🐛 Don't skip G2/G3 E-only moves
This commit is contained in:
Scott Lahteine
parent
88dea487c2
commit
842489a5dc
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@ -476,6 +476,9 @@ public:
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private:
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friend class MarlinSettings;
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#if ENABLED(ARC_SUPPORT)
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friend void plan_arc(const xyze_pos_t&, const ab_float_t&, const bool, const uint8_t);
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#endif
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#if ENABLED(MARLIN_DEV_MODE)
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static void D(const int16_t dcode);
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@ -45,91 +45,75 @@ extern xyze_pos_t destination;
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* G0, G1: Coordinated movement of X Y Z E axes
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*/
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void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) {
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if (!MOTION_CONDITIONS) return;
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if (IsRunning()
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#if ENABLED(NO_MOTION_BEFORE_HOMING)
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&& !homing_needed_error(
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NUM_AXIS_GANG(
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(parser.seen_test('X') ? _BV(X_AXIS) : 0),
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| (parser.seen_test('Y') ? _BV(Y_AXIS) : 0),
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| (parser.seen_test('Z') ? _BV(Z_AXIS) : 0),
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| (parser.seen_test(AXIS4_NAME) ? _BV(I_AXIS) : 0),
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| (parser.seen_test(AXIS5_NAME) ? _BV(J_AXIS) : 0),
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| (parser.seen_test(AXIS6_NAME) ? _BV(K_AXIS) : 0),
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| (parser.seen_test(AXIS7_NAME) ? _BV(U_AXIS) : 0),
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| (parser.seen_test(AXIS8_NAME) ? _BV(V_AXIS) : 0),
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| (parser.seen_test(AXIS9_NAME) ? _BV(W_AXIS) : 0))
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)
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#endif
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) {
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TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_RUNNING));
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TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_RUNNING));
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#ifdef G0_FEEDRATE
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feedRate_t old_feedrate;
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#if ENABLED(VARIABLE_G0_FEEDRATE)
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if (fast_move) {
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old_feedrate = feedrate_mm_s; // Back up the (old) motion mode feedrate
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feedrate_mm_s = fast_move_feedrate; // Get G0 feedrate from last usage
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}
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#endif
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#endif
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get_destination_from_command(); // Get X Y [Z[I[J[K]]]] [E] F (and set cutter power)
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#ifdef G0_FEEDRATE
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#ifdef G0_FEEDRATE
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feedRate_t old_feedrate;
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#if ENABLED(VARIABLE_G0_FEEDRATE)
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if (fast_move) {
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#if ENABLED(VARIABLE_G0_FEEDRATE)
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fast_move_feedrate = feedrate_mm_s; // Save feedrate for the next G0
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#else
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old_feedrate = feedrate_mm_s; // Back up the (new) motion mode feedrate
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feedrate_mm_s = MMM_TO_MMS(G0_FEEDRATE); // Get the fixed G0 feedrate
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#endif
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old_feedrate = feedrate_mm_s; // Back up the (old) motion mode feedrate
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feedrate_mm_s = fast_move_feedrate; // Get G0 feedrate from last usage
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}
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#endif
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#endif
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#if BOTH(FWRETRACT, FWRETRACT_AUTORETRACT)
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get_destination_from_command(); // Get X Y [Z[I[J[K]]]] [E] F (and set cutter power)
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if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
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// When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves
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if (fwretract.autoretract_enabled && parser.seen_test('E')
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&& !parser.seen(STR_AXES_MAIN)
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) {
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const float echange = destination.e - current_position.e;
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// Is this a retract or recover move?
