diff --git a/.github/workflows/ci-build-tests.yml b/.github/workflows/ci-build-tests.yml index cf38196cc1..4c736c1ce4 100644 --- a/.github/workflows/ci-build-tests.yml +++ b/.github/workflows/ci-build-tests.yml @@ -58,7 +58,7 @@ jobs: - at90usb1286_dfu # AVR Extended - - FYSETC_F6 + - mega2560ext - melzi_optiboot - rambo - sanguino1284p diff --git a/.gitignore b/.gitignore old mode 100755 new mode 100644 diff --git a/Makefile b/Makefile index f1f64e1342..68c522e5b6 100644 --- a/Makefile +++ b/Makefile @@ -4,6 +4,31 @@ CONTAINER_RT_OPTS := --rm -v $(PWD):/code -v platformio-cache:/root/.platformio CONTAINER_IMAGE := marlin-dev UNIT_TEST_CONFIG ?= default +# Find a Python 3 interpreter +ifeq ($(OS),Windows_NT) + # Windows: use `where` – fall back through the three common names + PYTHON := $(shell which python 2>nul || which python3 2>nul || which py 2>nul) + # Windows: Use cmd tools to find pins files + PINS_RAW := $(shell cmd //c "dir /s /b Marlin\src\pins\*.h 2>nul | findstr /r ".*Marlin\\\\src\\\\pins\\\\.*\\\\pins_.*\.h"") + PINS := $(subst \,/,$(PINS_RAW)) +else + # POSIX: use `command -v` – prefer python3 over python + PYTHON := $(shell command -v python3 2>/dev/null || command -v python 2>/dev/null) + # Unix/Linux: Use find command + PINS := $(shell find Marlin/src/pins -mindepth 2 -name 'pins_*.h') +endif + +# Check that the found interpreter is Python 3 +# Error if there's no Python 3 available +ifneq ($(strip $(PYTHON)),) + PYTHON_VERSION := $(shell $(PYTHON) -c "import sys; print(sys.version_info[0])" 2>/dev/null) + ifneq ($(PYTHON_VERSION),3) + $(error $(PYTHON) is not Python 3 – install a Python‑3.x interpreter or adjust your PATH) + endif +else + $(error No Python executable found – install Python 3.x and make sure it is in your PATH) +endif + help: @echo "Tasks for local development:" @echo "make marlin : Build Marlin for the configured board" @@ -20,7 +45,7 @@ help: @echo "make unit-test-single-local-docker : Run unit tests for a single config locally, using docker" @echo "make unit-test-all-local : Run all code tests locally" @echo "make unit-test-all-local-docker : Run all code tests locally, using docker" - @echo "make setup-local-docker : Setup local docker using buildx" + @echo "make setup-local-docker : Setup local docker" @echo "" @echo "Options for testing:" @echo " TEST_TARGET Set when running tests-single-*, to select the" @@ -41,6 +66,9 @@ marlin: ./buildroot/bin/mftest -a .PHONY: marlin +clean: + rm -rf .pio/build* + tests-single-ci: export GIT_RESET_HARD=true $(MAKE) tests-single-local TEST_TARGET=$(TEST_TARGET) PLATFORMIO_BUILD_FLAGS=-DGITHUB_ACTION @@ -57,10 +85,10 @@ tests-single-local-docker: $(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS) $(CONTAINER_IMAGE) make tests-single-local TEST_TARGET=$(TEST_TARGET) VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD) ONLY_TEST="$(ONLY_TEST)" tests-all-local: - @python -c "import yaml" 2>/dev/null || (echo 'pyyaml module is not installed. Install it with "python -m pip install pyyaml"' && exit 1) + @$(PYTHON) -c "import yaml" 2>/dev/null || (echo 'pyyaml module is not installed. Install it with "$(PYTHON) -m pip install pyyaml"' && exit 1) export PATH="./buildroot/bin/:./buildroot/tests/:${PATH}" \ && export VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) \ - && for TEST_TARGET in $$(python $(SCRIPTS_DIR)/get_test_targets.py) ; do \ + && for TEST_TARGET in $$($(PYTHON) $(SCRIPTS_DIR)/get_test_targets.py) ; do \ if [ "$$TEST_TARGET" = "linux_native" ] && [ "$$(uname)" = "Darwin" ]; then \ echo "Skipping tests for $$TEST_TARGET on macOS" ; \ continue ; \ @@ -88,18 +116,36 @@ unit-test-all-local-docker: @if ! $(CONTAINER_RT_BIN) images -q $(CONTAINER_IMAGE) > /dev/null ; then $(MAKE) setup-local-docker ; fi $(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS) $(CONTAINER_IMAGE) make unit-test-all-local -setup-local-docker: - $(CONTAINER_RT_BIN) buildx build -t $(CONTAINER_IMAGE) -f docker/Dockerfile . +USERNAME := $(shell whoami) +USER_ID := $(shell id -u) +GROUP_ID := $(shell id -g) -PINS := $(shell find Marlin/src/pins -mindepth 2 -name '*.h') +.PHONY: setup-local-docker setup-local-docker-old + +setup-local-docker: + @echo "Building marlin-dev Docker image..." + $(CONTAINER_RT_BIN) build -t $(CONTAINER_IMAGE) \ + --build-arg USERNAME=$(USERNAME) \ + --build-arg USER_ID=$(USER_ID) \ + --build-arg GROUP_ID=$(GROUP_ID) \ + -f docker/Dockerfile . + @echo + @echo "To run all tests in Docker:" + @echo " make tests-all-local-docker" + @echo "To run a single test in Docker:" + @echo " make tests-single-local-docker TEST_TARGET=mega2560" + +setup-local-docker-old: + $(CONTAINER_RT_BIN) buildx build -t $(CONTAINER_IMAGE) -f docker/Dockerfile . .PHONY: $(PINS) format-pins validate-pins $(PINS): %: @echo "Formatting pins $@" - @python $(SCRIPTS_DIR)/pinsformat.py $< $@ + @$(PYTHON) $(SCRIPTS_DIR)/pinsformat.py $< $@ format-pins: $(PINS) + @echo "Processed $(words $(PINS)) pins files" validate-pins: format-pins @echo "Validating pins files" @@ -109,8 +155,8 @@ validate-pins: format-pins format-lines: @echo "Formatting all sources" - @python $(SCRIPTS_DIR)/linesformat.py buildroot - @python $(SCRIPTS_DIR)/linesformat.py Marlin + @$(PYTHON) $(SCRIPTS_DIR)/linesformat.py buildroot + @$(PYTHON) $(SCRIPTS_DIR)/linesformat.py Marlin validate-lines: @echo "Validating text formatting" @@ -122,4 +168,4 @@ BOARDS_FILE := Marlin/src/core/boards.h validate-boards: @echo "Validating boards.h file" - @python $(SCRIPTS_DIR)/validate_boards.py $(BOARDS_FILE) || (echo "\nError: boards.h file is not valid. Please check and correct it.\n" && exit 1) + @$(PYTHON) $(SCRIPTS_DIR)/validate_boards.py $(BOARDS_FILE) || (echo "\nError: boards.h file is not valid. Please check and correct it.\n" && exit 1) diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index 40b8ba5f22..e51d16d565 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -942,7 +942,7 @@ * protect against a broken or disconnected thermistor wire. * * The issue: If a thermistor falls out, it will report the much lower - * temperature of the air in the room, and the the firmware will keep + * temperature of the air in the room, and the firmware will keep * the heater on. * * If you get "Thermal Runaway" or "Heating failed" errors the @@ -1395,6 +1395,11 @@ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ //#define S_CURVE_ACCELERATION +#if ENABLED(S_CURVE_ACCELERATION) + // Define to use 4th instead of 6th order motion curve + //#define S_CURVE_FACTOR 0.25 // Initial and final acceleration factor, ideally 0.1 to 0.4. + // Shouldn't generally require tuning. +#endif //=========================================================================== //============================= Z Probe Options ============================= @@ -1667,6 +1672,8 @@ //#define PROBE_TOOLCHANGE_NO_MOVE // Suppress motion on probe tool-change #endif +//#define PROBE_WAKEUP_TIME_MS 30 // (ms) Time for the probe to wake up + // Most probes should stay away from the edges of the bed, but // with NOZZLE_AS_PROBE this can be negative for a wider probing area. #define PROBING_MARGIN 10 @@ -3468,6 +3475,7 @@ * NOTOSANS - Default font with anti-aliasing. Supports Latin Extended and non-Latin characters. * UNIFONT - Lightweight font, no anti-aliasing. Supports Latin Extended and non-Latin characters. * HELVETICA - Lightweight font, no anti-aliasing. Supports Basic Latin (0x0020-0x007F) and Latin-1 Supplement (0x0080-0x00FF) characters only. + * :['NOTOSANS', 'UNIFONT', 'HELVETICA'] */ #define TFT_FONT NOTOSANS @@ -3477,6 +3485,7 @@ * BLUE_MARLIN - Default theme with 'midnight blue' background * BLACK_MARLIN - Theme with 'black' background * ANET_BLACK - Theme used for Anet ET4/5 + * :['BLUE_MARLIN', 'BLACK_MARLIN', 'ANET_BLACK'] */ #define TFT_THEME BLACK_MARLIN diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index 215f1f8026..ae4acaa56b 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -297,7 +297,7 @@ * protect against a broken or disconnected thermistor wire. * * The issue: If a thermistor falls out, it will report the much lower - * temperature of the air in the room, and the the firmware will keep + * temperature of the air in the room, and the firmware will keep * the heater on. * * The solution: Once the temperature reaches the target, start observing. @@ -778,7 +778,7 @@ // @section endstops -// If you want endstops to stay on (by default) even when not homing +// If you want endstops to stay on (by default) even when not homing, // enable this option. Override at any time with M120, M121. //#define ENDSTOPS_ALWAYS_ON_DEFAULT @@ -1143,67 +1143,72 @@ /** * Fixed-time-based Motion Control -- BETA FEATURE - * Enable/disable and set parameters with G-code M493. + * Enable/disable and set parameters with G-code M493 and M494. * See ft_types.h for named values used by FTM options. */ //#define FT_MOTION #if ENABLED(FT_MOTION) - //#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default? + //#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default? + //#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters + //#define FTM_HOME_AND_PROBE // Use FT Motion for homing / probing. Disable if FT Motion breaks these functions. + #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED) - #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false) - #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.) - #define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV) - #define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers - #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis - #define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis + #define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers + #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis + #define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis #define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis - #define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers - #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis - #define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis + #define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers + #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis + #define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis - //#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters + //#define FTM_SHAPER_Z // Include Z shaping support + #define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis + #define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers + #define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis + #define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis + + //#define FTM_SHAPER_E // Include E shaping support + // Required to synchronize extruder with XYZ (better quality) + #define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis + #define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers + #define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis + #define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis + + //#define FTM_RESONANCE_TEST // Sine sweep motion for resonance study + + //#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter + // on sharp corners, but too much will round corners. + #if ENABLED(FTM_SMOOTHING) + #define FTM_MAX_SMOOTHING_TIME 0.10f // (s) Maximum smoothing time. Higher values consume more RAM. + // Increase smoothing time to reduce jerky