diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index f6a3edfa76353b58a421a9784e2eb18f92d14c9f..37d2adf20a8268856f60087ba434a1e8a11a681c 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -672,11 +672,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
#endif
#if ENABLED(LIN_ADVANCE)
- const float target_float[XYZE] = { a, b, c, e },
- de_float = target_float[E_AXIS] - position_float[E_AXIS],
- mm_D_float = sqrt(sq(target_float[X_AXIS] - position_float[X_AXIS]) + sq(target_float[Y_AXIS] - position_float[Y_AXIS]));
-
- memcpy(position_float, target_float, sizeof(position_float));
+ const float mm_D_float = sqrt(sq(a - position_float[X_AXIS]) + sq(b - position_float[Y_AXIS]));
#endif
const long da = target[X_AXIS] - position[X_AXIS],
@@ -707,15 +703,28 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
//*/
// DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
- if (DEBUGGING(DRYRUN)) position[E_AXIS] = target[E_AXIS];
+ if (DEBUGGING(DRYRUN)) {
+ position[E_AXIS] = target[E_AXIS];
+ #if ENABLED(LIN_ADVANCE)
+ position_float[E_AXIS] = e;
+ #endif
+ }
long de = target[E_AXIS] - position[E_AXIS];
+ #if ENABLED(LIN_ADVANCE)
+ float de_float = e - position_float[E_AXIS];
+ #endif
+
#if ENABLED(PREVENT_COLD_EXTRUSION)
if (de) {
if (thermalManager.tooColdToExtrude(extruder)) {
position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
de = 0; // no difference
+ #if ENABLED(LIN_ADVANCE)
+ position_float[E_AXIS] = e;
+ de_float = 0;
+ #endif
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
}
@@ -723,6 +732,10 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
if (labs(de) > (int32_t)axis_steps_per_mm[E_AXIS_N] * (EXTRUDE_MAXLENGTH)) { // It's not important to get max. extrusion length in a precision < 1mm, so save some cycles and cast to int
position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
de = 0; // no difference
+ #if ENABLED(LIN_ADVANCE)
+ position_float[E_AXIS] = e;
+ de_float = 0;
+ #endif
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
}
@@ -1342,6 +1355,12 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// Update the position (only when a move was queued)
memcpy(position, target, sizeof(position));
+ #if ENABLED(LIN_ADVANCE)
+ position_float[X_AXIS] = a;
+ position_float[Y_AXIS] = b;
+ position_float[Z_AXIS] = c;
+ position_float[E_AXIS] = e;
+ #endif
recalculate();
@@ -1367,6 +1386,12 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c
nb = position[Y_AXIS] = lround(b * axis_steps_per_mm[Y_AXIS]),
nc = position[Z_AXIS] = lround(c * axis_steps_per_mm[Z_AXIS]),
ne = position[E_AXIS] = lround(e * axis_steps_per_mm[_EINDEX]);
+ #if ENABLED(LIN_ADVANCE)
+ position_float[X_AXIS] = a;
+ position_float[Y_AXIS] = b;
+ position_float[Z_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);
@@ -1392,6 +1417,9 @@ void Planner::set_position_mm_kinematic(const float position[NUM_AXIS]) {
*/
void Planner::sync_from_steppers() {
LOOP_XYZE(i) position[i] = stepper.position((AxisEnum)i);
+ #if ENABLED(LIN_ADVANCE)
+ LOOP_XYZE(i) position_float[i] = stepper.position((AxisEnum)i) * steps_to_mm[i];
+ #endif
}
/**
@@ -1405,6 +1433,9 @@ void Planner::set_position_mm(const AxisEnum axis, const float& v) {
const uint8_t axis_index = axis;
#endif
position[axis] = lround(v * axis_steps_per_mm[axis_index]);
+ #if ENABLED(LIN_ADVANCE)
+ position_float[axis] = v;
+ #endif
stepper.set_position(axis, v);
previous_speed[axis] = 0.0;
