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♻️ Refactor Linear / Logical / Distinct Axes (#21953)

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* More patches supporting EXTRUDERS 0
* Extend types in prep for more axes
This commit is contained in:
Scott Lahteine
2021-05-24 16:38:57 -05:00
committed by Scott Lahteine
parent f5f999d7bf
commit 4194cdda5b
43 changed files with 1142 additions and 788 deletions
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27
Marlin/src/gcode/calibrate/G28.cpp
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@@ -321,12 +321,23 @@ void GcodeSuite::G28() {
#else
#define _UNSAFE(A) (homeZ && TERN0(Z_SAFE_HOMING, axes_should_home(_BV(A##_AXIS))))
const bool homeZ = parser.seen_test('Z'),
needX = homeZ && TERN0(Z_SAFE_HOMING, axes_should_home(_BV(X_AXIS))),
needY = homeZ && TERN0(Z_SAFE_HOMING, axes_should_home(_BV(Y_AXIS))),
homeX = needX || parser.seen_test('X'), homeY = needY || parser.seen_test('Y'),
home_all = homeX == homeY && homeX == homeZ, // All or None
doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || homeZ;
LINEAR_AXIS_LIST( // Other axes should be homed before Z safe-homing
needX = _UNSAFE(X), needY = _UNSAFE(Y), needZ = false // UNUSED
),
LINEAR_AXIS_LIST( // Home each axis if needed or flagged
homeX = needX || parser.seen_test('X'),
homeY = needY || parser.seen_test('Y'),
homeZZ = homeZ // UNUSED
),
// Home-all if all or none are flagged
home_all = true LINEAR_AXIS_GANG(&& homeX == homeX, && homeX == homeY, && homeX == homeZ),
LINEAR_AXIS_LIST(doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || homeZ);
UNUSED(needZ);
UNUSED(homeZZ);
#if ENABLED(HOME_Z_FIRST)
@@ -336,7 +347,7 @@ void GcodeSuite::G28() {
const float z_homing_height = parser.seenval('R') ? parser.value_linear_units() : Z_HOMING_HEIGHT;
if (z_homing_height && (doX || doY || TERN0(Z_SAFE_HOMING, doZ))) {
if (z_homing_height && (0 LINEAR_AXIS_GANG(|| doX, || doY, || TERN0(Z_SAFE_HOMING, doZ)))) {
// Raise Z before homing any other axes and z is not already high enough (never lower z)
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Raise Z (before homing) by ", z_homing_height);
do_z_clearance(z_homing_height);
@@ -469,7 +480,7 @@ void GcodeSuite::G28() {
#if HAS_CURRENT_HOME(Y2)
stepperY2.rms_current(tmc_save_current_Y2);
#endif
#endif
#endif // HAS_HOMING_CURRENT
ui.refresh();
@@ -490,7 +501,7 @@ void GcodeSuite::G28() {
static constexpr AxisEnum L64XX_axis_xref[MAX_L64XX] = {
X_AXIS, Y_AXIS, Z_AXIS,
X_AXIS, Y_AXIS, Z_AXIS, Z_AXIS,
E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS
E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS
};
for (uint8_t j = 1; j <= L64XX::chain[0]; j++) {
const uint8_t cv = L64XX::chain[j];

12
Marlin/src/gcode/calibrate/G425.cpp
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@@ -307,9 +307,11 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
// The difference between the known and the measured location
// of the calibration object is the positional error
m.pos_error.x = TERN0(HAS_X_CENTER, true_center.x - m.obj_center.x);
m.pos_error.y = TERN0(HAS_Y_CENTER, true_center.y - m.obj_center.y);
m.pos_error.z = true_center.z - m.obj_center.z;
LINEAR_AXIS_CODE(
m.pos_error.x = TERN0(HAS_X_CENTER, true_center.x - m.obj_center.x),
m.pos_error.y = TERN0(HAS_Y_CENTER, true_center.y - m.obj_center.y),
m.pos_error.z = true_center.z - m.obj_center.z
);
}
#if ENABLED(CALIBRATION_REPORTING)
@@ -455,7 +457,9 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
// New scope for TEMPORARY_BACKLASH_CORRECTION
TEMPORARY_BACKLASH_CORRECTION(all_on);
TEMPORARY_BACKLASH_SMOOTHING(0.0f);
const xyz_float_t move = { AXIS_CAN_CALIBRATE(X) * 3, AXIS_CAN_CALIBRATE(Y) * 3, AXIS_CAN_CALIBRATE(Z) * 3 };
const xyz_float_t move = LINEAR_AXIS_ARRAY(
AXIS_CAN_CALIBRATE(X) * 3, AXIS_CAN_CALIBRATE(Y) * 3, AXIS_CAN_CALIBRATE(Z) * 3
);
current_position += move; calibration_move();
current_position -= move; calibration_move();
}

