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🔧 Support EXTRUDERS 0 with FT_MOTION (#27984)

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narno2202 2025-08-17 01:21:27 +02:00 • committed by GitHub
parent 2110215a16
commit b0c0074092
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3 changed files with 11 additions and 9 deletions
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14
Marlin/src/module/ft_motion.cpp
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@ -91,7 +91,7 @@ uint32_t FTMotion::interpIdx = 0; // Index of current data point b
#if ENABLED(DISTINCT_E_FACTORS)
uint8_t FTMotion::block_extruder_axis; // Cached E Axis from last-fetched block
#else
#elif HAS_EXTRUDERS
constexpr uint8_t FTMotion::block_extruder_axis;
#endif
@ -400,7 +400,7 @@ void FTMotion::reset() {
shaping.zi_idx = 0;
#endif
TERN_(HAS_EXTRUDERS, e_raw_z1 = e_advanced_z1 = 0.0f);
TERN_(HAS_EXTRUDERS, e_raw_z1 = e_advanced_z1 = 0.0f); // Reset linear advance variables.
TERN_(DISTINCT_E_FACTORS, block_extruder_axis = E_AXIS);
axis_move_end_ti.reset();
@ -582,25 +582,27 @@ void FTMotion::loadBlockData(block_t * const current_block) {
// Generate data points of the trajectory.
void FTMotion::makeVector() {
do {
float accel_k = 0.0f; // (mm/s^2) Acceleration K factor
float tau = (makeVector_idx + 1) * (FTM_TS); // (s) Time since start of block
float dist = 0.0f; // (mm) Distance traveled
#if HAS_EXTRUDERS
float accel_k = 0.0f; // (mm/s^2) Acceleration K factor
#endif
if (makeVector_idx < N1) {
// Acceleration phase
dist = (f_s * tau) + (0.5f * accel_P * sq(tau)); // (mm) Distance traveled for acceleration phase since start of block
accel_k = accel_P; // (mm/s^2) Acceleration K factor from Accel phase
TERN_(HAS_EXTRUDERS, accel_k = accel_P); // (mm/s^2) Acceleration K factor from Accel phase
}
else if (makeVector_idx < (N1 + N2)) {
// Coasting phase
dist = s_1e + F_P * (tau - N1 * (FTM_TS)); // (mm) Distance traveled for coasting phase since start of block
//accel_k = 0.0f;
//TERN_(HAS_EXTRUDERS, accel_k = 0.0f);
}
else {
// Deceleration phase
tau -= (N1 + N2) * (FTM_TS); // (s) Time since start of decel phase
dist = s_2e + F_P * tau + 0.5f * decel_P * sq(tau); // (mm) Distance traveled for deceleration phase since start of block
accel_k = decel_P; // (mm/s^2) Acceleration K factor from Decel phase
TERN_(HAS_EXTRUDERS, accel_k = decel_P); // (mm/s^2) Acceleration K factor from Decel phase
}
#define _SET_TRAJ(q) traj.q[makeVector_batchIdx] = startPosn.q + ratio.q * dist;

2
Marlin/src/module/ft_motion.h
View file

@ -171,7 +171,7 @@ class FTMotion {
#if ENABLED(DISTINCT_E_FACTORS)
static uint8_t block_extruder_axis; // Cached extruder axis index
#else
#elif HAS_EXTRUDERS
static constexpr uint8_t block_extruder_axis = E_AXIS;
#endif

4
buildroot/tests/rambo
View file

@ -71,8 +71,8 @@ opt_set MOTHERBOARD BOARD_RAMBO EXTRUDERS 0 TEMP_SENSOR_BED 1 TEMP_SENSOR_PROBE
DEFAULT_MAX_ACCELERATION '{ 3000, 3000, 100 }' \
MANUAL_FEEDRATE '{ 50*60, 50*60, 4*60 }' \
AXIS_RELATIVE_MODES '{ false, false, false }'
opt_enable REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER FIX_MOUNTED_PROBE Z_SAFE_HOMING
exec_test $1 $2 "Rambo heated bed only" "$3"
opt_enable REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER FIX_MOUNTED_PROBE Z_SAFE_HOMING FT_MOTION
exec_test $1 $2 "Rambo with ZERO EXTRUDERS, heated bed, FT_MOTION" "$3"
#
# Rambo with MMU2