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🐛 Don't skip G2/G3 E-only moves

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This commit is contained in:
Scott Lahteine 2023-02-08 19:36:22 -06:00
parent 88dea487c2
commit 842489a5dc
3 changed files with 138 additions and 147 deletions
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3
Marlin/src/gcode/gcode.h
View file

@ -476,6 +476,9 @@ public:
private: private:
friend class MarlinSettings; friend class MarlinSettings;
#if ENABLED(ARC_SUPPORT)
friend void plan_arc(const xyze_pos_t&, const ab_float_t&, const bool, const uint8_t);
#endif
#if ENABLED(MARLIN_DEV_MODE) #if ENABLED(MARLIN_DEV_MODE)
static void D(const int16_t dcode); static void D(const int16_t dcode);

132
Marlin/src/gcode/motion/G0_G1.cpp
View file

@ -45,91 +45,75 @@ extern xyze_pos_t destination;
* G0, G1: Coordinated movement of X Y Z E axes * G0, G1: Coordinated movement of X Y Z E axes
*/ */
void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) { void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) {
if (!MOTION_CONDITIONS) return;
if (IsRunning() TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_RUNNING));
#if ENABLED(NO_MOTION_BEFORE_HOMING)
&& !homing_needed_error(
NUM_AXIS_GANG(
(parser.seen_test('X') ? _BV(X_AXIS) : 0),
| (parser.seen_test('Y') ? _BV(Y_AXIS) : 0),
| (parser.seen_test('Z') ? _BV(Z_AXIS) : 0),
| (parser.seen_test(AXIS4_NAME) ? _BV(I_AXIS) : 0),
| (parser.seen_test(AXIS5_NAME) ? _BV(J_AXIS) : 0),
| (parser.seen_test(AXIS6_NAME) ? _BV(K_AXIS) : 0),
| (parser.seen_test(AXIS7_NAME) ? _BV(U_AXIS) : 0),
| (parser.seen_test(AXIS8_NAME) ? _BV(V_AXIS) : 0),
| (parser.seen_test(AXIS9_NAME) ? _BV(W_AXIS) : 0))
)
#endif
) {
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_RUNNING));
#ifdef G0_FEEDRATE #ifdef G0_FEEDRATE
feedRate_t old_feedrate; feedRate_t old_feedrate;
#if ENABLED(VARIABLE_G0_FEEDRATE) #if ENABLED(VARIABLE_G0_FEEDRATE)
if (fast_move) {
old_feedrate = feedrate_mm_s; // Back up the (old) motion mode feedrate
feedrate_mm_s = fast_move_feedrate; // Get G0 feedrate from last usage
}
#endif
#endif
get_destination_from_command(); // Get X Y [Z[I[J[K]]]] [E] F (and set cutter power)
#ifdef G0_FEEDRATE
if (fast_move) { if (fast_move) {
#if ENABLED(VARIABLE_G0_FEEDRATE) old_feedrate = feedrate_mm_s; // Back up the (old) motion mode feedrate
fast_move_feedrate = feedrate_mm_s; // Save feedrate for the next G0 feedrate_mm_s = fast_move_feedrate; // Get G0 feedrate from last usage
#else
old_feedrate = feedrate_mm_s; // Back up the (new) motion mode feedrate
feedrate_mm_s = MMM_TO_MMS(G0_FEEDRATE); // Get the fixed G0 feedrate
#endif
} }
#endif #endif
#endif
#if BOTH(FWRETRACT, FWRETRACT_AUTORETRACT) get_destination_from_command(); // Get X Y [Z[I[J[K]]]] [E] F (and set cutter power)
if (MIN_AUTORETRACT <= MAX_AUTORETRACT) { #ifdef G0_FEEDRATE
// When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves if (fast_move) {
if (fwretract.autoretract_enabled && parser.seen_test('E') #if ENABLED(VARIABLE_G0_FEEDRATE)
&& !parser.seen(STR_AXES_MAIN) fast_move_feedrate = feedrate_mm_s; // Save feedrate for the next G0
) { #else
const float echange = destination.e - current_position.e; old_feedrate = feedrate_mm_s; // Back up the (new) motion mode feedrate
// Is this a retract or recover move? feedrate_mm_s = MMM_TO_MMS(G0_FEEDRATE); // Get the fixed G0 feedrate
if (WITHIN(ABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && fwretract.retracted[active_extruder] == (echange > 0.0)) { #endif
current_position.e = destination.e; // Hide a G1-based retract/recover from calculations }
sync_plan_position_e(); // AND from the planner #endif
return fwretract.retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored)
} #if BOTH(FWRETRACT, FWRETRACT_AUTORETRACT)
if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
// When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves
if (fwretract.autoretract_enabled && parser.seen_test('E')
&& !parser.seen(STR_AXES_MAIN)
) {
const float echange = destination.e - current_position.e;
// Is this a retract or recover move?