10
Marlin/src/gcode/calibrate/M425.cpp
View File

@@ -48,10 +48,12 @@ void GcodeSuite::M425() {
auto axis_can_calibrate = [](const uint8_t a) {
switch (a) {
default:
case X_AXIS: return AXIS_CAN_CALIBRATE(X);
case Y_AXIS: return AXIS_CAN_CALIBRATE(Y);
case Z_AXIS: return AXIS_CAN_CALIBRATE(Z);
default: return false;
LINEAR_AXIS_CODE(
case X_AXIS: return AXIS_CAN_CALIBRATE(X),
case Y_AXIS: return AXIS_CAN_CALIBRATE(Y),
case Z_AXIS: return AXIS_CAN_CALIBRATE(Z)
);
}
};

27
Marlin/src/gcode/config/M200-M205.cpp
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@@ -88,7 +88,7 @@ void GcodeSuite::M201() {
LOOP_LOGICAL_AXES(i) {
if (parser.seenval(axis_codes[i])) {
const uint8_t a = (i == E_AXIS ? uint8_t(E_AXIS_N(target_extruder)) : i);
const uint8_t a = TERN(HAS_EXTRUDERS, (i == E_AXIS ? uint8_t(E_AXIS_N(target_extruder)) : i), i);
planner.set_max_acceleration(a, parser.value_axis_units((AxisEnum)a));
}
}
@@ -106,7 +106,7 @@ void GcodeSuite::M203() {
LOOP_LOGICAL_AXES(i)
if (parser.seenval(axis_codes[i])) {
const uint8_t a = (i == E_AXIS ? uint8_t(E_AXIS_N(target_extruder)) : i);
const uint8_t a = TERN(HAS_EXTRUDERS, (i == E_AXIS ? uint8_t(E_AXIS_N(target_extruder)) : i), i);
planner.set_max_feedrate(a, parser.value_axis_units((AxisEnum)a));
}
}
@@ -165,17 +165,16 @@ void GcodeSuite::M205() {
}
#endif
#if HAS_CLASSIC_JERK
if (parser.seenval('X')) planner.set_max_jerk(X_AXIS, parser.value_linear_units());
if (parser.seenval('Y')) planner.set_max_jerk(Y_AXIS, parser.value_linear_units());
if (parser.seenval('Z')) {
planner.set_max_jerk(Z_AXIS, parser.value_linear_units());
#if HAS_MESH && DISABLED(LIMITED_JERK_EDITING)
if (planner.max_jerk.z <= 0.1f)
SERIAL_ECHOLNPGM("WARNING! Low Z Jerk may lead to unwanted pauses.");
#endif
}
#if HAS_CLASSIC_E_JERK
if (parser.seenval('E')) planner.set_max_jerk(E_AXIS, parser.value_linear_units());
bool seenZ = false;
LOGICAL_AXIS_CODE(
if (parser.seenval('E')) planner.set_max_jerk(E_AXIS, parser.value_linear_units()),
if (parser.seenval('X')) planner.set_max_jerk(X_AXIS, parser.value_linear_units()),
if (parser.seenval('Y')) planner.set_max_jerk(Y_AXIS, parser.value_linear_units()),
if ((seenZ = parser.seenval('Z'))) planner.set_max_jerk(Z_AXIS, parser.value_linear_units())
);
#if HAS_MESH && DISABLED(LIMITED_JERK_EDITING)
if (seenZ && planner.max_jerk.z <= 0.1f)
SERIAL_ECHOLNPGM("WARNING! Low Z Jerk may lead to unwanted pauses.");
#endif
#endif
#endif // HAS_CLASSIC_JERK
}