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if (WITHIN(ABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && fwretract.retracted[active_extruder] == (echange > 0.0)) {
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current_position.e = destination.e; // Hide a G1-based retract/recover from calculations
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sync_plan_position_e(); // AND from the planner
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return fwretract.retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored)
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}
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#ifdef G0_FEEDRATE
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if (fast_move) {
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#if ENABLED(VARIABLE_G0_FEEDRATE)
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fast_move_feedrate = feedrate_mm_s; // Save feedrate for the next G0
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#else
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old_feedrate = feedrate_mm_s; // Back up the (new) motion mode feedrate
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feedrate_mm_s = MMM_TO_MMS(G0_FEEDRATE); // Get the fixed G0 feedrate
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#endif
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}
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#endif
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#if BOTH(FWRETRACT, FWRETRACT_AUTORETRACT)
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if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
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// When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves
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if (fwretract.autoretract_enabled && parser.seen_test('E')
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&& !parser.seen(STR_AXES_MAIN)
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) {
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const float echange = destination.e - current_position.e;
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// Is this a retract or recover move?
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if (WITHIN(ABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && fwretract.retracted[active_extruder] == (echange > 0.0)) {
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current_position.e = destination.e; // Hide a G1-based retract/recover from calculations
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sync_plan_position_e(); // AND from the planner
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return fwretract.retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored)
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}
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}
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}
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#endif // FWRETRACT
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#endif // FWRETRACT
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#if EITHER(IS_SCARA, POLAR)
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fast_move ? prepare_fast_move_to_destination() : prepare_line_to_destination();
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#if EITHER(IS_SCARA, POLAR)
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fast_move ? prepare_fast_move_to_destination() : prepare_line_to_destination();
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#else
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prepare_line_to_destination();
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#endif
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#ifdef G0_FEEDRATE
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// Restore the motion mode feedrate
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if (fast_move) feedrate_mm_s = old_feedrate;
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#endif
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#if ENABLED(NANODLP_Z_SYNC)
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#if ENABLED(NANODLP_ALL_AXIS)
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#define _MOVE_SYNC parser.seenval('X') || parser.seenval('Y') || parser.seenval('Z') // For any move wait and output sync message
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#else
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prepare_line_to_destination();
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#define _MOVE_SYNC parser.seenval('Z') // Only for Z move
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#endif
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#ifdef G0_FEEDRATE
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// Restore the motion mode feedrate
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if (fast_move) feedrate_mm_s = old_feedrate;
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#endif
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#if ENABLED(NANODLP_Z_SYNC)
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#if ENABLED(NANODLP_ALL_AXIS)
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#define _MOVE_SYNC parser.seenval('X') || parser.seenval('Y') || parser.seenval('Z') // For any move wait and output sync message
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#else
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#define _MOVE_SYNC parser.seenval('Z') // Only for Z move
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#endif
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if (_MOVE_SYNC) {
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planner.synchronize();
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SERIAL_ECHOLNPGM(STR_Z_MOVE_COMP);
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}
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TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE));
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#else
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TERN_(FULL_REPORT_TO_HOST_FEATURE, report_current_grblstate_moving());
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#endif
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}
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if (_MOVE_SYNC) {
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planner.synchronize();
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SERIAL_ECHOLNPGM(STR_Z_MOVE_COMP);
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}
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TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE));
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#else
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TERN_(FULL_REPORT_TO_HOST_FEATURE, report_current_grblstate_moving());
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#endif
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}
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@ -142,8 +142,8 @@ void plan_arc(
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part_per_circle = RADIANS(360) / total_angular; // Each circle's part of the total
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ARC_LIJKUVWE_CODE(
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const float per_circle_L = travel_L * part_per_circle, // L movement per circle
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const float per_circle_I = travel_I * part_per_circle,
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const float per_circle_L = travel_L * part_per_circle, // X, Y, or Z movement per circle
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const float per_circle_I = travel_I * part_per_circle, // The rest are also non-arc
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const float per_circle_J = travel_J * part_per_circle,
