float total_angular = abs_angular_travel + circles * RADIANS(360), // Total rotation with all circles and remainder - part_per_circle = RADIANS(360) / total_angular; // Each circle's part of the total + const float total_angular = abs_angular_travel + circles * RADIANS(360), // Total rotation with all circles and remainder + part_per_circle = RADIANS(360) / total_angular; // Each circle's part of the total - #if HAS_Z_AXIS - const float l_per_circle = linear_travel * part_per_circle; // L movement per circle - #endif - #if HAS_EXTRUDERS - const float e_per_circle = extruder_travel * part_per_circle; // E movement per circle - #endif + ARC_LIJKE_CODE( + const float per_circle_L = travel_L * part_per_circle, // L movement per circle + const float per_circle_I = travel_I * part_per_circle, + const float per_circle_J = travel_J * part_per_circle, + const float per_circle_K = travel_K * part_per_circle, + const float per_circle_E = travel_E * part_per_circle // E movement per circle + ); - xyze_pos_t temp_position = current_position; // for plan_arc to compare to current_position + xyze_pos_t temp_position = current_position; for (uint16_t n = circles; n--;) { - TERN_(HAS_EXTRUDERS, temp_position.e += e_per_circle); // Destination E axis - TERN_(HAS_Z_AXIS, temp_position[l_axis] += l_per_circle); // Destination L axis - plan_arc(temp_position, offset, clockwise, 0); // Plan a single whole circle + ARC_LIJKE_CODE( // Destination Linear Axes + temp_position[axis_l] += per_circle_L, + temp_position.i += per_circle_I, + temp_position.j += per_circle_J, + temp_position.k += per_circle_K, + temp_position.e += per_circle_E // Destination E axis + ); + plan_arc(temp_position, offset, clockwise, 0); // Plan a single whole circle } - TERN_(HAS_Z_AXIS, linear_travel = cart[l_axis] - current_position[l_axis]); - TERN_(HAS_EXTRUDERS, extruder_travel = cart.e - current_position.e); + ARC_LIJKE_CODE( + travel_L = cart[axis_l] - current_position[axis_l], + travel_I = cart.i - current_position.i, + travel_J = cart.j - current_position.j, + travel_K = cart.k - current_position.k, + travel_E = cart.e - current_position.e + ); } - const float flat_mm = radius * abs_angular_travel, - mm_of_travel = TERN_(HAS_Z_AXIS, linear_travel ? HYPOT(flat_mm, linear_travel) :) flat_mm; - if (mm_of_travel < 0.001f) return; + // Millimeters in the arc, assuming it's flat + const float flat_mm = radius * abs_angular_travel; + // Return if the move is near zero + if (flat_mm < 0.0001f + GANG_N(SUB2(LINEAR_AXES), + && travel_L < 0.0001f, + && travel_I < 0.0001f, + && travel_J < 0.0001f, + && travel_K < 0.0001f + ) + ) return; + + // Feedrate for the move, scaled by the feedrate multiplier const feedRate_t scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s); - // Start with a nominal segment length - float seg_length = ( - #ifdef ARC_SEGMENTS_PER_R - constrain(MM_PER_ARC_SEGMENT * radius, MM_PER_ARC_SEGMENT, ARC_SEGMENTS_PER_R) - #elif ARC_SEGMENTS_PER_SEC - _MAX(scaled_fr_mm_s * RECIPROCAL(ARC_SEGMENTS_PER_SEC), MM_PER_ARC_SEGMENT) + // Get the nominal segment length based on settings + const float nominal_segment_mm = ( + #if ARC_SEGMENTS_PER_SEC // Length based on segments per second and feedrate + constrain(scaled_fr_mm_s * RECIPROCAL(ARC_SEGMENTS_PER_SEC), MIN_ARC_SEGMENT_MM, MAX_ARC_SEGMENT_MM) #else - MM_PER_ARC_SEGMENT + MAX_ARC_SEGMENT_MM // Length using the maximum segment