43
Marlin/src/gcode/config/M92.cpp
View File

@@ -25,10 +25,12 @@
void report_M92(const bool echo=true, const int8_t e=-1) {
if (echo) SERIAL_ECHO_START(); else SERIAL_CHAR(' ');
SERIAL_ECHOPAIR_P(PSTR(" M92 X"), LINEAR_UNIT(planner.settings.axis_steps_per_mm[X_AXIS]),
SP_Y_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[Y_AXIS]),
SP_Z_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[Z_AXIS]));
#if DISABLED(DISTINCT_E_FACTORS)
SERIAL_ECHOPAIR_P(LIST_N(DOUBLE(LINEAR_AXES),
PSTR(" M92 X"), LINEAR_UNIT(planner.settings.axis_steps_per_mm[X_AXIS]),
SP_Y_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[Y_AXIS]),
SP_Z_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[Z_AXIS])
));
#if HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS)
SERIAL_ECHOPAIR_P(SP_E_STR, VOLUMETRIC_UNIT(planner.settings.axis_steps_per_mm[E_AXIS]));
#endif
SERIAL_EOL();
@@ -64,25 +66,28 @@ void GcodeSuite::M92() {
if (target_extruder < 0) return;
// No arguments? Show M92 report.
if (!parser.seen("XYZE" TERN_(MAGIC_NUMBERS_GCODE, "HL")))
return report_M92(true, target_extruder);
if (!parser.seen(
LOGICAL_AXIS_GANG("E", "X", "Y", "Z")
TERN_(MAGIC_NUMBERS_GCODE, "HL")
)) return report_M92(true, target_extruder);
LOOP_LOGICAL_AXES(i) {
if (parser.seenval(axis_codes[i])) {
if (i == E_AXIS) {
const float value = parser.value_per_axis_units((AxisEnum)(E_AXIS_N(target_extruder)));
if (value < 20) {
float factor = planner.settings.axis_steps_per_mm[E_AXIS_N(target_extruder)] / value; // increase e constants if M92 E14 is given for netfab.
#if HAS_CLASSIC_JERK && HAS_CLASSIC_E_JERK
planner.max_jerk.e *= factor;
#endif
planner.settings.max_feedrate_mm_s[E_AXIS_N(target_extruder)] *= factor;
planner.max_acceleration_steps_per_s2[E_AXIS_N(target_extruder)] *= factor;
}
planner.settings.axis_steps_per_mm[E_AXIS_N(target_extruder)] = value;
}
else {
if (TERN1(HAS_EXTRUDERS, i != E_AXIS))
planner.settings.axis_steps_per_mm[i] = parser.value_per_axis_units((AxisEnum)i);
else {
#if HAS_EXTRUDERS
const float value = parser.value_per_axis_units((AxisEnum)(E_AXIS_N(target_extruder)));
if (value < 20) {
float factor = planner.settings.axis_steps_per_mm[E_AXIS_N(target_extruder)] / value; // increase e constants if M92 E14 is given for netfab.
#if HAS_CLASSIC_JERK && HAS_CLASSIC_E_JERK
planner.max_jerk.e *= factor;
#endif
planner.settings.max_feedrate_mm_s[E_AXIS_N(target_extruder)] *= factor;
planner.max_acceleration_steps_per_s2[E_AXIS_N(target_extruder)] *= factor;
}
planner.settings.axis_steps_per_mm[E_AXIS_N(target_extruder)] = value;
#endif
}
}
}