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const float per_circle_K = travel_K * part_per_circle,
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const float per_circle_U = travel_U * part_per_circle,
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@ -154,9 +154,9 @@ void plan_arc(
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xyze_pos_t temp_position = current_position;
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for (uint16_t n = circles; n--;) {
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ARC_LIJKUVWE_CODE( // Destination Linear Axes
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temp_position[axis_l] += per_circle_L,
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temp_position.i += per_circle_I,
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ARC_LIJKUVWE_CODE( // Destination Linear Axes
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temp_position[axis_l] += per_circle_L, // Linear X, Y, or Z
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temp_position.i += per_circle_I, // The rest are also non-circular
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temp_position.j += per_circle_J,
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temp_position.k += per_circle_K,
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temp_position.u += per_circle_U,
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@ -167,8 +167,8 @@ void plan_arc(
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plan_arc(temp_position, offset, clockwise, 0); // Plan a single whole circle
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}
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ARC_LIJKUVWE_CODE(
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travel_L = cart[axis_l] - current_position[axis_l],
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travel_I = cart.i - current_position.i,
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travel_L = cart[axis_l] - current_position[axis_l], // Linear X, Y, or Z
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travel_I = cart.i - current_position.i, // The rest are also non-arc
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travel_J = cart.j - current_position.j,
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travel_K = cart.k - current_position.k,
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travel_U = cart.u - current_position.u,
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@ -183,16 +183,21 @@ void plan_arc(
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// Return if the move is near zero
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if (flat_mm < 0.0001f
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GANG_N(SUB2(NUM_AXES),
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&& travel_L < 0.0001f,
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&& travel_I < 0.0001f,
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&& travel_J < 0.0001f,
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&& travel_K < 0.0001f,
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&& travel_U < 0.0001f,
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&& travel_V < 0.0001f,
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&& travel_W < 0.0001f
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GANG_N(SUB2(NUM_AXES), // Two axes for the arc
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&& NEAR_ZERO(travel_L), // Linear X, Y, or Z
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&& NEAR_ZERO(travel_I),
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&& NEAR_ZERO(travel_J),
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&& NEAR_ZERO(travel_K),
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&& NEAR_ZERO(travel_U),
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&& NEAR_ZERO(travel_V),
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&& NEAR_ZERO(travel_W)
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)
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) return;
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) {
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#if HAS_EXTRUDERS
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if (!NEAR_ZERO(travel_E)) gcode.G0_G1(); // Handle retract/recover as G1
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return;
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#endif
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}
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// Feedrate for the move, scaled by the feedrate multiplier
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const feedRate_t scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s);
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@ -426,71 +431,70 @@ void plan_arc(
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* G3 X20 Y12 R14 ; CCW circle with r=14 ending at X20 Y12
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*/
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void GcodeSuite::G2_G3(const bool clockwise) {
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if (MOTION_CONDITIONS) {
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if (!MOTION_CONDITIONS) return;
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TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_RUNNING));
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TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_RUNNING));
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#if ENABLED(SF_ARC_FIX)
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const bool relative_mode_backup = relative_mode;
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relative_mode = true;
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#endif
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#if ENABLED(SF_ARC_FIX)
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const bool relative_mode_backup = relative_mode;
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relative_mode = true;
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#endif
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get_destination_from_command(); // Get X Y [Z[I[J[K...]]]] [E] F (and set cutter power)
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get_destination_from_command(); // Get X Y [Z[I[J[K...]]]] [E] F (and set cutter power)
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TERN_(SF_ARC_FIX, relative_mode = relative_mode_backup);
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TERN_(SF_ARC_FIX, relative_mode = relative_mode_backup);
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ab_float_t arc_offset = { 0, 0 };
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if (parser.seenval('R')) {
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const float r = parser.value_linear_units();
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if (r) {
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const xy_pos_t p1 = current_position, p2 = destination;
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if (p1 != p2) {
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const xy_pos_t d2 = (p2 - p1) * 0.5f; // XY vector to midpoint of move from current
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const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
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len = d2.magnitude(), // Distance to mid-point of move from current
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h2 = (r - len) * (r + len), // factored to reduce rounding error
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h = (h2 >= 0) ? SQRT(h2) : 0.0f; // Distance to the arc pivot-point from midpoint
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const xy_pos_t s = { -d2.y, d2.x }; // Perpendicular bisector. (Divide by len for unit vector.)