motion, ghosting and noises. + #define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled. + #define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis + #define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis + #define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by + // smoothing acceleration peaks, which may also smooth curved surfaces. + #endif + + #define FTM_TRAJECTORY_TYPE TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6) + // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected. + // POLY5: Like POLY6 with 1.5x but uses less CPU. + // POLY6: Continuous Acceleration (aka S_CURVE). + // POLY trajectories not only reduce resonances without rounding corners, but also + // reduce extruder strain due to linear advance. + + #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875) /** * Advanced configuration */ - #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented) - #if ENABLED(FTM_UNIFIED_BWS) - #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2 - #else - #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS - #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS - #endif + #define FTM_BUFFER_SIZE 128 // Window size for trajectory generation, must be a power of 2 (e.g 64, 128, 256, ...) + // The total buffered time in seconds is (FTM_BUFFER_SIZE/FTM_FS) + #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. + #define FTM_STEPPER_FS 2'000'000 // (Hz) Time resolution of stepper I/O update. Shouldn't affect CPU much (slower board testing needed) + #define FTM_MIN_SHAPE_FREQ 20 // (Hz) Minimum shaping frequency, lower consumes more RAM - #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS) - #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS) - - #if DISABLED(COREXY) - #define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update - - // Use this to adjust the time required to consume the command buffer. - // Try increasing this value if stepper motion is choppy. - #define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers - - #else - // CoreXY motion needs a larger buffer size. These values are based on our testing. - #define FTM_STEPPER_FS 30000 - #define FTM_STEPPERCMD_BUFF_SIZE 6000 - #endif - - #define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time - #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps - - #define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency - #define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE. - #define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!) - // Calculate as: - // ZV : FTM_RATIO / 2 - // ZVD, MZV : FTM_RATIO - // 2HEI : FTM_RATIO * 3 / 2 - // 3HEI : FTM_RATIO * 2 #endif // FT_MOTION /** @@ -1853,6 +1858,7 @@ #define SDSORT_DYNAMIC_RAM false // Use dynamic allocation (within SD menus). Least expensive option. Set SDSORT_LIMIT before use! #define SDSORT_CACHE_VFATS 2 // Maximum number of 13-byte VFAT entries to use for sorting. // Note: Only affects SCROLL_LONG_FILENAMES with SDSORT_CACHE_NAMES but not SDSORT_DYNAMIC_RAM. + #define SDSORT_QUICK true // Use Quick Sort as a sorting algorithm. Otherwise use Bubble Sort. #endif // Allow international symbols in long filenames. To display correctly, the @@ -2363,13 +2369,17 @@ * See https://marlinfw.org/docs/features/lin_advance.html for full instructions. */ //#define LIN_ADVANCE -#if ENABLED(LIN_ADVANCE) + +#if ANY(LIN_ADVANCE, FT_MOTION) #if ENABLED(DISTINCT_E_FACTORS) - #define ADVANCE_K { 0.22 } // (mm) Compression length per 1mm/s extruder speed, per extruder + #define ADVANCE_K { 0.22 } // (mm) Compression length per 1mm/s extruder speed, per extruder. Override with 'M900 T K'. #else - #define ADVANCE_K 0.22 // (mm) Compression length applying to all extruders + #define ADVANCE_K 0.22 // (mm) Compression length for all extruders. Override with 'M900 K'. #endif - //#define ADVANCE_K_EXTRA // Add a second linear advance constant, configurable with M900 L. + //#define ADVANCE_K_EXTRA // Add a second linear advance constant, configurable with 'M900 L'. +#endif + +#if ENABLED(LIN_ADVANCE) //#define LA_DEBUG // Print debug information to serial during operation. Disable for production use. //#define EXPERIMENTAL_I2S_LA // Allow I2S_STEPPER_STREAM to be used with LA. Performance degrades as the LA step rate reaches ~20kHz. @@ -4261,7 +4271,7 @@ //#define I2CPE_ENC_1_TICKS_REV (16 * 200) // Only needed for rotary encoders; number of stepper // steps per full revolution (motor steps/rev * microstepping) //#define I2CPE_ENC_1_INVERT // Invert the direction of axis travel. - #define I2CPE_ENC_1_EC_METHOD I2CPE_ECM_MICROSTEP // Type of error error correction. + #define I2CPE_ENC_1_EC_METHOD I2CPE_ECM_MICROSTEP // Type of error correction. #define I2CPE_ENC_1_EC_THRESH 0.10 // Threshold size for error (in mm) above which the // printer will attempt to correct the error; errors // smaller than this are ignored to minimize effects of @@ -4693,6 +4703,11 @@ // //#define PINS_DEBUGGING +// +// M265 - I2C Scanner +// +//#define I2C_SCANNER + // Enable Tests that will run at startup and produce a report //#define MARLIN_TEST_BUILD diff --git a/Marlin/Makefile b/Marlin/Makefile index fb1786b6b0..aed2506ac8 100644 --- a/Marlin/Makefile +++ b/Marlin/Makefile @@ -188,15 +188,15 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1033) else ifeq ($(HARDWARE_MOTHERBOARD),1034) # RAMPS 1.6+ (Power outputs: Hotend, Fan, Bed) -else ifeq ($(HARDWARE_MOTHERBOARD),1035) +else ifeq ($(HARDWARE_MOTHERBOARD),1040) # RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Bed) -else ifeq ($(HARDWARE_MOTHERBOARD),1036) +else ifeq ($(HARDWARE_MOTHERBOARD),1041) # RAMPS 1.6+ (Power outputs: Hotend, Fan0, Fan1) -else ifeq ($(HARDWARE_MOTHERBOARD),1037) +else ifeq ($(HARDWARE_MOTHERBOARD),1042) # RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Fan) -else ifeq ($(HARDWARE_MOTHERBOARD),1038) +else ifeq ($(HARDWARE_MOTHERBOARD),1043) # RAMPS 1.6+ (Power outputs: Spindle, Controller Fan) -else ifeq ($(HARDWARE_MOTHERBOARD),1039) +else ifeq ($(HARDWARE_MOTHERBOARD),1044) # # RAMPS Derivatives - ATmega1280, ATmega2560 @@ -286,60 +286,62 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1138) else ifeq ($(HARDWARE_MOTHERBOARD),1139) # Creality: CR10S, CR20, CR-X else ifeq ($(HARDWARE_MOTHERBOARD),1140) -# Dagoma F5 +# Creality CR-10 V2, CR-10 V3 else ifeq ($(HARDWARE_MOTHERBOARD),1141) -# Dagoma D6 (as found in the Dagoma DiscoUltimate V2 TMC) +# Dagoma F5 else ifeq ($(HARDWARE_MOTHERBOARD),1142) -# FYSETC F6 1.3 +# Dagoma D6 (as found in the Dagoma DiscoUltimate V2 TMC) else ifeq ($(HARDWARE_MOTHERBOARD),1143) -# FYSETC F6 1.4 +# FYSETC F6 1.3 else ifeq ($(HARDWARE_MOTHERBOARD),1144) -# Wanhao Duplicator i3 Plus +# FYSETC F6 1.4 else ifeq ($(HARDWARE_MOTHERBOARD),1145) -# VORON Design +# Wanhao Duplicator i3 Plus else ifeq ($(HARDWARE_MOTHERBOARD),1146) -# Tronxy TRONXY-V3-1.0 +# VORON Design else ifeq ($(HARDWARE_MOTHERBOARD),1147) -# Z-Bolt X Series +# Tronxy TRONXY-V3-1.0 else ifeq ($(HARDWARE_MOTHERBOARD),1148) -# TT OSCAR +# Z-Bolt X Series else ifeq ($(HARDWARE_MOTHERBOARD),1149) -# BIQU Tango V1 +# TT OSCAR else ifeq ($(HARDWARE_MOTHERBOARD),1150) -# MKS GEN L V2 +# BIQU Tango V1 else ifeq ($(HARDWARE_MOTHERBOARD),1151) -# MKS GEN L V2.1 +# MKS GEN L V2 else ifeq ($(HARDWARE_MOTHERBOARD),1152) -# Copymaster 3D +# MKS GEN L V2.1 else ifeq ($(HARDWARE_MOTHERBOARD),1153) -# Ortur 4 +# Copymaster 3D else ifeq ($(HARDWARE_MOTHERBOARD),1154) -# Tenlog D3 Hero IDEX printer +# Ortur 4 else ifeq ($(HARDWARE_MOTHERBOARD),1155) -# Tenlog D3, D5, D6 IDEX Printer +# Tenlog D3 Hero IDEX printer else ifeq ($(HARDWARE_MOTHERBOARD),1156) -# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed) +# Tenlog D3, D5, D6 IDEX Printer else ifeq ($(HARDWARE_MOTHERBOARD),1157) -# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed) +# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed) else ifeq ($(HARDWARE_MOTHERBOARD),1158) -# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed) +# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed) else ifeq ($(HARDWARE_MOTHERBOARD),1159) -# Longer LK1 PRO / Alfawise U20 Pro (PRO version) +# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed) else ifeq ($(HARDWARE_MOTHERBOARD),1160) -# Longer LKx PRO / Alfawise Uxx Pro (PRO version) +# Longer LK1 PRO / Alfawise U20 Pro (PRO version) else ifeq ($(HARDWARE_MOTHERBOARD),1161) -# Pxmalion Core I3 +# Longer LKx PRO / Alfawise Uxx Pro (PRO version) else ifeq ($(HARDWARE_MOTHERBOARD),1162) -# Panowin Cutlass (as found in the Panowin F1) +# Pxmalion Core I3 else ifeq ($(HARDWARE_MOTHERBOARD),1163) -# Kodama Bardo V1.x (as found in the Kodama Trinus) +# Panowin Cutlass (as found in the Panowin F1) else ifeq ($(HARDWARE_MOTHERBOARD),1164) -# XTLW MFF V1.0 +# Kodama Bardo V1.x (as found in the Kodama Trinus) else ifeq ($(HARDWARE_MOTHERBOARD),1165) -# XTLW MFF V2.0 +# XTLW MFF V1.0 else ifeq ($(HARDWARE_MOTHERBOARD),1166) -# E3D Rumba BigBox +# XTLW MFF V2.0 else ifeq ($(HARDWARE_MOTHERBOARD),1167) +# E3D Rumba BigBox +else ifeq ($(HARDWARE_MOTHERBOARD),1168) # # RAMBo and derivatives @@ -408,32 +410,34 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1319) else ifeq ($(HARDWARE_MOTHERBOARD),1320) # Geeetech GT2560 Rev B for A20(M/T/D) else ifeq ($(HARDWARE_MOTHERBOARD),1321) -# Einstart retrofit -else ifeq ($(HARDWARE_MOTHERBOARD),1322) -# Wanhao 0ne+ i3 Mini -else ifeq ($(HARDWARE_MOTHERBOARD),1323) -# Overlord/Overlord Pro -else ifeq ($(HARDWARE_MOTHERBOARD),1324) -# ADIMLab Gantry v1 -else ifeq ($(HARDWARE_MOTHERBOARD),1325) -# ADIMLab Gantry v2 -else ifeq ($(HARDWARE_MOTHERBOARD),1326) -# Leapfrog Xeed 2015 -else ifeq ($(HARDWARE_MOTHERBOARD),1327) -# PICA Shield (original version) -else ifeq ($(HARDWARE_MOTHERBOARD),1328) -# PICA Shield (rev C or later) -else ifeq ($(HARDWARE_MOTHERBOARD),1329) -# Intamsys 4.0 (Funmat HT) -else ifeq ($(HARDWARE_MOTHERBOARD),1330) -# Malyan M180 Mainboard Version 2 (no display function, direct G-code only) -else ifeq ($(HARDWARE_MOTHERBOARD),1331) -# Mega controller & Protoneer CNC Shield V3.00 -else ifeq ($(HARDWARE_MOTHERBOARD),1332) -# WEEDO 62A board (TINA2, Monoprice Cadet, etc.) -else ifeq ($(HARDWARE_MOTHERBOARD),1333) # Geeetech GT2560 V4.1B for A10(M/T/D) +else ifeq ($(HARDWARE_MOTHERBOARD),1322) +# Einstart retrofit +else ifeq ($(HARDWARE_MOTHERBOARD),1323) +# Wanhao 0ne+ i3 Mini +else ifeq ($(HARDWARE_MOTHERBOARD),1324) +# Wanhao D9 MK2 +else ifeq ($(HARDWARE_MOTHERBOARD),1325) +# Overlord/Overlord Pro +else ifeq ($(HARDWARE_MOTHERBOARD),1326) +# ADIMLab Gantry v1 +else ifeq ($(HARDWARE_MOTHERBOARD),1327) +# ADIMLab Gantry v2 +else ifeq ($(HARDWARE_MOTHERBOARD),1328) +# Leapfrog Xeed 2015 +else ifeq ($(HARDWARE_MOTHERBOARD),1329) +# PICA Shield (original version) +else ifeq ($(HARDWARE_MOTHERBOARD),1330) +# PICA Shield (rev C or later) +else ifeq ($(HARDWARE_MOTHERBOARD),1331) +# Intamsys 4.0 (Funmat HT) +else ifeq ($(HARDWARE_MOTHERBOARD),1332) +# Malyan M180 Mainboard Version 2 +else ifeq ($(HARDWARE_MOTHERBOARD),1333) +# Mega controller & Protoneer CNC Shield V3.00 else ifeq ($(HARDWARE_MOTHERBOARD),1334) +# WEEDO 62A board (TINA2, Monoprice Cadet, etc.) +else ifeq ($(HARDWARE_MOTHERBOARD),1335) # # ATmega1281, ATmega2561 @@ -513,7 +517,7 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1511) MCU ?= atmega1284p PROG_MCU ?= m1284p # ZoneStar ZMIB V2 -else ifeq ($(HARDWARE_MOTHERBOARD),1511) +else ifeq ($(HARDWARE_MOTHERBOARD),1512) HARDWARE_VARIANT ?