if (WITHIN(ABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && fwretract.retracted[active_extruder] == (echange > 0.0)) {
current_position.e = destination.e; // Hide a G1-based retract/recover from calculations
sync_plan_position_e(); // AND from the planner
return fwretract.retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored)
} }
} }
}
#endif // FWRETRACT #endif // FWRETRACT
#if EITHER(IS_SCARA, POLAR) #if EITHER(IS_SCARA, POLAR)
fast_move ? prepare_fast_move_to_destination() : prepare_line_to_destination(); fast_move ? prepare_fast_move_to_destination() : prepare_line_to_destination();
#else
prepare_line_to_destination();
#endif
#ifdef G0_FEEDRATE
// Restore the motion mode feedrate
if (fast_move) feedrate_mm_s = old_feedrate;
#endif
#if ENABLED(NANODLP_Z_SYNC)
#if ENABLED(NANODLP_ALL_AXIS)
#define _MOVE_SYNC parser.seenval('X') || parser.seenval('Y') || parser.seenval('Z') // For any move wait and output sync message
#else #else
prepare_line_to_destination(); #define _MOVE_SYNC parser.seenval('Z') // Only for Z move
#endif #endif
if (_MOVE_SYNC) {
#ifdef G0_FEEDRATE planner.synchronize();
// Restore the motion mode feedrate SERIAL_ECHOLNPGM(STR_Z_MOVE_COMP);
if (fast_move) feedrate_mm_s = old_feedrate; }
#endif TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE));
#else
#if ENABLED(NANODLP_Z_SYNC) TERN_(FULL_REPORT_TO_HOST_FEATURE, report_current_grblstate_moving());
#if ENABLED(NANODLP_ALL_AXIS) #endif
#define _MOVE_SYNC parser.seenval('X') || parser.seenval('Y') || parser.seenval('Z') // For any move wait and output sync message
#else
#define _MOVE_SYNC parser.seenval('Z') // Only for Z move
#endif
if (_MOVE_SYNC) {
planner.synchronize();
SERIAL_ECHOLNPGM(STR_Z_MOVE_COMP);
}
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE));
#else
TERN_(FULL_REPORT_TO_HOST_FEATURE, report_current_grblstate_moving());
#endif
}
} }

150
Marlin/src/gcode/motion/G2_G3.cpp
View file

@ -142,8 +142,8 @@ void plan_arc(
part_per_circle = RADIANS(360) / total_angular; // Each circle's part of the total part_per_circle = RADIANS(360) / total_angular; // Each circle's part of the total
ARC_LIJKUVWE_CODE( ARC_LIJKUVWE_CODE(
const float per_circle_L = travel_L * part_per_circle, // L movement per circle const float per_circle_L = travel_L * part_per_circle, // X, Y, or Z movement per circle
const float per_circle_I = travel_I * part_per_circle, const float per_circle_I = travel_I * part_per_circle, // The rest are also non-arc
const float per_circle_J = travel_J * 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_K = travel_K * part_per_circle,
const float per_circle_U = travel_U * part_per_circle, const float per_circle_U = travel_U * part_per_circle,
@ -154,9 +154,9 @@ void plan_arc(
xyze_pos_t temp_position = current_position; xyze_pos_t temp_position = current_position;
for (uint16_t n = circles; n--;) { for (uint16_t n = circles; n--;) {
ARC_LIJKUVWE_CODE( // Destination Linear Axes ARC_LIJKUVWE_CODE( // Destination Linear Axes
temp_position[axis_l] += per_circle_L, temp_position[axis_l] += per_circle_L, // Linear X, Y, or Z
temp_position.i += per_circle_I, temp_position.i += per_circle_I, // The rest are also non-circular
temp_position.j += per_circle_J, temp_position.j += per_circle_J,
temp_position.k += per_circle_K, temp_position.k += per_circle_K,
temp_position.u += per_circle_U, temp_position.u += per_circle_U,
@ -167,8 +167,8 @@ void plan_arc(
plan_arc(temp_position, offset, clockwise, 0); // Plan a single whole circle plan_arc(temp_position, offset, clockwise, 0); // Plan a single whole circle
