diff --git a/Marlin/G26_Mesh_Validation_Tool.cpp b/Marlin/G26_Mesh_Validation_Tool.cpp
index a605aaa903aafc09a47dea13fb4b3848fb3f9736..365cd903aa4a75cb8fd6cf805f76137eacb0c3c7 100644
--- a/Marlin/G26_Mesh_Validation_Tool.cpp
+++ b/Marlin/G26_Mesh_Validation_Tool.cpp
@@ -204,8 +204,6 @@
destination[E_AXIS] = current_position[E_AXIS];
G26_line_to_destination(feed_value);
-
- stepper.synchronize();
set_destination_from_current();
}
@@ -220,8 +218,6 @@
destination[E_AXIS] += e_delta;
G26_line_to_destination(feed_value);
-
- stepper.synchronize();
set_destination_from_current();
}
@@ -267,13 +263,12 @@
if (Total_Prime >= EXTRUDE_MAXLENGTH) return G26_ERR;
#endif
G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
-
+ set_destination_from_current();
stepper.synchronize(); // Without this synchronize, the purge is more consistent,
// but because the planner has a buffer, we won't be able
// to stop as quickly. So we put up with the less smooth
// action to give the user a more responsive 'Stop'.
- set_destination_from_current();
- idle();
+
SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
}
@@ -295,7 +290,6 @@
set_destination_from_current();
destination[E_AXIS] += g26_prime_length;
G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
- stepper.synchronize();
set_destination_from_current();
retract_filament(destination);
}
@@ -703,7 +697,6 @@
if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) {
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
- stepper.synchronize();
set_current_from_destination();
}
@@ -738,7 +731,7 @@
lcd_external_control = true;
#endif
-// debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern."));
+ //debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern."));
/**
* Pre-generate radius offset values at 30 degree intervals to reduce CPU load.
diff --git a/Marlin/I2CPositionEncoder.cpp b/Marlin/I2CPositionEncoder.cpp
index 95e0f1b7250e161b698f431b8f5d3008fd90c133..433c917b4f1ea9cbf83566104ca178a851c720e2 100644
--- a/Marlin/I2CPositionEncoder.cpp
+++ b/Marlin/I2CPositionEncoder.cpp
@@ -358,7 +358,7 @@
stepper.synchronize();
- planner.buffer_line(startCoord[X_AXIS],startCoord[Y_AXIS],startCoord[Z_AXIS],
+ planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
stepper.synchronize();
@@ -415,10 +415,10 @@
startCoord[encoderAxis] = startDistance;
endCoord[encoderAxis] = endDistance;
- LOOP_L_N(i, iter) {
- stepper.synchronize();
+ stepper.synchronize();
- planner.buffer_line(startCoord[X_AXIS],startCoord[Y_AXIS],startCoord[Z_AXIS],
+ LOOP_L_N(i, iter) {
+ planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
stepper.synchronize();
@@ -427,7 +427,7 @@
//do_blocking_move_to(endCoord[X_AXIS],endCoord[Y_AXIS],endCoord[Z_AXIS]);
- planner.buffer_line(endCoord[X_AXIS],endCoord[Y_AXIS],endCoord[Z_AXIS],
+ planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS],
stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
stepper.synchronize();
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 0e737f2520852d0185314946ef26fb38310f6598..a3f48f0848411e8d0ac724a6ae61f8a571ad79d2 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -2984,7 +2984,7 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
#else
sync_plan_position();
- current_position[axis] = distance;
+ current_position[axis] = distance; // Set delta/cartesian axes directly
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
#endif
@@ -5337,8 +5337,8 @@ void home_all_axes() { gcode_G28(true); }
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
#endif
- enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
stepper.synchronize();
+ enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
#endif
// Auto Bed Leveling is complete! Enable if possible.