= Sanguino MCU ?= atmega1284p PROG_MCU ?= m1284p @@ -627,6 +631,10 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1707) MCU ?= at90usb1286 PROG_MCU ?= usb1286 +# +# SAM3X8E ARM Cortex-M3 +# + # UltiMachine Archim1 (with DRV8825 drivers) else ifeq ($(HARDWARE_MOTHERBOARD),3023) HARDWARE_VARIANT ?= archim diff --git a/Marlin/Version.h b/Marlin/Version.h index 3ffdf4d71c..edf9a292d9 100644 --- a/Marlin/Version.h +++ b/Marlin/Version.h @@ -41,7 +41,7 @@ * here we define this default string as the date where the latest release * version was tagged. */ -//#define STRING_DISTRIBUTION_DATE "2025-09-26" +//#define STRING_DISTRIBUTION_DATE "2025-11-08" /** * The protocol for communication to the host. Protocol indicates communication diff --git a/Marlin/config.ini b/Marlin/config.ini index d6d2395e39..fd2b81062a 100644 --- a/Marlin/config.ini +++ b/Marlin/config.ini @@ -86,13 +86,14 @@ heater_0_maxtemp = 275 pidtemp = on pid_k1 = 0.95 pid_max = 255 -pid_functional_range = 10 +pid_functional_range = 20 default_kp = 22.20 default_ki = 1.08 default_kd = 114.00 temp_sensor_bed = 1 +bed_check_interval = 5000 bed_mintemp = 5 bed_maxtemp = 150 @@ -163,18 +164,28 @@ min_steps_per_segment = 6 default_minsegmenttime = 20000 [config:basic] +hotend_overshoot = 15 bed_overshoot = 10 +max_bed_power = 255 + busy_while_heating = on +host_keepalive_feature = on default_keepalive_interval = 2 +printjob_timer_autostart = on + +jd_handle_small_segments = on +validate_homing_endstops = on +editable_steps_per_unit = on + eeprom_boot_silent = on eeprom_chitchat = on + endstoppullups = on -extrude_maxlength = 200 + +prevent_cold_extrusion = on extrude_mintemp = 170 -host_keepalive_feature = on -hotend_overshoot = 15 -jd_handle_small_segments = on -max_bed_power = 255 +prevent_lengthy_extrude = on +extrude_maxlength = 200 min_software_endstops = on max_software_endstops = on @@ -195,21 +206,19 @@ preheat_2_temp_hotend = 240 preheat_2_temp_bed = 110 preheat_2_fan_speed = 0 -prevent_cold_extrusion = on -prevent_lengthy_extrude = on -printjob_timer_autostart = on - temp_bed_hysteresis = 3 temp_bed_residency_time = 10 temp_bed_window = 1 temp_residency_time = 10 temp_window = 1 -validate_homing_endstops = on - -editable_steps_per_unit = on [config:advanced] arc_support = on +min_arc_segment_mm = 0.1 +max_arc_segment_mm = 1.0 +min_circle_segments = 72 +n_arc_correction = 25 + auto_report_temperatures = on autotemp = on @@ -223,22 +232,23 @@ disable_idle_x = on disable_idle_y = on disable_idle_z = on disable_idle_e = on + e0_auto_fan_pin = -1 + faster_gcode_parser = on debug_flags_gcode = on + homing_bump_mm = { 5, 5, 2 } -max_arc_segment_mm = 1.0 -min_arc_segment_mm = 0.1 -min_circle_segments = 72 -n_arc_correction = 25 -serial_overrun_protection = on + slowdown = on slowdown_divisor = 2 -tx_buffer_size = 0 +multistepping_limit = 16 -bed_check_interval = 5000 -watch_bed_temp_increase = 2 -watch_bed_temp_period = 60 +serial_overrun_protection = on +tx_buffer_size = 0 watch_temp_increase = 2 watch_temp_period = 40 + +watch_bed_temp_increase = 2 +watch_bed_temp_period = 60 diff --git a/Marlin/src/HAL/AVR/fastio.cpp b/Marlin/src/HAL/AVR/fastio.cpp index 7d46afadcb..98fd636ebf 100644 --- a/Marlin/src/HAL/AVR/fastio.cpp +++ b/Marlin/src/HAL/AVR/fastio.cpp @@ -254,7 +254,7 @@ uint16_t set_pwm_frequency_hz(const float hz, const float dca, const float dcb, else { prescaler = 1; SET_CS(5, PRESCALER_1); } count /= float(prescaler); - const float pwm_top = round(count); // Get the rounded count + const float pwm_top = roundf(count); // Get the rounded count ICR5 = (uint16_t)pwm_top - 1; // Subtract 1 for TOP OCR5A = pwm_top * ABS(dca); // Update and scale DCs @@ -280,7 +280,7 @@ uint16_t set_pwm_frequency_hz(const float hz, const float dca, const float dcb, SET_CS(5, PRESCALER_64); // 16MHz / 64 = 250kHz OCR5A = OCR5B = OCR5C = 0; } - return round(count); + return roundf(count); } #endif diff --git a/Marlin/src/HAL/AVR/inc/SanityCheck.h b/Marlin/src/HAL/AVR/inc/SanityCheck.h index 85ee683685..08fe21d4f8 100644 --- a/Marlin/src/HAL/AVR/inc/SanityCheck.h +++ b/Marlin/src/HAL/AVR/inc/SanityCheck.h @@ -95,7 +95,7 @@ /** * The Trinamic library includes SoftwareSerial.h, leading to a compile error. */ -#if ALL(HAS_TRINAMIC_CONFIG, ENDSTOP_INTERRUPTS_FEATURE) +#if ALL(HAS_TMC_SW_SERIAL, ENDSTOP_INTERRUPTS_FEATURE) #error "TMCStepper includes SoftwareSerial.h which is incompatible with ENDSTOP_INTERRUPTS_FEATURE. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif diff --git a/Marlin/src/HAL/AVR/registers.h b/Marlin/src/HAL/AVR/registers.h index 64c0955c3e..0eac4888cd 100644 --- a/Marlin/src/HAL/AVR/registers.h +++ b/Marlin/src/HAL/AVR/registers.h @@ -93,15 +93,15 @@ namespace AVRHelpers { typedef T type; }; template - struct voltype { + struct voltype { typedef uint8_t type; }; template - struct voltype { + struct voltype { typedef uint16_t type; }; template - struct voltype { + struct voltype { typedef uint32_t type; }; @@ -2007,7 +2007,7 @@ inline void _ATmega_resetperipherals() { #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM05__) _EEAR._EEAR = 0; - dwrite(_EEDR, (uint8_t)0u); + dwrite(_EEDR, (uint8_t)0U); #endif #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) diff --git a/Marlin/src/HAL/AVR/timers.h b/Marlin/src/HAL/AVR/timers.h index 94b17f3102..0e1d7f2ba3 100644 --- a/Marlin/src/HAL/AVR/timers.h +++ b/Marlin/src/HAL/AVR/timers.h @@ -28,7 +28,7 @@ // ------------------------ typedef uint16_t hal_timer_t; -#define HAL_TIMER_TYPE_MAX 0xFFFF +#define HAL_TIMER_TYPE_MAX 0xFFFFU // ------------------------ // Defines diff --git a/Marlin/src/HAL/DUE/timers.h b/Marlin/src/HAL/DUE/timers.h index db5d83a06f..9316552ff5 100644 --- a/Marlin/src/HAL/DUE/timers.h +++ b/Marlin/src/HAL/DUE/timers.h @@ -34,7 +34,7 @@ #define FORCE_INLINE __attribute__((always_inline)) inline typedef uint32_t hal_timer_t; -#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF +#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFUL #define HAL_TIMER_PRESCALER 2 #define HAL_TIMER_RATE ((F_CPU) / (HAL_TIMER_PRESCALER)) // frequency of timers peripherals diff --git a/Marlin/src/HAL/ESP32/HAL.h b/Marlin/src/HAL/ESP32/HAL.h index baa03d8a76..36b8ea53fc 100644 --- a/Marlin/src/HAL/ESP32/HAL.h +++ b/Marlin/src/HAL/ESP32/HAL.h @@ -64,10 +64,10 @@ #define CRITICAL_SECTION_END() portEXIT_CRITICAL(&hal.spinlock) #define HAL_CAN_SET_PWM_FREQ // This HAL supports PWM Frequency adjustment -#define PWM_FREQUENCY 1000u // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency() -#define PWM_RESOLUTION 10u // Default PWM bit resolution -#define CHANNEL_MAX_NUM 15u // max PWM channel # to allocate (7 to only use low speed, 15 to use low & high) -#define MAX_PWM_IOPIN 33u // hardware pwm pins < 34 +#define PWM_FREQUENCY 1000U // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency() +#define PWM_RESOLUTION 10U // Default PWM bit resolution +#define CHANNEL_MAX_NUM 15U // max PWM channel # to allocate (7 to only use low speed, 15 to use low & high) +#define MAX_PWM_IOPIN 33U // hardware pwm pins < 34 #ifndef MAX_EXPANDER_BITS #define MAX_EXPANDER_BITS 32 // I2S expander bit width (max 32) #endif diff --git a/Marlin/src/HAL/ESP32/Servo.cpp b/Marlin/src/HAL/ESP32/Servo.cpp index ca3950d07f..3a2c11832d 100644 --- a/Marlin/src/HAL/ESP32/Servo.cpp +++ b/Marlin/src/HAL/ESP32/Servo.cpp @@ -35,7 +35,7 @@ Servo::Servo() {} int8_t Servo::attach(const int inPin) { if (inPin > 0) pin = inPin; - channel = get_pwm_channel(pin, 50u, 16u); + channel = get_pwm_channel(pin, 50U, 16U); return channel; // -1 if no PWM avail. } diff --git a/Marlin/src/HAL/ESP32/timers.cpp b/Marlin/src/HAL/ESP32/timers.cpp index 743ed65f13..a2996a860f 100644 --- a/Marlin/src/HAL/ESP32/timers.cpp +++ b/Marlin/src/HAL/ESP32/timers.cpp @@ -78,8 +78,8 @@ void IRAM_ATTR timer_isr(void *para) { /** * Enable and initialize the timer - * @param timer_num timer number to initialize - * @param frequency frequency of the timer + * @param timer_num timer number to initialize + * @param frequency frequency of the timer */ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { const tTimerConfig timer = timer_config[timer_num]; diff --git a/Marlin/src/HAL/ESP32/timers.h b/Marlin/src/HAL/ESP32/timers.h index 3f336fbfc9..03c343af98 100644 --- a/Marlin/src/HAL/ESP32/timers.h +++ b/Marlin/src/HAL/ESP32/timers.h @@ -30,7 +30,7 @@ #define FORCE_INLINE __attribute__((always_inline)) inline typedef uint64_t hal_timer_t; -#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFFULL +#define HAL_TIMER_TYPE_MAX 0xFFFF'FFFF'FFFF'FFFFULL #ifndef MF_TIMER_STEP #define MF_TIMER_STEP 0 // Timer Index for Stepper @@ -52,12 +52,12 @@ typedef uint64_t hal_timer_t; #if ENABLED(I2S_STEPPER_STREAM) #define STEPPER_TIMER_PRESCALE 1 - #define STEPPER_TIMER_RATE 250000 // 250khz, 4µs pulses of i2s word clock + #define STEPPER_TIMER_RATE 250'000 // 250khz, 4µs pulses of i2s word clock #else #define STEPPER_TIMER_PRESCALE 40 #define STEPPER_TIMER_RATE ((HAL_TIMER_RATE) / (STEPPER_TIMER_PRESCALE)) // frequency of stepper timer, 2MHz #endif -#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs +#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1'000'000) // stepper timer ticks per µs #define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts diff --git a/Marlin/src/HAL/GD32_MFL/HAL.cpp b/Marlin/src/HAL/GD32_MFL/HAL.cpp index 460ed52297..9ba20784f0 100644 --- a/Marlin/src/HAL/GD32_MFL/HAL.cpp +++ b/Marlin/src/HAL/GD32_MFL/HAL.cpp @@ -53,12 +53,15 @@ uint16_t MarlinHAL::adc_result; // Initializes the Marlin HAL void MarlinHAL::init() { + // Ensure F_CPU is a constant expression. + // If the compiler breaks here, it means that delay code that should compute at compile time will not work. + // So better safe than sorry here. constexpr unsigned int cpuFreq = F_CPU; UNUSED(cpuFreq); -#if PIN_EXISTS(LED) - OUT_WRITE(LED_PIN, LOW); -#endif + #if PIN_EXISTS(LED) + OUT_WRITE(LED_PIN, LOW); + #endif SetTimerInterruptPriorities(); diff --git a/Marlin/src/HAL/GD32_MFL/temp_soc.h b/Marlin/src/HAL/GD32_MFL/temp_soc.h index 5f1be64e43..bd78fba5b9 100644 --- a/Marlin/src/HAL/GD32_MFL/temp_soc.h +++ b/Marlin/src/HAL/GD32_MFL/temp_soc.h @@ -26,4 +26,4 @@ #define TS_TYPICAL_SLOPE 4.5 // TODO: Implement voltage scaling (calibrated Vrefint) and ADC resolution scaling (when applicable) -#define TEMP_SOC_SENSOR(RAW) ((TS_TYPICAL_V - (RAW) / float(OVERSAMPLENR) / float(HAL_ADC_RANGE) * (float(ADC_VREF_MV) / 1000.0f)) / ((TS_TYPICAL_SLOPE) / 1000.0f) + TS_TYPICAL_TEMP) +#define TEMP_SOC_SENSOR(RAW) ((TS_TYPICAL_V - (RAW) / float(OVERSAMPLENR) / float(HAL_ADC_RANGE) * (float(ADC_VREF_MV) * 0.001f)) / ((TS_TYPICAL_SLOPE) * 0.001f) + TS_TYPICAL_TEMP) diff --git a/Marlin/src/HAL/HC32/Servo.h b/Marlin/src/HAL/HC32/Servo.h index db2f60d190..0a9715494c 100644 --- a/Marlin/src/HAL/HC32/Servo.h +++ b/Marlin/src/HAL/HC32/Servo.h @@ -37,9 +37,9 @@ public: MarlinServo(); /** - * @brief attach the pin to the servo, set pin mode, return channel number - * @param pin pin to attach to - * @return channel number, -1 if failed + * @brief attach the pin to the servo, set pin mode, return channel number + * @param pin pin to attach to + * @return channel number, -1 if failed */ int8_t attach(const pin_t apin); diff --git a/Marlin/src/HAL/HC32/timers.h b/Marlin/src/HAL/HC32/timers.h index e5ab3f21f5..d03a5f9630 100644 --- a/Marlin/src/HAL/HC32/timers.h +++ b/Marlin/src/HAL/HC32/timers.h @@ -27,7 +27,7 @@ // typedef Timer0 *timer_channel_t; typedef uint16_t hal_timer_t; -#define HAL_TIMER_TYPE_MAX 0xFFFF +#define HAL_TIMER_TYPE_MAX 0xFFFFU // // Timer instances diff --git a/Marlin/src/HAL/LINUX/timers.h b/Marlin/src/HAL/LINUX/timers.h index 2b29edce0b..d75519ed3e 100644 --- a/Marlin/src/HAL/LINUX/timers.h +++ b/Marlin/src/HAL/LINUX/timers.h @@ -34,7 +34,7 @@ #define FORCE_INLINE __attribute__((always_inline)) inline typedef uint32_t hal_timer_t; -#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF +#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFUL #define HAL_TIMER_RATE ((SystemCoreClock) / 4) // frequency of timers peripherals diff --git a/Marlin/src/HAL/LPC1768/inc/Conditionals_post.h b/Marlin/src/HAL/LPC1768/inc/Conditionals_post.h index 0b03cb2aea..a1b4dd5099 100644 --- a/Marlin/src/HAL/LPC1768/inc/Conditionals_post.h +++ b/Marlin/src/HAL/LPC1768/inc/Conditionals_post.h @@ -29,6 +29,6 @@ // LPC1768 boards seem to lose steps when saving to EEPROM during print (issue #20785) // TODO: Which other boards are incompatible? -#if defined(MCU_LPC1768) && ENABLED(FLASH_EEPROM_EMULATION) && PRINTCOUNTER_SAVE_INTERVAL > 0 +#if ALL(MCU_LPC1768, FLASH_EEPROM_EMULATION) && PRINTCOUNTER_SAVE_INTERVAL > 0 #define PRINTCOUNTER_SYNC #endif diff --git a/Marlin/src/HAL/LPC1768/timers.h b/Marlin/src/HAL/LPC1768/timers.h index bae01703ed..8c0a39158e 100644 --- a/Marlin/src/HAL/LPC1768/timers.h +++ b/Marlin/src/HAL/LPC1768/timers.h @@ -57,7 +57,7 @@ #define _HAL_TIMER_ISR(T) __HAL_TIMER_ISR(T) typedef uint32_t hal_timer_t; -#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF +#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFUL #define HAL_TIMER_RATE ((F_CPU) / 4) // frequency of timers peripherals diff --git a/Marlin/src/HAL/LPC1768/u8g/LCD_pin_routines.c b/Marlin/src/HAL/LPC1768/u8g/LCD_pin_routines.c index 466fc80203..51ad7e095b 100644 --- a/Marlin/src/HAL/LPC1768/u8g/LCD_pin_routines.c +++ b/Marlin/src/HAL/LPC1768/u8g/LCD_pin_routines.c @@ -27,7 +27,7 @@ * * Couldn't just call exact copies because the overhead killed the LCD update speed * With an intermediate level the softspi was running in the 10-20kHz range which - * resulted in using about about 25% of the CPU's time. + * resulted in using about 25% of the CPU's time. */ #ifdef TARGET_LPC1768 diff --git a/Marlin/src/HAL/LPC1768/u8g/LCD_pin_routines.h b/Marlin/src/HAL/LPC1768/u8g/LCD_pin_routines.h index d60d93dadd..45e0610fb1 100644 --- a/Marlin/src/HAL/LPC1768/u8g/LCD_pin_routines.h +++ b/Marlin/src/HAL/LPC1768/u8g/LCD_pin_routines.h @@ -28,7 +28,7 @@ * * Couldn't just call exact copies because the overhead killed the LCD update speed * With an intermediate level the softspi was running in the 10-20kHz range which - * resulted in using about about 25% of the CPU's time. + * resulted in using about 25% of the CPU's time. */ void u8g_SetPinOutput(uint8_t internal_pin_number); diff --git a/Marlin/src/HAL/NATIVE_SIM/fastio.h b/Marlin/src/HAL/NATIVE_SIM/fastio.h index f501afdbaa..e0b7af09f9 100644 --- a/Marlin/src/HAL/NATIVE_SIM/fastio.h +++ b/Marlin/src/HAL/NATIVE_SIM/fastio.h @@ -28,6 +28,8 @@ #include "../shared/Marduino.h" #include +#define NO_COMPILE_TIME_PWM + #define SET_DIR_INPUT(IO) Gpio::setDir(IO, 1) #define SET_DIR_OUTPUT(IO) Gpio::setDir(IO, 0) diff --git a/Marlin/src/HAL/NATIVE_SIM/timers.h b/Marlin/src/HAL/NATIVE_SIM/timers.h index d46e8e7b94..43aecf427b 100644 --- a/Marlin/src/HAL/NATIVE_SIM/timers.h +++ b/Marlin/src/HAL/NATIVE_SIM/timers.h @@ -34,7 +34,7 @@ #define FORCE_INLINE __attribute__((always_inline)) inline typedef uint64_t hal_timer_t; -#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFF +#define HAL_TIMER_TYPE_MAX 0xFFFF'FFFF'FFFF'FFFFULL #define HAL_TIMER_RATE ((SystemCoreClock) / 4) // frequency of timers peripherals @@ -52,11 +52,11 @@ typedef uint64_t hal_timer_t; #endif #define SYSTICK_TIMER_FREQUENCY 1000 -#define TEMP_TIMER_RATE 1000000 -#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency +#define TEMP_TIMER_RATE 1'000'000 +#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency #define STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) -#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs +#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1'000'000) // stepper timer ticks per µs #define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US) #define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer diff --git a/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_pin_routines.cpp b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_pin_routines.cpp index 3566528079..9cb33694a3 100644 --- a/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_pin_routines.cpp +++ b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_pin_routines.cpp @@ -27,7 +27,7 @@ * * Couldn't just call exact copies because the overhead killed the LCD update speed * With an intermediate level the softspi was running in the 10-20kHz range which - * resulted in using about about 25% of the CPU's time. + * resulted in using about 25% of the CPU's time. */ #ifdef __PLAT_NATIVE_SIM__ diff --git a/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_pin_routines.h b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_pin_routines.h index 39af4d7e68..ab73635d28 100644 --- a/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_pin_routines.h +++ b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_pin_routines.h @@ -28,7 +28,7 @@ * * Couldn't just call exact copies because the overhead killed the LCD update speed * With an intermediate level the softspi was running in the 10-20kHz range which - * resulted in using about about 25% of the CPU's time. + * resulted in using about 25% of the CPU's time. */ #ifdef __cplusplus diff --git a/Marlin/src/HAL/RP2040/HAL.cpp b/Marlin/src/HAL/RP2040/HAL.cpp index 1b519e4004..e8d0eea7cd 100644 --- a/Marlin/src/HAL/RP2040/HAL.cpp +++ b/Marlin/src/HAL/RP2040/HAL.cpp @@ -56,7 +56,7 @@ void MarlinHAL::init() { // Ensure F_CPU is a constant expression. // If the compiler breaks here, it means that delay code that should compute at compile time will not work. // So better safe than sorry here. - constexpr int cpuFreq = F_CPU; + constexpr unsigned int cpuFreq = F_CPU; UNUSED(cpuFreq); #if HAS_MEDIA && DISABLED(ONBOARD_SDIO) && PIN_EXISTS(SD_SS) diff --git a/Marlin/src/HAL/RP2040/timers.h b/Marlin/src/HAL/RP2040/timers.h index 512c6ba465..4d11804361 100644 --- a/Marlin/src/HAL/RP2040/timers.h +++ b/Marlin/src/HAL/RP2040/timers.h @@ -41,9 +41,9 @@ #define _HAL_TIMER_ISR(T) __HAL_TIMER_ISR(T) typedef uint64_t hal_timer_t; -#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFF +#define HAL_TIMER_TYPE_MAX 0xFFFF'FFFF'FFFF'FFFFULL -#define HAL_TIMER_RATE (1000000ull) // fixed value as we use a microsecond timesource +#define HAL_TIMER_RATE (1'000'000ULL) // fixed value as we use a microsecond timesource #ifndef MF_TIMER_STEP #define MF_TIMER_STEP 0 // Timer Index for Stepper #endif diff --git a/Marlin/src/HAL/SAMD21/eeprom/eeprom_flash.cpp b/Marlin/src/HAL/SAMD21/eeprom/eeprom_flash.cpp index 1c190495de..0b5323cda4 100644 --- a/Marlin/src/HAL/SAMD21/eeprom/eeprom_flash.cpp +++ b/Marlin/src/HAL/SAMD21/eeprom/eeprom_flash.cpp @@ -83,7 +83,7 @@ bool PersistentStore::access_start() { NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_PBC; while (NVMCTRL->INTFLAG.bit.READY == 0) { } - PAGE_SIZE = pow(2,3 + NVMCTRL->PARAM.bit.PSZ); + PAGE_SIZE = POW(2, 3 + NVMCTRL->PARAM.bit.PSZ); ROW_SIZE= PAGE_SIZE * 4; /*NVMCTRL->SEECFG.reg = NVMCTRL_SEECFG_WMODE_BUFFERED; // Buffered mode and segment reallocation active if (NVMCTRL->SEESTAT.bit.RLOCK) diff --git a/Marlin/src/HAL/SAMD21/timers.h b/Marlin/src/HAL/SAMD21/timers.h index 303ccbdc50..a4faabb8e8 100644 --- a/Marlin/src/HAL/SAMD21/timers.h +++ b/Marlin/src/HAL/SAMD21/timers.h @@ -33,7 +33,7 @@ // -------------------------------------------------------------------------- typedef uint32_t hal_timer_t; -#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF +#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFUL #define HAL_TIMER_RATE F_CPU // frequency of timers peripherals diff --git a/Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.c b/Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.c index f9f77825f6..b2079fef9b 100644 --- a/Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.c +++ b/Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.c @@ -32,7 +32,7 @@ * * Couldn't just call exact copies because the overhead killed the LCD update speed * With an intermediate level the softspi was running in the 10-20kHz range which - * resulted in using about about 25% of the CPU's time. + * resulted in using about 25% of the CPU's time. */ #ifdef __SAMD21__ diff --git a/Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.h b/Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.h index 92626552b0..a4bf2800fe 100644 --- a/Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.h +++ b/Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.h @@ -33,7 +33,7 @@ * * Couldn't just call exact copies because the overhead killed the LCD update speed * With an intermediate level the softspi was running in the 10-20kHz range which - * resulted in using about about 25% of the CPU's time. + * resulted in using about 25% of the CPU's time. */ void u8g_SetPinOutput(uint8_t internal_pin_number); diff --git a/Marlin/src/HAL/SAMD51/timers.h b/Marlin/src/HAL/SAMD51/timers.h index 86c3241892..59817453aa 100644 --- a/Marlin/src/HAL/SAMD51/timers.h +++ b/Marlin/src/HAL/SAMD51/timers.h @@ -32,7 +32,7 @@ // -------------------------------------------------------------------------- typedef uint32_t hal_timer_t; -#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF +#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFUL #define HAL_TIMER_RATE F_CPU // frequency of timers peripherals diff --git a/Marlin/src/HAL/STM32/HAL.cpp b/Marlin/src/HAL/STM32/HAL.cpp index bdccdd546d..b2ae10d0f1 100644 --- a/Marlin/src/HAL/STM32/HAL.cpp +++ b/Marlin/src/HAL/STM32/HAL.cpp @@ -66,7 +66,7 @@ void MarlinHAL::init() { // Ensure F_CPU is a constant expression. // If the compiler breaks here, it means that delay code that should compute at compile time will not work. // So better safe than sorry here. - constexpr int cpuFreq = F_CPU; + constexpr unsigned int cpuFreq = F_CPU; UNUSED(cpuFreq); #if HAS_MEDIA && DISABLED(ONBOARD_SDIO) && PIN_EXISTS(SD_SS) diff --git a/Marlin/src/HAL/STM32/Servo.cpp b/Marlin/src/HAL/STM32/Servo.cpp index 4f026ffc6d..eb535b1eb1 100644 --- a/Marlin/src/HAL/STM32/Servo.cpp +++ b/Marlin/src/HAL/STM32/Servo.cpp @@ -39,8 +39,8 @@ static_assert(COUNT(servoDelay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM static uint32_t servo_interrupt_priority = NVIC_EncodePriority(NVIC_GetPriorityGrouping(), TIM_IRQ_PRIO, TIM_IRQ_SUBPRIO); // This must be called after the STM32 Servo class has initialized the timer. -// It may only be needed after the first call to attach(), but it is possible -// that is is necessary after every detach() call. To be safe this is currently +// It may only be needed after the first call to attach(), but it's possible +// that this is needed after every detach() call. To be safe this is currently // called after every call to attach(). static void fixServoTimerInterruptPriority() { NVIC_SetPriority(getTimerUpIrq(TIMER_SERVO), servo_interrupt_priority); diff --git a/Marlin/src/HAL/STM32/inc/Conditionals_post.h b/Marlin/src/HAL/STM32/inc/Conditionals_post.h index 6c97a635b3..8d72e720c1 100644 --- a/Marlin/src/HAL/STM32/inc/Conditionals_post.h +++ b/Marlin/src/HAL/STM32/inc/Conditionals_post.h @@ -29,6 +29,6 @@ #endif // Some STM32F4 boards may lose steps when saving to EEPROM during print (PR #17946) -#if defined(STM32F4xx) && ENABLED(FLASH_EEPROM_EMULATION) && PRINTCOUNTER_SAVE_INTERVAL > 0 +#if ALL(STM32F4xx, FLASH_EEPROM_EMULATION) && PRINTCOUNTER_SAVE_INTERVAL > 0 #define PRINTCOUNTER_SYNC #endif diff --git a/Marlin/src/HAL/STM32/tft/tft_fsmc.cpp b/Marlin/src/HAL/STM32/tft/tft_fsmc.cpp index bb011ec6f4..70caef6778 100644 --- a/Marlin/src/HAL/STM32/tft/tft_fsmc.cpp +++ b/Marlin/src/HAL/STM32/tft/tft_fsmc.cpp @@ -132,6 +132,9 @@ void TFT_FSMC::init() { DMAtx.Init.Priority = DMA_PRIORITY_HIGH; LCD = (LCD_CONTROLLER_TypeDef *)controllerAddress; + + DMAtx.Init.PeriphInc = DMA_PINC_DISABLE; + HAL_DMA_Init(&DMAtx); } uint32_t TFT_FSMC::getID() { @@ -179,15 +182,19 @@ void TFT_FSMC::abort() { } void TFT_FSMC::transmitDMA(uint32_t memoryIncrease, uint16_t *data, uint16_t count) { - DMAtx.Init.PeriphInc = memoryIncrease; - HAL_DMA_Init(&DMAtx); + if (!