24
Marlin/src/gcode/control/M17_M18_M84.cpp
View File

@@ -33,11 +33,13 @@
* M17: Enable stepper motors
*/
void GcodeSuite::M17() {
if (parser.seen("XYZE")) {
if (parser.seen_test('X')) ENABLE_AXIS_X();
if (parser.seen_test('Y')) ENABLE_AXIS_Y();
if (parser.seen_test('Z')) ENABLE_AXIS_Z();
if (TERN0(HAS_E_STEPPER_ENABLE, parser.seen_test('E'))) enable_e_steppers();
if (parser.seen(LOGICAL_AXIS_GANG("E", "X", "Y", "Z"))) {
LOGICAL_AXIS_CODE(
if (TERN0(HAS_E_STEPPER_ENABLE, parser.seen_test('E'))) enable_e_steppers(),
if (parser.seen_test('X')) ENABLE_AXIS_X(),
if (parser.seen_test('Y')) ENABLE_AXIS_Y(),
if (parser.seen_test('Z')) ENABLE_AXIS_Z()
);
}
else {
LCD_MESSAGEPGM(MSG_NO_MOVE);
@@ -54,12 +56,14 @@ void GcodeSuite::M18_M84() {
stepper_inactive_time = parser.value_millis_from_seconds();
}
else {
if (parser.seen("XYZE")) {
if (parser.seen(LOGICAL_AXIS_GANG("E", "X", "Y", "Z"))) {
planner.synchronize();
if (parser.seen_test('X')) DISABLE_AXIS_X();
if (parser.seen_test('Y')) DISABLE_AXIS_Y();
if (parser.seen_test('Z')) DISABLE_AXIS_Z();
if (TERN0(HAS_E_STEPPER_ENABLE, parser.seen_test('E'))) disable_e_steppers();
LOGICAL_AXIS_CODE(
if (TERN0(HAS_E_STEPPER_ENABLE, parser.seen_test('E'))) disable_e_steppers(),
if (parser.seen_test('X')) DISABLE_AXIS_X(),
if (parser.seen_test('Y')) DISABLE_AXIS_Y(),
if (parser.seen_test('Z')) DISABLE_AXIS_Z()
);
}
else
planner.finish_and_disable();

12
Marlin/src/gcode/feature/pause/G61.cpp
View File

@@ -68,7 +68,7 @@ void GcodeSuite::G61(void) {
SYNC_E(stored_position[slot].e);
}
else {
if (parser.seen("XYZ")) {
if (parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z"))) {
DEBUG_ECHOPAIR(STR_RESTORING_POS " S", slot);
LOOP_LINEAR_AXES(i) {
destination[i] = parser.seen(AXIS_CHAR(i))
@@ -81,10 +81,12 @@ void GcodeSuite::G61(void) {
// Move to the saved position
prepare_line_to_destination();
}
if (parser.seen_test('E')) {
DEBUG_ECHOLNPAIR(STR_RESTORING_POS " S", slot, " E", current_position.e, "=>", stored_position[slot].e);
SYNC_E(stored_position[slot].e);
}
#if HAS_EXTRUDERS
if (parser.seen_test('E')) {
DEBUG_ECHOLNPAIR(STR_RESTORING_POS " S", slot, " E", current_position.e, "=>", stored_position[slot].e);
SYNC_E(stored_position[slot].e);
}
#endif
}
feedrate_mm_s = saved_feedrate;

18
Marlin/src/gcode/feature/trinamic/M122.cpp
View File

@@ -49,13 +49,21 @@ void GcodeSuite::M122() {
tmc_set_report_interval(interval);
#endif
if (parser.seen_test('V'))
tmc_get_registers(print_axis.x, print_axis.y, print_axis.z, print_axis.e);
else
tmc_report_all(print_axis.x, print_axis.y, print_axis.z, print_axis.e);
if (parser.seen_test('V')) {
tmc_get_registers(
LOGICAL_AXIS_LIST(print_axis.e, print_axis.x, print_axis.y, print_axis.z)
);
}
else {
tmc_report_all(
LOGICAL_AXIS_LIST(print_axis.e, print_axis.x, print_axis.y, print_axis.z)
);
}
#endif
test_tmc_connection(print_axis.x, print_axis.y, print_axis.z, print_axis.e);
test_tmc_connection(
LOGICAL_AXIS_LIST(print_axis.e, print_axis.x, print_axis.y, print_axis.z)
);
}
#endif // HAS_TRINAMIC_CONFIG