@@ -6134,9 +6134,8 @@ void home_all_axes() { gcode_G28(true); }
}
#endif
- stepper.synchronize(); // wait until the machine is idle
-
// Move until destination reached or target hit
+ stepper.synchronize();
endstops.enable(true);
G38_move = true;
G38_endstop_hit = false;
@@ -6158,13 +6157,13 @@ void home_all_axes() { gcode_G28(true); }
LOOP_XYZ(i) destination[i] += retract_mm[i];
endstops.enable(false);
prepare_move_to_destination();
- stepper.synchronize();
feedrate_mm_s /= 4;
// Bump the target more slowly
LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
+ stepper.synchronize();
endstops.enable(true);
G38_move = true;
prepare_move_to_destination();
@@ -6258,8 +6257,6 @@ void home_all_axes() { gcode_G28(true); }
*/
inline void gcode_G92() {
- stepper.synchronize();
-
#if ENABLED(CNC_COORDINATE_SYSTEMS)
switch (parser.subcode) {
case 1:
@@ -6319,10 +6316,9 @@ inline void gcode_G92() {
COPY(coordinate_system[active_coordinate_system], position_shift);
#endif
- if (didXYZ)
- SYNC_PLAN_POSITION_KINEMATIC();
- else if (didE)
- sync_plan_position_e();
+ // Update planner/steppers only if the native coordinates changed
+ if (didXYZ) SYNC_PLAN_POSITION_KINEMATIC();
+ else if (didE) sync_plan_position_e();
report_current_position();
}
@@ -6349,6 +6345,8 @@ inline void gcode_G92() {
const bool has_message = !hasP && !hasS && args && *args;
+ stepper.synchronize();
+
#if ENABLED(ULTIPANEL)
if (has_message)
@@ -6372,8 +6370,6 @@ inline void gcode_G92() {
KEEPALIVE_STATE(PAUSED_FOR_USER);
wait_for_user = true;
- stepper.synchronize();
-
if (ms > 0) {
ms += millis(); // wait until this time for a click
while (PENDING(millis(), ms) && wait_for_user) idle();
@@ -6524,8 +6520,8 @@ inline void gcode_M17() {
set_destination_from_current();
destination[E_AXIS] += length / planner.e_factor[active_extruder];
planner.buffer_line_kinematic(destination, fr, active_extruder);
- stepper.synchronize();
set_current_from_destination();
+ stepper.synchronize();
}
static float resume_position[XYZE];
@@ -6813,12 +6809,12 @@ inline void gcode_M17() {
#endif
print_job_timer.pause();
- // Wait for synchronize steppers
- stepper.synchronize();
-
// Save current position
COPY(resume_position, current_position);
+ // Wait for synchronize steppers
+ stepper.synchronize();
+
// Initial retract before move to filament change position
if (retract && thermalManager.hotEnoughToExtrude(active_extruder))
do_pause_e_move(retract, PAUSE_PARK_RETRACT_FEEDRATE);
@@ -8508,7 +8504,6 @@ inline void gcode_M81() {
safe_delay(1000); // Wait 1 second before switching off
#if HAS_SUICIDE
- stepper.synchronize();
suicide();
#elif HAS_POWER_SWITCH
PSU_OFF();
@@ -8644,8 +8639,6 @@ void report_current_position() {
void report_current_position_detail() {
- stepper.synchronize();
-
SERIAL_PROTOCOLPGM("\nLogical:");
const float logical[XYZ] = {
LOGICAL_X_POSITION(current_position[X_AXIS]),
@@ -8680,6 +8673,8 @@ void report_current_position() {
report_xyz(delta);
#endif
+ stepper.synchronize();
+
SERIAL_PROTOCOLPGM("Stepper:");
LOOP_XYZE(i) {
SERIAL_CHAR(' ');
@@ -13369,8 +13364,8 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
planner.max_feedrate_mm_s[X_AXIS], 1
);
- SYNC_PLAN_POSITION_KINEMATIC();
stepper.synchronize();
+ SYNC_PLAN_POSITION_KINEMATIC();
extruder_duplication_enabled = true;
active_extruder_parked = false;
#if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -13978,6 +13973,7 @@ void manage_inactivity(const bool ignore_stepper_queue/*=false*/) {
planner.buffer_line_kinematic(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
current_position[E_AXIS] = olde;
planner.set_e_position_mm(olde);
+
stepper.synchronize();
#if ENABLED(SWITCHING_EXTRUDER)
E0_ENABLE_WRITE(oldstatus);
diff --git a/Marlin/fwretract.cpp b/Marlin/fwretract.cpp
index a913c364c376cb3756346c22d43d249792bba481..c77337b12d00b071d9db7deb234cb98426993647 100644
--- a/Marlin/fwretract.cpp
+++ b/Marlin/fwretract.cpp