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arc_offset = d2 + s / len * e * h; // The calculated offset (mid-point if |r| <= len)
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}
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ab_float_t arc_offset = { 0, 0 };
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if (parser.seenval('R')) {
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const float r = parser.value_linear_units();
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if (r) {
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const xy_pos_t p1 = current_position, p2 = destination;
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if (p1 != p2) {
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const xy_pos_t d2 = (p2 - p1) * 0.5f; // XY vector to midpoint of move from current
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const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
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len = d2.magnitude(), // Distance to mid-point of move from current
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h2 = (r - len) * (r + len), // factored to reduce rounding error
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h = (h2 >= 0) ? SQRT(h2) : 0.0f; // Distance to the arc pivot-point from midpoint
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const xy_pos_t s = { -d2.y, d2.x }; // Perpendicular bisector. (Divide by len for unit vector.)
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arc_offset = d2 + s / len * e * h; // The calculated offset (mid-point if |r| <= len)
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}
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}
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else {
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#if ENABLED(CNC_WORKSPACE_PLANES)
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char achar, bchar;
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switch (workspace_plane) {
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default:
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case GcodeSuite::PLANE_XY: achar = 'I'; bchar = 'J'; break;
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case GcodeSuite::PLANE_YZ: achar = 'J'; bchar = 'K'; break;
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case GcodeSuite::PLANE_ZX: achar = 'K'; bchar = 'I'; break;
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}
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#else
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constexpr char achar = 'I', bchar = 'J';
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#endif
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if (parser.seenval(achar)) arc_offset.a = parser.value_linear_units();
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if (parser.seenval(bchar)) arc_offset.b = parser.value_linear_units();
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}
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if (arc_offset) {
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#if ENABLED(ARC_P_CIRCLES)
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// P indicates number of circles to do
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const int8_t circles_to_do = parser.byteval('P');
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if (!WITHIN(circles_to_do, 0, 100))
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SERIAL_ERROR_MSG(STR_ERR_ARC_ARGS);
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#else
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constexpr uint8_t circles_to_do = 0;
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#endif
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// Send the arc to the planner
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plan_arc(destination, arc_offset, clockwise, circles_to_do);
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reset_stepper_timeout();
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}
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else
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SERIAL_ERROR_MSG(STR_ERR_ARC_ARGS);
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TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE));
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}
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else {
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#if ENABLED(CNC_WORKSPACE_PLANES)
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char achar, bchar;
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switch (workspace_plane) {
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default:
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case GcodeSuite::PLANE_XY: achar = 'I'; bchar = 'J'; break;
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case GcodeSuite::PLANE_YZ: achar = 'J'; bchar = 'K'; break;
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case GcodeSuite::PLANE_ZX: achar = 'K'; bchar = 'I'; break;
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}
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#else
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constexpr char achar = 'I', bchar = 'J';
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#endif
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if (parser.seenval(achar)) arc_offset.a = parser.value_linear_units();
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if (parser.seenval(bchar)) arc_offset.b = parser.value_linear_units();
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}
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if (arc_offset) {
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#if ENABLED(ARC_P_CIRCLES)
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// P indicates number of circles to do
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const int8_t circles_to_do = parser.byteval('P');
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if (!WITHIN(circles_to_do, 0, 100))
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SERIAL_ERROR_MSG(STR_ERR_ARC_ARGS);
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#else
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constexpr uint8_t circles_to_do = 0;
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#endif
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// Send the arc to the planner
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plan_arc(destination, arc_offset, clockwise, circles_to_do);
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reset_stepper_timeout();
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}
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else
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SERIAL_ERROR_MSG(STR_ERR_ARC_ARGS);
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TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE));
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}
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#endif // ARC_SUPPORT
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