26
Marlin/src/gcode/gcode.cpp
View File

@@ -74,11 +74,11 @@ millis_t GcodeSuite::previous_move_ms = 0,
// Relative motion mode for each logical axis
static constexpr xyze_bool_t ar_init = AXIS_RELATIVE_MODES;
uint8_t GcodeSuite::axis_relative = (
(ar_init.x ? _BV(REL_X) : 0)
| (ar_init.y ? _BV(REL_Y) : 0)
| (ar_init.z ? _BV(REL_Z) : 0)
| (ar_init.e ? _BV(REL_E) : 0)
uint8_t GcodeSuite::axis_relative = 0 LOGICAL_AXIS_GANG(
| (ar_init.e << REL_E),
| (ar_init.x << REL_X),
| (ar_init.y << REL_Y),
| (ar_init.z << REL_Z)
);
#if EITHER(HAS_AUTO_REPORTING, HOST_KEEPALIVE_FEATURE)
@@ -161,13 +161,15 @@ void GcodeSuite::get_destination_from_command() {
destination[i] = current_position[i];
}
// Get new E position, whether absolute or relative
if ( (seen.e = parser.seenval('E')) ) {
const float v = parser.value_axis_units(E_AXIS);
destination.e = axis_is_relative(E_AXIS) ? current_position.e + v : v;
}
else
destination.e = current_position.e;
#if HAS_EXTRUDERS
// Get new E position, whether absolute or relative
if ( (seen.e = parser.seenval('E')) ) {
const float v = parser.value_axis_units(E_AXIS);
destination.e = axis_is_relative(E_AXIS) ? current_position.e + v : v;
}
else
destination.e = current_position.e;
#endif
#if ENABLED(POWER_LOSS_RECOVERY) && !PIN_EXISTS(POWER_LOSS)
// Only update power loss recovery on moves with E

37
Marlin/src/gcode/gcode.h
View File

@@ -314,7 +314,12 @@
#define HAS_FAST_MOVES 1
#endif
enum AxisRelative : uint8_t { REL_X, REL_Y, REL_Z, REL_E, E_MODE_ABS, E_MODE_REL };
enum AxisRelative : uint8_t {
LOGICAL_AXIS_LIST(REL_E, REL_X, REL_Y, REL_Z)
#if HAS_EXTRUDERS
, E_MODE_ABS, E_MODE_REL
#endif
};
extern const char G28_STR[];
@@ -324,23 +329,27 @@ public:
static uint8_t axis_relative;
static inline bool axis_is_relative(const AxisEnum a) {
if (a == E_AXIS) {
if (TEST(axis_relative, E_MODE_REL)) return true;
if (TEST(axis_relative, E_MODE_ABS)) return false;
}
#if HAS_EXTRUDERS
if (a == E_AXIS) {
if (TEST(axis_relative, E_MODE_REL)) return true;
if (TEST(axis_relative, E_MODE_ABS)) return false;
}
#endif
return TEST(axis_relative, a);
}
static inline void set_relative_mode(const bool rel) {
axis_relative = rel ? _BV(REL_X) | _BV(REL_Y) | _BV(REL_Z) | _BV(REL_E) : 0;
}
static inline void set_e_relative() {
CBI(axis_relative, E_MODE_ABS);
SBI(axis_relative, E_MODE_REL);
}
static inline void set_e_absolute() {
CBI(axis_relative, E_MODE_REL);
SBI(axis_relative, E_MODE_ABS);
axis_relative = rel ? (0 LOGICAL_AXIS_GANG(| _BV(REL_E), | _BV(REL_X), | _BV(REL_Y), | _BV(REL_Z))) : 0;
}
#if HAS_EXTRUDERS
static inline void set_e_relative() {
CBI(axis_relative, E_MODE_ABS);
SBI(axis_relative, E_MODE_REL);
}
static inline void set_e_absolute() {
CBI(axis_relative, E_MODE_REL);
SBI(axis_relative, E_MODE_ABS);
}
#endif
#if ENABLED(CNC_WORKSPACE_PLANES)
/**