@@ -107,7 +107,7 @@ void FWRetract::retract(const bool retracting
// G11 priority to recover the long retract if activated
if (!retracting) swapping = retracted_swap[active_extruder];
#else
- const bool swapping = false;
+ constexpr bool swapping = false;
#endif
/* // debugging
@@ -127,54 +127,47 @@ void FWRetract::retract(const bool retracting
SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
//*/
- const float old_feedrate_mm_s = feedrate_mm_s;
+ const float old_feedrate_mm_s = feedrate_mm_s,
+ renormalize = RECIPROCAL(planner.e_factor[active_extruder]),
+ base_retract = swapping ? swap_retract_length : retract_length,
+ old_z = current_position[Z_AXIS],
+ old_e = current_position[E_AXIS];
// The current position will be the destination for E and Z moves
set_destination_from_current();
- stepper.synchronize(); // Wait for buffered moves to complete
-
- const float renormalize = 1.0 / planner.e_factor[active_extruder];
if (retracting) {
// Retract by moving from a faux E position back to the current E position
feedrate_mm_s = retract_feedrate_mm_s;
- current_position[E_AXIS] += (swapping ? swap_retract_length : retract_length) * renormalize;
- sync_plan_position_e();
- prepare_move_to_destination(); // set_current_to_destination
+ destination[E_AXIS] -= base_retract * renormalize;
+ prepare_move_to_destination(); // set_current_to_destination
// Is a Z hop set, and has the hop not yet been done?
- // No double zlifting
- // Feedrate to the max
if (retract_zlift > 0.01 && !hop_amount) { // Apply hop only once
- const float old_z = current_position[Z_AXIS];
hop_amount += retract_zlift; // Add to the hop total (again, only once)
destination[Z_AXIS] += retract_zlift; // Raise Z by the zlift (M207 Z) amount
feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Maximum Z feedrate
prepare_move_to_destination(); // Raise up, set_current_to_destination
- current_position[Z_AXIS] = old_z; // Spoof the Z position in the planner
- SYNC_PLAN_POSITION_KINEMATIC();
}
}
else {
// If a hop was done and Z hasn't changed, undo the Z hop
if (hop_amount) {
- current_position[Z_AXIS] += hop_amount; // Set actual Z (due to the prior hop)
- SYNC_PLAN_POSITION_KINEMATIC(); // Spoof the Z position in the planner
+ destination[Z_AXIS] -= hop_amount; // Move back down by the total hop amount
feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Z feedrate to max
prepare_move_to_destination(); // Lower Z, set_current_to_destination
hop_amount = 0.0; // Clear the hop amount
}
- // A retract multiplier has been added here to get faster swap recovery
+ destination[E_AXIS] += (base_retract + (swapping ? swap_retract_recover_length : retract_recover_length)) * renormalize;
feedrate_mm_s = swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s;
-
- current_position[E_AXIS] -= (swapping ? swap_retract_length + swap_retract_recover_length
- : retract_length + retract_recover_length) * renormalize;
- sync_plan_position_e();
prepare_move_to_destination(); // Recover E, set_current_to_destination
}
feedrate_mm_s = old_feedrate_mm_s; // Restore original feedrate
+ current_position[Z_AXIS] = old_z; // Restore Z and E positions
+ current_position[E_AXIS] = old_e;
+ SYNC_PLAN_POSITION_KINEMATIC(); // As if the move never took place
retracted[active_extruder] = retracting; // Active extruder now retracted / recovered
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 6e2ecb04e5231417683b1a2facf4a770a91ee96e..8e5733a6d37ff4f49710e491096fe0264e59ca93 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -819,15 +819,9 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
const float esteps_float = de * e_factor[extruder];
const int32_t esteps = abs(esteps_float) + 0.5;
- // Calculate the buffer head after we push this byte
- const uint8_t next_buffer_head = next_block_index(block_buffer_head);
-
- // If the buffer is full: good! That means we are well ahead of the robot.
- // Rest here until there is room in the buffer.