} }
ARC_LIJKUVWE_CODE( ARC_LIJKUVWE_CODE(
travel_L = cart[axis_l] - current_position[axis_l], travel_L = cart[axis_l] - current_position[axis_l], // Linear X, Y, or Z
travel_I = cart.i - current_position.i, travel_I = cart.i - current_position.i, // The rest are also non-arc
travel_J = cart.j - current_position.j, travel_J = cart.j - current_position.j,
travel_K = cart.k - current_position.k, travel_K = cart.k - current_position.k,
travel_U = cart.u - current_position.u, travel_U = cart.u - current_position.u,
@ -183,16 +183,21 @@ void plan_arc(
// Return if the move is near zero // Return if the move is near zero
if (flat_mm < 0.0001f if (flat_mm < 0.0001f
GANG_N(SUB2(NUM_AXES), GANG_N(SUB2(NUM_AXES), // Two axes for the arc
&& travel_L < 0.0001f, && NEAR_ZERO(travel_L), // Linear X, Y, or Z
&& travel_I < 0.0001f, && NEAR_ZERO(travel_I),
&& travel_J < 0.0001f, && NEAR_ZERO(travel_J),
&& travel_K < 0.0001f, && NEAR_ZERO(travel_K),
&& travel_U < 0.0001f, && NEAR_ZERO(travel_U),
&& travel_V < 0.0001f, && NEAR_ZERO(travel_V),
&& travel_W < 0.0001f && NEAR_ZERO(travel_W)
) )
) return; ) {
#if HAS_EXTRUDERS
if (!NEAR_ZERO(travel_E)) gcode.G0_G1(); // Handle retract/recover as G1
return;
#endif
}
// Feedrate for the move, scaled by the feedrate multiplier // Feedrate for the move, scaled by the feedrate multiplier
const feedRate_t scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s); const feedRate_t scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s);
@ -426,71 +431,70 @@ void plan_arc(
* G3 X20 Y12 R14 ; CCW circle with r=14 ending at X20 Y12 * G3 X20 Y12 R14 ; CCW circle with r=14 ending at X20 Y12
*/ */
void GcodeSuite::G2_G3(const bool clockwise) { void GcodeSuite::G2_G3(const bool clockwise) {
if (MOTION_CONDITIONS) { if (!MOTION_CONDITIONS) return;
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_RUNNING)); TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_RUNNING));
#if ENABLED(SF_ARC_FIX) #if ENABLED(SF_ARC_FIX)
const bool relative_mode_backup = relative_mode; const bool relative_mode_backup = relative_mode;
relative_mode = true; relative_mode = true;
#endif #endif
get_destination_from_command(); // Get X Y [Z[I[J[K...]]]] [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); TERN_(SF_ARC_FIX, relative_mode = relative_mode_backup);
ab_float_t arc_offset = { 0, 0 }; ab_float_t arc_offset = { 0, 0 };
if (parser.seenval('R')) { if (parser.seenval('R')) {
const float r = parser.value_linear_units(); const float r = parser.value_linear_units();
if (r) { if (r) {
const xy_pos_t p1 = current_position, p2 = destination; const xy_pos_t p1 = current_position, p2 = destination;
if (p1 != p2) { if (p1 != p2) {
const xy_pos_t d2 = (p2 - p1) * 0.5f; // XY vector to midpoint of move from current const xy_pos_t d2 = (p2 - p1) * 0.5f; // XY vector to midpoint of move from current
const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1 const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
len = d2.magnitude(), // Distance to mid-point of move from current len = d2.magnitude(), // Distance to mid-point of move from current
h2 = (r - len) * (r + len), // factored to reduce rounding error h2 = (r - len) * (r + len), // factored to reduce rounding error
h = (h2 >= 0) ? SQRT(h2) : 0.0f; // Distance to the arc pivot-point from midpoint h = (h2 >= 0) ? SQRT(h2) : 0.0f; // Distance to the arc pivot-point from midpoint
const xy_pos_t s = { -d2.y, d2.x }; // Perpendicular bisector. (Divide by len for unit vector.) const xy_pos_t s = { -d2.y, d2.x }; // Perpendicular bisector. (Divide by len for unit vector.)