39
Marlin/src/gcode/geometry/G92.cpp
View File

@@ -48,7 +48,10 @@
*/
void GcodeSuite::G92() {
bool sync_E = false, sync_XYZE = false;
#if HAS_EXTRUDERS
bool sync_E = false;
#endif
bool sync_XYZE = false;
#if USE_GCODE_SUBCODES
const uint8_t subcode_G92 = parser.subcode;
@@ -72,7 +75,11 @@ void GcodeSuite::G92() {
case 9: // G92.9 - Set Current Position directly (like Marlin 1.0)
LOOP_LOGICAL_AXES(i) {
if (parser.seenval(axis_codes[i])) {
if (i == E_AXIS) sync_E = true; else sync_XYZE = true;
if (TERN1(HAS_EXTRUDERS, i != E_AXIS))
sync_XYZE = true;
else {
TERN_(HAS_EXTRUDERS, sync_E = true);
}
current_position[i] = parser.value_axis_units((AxisEnum)i);
}
}
@@ -83,20 +90,26 @@ void GcodeSuite::G92() {
LOOP_LOGICAL_AXES(i) {
if (parser.seenval(axis_codes[i])) {
const float l = parser.value_axis_units((AxisEnum)i), // Given axis coordinate value, converted to millimeters
v = i == E_AXIS ? l : LOGICAL_TO_NATIVE(l, i), // Axis position in NATIVE space (applying the existing offset)
v = TERN0(HAS_EXTRUDERS, i == E_AXIS) ? l : LOGICAL_TO_NATIVE(l, i), // Axis position in NATIVE space (applying the existing offset)
d = v - current_position[i]; // How much is the current axis position altered by?
if (!NEAR_ZERO(d)) {
#if HAS_POSITION_SHIFT && !IS_SCARA // When using workspaces...
if (i == E_AXIS) {
sync_E = true;
current_position.e = v; // ...E is still set directly
}
else {
position_shift[i] += d; // ...but other axes offset the workspace.
if (TERN1(HAS_EXTRUDERS, i != E_AXIS)) {
position_shift[i] += d; // ...most axes offset the workspace...
update_workspace_offset((AxisEnum)i);
}
else {
#if HAS_EXTRUDERS
sync_E = true;
current_position.e = v; // ...but E is set directly
#endif
}
#else // Without workspaces...
if (i == E_AXIS) sync_E = true; else sync_XYZE = true;
if (TERN1(HAS_EXTRUDERS, i != E_AXIS))
sync_XYZE = true;
else {
TERN_(HAS_EXTRUDERS, sync_E = true);
}
current_position[i] = v; // ...set Current Position directly (like Marlin 1.0)
#endif
}
@@ -111,8 +124,10 @@ void GcodeSuite::G92() {
coordinate_system[active_coordinate_system] = position_shift;
#endif
if (sync_XYZE) sync_plan_position();
else if (sync_E) sync_plan_position_e();
if (sync_XYZE) sync_plan_position();
#if HAS_EXTRUDERS
else if (sync_E) sync_plan_position_e();
#endif
IF_DISABLED(DIRECT_STEPPING, report_current_position());
}

2
Marlin/src/gcode/host/M114.cpp
View File

@@ -170,7 +170,7 @@
SERIAL_ECHOPGM("FromStp:");
get_cartesian_from_steppers(); // writes 'cartes' (with forward kinematics)
xyze_pos_t from_steppers = { cartes.x, cartes.y, cartes.z, planner.get_axis_position_mm(E_AXIS) };
xyze_pos_t from_steppers = LOGICAL_AXIS_ARRAY(planner.get_axis_position_mm(E_AXIS), cartes.x, cartes.y, cartes.z);
report_all_axis_pos(from_steppers);
const xyze_float_t diff = from_steppers - leveled;