- while (block_buffer_tail == next_buffer_head) idle();
-
- // Prepare to set up new block
- block_t* block = &block_buffer[block_buffer_head];
+ // Wait for the next available block
+ uint8_t next_buffer_head;
+ block_t * const block = get_next_free_block(next_buffer_head);
// Clear all flags, including the "busy" bit
block->flag = 0x00;
@@ -1467,6 +1461,26 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
} // _buffer_steps()
+/**
+ * Planner::buffer_sync_block
+ * Add a block to the buffer that just updates the position
+ */
+void Planner::buffer_sync_block() {
+ // Wait for the next available block
+ uint8_t next_buffer_head;
+ block_t * const block = get_next_free_block(next_buffer_head);
+
+ block->steps[A_AXIS] = position[A_AXIS];
+ block->steps[B_AXIS] = position[B_AXIS];
+ block->steps[C_AXIS] = position[C_AXIS];
+ block->steps[E_AXIS] = position[E_AXIS];
+
+ block->flag = BLOCK_FLAG_SYNC_POSITION;
+
+ block_buffer_head = next_buffer_head;
+ stepper.wake_up();
+} // buffer_sync_block()
+
/**
* Planner::buffer_segment
*
@@ -1595,19 +1609,19 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c
#else
#define _EINDEX E_AXIS
#endif
- const int32_t na = position[A_AXIS] = LROUND(a * axis_steps_per_mm[A_AXIS]),
- nb = position[B_AXIS] = LROUND(b * axis_steps_per_mm[B_AXIS]),
- nc = position[C_AXIS] = LROUND(c * axis_steps_per_mm[C_AXIS]),
- ne = position[E_AXIS] = LROUND(e * axis_steps_per_mm[_EINDEX]);
+ position[A_AXIS] = LROUND(a * axis_steps_per_mm[A_AXIS]),
+ position[B_AXIS] = LROUND(b * axis_steps_per_mm[B_AXIS]),
+ position[C_AXIS] = LROUND(c * axis_steps_per_mm[C_AXIS]),
+ position[E_AXIS] = LROUND(e * axis_steps_per_mm[_EINDEX]);
#if HAS_POSITION_FLOAT
- position_float[X_AXIS] = a;
- position_float[Y_AXIS] = b;
- position_float[Z_AXIS] = c;
+ position_float[A_AXIS] = a;
+ position_float[B_AXIS] = b;
+ position_float[C_AXIS] = c;
position_float[E_AXIS] = e;
#endif
- stepper.set_position(na, nb, nc, ne);
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
ZERO(previous_speed);
+ buffer_sync_block();
}
void Planner::set_position_mm_kinematic(const float (&cart)[XYZE]) {
@@ -1655,23 +1669,23 @@ void Planner::set_position_mm(const AxisEnum axis, const float &v) {
#if HAS_POSITION_FLOAT
position_float[axis] = v;
#endif
- stepper.set_position(axis, position[axis]);
previous_speed[axis] = 0.0;
+ buffer_sync_block();
}
// Recalculate the steps/s^2 acceleration rates, based on the mm/s^2
void Planner::reset_acceleration_rates() {
#if ENABLED(DISTINCT_E_FACTORS)
- #define HIGHEST_CONDITION (i < E_AXIS || i == E_AXIS + active_extruder)
+ #define AXIS_CONDITION (i < E_AXIS || i == E_AXIS + active_extruder)
#else
- #define HIGHEST_CONDITION true
+ #define AXIS_CONDITION true
#endif
uint32_t highest_rate = 1;
LOOP_XYZE_N(i) {
max_acceleration_steps_per_s2[i] = max_acceleration_mm_per_s2[i] * axis_steps_per_mm[i];
- if (HIGHEST_CONDITION) NOLESS(highest_rate, max_acceleration_steps_per_s2[i]);
+ if (AXIS_CONDITION) NOLESS(highest_rate, max_acceleration_steps_per_s2[i]);
}
- cutoff_long = 4294967295UL / highest_rate;
+ cutoff_long = 4294967295UL / highest_rate; // 0xFFFFFFFFUL
}
// Recalculate position, steps_to_mm if axis_steps_per_mm changes!