__IS_DMA_CONFIGURED(&DMAtx) || DMAtx.Init.PeriphInc != memoryIncrease) { + DMAtx.Init.PeriphInc = memoryIncrease; + HAL_DMA_Init(&DMAtx); + } HAL_DMA_Start(&DMAtx, (uint32_t)data, (uint32_t)&(LCD->RAM), count); TERN_(TFT_SHARED_IO, while (isBusy())); } void TFT_FSMC::transmit(uint32_t memoryIncrease, uint16_t *data, uint16_t count) { - DMAtx.Init.PeriphInc = memoryIncrease; - HAL_DMA_Init(&DMAtx); + if (!__IS_DMA_CONFIGURED(&DMAtx) || DMAtx.Init.PeriphInc != memoryIncrease) { + DMAtx.Init.PeriphInc = memoryIncrease; + HAL_DMA_Init(&DMAtx); + } dataTransferBegin(); HAL_DMA_Start(&DMAtx, (uint32_t)data, (uint32_t)&(LCD->RAM), count); HAL_DMA_PollForTransfer(&DMAtx, HAL_DMA_FULL_TRANSFER, HAL_MAX_DELAY); diff --git a/Marlin/src/HAL/STM32/u8g/LCD_defines.h b/Marlin/src/HAL/STM32/u8g/LCD_defines.h index 59b2b8839a..96f73002a5 100644 --- a/Marlin/src/HAL/STM32/u8g/LCD_defines.h +++ b/Marlin/src/HAL/STM32/u8g/LCD_defines.h @@ -30,3 +30,6 @@ uint8_t u8g_com_HAL_STM32_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, vo uint8_t u8g_com_stm32duino_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr); // See U8glib-HAL #define U8G_COM_HAL_HW_SPI_FN u8g_com_stm32duino_hw_spi_fn + +uint8_t u8g_com_stm32duino_ssd_i2c_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr); // u8g_com_stm32duino_ssd_i2c.cpp +#define U8G_COM_SSD_I2C_HAL u8g_com_stm32duino_ssd_i2c_fn diff --git a/Marlin/src/HAL/STM32/u8g/u8g_com_stm32duino_ssd_i2c.cpp b/Marlin/src/HAL/STM32/u8g/u8g_com_stm32duino_ssd_i2c.cpp new file mode 100644 index 0000000000..72abe1a656 --- /dev/null +++ b/Marlin/src/HAL/STM32/u8g/u8g_com_stm32duino_ssd_i2c.cpp @@ -0,0 +1,194 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2025 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * 2-Wire I2C COM Driver + * + * Handles both Hardware and Software I2C so any pins can be used as SDA and SLC. + * Wire library is used for Hardware I2C. + * SlowSoftWire is used for Software I2C. + * + * Wire / SoftWire library selection can be done automatically at runtime. + * + * SDA and SLC pins must be named DOGLCD_SDA_PIN, DOGLCD_SCL_PIN to distinguish + * from other I2C devices (e.g., EEPROM) that use I2C_SDA_PIN, I2C_SLC_PIN. + */ +#ifdef ARDUINO_ARCH_STM32 + +#include "../../../inc/MarlinConfig.h" + +#if HAS_U8GLIB_I2C_OLED + +#include + +#if ENABLED(U8G_USES_HW_I2C) + #include + #ifndef MASTER_ADDRESS + #define MASTER_ADDRESS 0x01 + #endif +#endif + +#if ENABLED(U8G_USES_SW_I2C) + #include + #include +#endif + +/** + * BUFFER_LENGTH is defined in libraries\Wire\utility\WireBase.h + * Default value is 32 + * Increase this value to 144 to send U8G_COM_MSG_WRITE_SEQ in single block + */ +#ifndef BUFFER_LENGTH + #define BUFFER_LENGTH 32 +#endif +#if BUFFER_LENGTH > 144 + #error "BUFFER_LENGTH should not be greater than 144." +#endif +#define I2C_MAX_LENGTH (BUFFER_LENGTH - 1) + +uint8_t u8g_com_stm32duino_ssd_i2c_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) { + // Hardware I2C flag + #ifdef COMPILE_TIME_I2C_IS_HARDWARE + constexpr bool isHardI2C = ENABLED(COMPILE_TIME_I2C_IS_HARDWARE); + #else + static bool isHardI2C = false; + static bool i2c_initialized = false; // Flag to only run init/linking code once + if (!i2c_initialized) { // Init runtime linkages + i2c_initialized = true; // Only do this once + I2C_TypeDef *i2cInstance1 = (I2C_TypeDef *)pinmap_peripheral(digitalPinToPinName(DOGLCD_SDA_PIN), PinMap_I2C_SDA); + I2C_TypeDef *i2cInstance2 = (I2C_TypeDef *)pinmap_peripheral(digitalPinToPinName(DOGLCD_SCL_PIN), PinMap_I2C_SCL); + isHardI2C = (i2cInstance1 && (i2cInstance1 == i2cInstance2)); // Found hardware I2C controller + } + #endif + + static uint8_t msgInitCount = 0; // Ignore all messages until 2nd U8G_COM_MSG_INIT + if (msgInitCount) { + if (msg == U8G_COM_MSG_INIT) msgInitCount--; + if (msgInitCount) return -1; + } + + static uint8_t control; + if (isHardI2C) { // Found hardware I2C controller + #if ENABLED(U8G_USES_HW_I2C) + static TwoWire wire2; // A TwoWire object for use below + switch (msg) { + case U8G_COM_MSG_INIT: + wire2.setClock(400000); + wire2.setSCL(DOGLCD_SCL_PIN); + wire2.setSDA(DOGLCD_SDA_PIN); + wire2.begin(MASTER_ADDRESS, 0); // Start as master + break; + + case U8G_COM_MSG_ADDRESS: // Define cmd (arg_val = 0) or data mode (arg_val = 1) + control = arg_val ? 0x40 : 0x00; + break; + + case U8G_COM_MSG_WRITE_BYTE: + wire2.beginTransmission(0x3C); + wire2.write(control); + wire2.write(arg_val); + wire2.endTransmission(); + break; + + case U8G_COM_MSG_WRITE_SEQ: { + uint8_t* dataptr = (uint8_t*)arg_ptr; + #ifdef I2C_MAX_LENGTH + while (arg_val > 0) { + wire2.beginTransmission(0x3C); + wire2.write(control); + if (arg_val <= I2C_MAX_LENGTH) { + wire2.write(dataptr, arg_val); + arg_val = 0; + } + else { + wire2.write(dataptr, I2C_MAX_LENGTH); + arg_val -= I2C_MAX_LENGTH; + dataptr += I2C_MAX_LENGTH; + } + wire2.endTransmission(); + } + #else + wire2.beginTransmission(0x3C); + wire2.write(control); + wire2.write(dataptr, arg_val); + wire2.endTransmission(); + #endif // I2C_MAX_LENGTH + break; + } + } + #endif // U8G_USES_HW_I2C + } + else { // Software I2C + #if ENABLED(U8G_USES_SW_I2C) + static SlowSoftWire sWire = SlowSoftWire(DOGLCD_SDA_PIN, DOGLCD_SCL_PIN); + + switch (msg) { + case U8G_COM_MSG_INIT: + sWire.setClock(400000); + sWire.begin(); // Start as master + break; + + case U8G_COM_MSG_ADDRESS: // Define cmd (arg_val = 0) or data mode (arg_val = 1) + control = arg_val ? 0x40 : 0x00; + break; + + case U8G_COM_MSG_WRITE_BYTE: + sWire.beginTransmission((uint8_t)0x3C); + sWire.write((uint8_t)control); + sWire.write((uint8_t)arg_val); + sWire.endTransmission(); + break; + + case U8G_COM_MSG_WRITE_SEQ: { + uint8_t* dataptr = (uint8_t*)arg_ptr; + #ifdef I2C_MAX_LENGTH + while (arg_val > 0) { + sWire.beginTransmission((uint8_t)0x3C); + sWire.write((uint8_t)control); + if (arg_val <= I2C_MAX_LENGTH) { + sWire.write((const uint8_t *)dataptr, (size_t)arg_val); + arg_val = 0; + } + else { + sWire.write((const uint8_t *)dataptr, I2C_MAX_LENGTH); + arg_val -= I2C_MAX_LENGTH; + dataptr += I2C_MAX_LENGTH; + } + sWire.endTransmission(); + } + #else + sWire.beginTransmission((uint8_t)0x3C); + sWire.write((uint8_t)control); + sWire.write((const uint8_t *)dataptr, (size_t)arg_val); + sWire.endTransmission(); + #endif // I2C_MAX_LENGTH + break; + } + } + #endif // U8G_USES_SW_I2C + } + + return 1; +} + +#endif // HAS_U8GLIB_I2C_OLED +#endif // ARDUINO_ARCH_STM32 diff --git a/Marlin/src/HAL/STM32F1/HAL_N32.h b/Marlin/src/HAL/STM32F1/HAL_N32.h index 8b47ef4b96..719368f6f1 100644 --- a/Marlin/src/HAL/STM32F1/HAL_N32.h +++ b/Marlin/src/HAL/STM32F1/HAL_N32.h @@ -800,7 +800,7 @@ void ADC_StartCalibration(ADC_Module* NS_ADCx); void ADC_EnableDMA(ADC_Module* NS_ADCx, uint32_t Cmd); /**================================================================ - * Configure ADC interrupt enable enable + * Configure ADC interrupt enable ================================================================*/ void ADC_ConfigInt(ADC_Module* NS_ADCx, uint16_t ADC_IT, uint32_t Cmd); diff --git a/Marlin/src/HAL/STM32F1/MinSerial.cpp b/Marlin/src/HAL/STM32F1/MinSerial.cpp index 8fb9133254..0d9a611d7e 100644 --- a/Marlin/src/HAL/STM32F1/MinSerial.cpp +++ b/Marlin/src/HAL/STM32F1/MinSerial.cpp @@ -92,7 +92,7 @@ void install_min_serial() { HAL_min_serial_out = &TX; } -#if DISABLED(DYNAMIC_VECTORTABLE) && DISABLED(STM32F0xx) // Cortex M0 can't branch to a symbol that's too far, so we have a specific hack for them +#if NONE(DYNAMIC_VECTORTABLE, STM32F0xx) // Cortex M0 can't branch to a symbol that's too far, so we have a specific hack for them extern "C" { __attribute__((naked)) void JumpHandler_ASM() { __asm__ __volatile__ ( diff --git a/Marlin/src/HAL/STM32F1/eeprom/eeprom_flash.cpp b/Marlin/src/HAL/STM32F1/eeprom/eeprom_flash.cpp index 03326db80e..2292c02203 100644 --- a/Marlin/src/HAL/STM32F1/eeprom/eeprom_flash.cpp +++ b/Marlin/src/HAL/STM32F1/eeprom/eeprom_flash.cpp @@ -47,14 +47,14 @@ static uint8_t ram_eeprom[MARLIN_EEPROM_SIZE] __attribute__((aligned(4))) = {0}; static bool eeprom_dirty = false; bool PersistentStore::access_start() { - const uint32_t *source = reinterpret_cast(EEPROM_PAGE0_BASE); - uint32_t *destination = reinterpret_cast(ram_eeprom); + const uint32_t *src = reinterpret_cast(EEPROM_PAGE0_BASE); + uint32_t *dst = reinterpret_cast(ram_eeprom); static_assert(0 == (MARLIN_EEPROM_SIZE) % 4, "MARLIN_EEPROM_SIZE is corrupted. (Must be a multiple of 4.)"); // Ensure copying as uint32_t is safe constexpr size_t eeprom_size_u32 = (MARLIN_EEPROM_SIZE) / 4; - for (size_t i = 0; i < eeprom_size_u32; ++i, ++destination, ++source) - *destination = *source; + for (size_t i = 0; i < eeprom_size_u32; ++i, ++dst, ++src) + *dst = *src; eeprom_dirty = false; return true; @@ -80,9 +80,9 @@ bool PersistentStore::access_finish() { status = FLASH_ErasePage(EEPROM_PAGE1_BASE); if (status != FLASH_COMPLETE) ACCESS_FINISHED(true); - const uint16_t *source = reinterpret_cast(ram_eeprom); - for (size_t i = 0; i < long(MARLIN_EEPROM_SIZE); i += 2, ++source) { - if (FLASH_ProgramHalfWord(EEPROM_PAGE0_BASE + i, *source) != FLASH_COMPLETE) + const uint16_t *src = reinterpret_cast(ram_eeprom); + for (size_t i = 0; i < long(MARLIN_EEPROM_SIZE); i += 2, ++src) { + if (FLASH_ProgramHalfWord(EEPROM_PAGE0_BASE + i, *src) != FLASH_COMPLETE) ACCESS_FINISHED(false); } diff --git a/Marlin/src/HAL/STM32F1/tft/tft_fsmc.cpp b/Marlin/src/HAL/STM32F1/tft/tft_fsmc.cpp index 51f70b9365..73b0e7efb9 100644 --- a/Marlin/src/HAL/STM32F1/tft/tft_fsmc.cpp +++ b/Marlin/src/HAL/STM32F1/tft/tft_fsmc.cpp @@ -86,7 +86,6 @@ __attribute__((always_inline)) __STATIC_INLINE void __DSB() { #define FSMC_ADDRESS_SETUP_TIME 15 // AddressSetupTime #define FSMC_DATA_SETUP_TIME 15 // DataSetupTime -static uint8_t fsmcInit = 0; void TFT_FSMC::init() { uint8_t cs = FSMC_CS_PIN, rs = FSMC_RS_PIN; uint32_t controllerAddress; @@ -99,8 +98,9 @@ void TFT_FSMC::init() { struct fsmc_nor_psram_reg_map* fsmcPsramRegion; + static bool fsmcInit = false; if (fsmcInit) return; - fsmcInit = 1; + fsmcInit = true; switch (cs) { case FSMC_CS_NE1: controllerAddress = (uint32_t)FSMC_NOR_PSRAM_REGION1; fsmcPsramRegion = FSMC_NOR_PSRAM1_BASE; break; diff --git a/Marlin/src/HAL/STM32F1/timers.h b/Marlin/src/HAL/STM32F1/timers.h index 89a609c2c3..456278db2f 100644 --- a/Marlin/src/HAL/STM32F1/timers.h +++ b/Marlin/src/HAL/STM32F1/timers.h @@ -40,7 +40,7 @@ */ typedef uint16_t hal_timer_t; -#define HAL_TIMER_TYPE_MAX 0xFFFF +#define HAL_TIMER_TYPE_MAX 0xFFFFU #define HAL_TIMER_RATE uint32_t(F_CPU) // frequency of timers peripherals diff --git a/Marlin/src/HAL/TEENSY31_32/timers.h b/Marlin/src/HAL/TEENSY31_32/timers.h index 3bbc2421e0..aeb8f2388a 100644 --- a/Marlin/src/HAL/TEENSY31_32/timers.h +++ b/Marlin/src/HAL/TEENSY31_32/timers.h @@ -34,7 +34,7 @@ #define FORCE_INLINE __attribute__((always_inline)) inline typedef uint32_t hal_timer_t; -#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF +#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFUL #define FTM0_TIMER_PRESCALE 8 #define FTM1_TIMER_PRESCALE 4 diff --git a/Marlin/src/HAL/TEENSY35_36/timers.h b/Marlin/src/HAL/TEENSY35_36/timers.h index 3536b62265..3a836ba44e 100644 --- a/Marlin/src/HAL/TEENSY35_36/timers.h +++ b/Marlin/src/HAL/TEENSY35_36/timers.h @@ -34,7 +34,7 @@ #define FORCE_INLINE __attribute__((always_inline)) inline typedef uint32_t hal_timer_t; -#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF +#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFUL #define FTM0_TIMER_PRESCALE 8 #define FTM1_TIMER_PRESCALE 4 diff --git a/Marlin/src/HAL/TEENSY40_41/HAL.cpp b/Marlin/src/HAL/TEENSY40_41/HAL.cpp index 1f27a283f7..3a1f06095b 100644 --- a/Marlin/src/HAL/TEENSY40_41/HAL.cpp +++ b/Marlin/src/HAL/TEENSY40_41/HAL.cpp @@ -98,7 +98,7 @@ void MarlinHAL::clear_reset_source() { #define WDT_TIMEOUT TERN(WATCHDOG_DURATION_8S, 8, 4) // 4 or 8 second timeout - constexpr uint8_t timeoutval = (WDT_TIMEOUT - 0.5f) / 0.5f; + constexpr uint8_t timeoutval = (WDT_TIMEOUT - 0.5f) * 2.0f; void MarlinHAL::watchdog_init() { CCM_CCGR3 |= CCM_CCGR3_WDOG1(3); // enable WDOG1 clocks diff --git a/Marlin/src/HAL/TEENSY40_41/timers.h b/Marlin/src/HAL/TEENSY40_41/timers.h index fc160ab8b8..277a7f318d 100644 --- a/Marlin/src/HAL/TEENSY40_41/timers.h +++ b/Marlin/src/HAL/TEENSY40_41/timers.h @@ -34,7 +34,7 @@ #define FORCE_INLINE __attribute__((always_inline)) inline typedef uint32_t hal_timer_t; -#define HAL_TIMER_TYPE_MAX 0xFFFFFFFE +#define HAL_TIMER_TYPE_MAX 0xFFFFFFFEUL #define GPT_TIMER_RATE (F_CPU / 4) // 150MHz (Can't use F_BUS_ACTUAL because it's extern volatile) diff --git a/Marlin/src/HAL/shared/backtrace/unwarm_arm.cpp b/Marlin/src/HAL/shared/backtrace/unwarm_arm.cpp index decf74e6e9..e6064f65da 100644 --- a/Marlin/src/HAL/shared/backtrace/unwarm_arm.cpp +++ b/Marlin/src/HAL/shared/backtrace/unwarm_arm.cpp @@ -414,7 +414,7 @@ UnwResult UnwStartArm(UnwState * const state) { /* S indicates that banked registers (untracked) are used, unless * this is a load including the PC when the S-bit indicates that - * that CPSR is loaded from SPSR (also untracked, but ignored). + * CPSR is loaded from SPSR (also untracked, but ignored). */ if (S && (!L || (regList & (0x01 << 15)) == 0)) { UnwPrintd1("\nError:S-bit set requiring banked registers\n"); @@ -431,7 +431,7 @@ UnwResult UnwStartArm(UnwState * const state) { /* Check if ascending or descending. * Registers are loaded/stored in order of address. - * i.e. r0 is at the lowest address, r15 at the highest. + * i.e., r0 is at the lowest address, r15 at the highest. */ r = U ? 0 : 15; do { diff --git a/Marlin/src/core/boards.h b/Marlin/src/core/boards.h index 48418bd8df..6b64b098ec 100644 --- a/Marlin/src/core/boards.h +++ b/Marlin/src/core/boards.h @@ -28,6 +28,7 @@ #include "macros.h" +#define BOARD_ERROR -2 #define BOARD_UNKNOWN -1 // @@ -54,11 +55,11 @@ #define BOARD_RAMPS_PLUS_EEF 1033 // RAMPS Plus 3DYMY (Power outputs: Hotend0, Hotend1, Fan) #define BOARD_RAMPS_PLUS_SF 1034 // RAMPS Plus 3DYMY (Power outputs: Spindle, Controller Fan) -#define BOARD_RAMPS_BTT_16_PLUS_EFB 1035 // RAMPS 1.6+ (Power outputs: Hotend, Fan, Bed) -#define BOARD_RAMPS_BTT_16_PLUS_EEB 1036 // RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Bed) -#define BOARD_RAMPS_BTT_16_PLUS_EFF 1037 // RAMPS 1.6+ (Power outputs: Hotend, Fan0, Fan1) -#define BOARD_RAMPS_BTT_16_PLUS_EEF 1038 // RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Fan) -#define BOARD_RAMPS_BTT_16_PLUS_SF 1039 // RAMPS 1.6+ (Power outputs: Spindle, Controller Fan) +#define BOARD_RAMPS_BTT_16_PLUS_EFB 1040 // RAMPS 1.6+ (Power outputs: Hotend, Fan, Bed) +#define BOARD_RAMPS_BTT_16_PLUS_EEB 1041 // RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Bed) +#define BOARD_RAMPS_BTT_16_PLUS_EFF 1042 // RAMPS 1.6+ (Power outputs: Hotend, Fan0, Fan1) +#define BOARD_RAMPS_BTT_16_PLUS_EEF 1043 // RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Fan) +#define BOARD_RAMPS_BTT_16_PLUS_SF 1044 // RAMPS 1.6+ (Power outputs: Spindle, Controller Fan) // // RAMPS Derivatives - ATmega1280, ATmega2560 @@ -175,16 +176,17 @@ #define BOARD_GT2560_V41B 1322 // Geeetech GT2560 V4.1B for A10(M/T/D) #define BOARD_EINSTART_S 1323 // Einstart retrofit #define BOARD_WANHAO_ONEPLUS 1324 // Wanhao 0ne+ i3 Mini -#define BOARD_OVERLORD 1325 // Overlord/Overlord Pro -#define BOARD_HJC2560C_REV1 1326 // ADIMLab Gantry v1 -#define BOARD_HJC2560C_REV2 1327 // ADIMLab Gantry v2 -#define BOARD_LEAPFROG_XEED2015 1328 // Leapfrog Xeed 2015 -#define BOARD_PICA_REVB 1329 // PICA Shield (original version) -#define BOARD_PICA 1330 // PICA Shield (rev C or later) -#define BOARD_INTAMSYS40 1331 // Intamsys 4.0 (Funmat HT) -#define BOARD_MALYAN_M180 1332 // Malyan M180 Mainboard Version 2 (no display function, direct G-code only) -#define BOARD_PROTONEER_CNC_SHIELD_V3 1333 // Mega controller & Protoneer CNC Shield V3.00 -#define BOARD_WEEDO_62A 1334 // WEEDO 62A board (TINA2, Monoprice Cadet, etc.) +#define BOARD_WANHAO_D9 1325 // Wanhao D9 MK2 +#define BOARD_OVERLORD 1326 // Overlord/Overlord Pro +#define BOARD_HJC2560C_REV1 1327 // ADIMLab Gantry v1 +#define BOARD_HJC2560C_REV2 1328 // ADIMLab Gantry v2 +#define BOARD_LEAPFROG_XEED2015 1329 // Leapfrog Xeed 2015 +#define BOARD_PICA_REVB 1330 // PICA Shield (original version) +#define BOARD_PICA 1331 // PICA Shield (rev C or later) +#define BOARD_INTAMSYS40 1332 // Intamsys 4.0 (Funmat HT) +#define BOARD_MALYAN_M180 1333 // Malyan M180 Mainboard Version 2 (no display function, direct G-code only) +#define BOARD_PROTONEER_CNC_SHIELD_V3 1334 // Mega controller & Protoneer CNC Shield V3.00 +#define BOARD_WEEDO_62A 1335 // WEEDO 62A board (TINA2, Monoprice Cadet, etc.) // // ATmega1281, ATmega2561 @@ -435,67 +437,68 @@ // STM32 ARM Cortex-M4F // -#define BOARD_ARMED 5200 // Arm'ed STM32F4-based controller -#define BOARD_RUMBA32_V1_0 5201 // RUMBA32 STM32F446VE based controller from Aus3D -#define BOARD_RUMBA32_V1_1 5202 // RUMBA32 STM32F446VE based controller from Aus3D -#define BOARD_RUMBA32_MKS 5203 // RUMBA32 STM32F446VE based controller from Makerbase -#define BOARD_RUMBA32_BTT 5204 // RUMBA32 STM32F446VE based controller from BIGTREETECH -#define BOARD_BLACK_STM32F407VE 5205 // Black STM32F407VE development board -#define BOARD_BLACK_STM32F407ZE 5206 // Black STM32F407ZE development board -#define BOARD_BTT_SKR_MINI_E3_V3_0_1 5207 // BigTreeTech SKR Mini E3 V3.0.1 (STM32F401RC) -#define BOARD_BTT_SKR_PRO_V1_1 5208 // BigTreeTech SKR Pro v1.1 (STM32F407ZG) -#define BOARD_BTT_SKR_PRO_V1_2 5209 // BigTreeTech SKR Pro v1.2 (STM32F407ZG) -#define BOARD_BTT_BTT002_V1_0 5210 // BigTreeTech BTT002 v1.0 (STM32F407VG) -#define BOARD_BTT_E3_RRF 5211 // BigTreeTech E3 RRF (STM32F407VG) -#define BOARD_BTT_SKR_V2_0_REV_A 5212 // BigTreeTech SKR v2.0 Rev A (STM32F407VG) -#define BOARD_BTT_SKR_V2_0_REV_B 5213 // BigTreeTech SKR v2.0 Rev B (STM32F407VG/STM32F429VG) -#define BOARD_BTT_GTR_V1_0 5214 // BigTreeTech GTR v1.0 (STM32F407IGT) -#define BOARD_BTT_OCTOPUS_V1_0 5215 // BigTreeTech Octopus v1.0 (STM32F446ZE) -#define BOARD_BTT_OCTOPUS_V1_1 5216 // BigTreeTech Octopus v1.1 (STM32F446ZE) -#define BOARD_BTT_OCTOPUS_PRO_V1_0 5217 // BigTreeTech Octopus Pro v1.0 (STM32F446ZE / STM32F429ZG) -#define BOARD_LERDGE_K 5218 // Lerdge K (STM32F407ZG) -#define BOARD_LERDGE_S 5219 // Lerdge S (STM32F407VE) -#define BOARD_LERDGE_X 5220 // Lerdge X (STM32F407VE) -#define BOARD_FYSETC_S6 5221 // FYSETC S6 (STM32F446VE) -#define BOARD_FYSETC_S6_V2_0 5222 // FYSETC S6 v2.0 (STM32F446VE) -#define BOARD_FYSETC_SPIDER 5223 // FYSETC Spider (STM32F446VE) -#define BOARD_FYSETC_SPIDER_V2_2 5224 // FYSETC Spider V2.2 (STM32F446VE) -#define BOARD_FLYF407ZG 5225 // FLYmaker FLYF407ZG (STM32F407ZG) -#define BOARD_MKS_ROBIN2 5226 // MKS Robin2 V1.0 (STM32F407ZE) -#define BOARD_MKS_ROBIN_PRO_V2 5227 // MKS Robin Pro V2 (STM32F407VE) -#define BOARD_MKS_ROBIN_NANO_V3 5228 // MKS Robin Nano V3 (STM32F407VG) -#define BOARD_MKS_ROBIN_NANO_V3_1 5229 // MKS Robin Nano V3.1 (STM32F407VE) -#define BOARD_MKS_MONSTER8_V1 5230 // MKS Monster8 V1 (STM32F407VE) -#define BOARD_MKS_MONSTER8_V2 5231 // MKS Monster8 V2 (STM32F407VE) -#define BOARD_ANET_ET4 5232 // ANET ET4 V1.x (STM32F407VG) -#define BOARD_ANET_ET4P 5233 // ANET ET4P V1.x (STM32F407VG) -#define BOARD_FYSETC_CHEETAH_V20 5234 // FYSETC Cheetah V2.0 (STM32F401RC) -#define BOARD_FYSETC_CHEETAH_V30 5235 // FYSETC Cheetah V3.0 (STM32F446RC) -#define BOARD_TH3D_EZBOARD_V2 5236 // TH3D EZBoard v2.0 (STM32F405RG) -#define BOARD_OPULO_LUMEN_REV3 5237 // Opulo Lumen PnP Controller REV3 (STM32F407VE / STM32F407VG) -#define BOARD_OPULO_LUMEN_REV4 5238 // Opulo Lumen PnP Controller REV4 (STM32F407VE / STM32F407VG) -#define BOARD_MKS_ROBIN_NANO_V1_3_F4 5239 // MKS Robin Nano V1.3 and MKS Robin Nano-S V1.3 (STM32F407VE) -#define BOARD_MKS_EAGLE 5240 // MKS Eagle (STM32F407VE) -#define BOARD_ARTILLERY_RUBY 5241 // Artillery Ruby (STM32F401RC) -#define BOARD_CREALITY_V24S1_301F4 5242 // Creality v2.4.S1_301F4 (STM32F401RC) as found in the Ender-3 S1 F4 -#define BOARD_CREALITY_CR4NTXXC10 5243 // Creality E3 Free-runs Silent Motherboard (STM32F401RET6) -#define BOARD_FYSETC_SPIDER_KING407 5244 // FYSETC Spider King407 (STM32F407ZG) -#define BOARD_MKS_SKIPR_V1 5245 // MKS SKIPR v1.0 all-in-one board (STM32F407VE) -#define BOARD_TRONXY_CXY_446_V10 5246 // TRONXY CXY-446-V10-220413/CXY-V6-191121 (STM32F446ZE) -#define BOARD_CREALITY_F401RE 5247 // Creality CR4NS200141C13 (STM32F401RE) as found in the Ender-5 S1 -#define BOARD_BLACKPILL_CUSTOM 5248 // Custom board based on STM32F401CDU6. -#define BOARD_I3DBEEZ9_V1 5249 // I3DBEEZ9 V1 (STM32F407ZG) -#define BOARD_MELLOW_FLY_E3_V2 5250 // Mellow Fly E3 V2 (STM32F407VG) -#define BOARD_BLACKBEEZMINI_V1 5251 // BlackBeezMini V1 (STM32F401CCU6) -#define BOARD_XTLW_CLIMBER_8TH 5252 // XTLW Climber-8th (STM32F407VGT6) -#define BOARD_FLY_RRF_E3_V1 5253 // Fly RRF E3 V1.0 (STM32F407VG) -#define BOARD_FLY_SUPER8 5254 // Fly SUPER8 (STM32F407ZGT6) -#define BOARD_FLY_D8 5255 // FLY D8 (STM32F407VG) -#define BOARD_FLY_CDY_V3 5256 // FLY CDY V3 (STM32F407VGT6) -#define BOARD_ZNP_ROBIN_NANO 5257 // Elegoo Neptune 2 v1.2 board -#define BOARD_ZNP_ROBIN_NANO_V1_3 5258 // Elegoo Neptune 2 v1.3 board -#define BOARD_MKS_NEPTUNE_X 5259 // Elegoo Neptune X -#define BOARD_MKS_NEPTUNE_3 5260 // Elegoo Neptune 3 +#define BOARD_ARMED 5200 // Arm'ed STM32F4-based controller +#define BOARD_RUMBA32_V1_0 5201 // RUMBA32 STM32F446VE based controller from Aus3D +#define BOARD_RUMBA32_V1_1 5202 // RUMBA32 STM32F446VE based controller from Aus3D +#define BOARD_RUMBA32_MKS 5203 // RUMBA32 