size #endif ); - // Divide total travel by nominal segment length - uint16_t segments = FLOOR(mm_of_travel / seg_length); - NOLESS(segments, min_segments); // At least some segments - seg_length = mm_of_travel / segments; + + // Number of whole segments based on the nominal segment length + const float nominal_segments = _MAX(FLOOR(flat_mm / nominal_segment_mm), min_segments); + + // A new segment length based on the required minimum + const float segment_mm = constrain(flat_mm / nominal_segments, MIN_ARC_SEGMENT_MM, MAX_ARC_SEGMENT_MM); + + // The number of whole segments in the arc, ignoring the remainder + uint16_t segments = FLOOR(flat_mm / segment_mm); + + // Are the segments now too few to reach the destination? + const float segmented_length = segment_mm * segments; + const bool tooshort = segmented_length < flat_mm - 0.0001f; + const float proportion = tooshort ? segmented_length / flat_mm : 1.0f; /** * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, @@ -190,26 +230,36 @@ void plan_arc( */ // Vector rotation matrix values xyze_pos_t raw; - const float theta_per_segment = angular_travel / segments, + const float theta_per_segment = proportion * angular_travel / segments, sq_theta_per_segment = sq(theta_per_segment), sin_T = theta_per_segment - sq_theta_per_segment * theta_per_segment / 6, cos_T = 1 - 0.5f * sq_theta_per_segment; // Small angle approximation - #if HAS_Z_AXIS && DISABLED(AUTO_BED_LEVELING_UBL) - const float linear_per_segment = linear_travel / segments; - #endif - #if HAS_EXTRUDERS - const float extruder_per_segment = extruder_travel / segments; + #if DISABLED(AUTO_BED_LEVELING_UBL) + ARC_LIJK_CODE( + const float per_segment_L = proportion * travel_L / segments, + const float per_segment_I = proportion * travel_I / segments, + const float per_segment_J = proportion * travel_J / segments, + const float per_segment_K = proportion * travel_K / segments + ); #endif - // Initialize the linear axis - TERN_(HAS_Z_AXIS, raw[l_axis] = current_position[l_axis]); + CODE_ITEM_E(const float extruder_per_segment = proportion * travel_E / segments); - // Initialize the extruder axis - TERN_(HAS_EXTRUDERS, raw.e = current_position.e); + // For shortened segments, run all but the remainder in the loop + if (tooshort) segments++; + + // Initialize all linear axes and E + ARC_LIJKE_CODE( + raw[axis_l] = current_position[axis_l], + raw.i = current_position.i, + raw.j = current_position.j, + raw.k = current_position.k, + raw.e = current_position.e + ); #if ENABLED(SCARA_FEEDRATE_SCALING) - const float inv_duration = scaled_fr_mm_s / seg_length; + const float inv_duration = scaled_fr_mm_s / segment_mm; #endif millis_t next_idle_ms = millis() + 200UL; @@ -221,8 +271,9 @@ void plan_arc( for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times thermalManager.manage_heater(); - if (ELAPSED(millis(), next_idle_ms)) { - next_idle_ms = millis() + 200UL; + const millis_t ms = millis(); + if (ELAPSED(ms, next_idle_ms)) { + next_idle_ms = ms + 200UL; idle(); } @@ -250,13 +301,16 @@ void plan_arc( } // Update raw location - raw[p_axis] = center_P + rvec.a; - raw[q_axis] = center_Q + rvec.b; - #if HAS_Z_AXIS - raw[l_axis] = TERN(AUTO_BED_LEVELING_UBL, start_L, raw[l_axis] + linear_per_segment); - #endif - - TERN_(HAS_EXTRUDERS, raw.e += extruder_per_segment); + raw[axis_p] = center_P + rvec.a; + raw[axis_q] = center_Q + rvec.b; + ARC_LIJKE_CODE( + #if