diff --git a/Marlin/planner.h b/Marlin/planner.h
index af845600a541596f465f43e54d61e15da0dbb9e7..e051c4a0dcef101f3b129bdf79507d3f614c6bcf 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -53,14 +53,18 @@ enum BlockFlagBit : char {
BLOCK_BIT_BUSY,
// The block is segment 2+ of a longer move
- BLOCK_BIT_CONTINUED
+ BLOCK_BIT_CONTINUED,
+
+ // Sync the stepper counts from the block
+ BLOCK_BIT_SYNC_POSITION
};
enum BlockFlag : char {
BLOCK_FLAG_RECALCULATE = _BV(BLOCK_BIT_RECALCULATE),
BLOCK_FLAG_NOMINAL_LENGTH = _BV(BLOCK_BIT_NOMINAL_LENGTH),
BLOCK_FLAG_BUSY = _BV(BLOCK_BIT_BUSY),
- BLOCK_FLAG_CONTINUED = _BV(BLOCK_BIT_CONTINUED)
+ BLOCK_FLAG_CONTINUED = _BV(BLOCK_BIT_CONTINUED),
+ BLOCK_FLAG_SYNC_POSITION = _BV(BLOCK_BIT_SYNC_POSITION)
};
/**
@@ -409,6 +413,20 @@ class Planner {
#endif
+
+ /**
+ * Planner::get_next_free_block
+ *
+ * - Get the next head index (passed by reference)
+ * - Wait for a space to open up in the planner
+ * - Return the head block
+ */
+ FORCE_INLINE static block_t* get_next_free_block(uint8_t &next_buffer_head) {
+ next_buffer_head = next_block_index(block_buffer_head);
+ while (block_buffer_tail == next_buffer_head) idle(); // while (is_full)
+ return &block_buffer[block_buffer_head];
+ }
+
/**
* Planner::_buffer_steps
*
@@ -426,6 +444,12 @@ class Planner {
, float fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
);
+ /**
+ * Planner::buffer_sync_block
+ * Add a block to the buffer that just updates the position
+ */
+ static void buffer_sync_block();
+
/**
* Planner::buffer_segment
*
@@ -505,7 +529,7 @@ class Planner {
static void set_position_mm_kinematic(const float (&cart)[XYZE]);
static void set_position_mm(const AxisEnum axis, const float &v);
FORCE_INLINE static void set_z_position_mm(const float &z) { set_position_mm(Z_AXIS, z); }
- FORCE_INLINE static void set_e_position_mm(const float &e) { set_position_mm(AxisEnum(E_AXIS), e); }
+ FORCE_INLINE static void set_e_position_mm(const float &e) { set_position_mm(E_AXIS, e); }
/**
* Sync from the stepper positions. (e.g., after an interrupted move)
@@ -515,7 +539,7 @@ class Planner {
/**
* Does the buffer have any blocks queued?
*/
- static inline bool has_blocks_queued() { return (block_buffer_head != block_buffer_tail); }
+ FORCE_INLINE static bool has_blocks_queued() { return (block_buffer_head != block_buffer_tail); }
/**
* "Discard" the block and "release" the memory.
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 92ad80700e59d26a391c1400ca4f9128fda70c7e..06dc29dc181f6eac49110b08045409d3defe4786 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -91,10 +91,10 @@ int16_t Stepper::cleaning_buffer_counter = 0;
bool Stepper::locked_z_motor = false, Stepper::locked_z2_motor = false;
#endif
-long Stepper::counter_X = 0,
- Stepper::counter_Y = 0,
- Stepper::counter_Z = 0,
- Stepper::counter_E = 0;
+int32_t Stepper::counter_X = 0,
+ Stepper::counter_Y = 0,
+ Stepper::counter_Z = 0,
+ Stepper::counter_E = 0;
volatile uint32_t Stepper::step_events_completed = 0; // The number of step events executed in the current block
@@ -123,13 +123,13 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
#endif // LIN_ADVANCE
-long Stepper::acceleration_time, Stepper::deceleration_time;
+int32_t Stepper::acceleration_time, Stepper::deceleration_time;
-volatile long Stepper::count_position[NUM_AXIS] = { 0 };
+volatile int32_t Stepper::count_position[NUM_AXIS] = { 0 };
volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
#if ENABLED(MIXING_EXTRUDER)
- long Stepper::counter_m[MIXING_STEPPERS];
+ int32_t Stepper::counter_m[MIXING_STEPPERS];
#endif
uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
@@ -137,7 +137,7 @@ uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
uint16_t Stepper::OCR1A_nominal,
Stepper::acc_step_rate; // needed for deceleration start point
-volatile long Stepper::endstops_trigsteps[XYZ];
+volatile int32_t Stepper::endstops_trigsteps[XYZ];
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
#define LOCKED_X_MOTOR locked_x_motor
@@ -449,18 +449,30 @@ void Stepper::isr() {
// If there is no current block, attempt to pop one from the buffer
if (!current_block) {
+
// Anything in the buffer?