10
Marlin/src/gcode/motion/G0_G1.cpp
View File

@@ -49,9 +49,11 @@ void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) {
if (IsRunning()
#if ENABLED(NO_MOTION_BEFORE_HOMING)
&& !homing_needed_error(
(parser.seen_test('X') ? _BV(X_AXIS) : 0)
| (parser.seen_test('Y') ? _BV(Y_AXIS) : 0)
| (parser.seen_test('Z') ? _BV(Z_AXIS) : 0) )
LINEAR_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))
)
#endif
) {
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_RUNNING));
@@ -83,7 +85,7 @@ void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) {
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('E') && !parser.seen("XYZ")) {
if (fwretract.autoretract_enabled && parser.seen_test('E') && !parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z"))) {
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)) {

31
Marlin/src/gcode/motion/G2_G3.cpp
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@@ -109,23 +109,32 @@ void plan_arc(
#endif
}
float linear_travel = cart[l_axis] - start_L,
extruder_travel = cart.e - current_position.e;
float linear_travel = cart[l_axis] - start_L;
#if HAS_EXTRUDERS
float extruder_travel = cart.e - current_position.e;
#endif
// If circling around...
if (ENABLED(ARC_P_CIRCLES) && circles) {
const float total_angular = 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
l_per_circle = linear_travel * part_per_circle, // L movement per circle
e_per_circle = extruder_travel * part_per_circle; // E movement per circle
l_per_circle = linear_travel * part_per_circle; // L movement per circle
#if HAS_EXTRUDERS
const float e_per_circle = extruder_travel * part_per_circle; // E movement per circle
#endif
xyze_pos_t temp_position = current_position; // for plan_arc to compare to current_position
for (uint16_t n = circles; n--;) {
temp_position.e += e_per_circle; // Destination E axis
TERN_(HAS_EXTRUDERS, temp_position.e += e_per_circle); // Destination E axis
temp_position[l_axis] += l_per_circle; // Destination L axis
plan_arc(temp_position, offset, clockwise, 0); // Plan a single whole circle
}
linear_travel = cart[l_axis] - current_position[l_axis];
extruder_travel = cart.e - current_position.e;
#if HAS_EXTRUDERS
extruder_travel = cart.e - current_position.e;
#endif
}
const float flat_mm = radius * angular_travel,
@@ -179,16 +188,19 @@ void plan_arc(
xyze_pos_t raw;
const float theta_per_segment = angular_travel / segments,
linear_per_segment = linear_travel / segments,
extruder_per_segment = extruder_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_EXTRUDERS
const float extruder_per_segment = extruder_travel / segments;
#endif
// Initialize the linear axis
raw[l_axis] = current_position[l_axis];
// Initialize the extruder axis
raw.e = current_position.e;
TERN_(HAS_EXTRUDERS, raw.e = current_position.e);
#if ENABLED(SCARA_FEEDRATE_SCALING)
const float inv_duration = scaled_fr_mm_s / seg_length;
@@ -240,7 +252,8 @@ void plan_arc(
#else
raw[l_axis] += linear_per_segment;
#endif
raw.e += extruder_per_segment;
TERN_(HAS_EXTRUDERS, raw.e += extruder_per_segment);
apply_motion_limits(raw);

2
Marlin/src/gcode/motion/M290.cpp
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@@ -87,7 +87,7 @@ void GcodeSuite::M290() {
}
#endif
if (!parser.seen("XYZ") || parser.seen('R')) {
if (!parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z")) || parser.seen('R')) {
SERIAL_ECHO_START();
#if ENABLED(BABYSTEP_ZPROBE_OFFSET)

3
Marlin/src/gcode/parser.cpp
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@@ -248,7 +248,8 @@ void GCodeParser::parse(char *p) {
case 'R': if (!WITHIN(motion_mode_codenum, 2, 3)) return;
#endif
case 'X' ... 'Z': case 'E' ... 'F':
LOGICAL_AXIS_GANG(case 'E':, case 'X':, case 'Y':, case 'Z':)
case 'F':
if (motion_mode_codenum < 0) return;
command_letter = 'G';
codenum = motion_mode_codenum;

2
Marlin/src/gcode/parser.h
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@@ -226,7 +226,7 @@ public:
// Seen any axis parameter
static inline bool seen_axis() {
return seen("XYZE");
return seen(LOGICAL_AXIS_GANG("E", "X", "Y", "Z"));
}
#if ENABLED(GCODE_QUOTED_STRINGS)