}
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index ddab5416eafb8a3c7cb021d0af27c381e325ae9b..da2ee14cc18ab2ae9a8128fd272b8539f1b8df2f 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -342,13 +342,14 @@ ISR(TIMER1_COMPA_vect) {
#endif
}
-void Stepper::isr() {
- #define _ENABLE_ISRs() cli(); SBI(TIMSK0, OCIE0B); ENABLE_STEPPER_DRIVER_INTERRUPT()
+#define _ENABLE_ISRs() do { cli(); if (thermalManager.in_temp_isr) CBI(TIMSK0, OCIE0B); else SBI(TIMSK0, OCIE0B); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
- uint16_t timer, remainder, ocr_val;
+void Stepper::isr() {
static uint32_t step_remaining = 0;
+ uint16_t ocr_val;
+
#define ENDSTOP_NOMINAL_OCR_VAL 3000 // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
#define OCR_VAL_TOLERANCE 1000 // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
@@ -366,7 +367,7 @@ void Stepper::isr() {
#define SPLIT(L) do { \
_SPLIT(L); \
if (ENDSTOPS_ENABLED && L > ENDSTOP_NOMINAL_OCR_VAL) { \
- remainder = (uint16_t)L % (ENDSTOP_NOMINAL_OCR_VAL); \
+ uint16_t remainder = (uint16_t)L % (ENDSTOP_NOMINAL_OCR_VAL); \
ocr_val = (remainder < OCR_VAL_TOLERANCE) ? ENDSTOP_NOMINAL_OCR_VAL + remainder : ENDSTOP_NOMINAL_OCR_VAL; \
step_remaining = (uint16_t)L - ocr_val; \
} \
@@ -374,13 +375,16 @@ void Stepper::isr() {
if (step_remaining && ENDSTOPS_ENABLED) { // Just check endstops - not yet time for a step
endstops.update();
- ocr_val = step_remaining;
if (step_remaining > ENDSTOP_NOMINAL_OCR_VAL) {
- step_remaining = step_remaining - ENDSTOP_NOMINAL_OCR_VAL;
+ step_remaining -= ENDSTOP_NOMINAL_OCR_VAL;
ocr_val = ENDSTOP_NOMINAL_OCR_VAL;
}
- else step_remaining = 0; // last one before the ISR that does the step
- _NEXT_ISR(ocr_val); //
+ else {
+ ocr_val = step_remaining;
+ step_remaining = 0; // last one before the ISR that does the step
+ }
+
+ _NEXT_ISR(ocr_val);
NOLESS(OCR1A, TCNT1 + 16);
@@ -867,9 +871,7 @@ void Stepper::isr() {
NOLESS(OCR1A, TCNT1 + 16);
// Restore original ISR settings
- cli();
- SBI(TIMSK0, OCIE0B);
- ENABLE_STEPPER_DRIVER_INTERRUPT();
+ _ENABLE_ISRs();
}
#endif // ADVANCE or LIN_ADVANCE
diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp
index 8120e0d6c5e6880a4580f226369413a7c797fccf..d7462bc99dbdee9a11baee88d2f7d605af4cffc1 100644
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -1483,8 +1483,15 @@ void Temperature::set_current_temp_raw() {
*/
ISR(TIMER0_COMPB_vect) { Temperature::isr(); }
+volatile bool Temperature::in_temp_isr = false;
+
void Temperature::isr() {
- //Allow UART and stepper ISRs
+ // The stepper ISR can interrupt this ISR. When it does it re-enables this ISR
+ // at the end of its run, potentially causing re-entry. This flag prevents it.
+ if (in_temp_isr) return;
+ in_temp_isr = true;
+
+ // Allow UART and stepper ISRs
CBI(TIMSK0, OCIE0B); //Disable Temperature ISR
sei();
@@ -1949,5 +1956,7 @@ void Temperature::isr() {
}
#endif
+ cli();
+ in_temp_isr = false;
SBI(TIMSK0, OCIE0B); //re-enable Temperature ISR
}
diff --git a/Marlin/temperature.h b/Marlin/temperature.h
index 182efd5645e1d058bd732bc686c42f5a7ea94bf0..e5921484478280e50ef8e99eae067514d27a5a1a 100644
--- a/Marlin/temperature.h
+++ b/Marlin/temperature.h
@@ -61,6 +61,8 @@ class Temperature {
current_temperature_bed_raw,
target_temperature_bed;
+ static volatile bool in_temp_isr;
+
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
static float redundant_temperature;
#endif