if ((current_block = planner.get_current_block())) {
+
+ // Sync block? Sync the stepper counts and return
+ while (TEST(current_block->flag, BLOCK_BIT_SYNC_POSITION)) {
+ _set_position(
+ current_block->steps[A_AXIS], current_block->steps[B_AXIS],
+ current_block->steps[C_AXIS], current_block->steps[E_AXIS]
+ );
+ planner.discard_current_block();
+ if (!(current_block = planner.get_current_block())) return;
+ }
+
trapezoid_generator_reset();
// Initialize Bresenham counters to 1/2 the ceiling
counter_X = counter_Y = counter_Z = counter_E = -(current_block->step_event_count >> 1);
-
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(i)
counter_m[i] = -(current_block->mix_event_count[i] >> 1);
#endif
+ // No step events completed so far
step_events_completed = 0;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
@@ -469,6 +481,7 @@ void Stepper::isr() {
#endif
#if ENABLED(Z_LATE_ENABLE)
+ // If delayed Z enable, postpone move for 1mS
if (current_block->steps[Z_AXIS] > 0) {
enable_Z();
_NEXT_ISR(2000); // Run at slow speed - 1 KHz
@@ -595,7 +608,6 @@ void Stepper::isr() {
#endif
#if ENABLED(LIN_ADVANCE)
-
counter_E += current_block->steps[E_AXIS];
if (counter_E > 0) {
#if DISABLED(MIXING_EXTRUDER)
@@ -708,7 +720,6 @@ void Stepper::isr() {
acceleration_time += interval;
#if ENABLED(LIN_ADVANCE)
-
if (current_block->use_advance_lead) {
if (step_events_completed == step_loops || (e_steps && eISR_Rate != current_block->advance_speed)) {
nextAdvanceISR = 0; // Wake up eISR on first acceleration loop and fire ISR if final adv_rate is reached
@@ -719,7 +730,6 @@ void Stepper::isr() {
eISR_Rate = ADV_NEVER;
if (e_steps) nextAdvanceISR = 0;
}
-
#endif // LIN_ADVANCE
}
else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
@@ -742,7 +752,6 @@ void Stepper::isr() {
deceleration_time += interval;
#if ENABLED(LIN_ADVANCE)
-
if (current_block->use_advance_lead) {
if (step_events_completed <= (uint32_t)current_block->decelerate_after + step_loops || (e_steps && eISR_Rate != current_block->advance_speed)) {
nextAdvanceISR = 0; // Wake up eISR on first deceleration loop
@@ -753,16 +762,13 @@ void Stepper::isr() {
eISR_Rate = ADV_NEVER;
if (e_steps) nextAdvanceISR = 0;
}
-
#endif // LIN_ADVANCE
}
else {
#if ENABLED(LIN_ADVANCE)
-
// If we have esteps to execute, fire the next advance_isr "now"
if (e_steps && eISR_Rate != current_block->advance_speed) nextAdvanceISR = 0;
-
#endif
SPLIT(OCR1A_nominal); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
@@ -902,6 +908,7 @@ void Stepper::isr() {
}
void Stepper::advance_isr_scheduler() {
+
// Run main stepping ISR if flagged
if (!nextMainISR) isr();
@@ -1120,12 +1127,7 @@ void Stepper::synchronize() { while (planner.has_blocks_queued() || cleaning_buf
* This allows get_axis_position_mm to correctly
* derive the current XYZ position later on.
*/
-void Stepper::set_position(const long &a, const long &b, const long &c, const long &e) {
-
- synchronize(); // Bad to set stepper counts in the middle of a move
-
- CRITICAL_SECTION_START;
-
+void Stepper::_set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
#if CORE_IS_XY
// corexy positioning
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
@@ -1148,29 +1150,15 @@ void Stepper::set_position(const long &a, const long &b, const long &c, const lo
count_position[Y_AXIS] = b;
count_position[Z_AXIS] = c;
#endif
-
- count_position[E_AXIS] = e;
- CRITICAL_SECTION_END;
-}
-
-void Stepper::set_position(const AxisEnum &axis, const long &v) {
- CRITICAL_SECTION_START;
- count_position[axis] = v;
- CRITICAL_SECTION_END;
-}
-
-void Stepper::set_e_position(const long &e) {
- CRITICAL_SECTION_START;
count_position[E_AXIS] = e;
- CRITICAL_SECTION_END;
}
/**
* Get a stepper's position in steps.