STM32F446VE based controller from Makerbase +#define BOARD_RUMBA32_BTT 5204 // RUMBA32 STM32F446VE based controller from BIGTREETECH +#define BOARD_BLACK_STM32F407VE 5205 // Black STM32F407VE development board +#define BOARD_BLACK_STM32F407ZE 5206 // Black STM32F407ZE development board +#define BOARD_BTT_SKR_MINI_E3_V3_0_1 5207 // BigTreeTech SKR Mini E3 V3.0.1 (STM32F401RC) +#define BOARD_BTT_SKR_PRO_V1_1 5208 // BigTreeTech SKR Pro v1.1 (STM32F407ZG) +#define BOARD_BTT_SKR_PRO_V1_2 5209 // BigTreeTech SKR Pro v1.2 (STM32F407ZG) +#define BOARD_BTT_BTT002_V1_0 5210 // BigTreeTech BTT002 v1.0 (STM32F407VG) +#define BOARD_BTT_E3_RRF 5211 // BigTreeTech E3 RRF (STM32F407VG) +#define BOARD_BTT_SKR_V2_0_REV_A 5212 // BigTreeTech SKR v2.0 Rev A (STM32F407VG) +#define BOARD_BTT_SKR_V2_0_REV_B 5213 // BigTreeTech SKR v2.0 Rev B (STM32F407VG/STM32F429VG) +#define BOARD_BTT_GTR_V1_0 5214 // BigTreeTech GTR v1.0 (STM32F407IGT) +#define BOARD_BTT_OCTOPUS_V1_0 5215 // BigTreeTech Octopus v1.0 (STM32F446ZE) +#define BOARD_BTT_OCTOPUS_V1_1 5216 // BigTreeTech Octopus v1.1 (STM32F446ZE) +#define BOARD_BTT_OCTOPUS_PRO_V1_0 5217 // BigTreeTech Octopus Pro v1.0 (STM32F446ZE / STM32F429ZG) +#define BOARD_LERDGE_K 5218 // Lerdge K (STM32F407ZG) +#define BOARD_LERDGE_S 5219 // Lerdge S (STM32F407VE) +#define BOARD_LERDGE_X 5220 // Lerdge X (STM32F407VE) +#define BOARD_FYSETC_S6 5221 // FYSETC S6 (STM32F446VE) +#define BOARD_FYSETC_S6_V2_0 5222 // FYSETC S6 v2.0 (STM32F446VE) +#define BOARD_FYSETC_SPIDER 5223 // FYSETC Spider (STM32F446VE) +#define BOARD_FYSETC_SPIDER_V2_2 5224 // FYSETC Spider V2.2 (STM32F446VE) +#define BOARD_FLYF407ZG 5225 // FLYmaker FLYF407ZG (STM32F407ZG) +#define BOARD_MKS_ROBIN2 5226 // MKS Robin2 V1.0 (STM32F407ZE) +#define BOARD_MKS_ROBIN_PRO_V2 5227 // MKS Robin Pro V2 (STM32F407VE) +#define BOARD_MKS_ROBIN_NANO_V3 5228 // MKS Robin Nano V3 (STM32F407VG) +#define BOARD_MKS_ROBIN_NANO_V3_1 5229 // MKS Robin Nano V3.1 (STM32F407VE) +#define BOARD_MKS_MONSTER8_V1 5230 // MKS Monster8 V1 (STM32F407VE) +#define BOARD_MKS_MONSTER8_V2 5231 // MKS Monster8 V2 (STM32F407VE) +#define BOARD_ANET_ET4 5232 // ANET ET4 V1.x (STM32F407VG) +#define BOARD_ANET_ET4P 5233 // ANET ET4P V1.x (STM32F407VG) +#define BOARD_FYSETC_CHEETAH_V20 5234 // FYSETC Cheetah V2.0 (STM32F401RC) +#define BOARD_FYSETC_CHEETAH_V30 5235 // FYSETC Cheetah V3.0 (STM32F446RC) +#define BOARD_TH3D_EZBOARD_V2 5236 // TH3D EZBoard v2.0 (STM32F405RG) +#define BOARD_OPULO_LUMEN_REV3 5237 // Opulo Lumen PnP Controller REV3 (STM32F407VE / STM32F407VG) +#define BOARD_OPULO_LUMEN_REV4 5238 // Opulo Lumen PnP Controller REV4 (STM32F407VE / STM32F407VG) +#define BOARD_MKS_ROBIN_NANO_V1_3_F4 5239 // MKS Robin Nano V1.3 and MKS Robin Nano-S V1.3 (STM32F407VE) +#define BOARD_MKS_EAGLE 5240 // MKS Eagle (STM32F407VE) +#define BOARD_ARTILLERY_RUBY 5241 // Artillery Ruby (STM32F401RC) +#define BOARD_CREALITY_V24S1_301F4 5242 // Creality v2.4.S1_301F4 (STM32F401RC) as found in the Ender-3 S1 F4 +#define BOARD_CREALITY_CR4NTXXC10 5243 // Creality E3 Free-runs Silent Motherboard (STM32F401RET6) +#define BOARD_FYSETC_SPIDER_KING_V1_F407 5244 // FYSETC Spider King v1 (STM32F407ZG) +#define BOARD_FYSETC_SPIDER_KING_V1_1_F407 5245 // FYSETC Spider King v1.1 (STM32F407ZG) +#define BOARD_MKS_SKIPR_V1 5246 // MKS SKIPR v1.0 all-in-one board (STM32F407VE) +#define BOARD_TRONXY_CXY_446_V10 5247 // TRONXY CXY-446-V10-220413/CXY-V6-191121 (STM32F446ZE) +#define BOARD_CREALITY_F401RE 5248 // Creality CR4NS200141C13 (STM32F401RE) as found in the Ender-5 S1 +#define BOARD_BLACKPILL_CUSTOM 5249 // Custom board based on STM32F401CDU6. +#define BOARD_I3DBEEZ9_V1 5250 // I3DBEEZ9 V1 (STM32F407ZG) +#define BOARD_MELLOW_FLY_E3_V2 5251 // Mellow Fly E3 V2 (STM32F407VG) +#define BOARD_BLACKBEEZMINI_V1 5252 // BlackBeezMini V1 (STM32F401CCU6) +#define BOARD_XTLW_CLIMBER_8TH 5253 // XTLW Climber-8th (STM32F407VGT6) +#define BOARD_FLY_RRF_E3_V1 5254 // Fly RRF E3 V1.0 (STM32F407VG) +#define BOARD_FLY_SUPER8 5255 // Fly SUPER8 (STM32F407ZGT6) +#define BOARD_FLY_D8 5256 // FLY D8 (STM32F407VG) +#define BOARD_FLY_CDY_V3 5257 // FLY CDY V3 (STM32F407VGT6) +#define BOARD_ZNP_ROBIN_NANO 5258 // Elegoo Neptune 2 v1.2 board +#define BOARD_ZNP_ROBIN_NANO_V1_3 5259 // Elegoo Neptune 2 v1.3 board +#define BOARD_MKS_NEPTUNE_X 5260 // Elegoo Neptune X +#define BOARD_MKS_NEPTUNE_3 5261 // Elegoo Neptune 3 // // Other ARM Cortex-M4 @@ -506,21 +509,24 @@ // ARM Cortex-M7 // -#define BOARD_REMRAM_V1 6000 // RemRam v1 -#define BOARD_NUCLEO_F767ZI 6001 // ST NUCLEO-F767ZI Dev Board -#define BOARD_BTT_SKR_SE_BX_V2 6002 // BigTreeTech SKR SE BX V2.0 (STM32H743II) -#define BOARD_BTT_SKR_SE_BX_V3 6003 // BigTreeTech SKR SE BX V3.0 (STM32H743II) -#define BOARD_BTT_SKR_V3_0 6004 // BigTreeTech SKR V3.0 (STM32H743VI / STM32H723VG) -#define BOARD_BTT_SKR_V3_0_EZ 6005 // BigTreeTech SKR V3.0 EZ (STM32H743VI / STM32H723VG) -#define BOARD_BTT_OCTOPUS_MAX_EZ_V1_0 6006 // BigTreeTech Octopus Max EZ V1.0 (STM32H723ZE) -#define BOARD_BTT_OCTOPUS_PRO_V1_0_1 6007 // BigTreeTech Octopus Pro v1.0.1 (STM32H723ZE) -#define BOARD_BTT_OCTOPUS_PRO_V1_1 6008 // BigTreeTech Octopus Pro v1.1 (STM32H723ZE) -#define BOARD_BTT_MANTA_M8P_V2_0 6009 // BigTreeTech Manta M8P V2.0 (STM32H723ZE) -#define BOARD_BTT_KRAKEN_V1_0 6010 // BigTreeTech Kraken v1.0 (STM32H723ZG) -#define BOARD_TEENSY41 6011 // Teensy 4.1 -#define BOARD_T41U5XBB 6012 // T41U5XBB Teensy 4.1 breakout board -#define BOARD_FLY_D8_PRO 6013 // FLY_D8_PRO (STM32H723VG) -#define BOARD_FLY_SUPER8_PRO 6014 // FLY SUPER8 PRO (STM32H723ZG) +#define BOARD_REMRAM_V1 6000 // RemRam v1 +#define BOARD_NUCLEO_F767ZI 6001 // ST NUCLEO-F767ZI Dev Board +#define BOARD_BTT_SKR_SE_BX_V2 6002 // BigTreeTech SKR SE BX V2.0 (STM32H743II) +#define BOARD_BTT_SKR_SE_BX_V3 6003 // BigTreeTech SKR SE BX V3.0 (STM32H743II) +#define BOARD_BTT_SKR_V3_0 6004 // BigTreeTech SKR V3.0 (STM32H743VI / STM32H723VG) +#define BOARD_BTT_SKR_V3_0_EZ 6005 // BigTreeTech SKR V3.0 EZ (STM32H743VI / STM32H723VG) +#define BOARD_BTT_OCTOPUS_MAX_EZ_V1_0 6006 // BigTreeTech Octopus Max EZ V1.0 (STM32H723ZE) +#define BOARD_BTT_OCTOPUS_PRO_V1_0_1 6007 // BigTreeTech Octopus Pro v1.0.1 (STM32H723ZE) +#define BOARD_BTT_OCTOPUS_PRO_V1_1 6008 // BigTreeTech Octopus Pro v1.1 (STM32H723ZE) +#define BOARD_BTT_MANTA_M8P_V2_0 6009 // BigTreeTech Manta M8P V2.0 (STM32H723ZE) +#define BOARD_BTT_KRAKEN_V1_0 6010 // BigTreeTech Kraken v1.0 (STM32H723ZG) +#define BOARD_TEENSY40 6011 // Teensy 4.0 +#define BOARD_TEENSY41 6012 // Teensy 4.1 +#define BOARD_T41U5XBB 6013 // T41U5XBB Teensy 4.1 breakout board +#define BOARD_FLY_D8_PRO 6014 // FLY_D8_PRO (STM32H723VG) +#define BOARD_FLY_SUPER8_PRO 6015 // FLY SUPER8 PRO (STM32H723ZG) +#define BOARD_FYSETC_SPIDER_KING_V1_H723 6016 // FYSETC Spider King v1 (STM32H723ZG) +#define BOARD_FYSETC_SPIDER_KING_V1_1_H723 6017 // FYSETC Spider King v1.1 (STM32H723ZG) // // Espressif ESP32 WiFi diff --git a/Marlin/src/core/language.h b/Marlin/src/core/language.h index 3a50fcdc6b..e0a31db9ab 100644 --- a/Marlin/src/core/language.h +++ b/Marlin/src/core/language.h @@ -296,6 +296,7 @@ #define STR_TOOL_CHANGING "Tool-changing" #define STR_HOTEND_OFFSETS "Hotend offsets" #define STR_SERVO_ANGLES "Servo Angles" +#define STR_AUTOTEMP "Auto Temp Control" #define STR_HOTEND_PID "Hotend PID" #define STR_BED_PID "Bed PID" #define STR_CHAMBER_PID "Chamber PID" @@ -358,6 +359,21 @@ #define STR_Z2 STR_C "2" #define STR_Z3 STR_C "3" #define STR_Z4 STR_C "4" +#if CORE_IS_XY || CORE_IS_XZ + #define STEPPER_A_NAME 'A' +#else + #define STEPPER_A_NAME 'X' +#endif +#if CORE_IS_XY || CORE_IS_YZ + #define STEPPER_B_NAME 'B' +#else + #define STEPPER_B_NAME 'Y' +#endif +#if CORE_IS_XZ || CORE_IS_YZ + #define STEPPER_C_NAME 'C' +#else + #define STEPPER_C_NAME 'Z' +#endif // // Endstop Names used by Endstops::report_states diff --git a/Marlin/src/core/macros.h b/Marlin/src/core/macros.h index fd6296707f..d66450f758 100644 --- a/Marlin/src/core/macros.h +++ b/Marlin/src/core/macros.h @@ -58,6 +58,7 @@ // Macros to make a string from a macro #define STRINGIFY_(M) #M #define STRINGIFY(M) STRINGIFY_(M) +#define CHARIFY(M) STRINGIFY(M)[0] #define A(CODE) " " CODE "\n\t" #define L(CODE) CODE ":\n\t" diff --git a/Marlin/src/core/serial_base.h b/Marlin/src/core/serial_base.h index a8700f3d23..07bed55b35 100644 --- a/Marlin/src/core/serial_base.h +++ b/Marlin/src/core/serial_base.h @@ -228,7 +228,7 @@ struct SerialBase { // Handle negative numbers if (number < 0.0) { write('-'); - number = -number; + number *= -1; } // Round correctly so that print(1.999, 2) prints as "2.00" diff --git a/Marlin/src/core/types.h b/Marlin/src/core/types.h index 920ea16c94..486f78fde8 100644 --- a/Marlin/src/core/types.h +++ b/Marlin/src/core/types.h @@ -167,6 +167,21 @@ template struct IF { typedef L type; }; #define GANG_ITEM_E(N) #endif +// Emitters for code that only cares about XYZE and not IJKUVW +#define CARTES_COUNT TERN(HAS_EXTRUDERS, INCREMENT(XYZ_COUNT), XYZ_COUNT) +#define CARTES_LIST(x,y,z,e) XYZ_LIST(x,y,z) LIST_ITEM_E(e) +#define CARTES_PAIRED_LIST(V...) LIST_N(DOUBLE(CARTES_COUNT), V) +#define CARTES_ARRAY(x,y,z,e) { CARTES_LIST(x,y,z,e) } +#define CARTES_CODE(x,y,z,e) XYZ_CODE(x,y,z) CODE_ITEM_E(e) +#define CARTES_GANG(x,y,z,e) XYZ_GANG(x,y,z) GANG_ITEM_E(e) +#define CARTES_AXIS_NAMES CARTES_LIST(X,Y,Z,E) +#define CARTES_MAP(F) MAP(F, CARTES_AXIS_NAMES) +#if CARTES_COUNT + #define CARTES_COMMA , +#else + #define CARTES_COMMA +#endif + #define AXIS_COLLISION(L) (AXIS4_NAME == L || AXIS5_NAME == L || AXIS6_NAME == L || AXIS7_NAME == L || AXIS8_NAME == L || AXIS9_NAME == L) // Helpers @@ -223,6 +238,24 @@ struct Flags { FI bool operator[](const int n) const { return test(n); } FI int size() const { return sizeof(b); } FI operator bool() const { return b != 0; } + + FI Flags& operator|=(Flags &p) const { b |= p.b; return *this; } + FI Flags& operator&=(Flags &p) const { b &= p.b; return *this; } + FI Flags& operator^=(Flags &p) const { b ^= p.b; return *this; } + + FI Flags& operator|=(const flagbits_t &p) { b |= flagbits_t(p); return *this; } + FI Flags& operator&=(const flagbits_t &p) { b &= flagbits_t(p); return *this; } + FI Flags& operator^=(const flagbits_t &p) { b ^= flagbits_t(p); return *this; } + + FI Flags operator|(Flags &p) const { return Flags(b | p.b); } + FI Flags operator&(Flags &p) const { return Flags(b & p.b); } + FI Flags operator^(Flags &p) const { return Flags(b ^ p.b); } + FI Flags operator~() const { return Flags(~b); } + + FI flagbits_t operator|(const flagbits_t &p) const { return b | flagbits_t(p); } + FI flagbits_t operator&(const flagbits_t &p) const { return b & flagbits_t(p); } + FI flagbits_t operator^(const flagbits_t &p) const { return b ^ flagbits_t(p); } + }; // Flag bits for more than 64 states @@ -371,7 +404,7 @@ typedef IF 255)), uint16_t, uint8_t>::ty #define MMS_TO_MMM(MM_S) (static_cast(MM_S) * 60.0f) // Packaged character for C macro and other usage -typedef struct SerialChar { char c; SerialChar(char n) : c(n) { } } serial_char_t; +typedef struct SerialChar { char c; SerialChar(const char n) : c(n) { } } serial_char_t; #define C(c) serial_char_t(c) // Packaged types: float with precision and/or width; a repeated space/character @@ -477,7 +510,7 @@ typedef ab_float_t ab_pos_t; typedef abc_float_t abc_pos_t; typedef abce_float_t abce_pos_t; -// External conversion methods +// External conversion