ENABLED(AUTO_BED_LEVELING_UBL) + raw[axis_l] = start_L, raw.i = start_I, raw.j = start_J, raw.k = start_K + #else + raw[axis_l] += per_segment_L, raw.i += per_segment_I, raw.j += per_segment_J, raw.k += per_segment_K + #endif + , raw.e += extruder_per_segment + ); apply_motion_limits(raw); @@ -264,14 +318,15 @@ void plan_arc( planner.apply_leveling(raw); #endif - if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, 0 - OPTARG(SCARA_FEEDRATE_SCALING, inv_duration) - )) break; + if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, 0 OPTARG(SCARA_FEEDRATE_SCALING, inv_duration))) + break; } // Ensure last segment arrives at target location. raw = cart; - TERN_(AUTO_BED_LEVELING_UBL, TERN_(HAS_Z_AXIS, raw[l_axis] = start_L)); + #if ENABLED(AUTO_BED_LEVELING_UBL) + ARC_LIJK_CODE(raw[axis_l] = start_L, raw.i = start_I, raw.j = start_J, raw.k = start_K); + #endif apply_motion_limits(raw); @@ -279,11 +334,11 @@ void plan_arc( planner.apply_leveling(raw); #endif - planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, 0 - OPTARG(SCARA_FEEDRATE_SCALING, inv_duration) - ); + planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, 0 OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)); - TERN_(AUTO_BED_LEVELING_UBL, TERN_(HAS_Z_AXIS, raw[l_axis] = start_L)); + #if ENABLED(AUTO_BED_LEVELING_UBL) + ARC_LIJK_CODE(raw[axis_l] = start_L, raw.i = start_I, raw.j = start_J, raw.k = start_K); + #endif current_position = raw; } // plan_arc @@ -325,7 +380,7 @@ void GcodeSuite::G2_G3(const bool clockwise) { relative_mode = true; #endif - get_destination_from_command(); // Get X Y Z E F (and set cutter power) + get_destination_from_command(); // Get X Y [Z[I[J[K]]]] [E] F (and set cutter power) TERN_(SF_ARC_FIX, relative_mode = relative_mode_backup); diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h index e02e903551..a146b95ba6 100644 --- a/Marlin/src/inc/SanityCheck.h +++ b/Marlin/src/inc/SanityCheck.h @@ -585,12 +585,20 @@ #error "TEMP_SENSOR_1_AS_REDUNDANT is now TEMP_SENSOR_REDUNDANT, with associated TEMP_SENSOR_REDUNDANT_* config." #elif defined(MAX_REDUNDANT_TEMP_SENSOR_DIFF) #error "MAX_REDUNDANT_TEMP_SENSOR_DIFF is now TEMP_SENSOR_REDUNDANT_MAX_DIFF" -#elif MOTHERBOARD == BOARD_DUE3DOM_MINI && PIN_EXISTS(TEMP_2) && DISABLED(TEMP_SENSOR_BOARD) +#elif defined(LCD_ALEPHOBJECTS_CLCD_UI) + #error "LCD_ALEPHOBJECTS_CLCD_UI is now LCD_LULZBOT_CLCD_UI." +#elif defined(MIN_ARC_SEGMENTS) + #error "MIN_ARC_SEGMENTS is now MIN_CIRCLE_SEGMENTS." +#elif defined(ARC_SEGMENTS_PER_R) + #error "ARC_SUPPORT no longer uses ARC_SEGMENTS_PER_R." +#elif ENABLED(ARC_SUPPORT) && (!defined(MIN_ARC_SEGMENT_MM) || !defined(MAX_ARC_SEGMENT_MM)) + #error "ARC_SUPPORT now requires MIN_ARC_SEGMENT_MM and MAX_ARC_SEGMENT_MM." +#endif + +#if MOTHERBOARD == BOARD_DUE3DOM_MINI && PIN_EXISTS(TEMP_2) && DISABLED(TEMP_SENSOR_BOARD) #warning "Onboard temperature sensor for BOARD_DUE3DOM_MINI has moved from TEMP_SENSOR_2 (TEMP_2_PIN) to TEMP_SENSOR_BOARD (TEMP_BOARD_PIN)." #elif MOTHERBOARD == BOARD_BTT_SKR_E3_TURBO && PIN_EXISTS(TEMP_2) && DISABLED(TEMP_SENSOR_BOARD) #warning "Onboard temperature sensor for BOARD_BTT_SKR_E3_TURBO has moved from TEMP_SENSOR_2 (TEMP_2_PIN) to TEMP_SENSOR_BOARD (TEMP_BOARD_PIN)." -#elif defined(LCD_ALEPHOBJECTS_CLCD_UI) - #warning "LCD_ALEPHOBJECTS_CLCD_UI is now LCD_LULZBOT_CLCD_UI." #endif constexpr float arm[] = AXIS_RELATIVE_MODES;