*/
-long Stepper::position(const AxisEnum axis) {
+int32_t Stepper::position(const AxisEnum axis) {
CRITICAL_SECTION_START;
- const long count_pos = count_position[axis];
+ const int32_t count_pos = count_position[axis];
CRITICAL_SECTION_END;
return count_pos;
}
@@ -1239,9 +1227,9 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
void Stepper::report_positions() {
CRITICAL_SECTION_START;
- const long xpos = count_position[X_AXIS],
- ypos = count_position[Y_AXIS],
- zpos = count_position[Z_AXIS];
+ const int32_t xpos = count_position[X_AXIS],
+ ypos = count_position[Y_AXIS],
+ zpos = count_position[Z_AXIS];
CRITICAL_SECTION_END;
#if CORE_IS_XY || CORE_IS_XZ || IS_DELTA || IS_SCARA
diff --git a/Marlin/stepper.h b/Marlin/stepper.h
index f0b95ac06cbed25a2a3d975aeb721572d77c6b97..597600e805fbf0e8b24f163f351bf05ba3be81ac 100644
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@@ -119,7 +119,7 @@ class Stepper {
#endif
// Counter variables for the Bresenham line tracer
- static long counter_X, counter_Y, counter_Z, counter_E;
+ static int32_t counter_X, counter_Y, counter_Z, counter_E;
static volatile uint32_t step_events_completed; // The number of step events executed in the current block
#if ENABLED(LIN_ADVANCE)
@@ -142,19 +142,19 @@ class Stepper {
#endif // !LIN_ADVANCE
- static long acceleration_time, deceleration_time;
+ static int32_t acceleration_time, deceleration_time;
static uint8_t step_loops, step_loops_nominal;
static uint16_t OCR1A_nominal,
acc_step_rate; // needed for deceleration start point
- static volatile long endstops_trigsteps[XYZ];
- static volatile long endstops_stepsTotal, endstops_stepsDone;
+ static volatile int32_t endstops_trigsteps[XYZ];
+ static volatile int32_t endstops_stepsTotal, endstops_stepsDone;
//
// Positions of stepper motors, in step units
//
- static volatile long count_position[NUM_AXIS];
+ static volatile int32_t count_position[NUM_AXIS];
//
// Current direction of stepper motors (+1 or -1)
@@ -165,7 +165,7 @@ class Stepper {
// Mixing extruder mix counters
//
#if ENABLED(MIXING_EXTRUDER)
- static long counter_m[MIXING_STEPPERS];
+ static int32_t counter_m[MIXING_STEPPERS];
#define MIXING_STEPPERS_LOOP(VAR) \
for (uint8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++) \
if (current_block->mix_event_count[VAR])
@@ -202,9 +202,32 @@ class Stepper {
//
// Set the current position in steps
//
- static void set_position(const long &a, const long &b, const long &c, const long &e);
- static void set_position(const AxisEnum &a, const long &v);
- static void set_e_position(const long &e);
+ static void _set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
+
+ FORCE_INLINE static void _set_position(const AxisEnum a, const int32_t &v) { count_position[a] = v; }
+
+ FORCE_INLINE static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
+ synchronize();
+ CRITICAL_SECTION_START;
+ _set_position(a, b, c, e);
+ CRITICAL_SECTION_END;
+ }
+
+ static void set_position(const AxisEnum a, const int32_t &v) {
+ synchronize();
+ CRITICAL_SECTION_START;
+ count_position[a] = v;
+ CRITICAL_SECTION_END;
+ }
+
+ FORCE_INLINE static void _set_e_position(const int32_t &e) { count_position[E_AXIS] = e; }
+
+ static void set_e_position(const int32_t &e) {
+ synchronize();
+ CRITICAL_SECTION_START;
+ count_position[E_AXIS] = e;
+ CRITICAL_SECTION_END;
+ }
//
// Set direction bits for all steppers
@@ -214,7 +237,7 @@ class Stepper {
//
// Get the position of a stepper, in steps
//
- static long position(const AxisEnum axis);
+ static int32_t position(const AxisEnum axis);
//
// Report the positions of the steppers, in steps