arc_offset = d2 + s / len * e * h; // The calculated offset (mid-point if |r| <= len) arc_offset = d2 + s / len * e * h; // The calculated offset (mid-point if |r| <= len)
}
} }
} }
else {
#if ENABLED(CNC_WORKSPACE_PLANES)
char achar, bchar;
switch (workspace_plane) {
default:
case GcodeSuite::PLANE_XY: achar = 'I'; bchar = 'J'; break;
case GcodeSuite::PLANE_YZ: achar = 'J'; bchar = 'K'; break;
case GcodeSuite::PLANE_ZX: achar = 'K'; bchar = 'I'; break;
}
#else
constexpr char achar = 'I', bchar = 'J';
#endif
if (parser.seenval(achar)) arc_offset.a = parser.value_linear_units();
if (parser.seenval(bchar)) arc_offset.b = parser.value_linear_units();
}
if (arc_offset) {
#if ENABLED(ARC_P_CIRCLES)
// P indicates number of circles to do
const int8_t circles_to_do = parser.byteval('P');
if (!WITHIN(circles_to_do, 0, 100))
SERIAL_ERROR_MSG(STR_ERR_ARC_ARGS);
#else
constexpr uint8_t circles_to_do = 0;
#endif
// Send the arc to the planner
plan_arc(destination, arc_offset, clockwise, circles_to_do);
reset_stepper_timeout();
}
else
SERIAL_ERROR_MSG(STR_ERR_ARC_ARGS);
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE));
} }
else {
#if ENABLED(CNC_WORKSPACE_PLANES)
char achar, bchar;
switch (workspace_plane) {
default:
case GcodeSuite::PLANE_XY: achar = 'I'; bchar = 'J'; break;
case GcodeSuite::PLANE_YZ: achar = 'J'; bchar = 'K'; break;
case GcodeSuite::PLANE_ZX: achar = 'K'; bchar = 'I'; break;
}
#else
constexpr char achar = 'I', bchar = 'J';
#endif
if (parser.seenval(achar)) arc_offset.a = parser.value_linear_units();
if (parser.seenval(bchar)) arc_offset.b = parser.value_linear_units();
}
if (arc_offset) {
#if ENABLED(ARC_P_CIRCLES)
// P indicates number of circles to do
const int8_t circles_to_do = parser.byteval('P');
if (!WITHIN(circles_to_do, 0, 100))
SERIAL_ERROR_MSG(STR_ERR_ARC_ARGS);
#else
constexpr uint8_t circles_to_do = 0;
#endif
// Send the arc to the planner
plan_arc(destination, arc_offset, clockwise, circles_to_do);
reset_stepper_timeout();
}
else
SERIAL_ERROR_MSG(STR_ERR_ARC_ARGS);
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE));
} }
#endif // ARC_SUPPORT #endif // ARC_SUPPORT