methods (motion.h) void toLogical(xy_pos_t &raw); void toLogical(xyz_pos_t &raw); void toLogical(xyze_pos_t &raw); @@ -532,13 +565,18 @@ struct XYval { FI constexpr T large() const { return _MAX(x, y); } // Explicit copy and copies with conversion - FI constexpr XYval copy() const { return *this; } - FI constexpr XYval ABS() const { return { T(_ABS(x)), T(_ABS(y)) }; } - FI constexpr XYval asInt() const { return { int16_t(x), int16_t(y) }; } - FI constexpr XYval asLong() const { return { int32_t(x), int32_t(y) }; } - FI constexpr XYval ROUNDL() const { return { int32_t(LROUND(x)), int32_t(LROUND(y)) }; } - FI constexpr XYval asFloat() const { return { static_cast(x), static_cast(y) }; } - FI constexpr XYval reciprocal() const { return { _RECIP(x), _RECIP(y) }; } + FI constexpr XYval copy() const { return *this; } + FI constexpr XYval ABS() const { return { T(_ABS(x)), T(_ABS(y)) }; } + FI constexpr XYval ROUNDL() const { return { int32_t(LROUND(x)), int32_t(LROUND(y)) }; } + FI constexpr XYval reciprocal() const { return { _RECIP(x), _RECIP(y) }; } + + // Conversion to other types + FI constexpr XYval asInt16() const { return { int16_t(x), int16_t(y) }; } + FI constexpr XYval asInt32() const { return { int32_t(x), int32_t(y) }; } + FI constexpr XYval asUInt32() const { return { uint32_t(x), uint32_t(y) }; } + FI constexpr XYval asInt64() const { return { int64_t(x), int64_t(y) }; } + FI constexpr XYval asUInt64() const { return { uint64_t(x), uint64_t(y) }; } + FI constexpr XYval asFloat() const { return { static_cast(x), static_cast(y) }; } // Marlin workspace shifting is done with G92 and M206 FI XYval asLogical() const { XYval o = asFloat(); toLogical(o); return o; } @@ -610,6 +648,26 @@ struct XYval { FI bool operator!=(const XYval &rs) const { return !operator==(rs); } FI bool operator!=(const XYZval &rs) const { return !operator==(rs); } FI bool operator!=(const XYZEval &rs) const { return !operator==(rs); } + + // Exact comparison to a single value + FI bool operator==(const T &p) const { return x == p && y == p; } + FI bool operator!=(const T &p) const { return !operator==(p); } + + FI bool operator< (const XYval &rs) const { return x < rs.x && y < rs.y; } + FI bool operator<=(const XYval &rs) const { return x <= rs.x && y <= rs.y; } + FI bool operator> (const XYval &rs) const { return x > rs.x && y > rs.y; } + FI bool operator>=(const XYval &rs) const { return x >= rs.x && y >= rs.y; } + + FI bool operator< (const XYZval &rs) const { return true XY_GANG(&& x < rs.x, && y < rs.y); } + FI bool operator<=(const XYZval &rs) const { return true XY_GANG(&& x <= rs.x, && y <= rs.y); } + FI bool operator> (const XYZval &rs) const { return true XY_GANG(&& x > rs.x, && y > rs.y); } + FI bool operator>=(const XYZval &rs) const { return true XY_GANG(&& x >= rs.x, && y >= rs.y); } + + FI bool operator< (const XYZEval &rs) const { return true XY_GANG(&& x < rs.x, && y < rs.y); } + FI bool operator<=(const XYZEval &rs) const { return true XY_GANG(&& x <= rs.x, && y <= rs.y); } + FI bool operator> (const XYZEval &rs) const { return true XY_GANG(&& x > rs.x, && y > rs.y); } + FI bool operator>=(const XYZEval &rs) const { return true XY_GANG(&& x >= rs.x, && y >= rs.y); } + }; // @@ -686,12 +744,17 @@ struct XYZval { // Explicit copy and copies with conversion FI constexpr XYZval copy() const { XYZval o = *this; return o; } FI constexpr XYZval ABS() const { return NUM_AXIS_ARRAY(T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k)), T(_ABS(u)), T(_ABS(v)), T(_ABS(w))); } - FI constexpr XYZval asInt() const { return NUM_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); } - FI constexpr XYZval asLong() const { return NUM_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); } FI constexpr XYZval ROUNDL() const { return NUM_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); } - FI constexpr XYZval asFloat() const { return NUM_AXIS_ARRAY(static_cast(x), static_cast(y), static_cast(z), static_cast(i), static_cast(j), static_cast(k), static_cast(u), static_cast(v), static_cast(w)); } FI constexpr XYZval reciprocal() const { return NUM_AXIS_ARRAY(_RECIP(x), _RECIP(y), _RECIP(z), _RECIP(i), _RECIP(j), _RECIP(k), _RECIP(u), _RECIP(v), _RECIP(w)); } + // Conversion to other types + FI constexpr XYZval asInt16() const { return NUM_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); } + FI constexpr XYZval asInt32() const { return NUM_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); } + FI constexpr XYZval asUInt32() const { return NUM_AXIS_ARRAY(uint32_t(x), uint32_t(y), uint32_t(z), uint32_t(i), uint32_t(j), uint32_t(k), uint32_t(u), uint32_t(v), uint32_t(w)); } + FI constexpr XYZval asInt64() const { return NUM_AXIS_ARRAY(int64_t(x), int64_t(y), int64_t(z), int64_t(i), int64_t(j), int64_t(k), int64_t(u), int64_t(v), int64_t(w)); } + FI constexpr XYZval asUInt64() const { return NUM_AXIS_ARRAY(uint64_t(x), uint64_t(y), uint64_t(z), uint64_t(i), uint64_t(j), uint64_t(k), uint64_t(u), uint64_t(v), uint64_t(w)); } + FI constexpr XYZval asFloat() const { return NUM_AXIS_ARRAY(static_cast(x), static_cast(y), static_cast(z), static_cast(i), static_cast(j), static_cast(k), static_cast(u), static_cast(v), static_cast(w)); } + // Marlin workspace shifting is done with G92 and M206 FI XYZval asLogical() const { XYZval o = asFloat(); toLogical(o); return o; } FI XYZval asNative() const { XYZval o = asFloat(); toNative(o); return o; } @@ -757,8 +820,23 @@ struct XYZval { FI XYZval& operator<<=(const int &p) { NUM_AXIS_CODE(_LSE(x), _LSE(y), _LSE(z), _LSE(i), _LSE(j), _LSE(k), _LSE(u), _LSE(v), _LSE(w)); return *this; } // Exact comparisons. For floats a "NEAR" operation may be better. - FI bool operator==(const XYZEval &rs) const { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); } + FI bool operator==(const XYZEval &rs) const { return ENABLED(HAS_X_AXIS) NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); } FI bool operator!=(const XYZEval &rs) const { return !operator==(rs); } + + // Exact comparison to a single value + FI bool operator==(const T &p) const { return ENABLED(HAS_X_AXIS) NUM_AXIS_GANG(&& x == p, && y == p, && z == p, && i == p, && j == p, && k == p, && u == p, && v == p, && w == p); } + FI bool operator!=(const T &p) const { return !operator==(p); } + + FI bool operator< (const XYZval &rs) const { return true NUM_AXIS_GANG(&& x < rs.x, && y < rs.y, && z < rs.z, && i < rs.i, && j < rs.j, && k < rs.k, && u < rs.u, && v < rs.v, && w < rs.w); } + FI bool operator<=(const XYZval &rs) const { return true NUM_AXIS_GANG(&& x <= rs.x, && y <= rs.y, && z <= rs.z, && i <= rs.i, && j <= rs.j, && k <= rs.k, && u <= rs.u, && v <= rs.v, && w <= rs.w); } + FI bool operator> (const XYZval &rs) const { return true NUM_AXIS_GANG(&& x > rs.x, && y > rs.y, && z > rs.z, && i > rs.i, && j > rs.j, && k > rs.k, && u > rs.u, && v > rs.v, && w > rs.w); } + FI bool operator>=(const XYZval &rs) const { return true NUM_AXIS_GANG(&& x >= rs.x, && y >= rs.y, && z >= rs.z, && i >= rs.i, && j >= rs.j, && k >= rs.k, && u >= rs.u, && v >= rs.v, && w >= rs.w); } + + FI bool operator< (const XYZEval &rs) const { return true NUM_AXIS_GANG(&& x < rs.x, && y < rs.y, && z < rs.z, && i < rs.i, && j < rs.j, && k < rs.k, && u < rs.u, && v < rs.v, && w < rs.w); } + FI bool operator<=(const XYZEval &rs) const { return true NUM_AXIS_GANG(&& x <= rs.x, && y <= rs.y, && z <= rs.z, && i <= rs.i, && j <= rs.j, && k <= rs.k, && u <= rs.u, && v <= rs.v, && w <= rs.w); } + FI bool operator> (const XYZEval &rs) const { return true NUM_AXIS_GANG(&& x > rs.x, && y > rs.y, && z > rs.z, && i > rs.i, && j > rs.j, && k > rs.k, && u > rs.u, && v > rs.v, && w > rs.w); } + FI bool operator>=(const XYZEval &rs) const { return true NUM_AXIS_GANG(&& x >= rs.x, && y >= rs.y, && z >= rs.z, && i >= rs.i, && j >= rs.j, && k >= rs.k, && u >= rs.u, && v >= rs.v, && w >= rs.w); } + }; // @@ -789,7 +867,7 @@ struct XYZEval { FI void set(const XYZval &pxyz, const T pe) { set(pxyz); e = pe; } FI void set(LOGICAL_AXIS_ARGS_LC(const T)) { LOGICAL_AXIS_CODE(_e = e, a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); } #if DISTINCT_AXES > LOGICAL_AXES - FI void set(const T (&arr)[DISTINCT_AXES]) { LOGICAL_AXIS_CODE(e = arr[LOGICAL_AXES-1], x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); } + FI void set(const T (&arr)[DISTINCT_AXES], const uint8_t eindex) { LOGICAL_AXIS_CODE(e = arr[LOGICAL_AXES-1 + eindex], x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); } #endif #endif @@ -834,13 +912,18 @@ struct XYZEval { FI constexpr T large() const { return _MAX(LOGICAL_AXIS_LIST(e, x, y, z, i, j, k, u, v, w)); } // Explicit copy and copies with conversion - FI constexpr XYZEval copy() const { XYZEval v = *this; return v; } - FI constexpr XYZEval ABS() const { return LOGICAL_AXIS_ARRAY(T(_ABS(e)), T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k)), T(_ABS(u)), T(_ABS(v)), T(_ABS(w))); } - FI constexpr XYZEval asInt() const { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); } - FI constexpr XYZEval asLong() const { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); } - FI constexpr XYZEval ROUNDL() const { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); } - FI constexpr XYZEval asFloat() const { return LOGICAL_AXIS_ARRAY(static_cast(e), static_cast(x), static_cast(y), static_cast(z), static_cast(i), static_cast(j), static_cast(k), static_cast(u), static_cast(v), static_cast(w)); } - FI constexpr XYZEval reciprocal() const { return LOGICAL_AXIS_ARRAY(_RECIP(e), _RECIP(x), _RECIP(y), _RECIP(z), _RECIP(i), _RECIP(j), _RECIP(k), _RECIP(u), _RECIP(v), _RECIP(w)); } + FI constexpr XYZEval copy() const { XYZEval v = *this; return v; } + FI constexpr XYZEval ABS() const { return LOGICAL_AXIS_ARRAY(T(_ABS(e)), T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k)), T(_ABS(u)), T(_ABS(v)), T(_ABS(w))); } + FI constexpr XYZEval ROUNDL() const { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); } + FI constexpr XYZEval reciprocal() const { return LOGICAL_AXIS_ARRAY(_RECIP(e), _RECIP(x), _RECIP(y), _RECIP(z), _RECIP(i), _RECIP(j), _RECIP(k), _RECIP(u), _RECIP(v), _RECIP(w)); } + + // Conversion to other types + FI constexpr XYZEval asInt16() const { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); } + FI constexpr XYZEval asInt32() const { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); } + FI constexpr XYZEval asUInt32() const { return LOGICAL_AXIS_ARRAY(uint32_t(e), uint32_t(x), uint32_t(y), uint32_t(z), uint32_t(i), uint32_t(j), uint32_t(k), uint32_t(u), uint32_t(v), uint32_t(w)); } + FI constexpr XYZEval asInt64() const { return LOGICAL_AXIS_ARRAY(int64_t(e), int64_t(x), int64_t(y), int64_t(z), int64_t(i), int64_t(j), int64_t(k), int64_t(u), int64_t(v), int64_t(w)); } + FI constexpr XYZEval asUInt64() const { return LOGICAL_AXIS_ARRAY(uint64_t(e), uint64_t(x), uint64_t(y), uint64_t(z), uint64_t(i), uint64_t(j), uint64_t(k), uint64_t(u), uint64_t(v), uint64_t(w)); } + FI constexpr XYZEval asFloat() const { return LOGICAL_AXIS_ARRAY(static_cast(e), static_cast(x), static_cast(y), static_cast(z), static_cast(i), static_cast(j), static_cast(k), static_cast(u), static_cast(v), static_cast(w)); } // Marlin workspace shifting is done with G92 and M206 FI XYZEval asLogical() const { XYZEval o = asFloat(); toLogical(o); return o; } @@ -874,7 +957,10 @@ struct XYZEval { FI constexpr XYZEval operator- (const XYZEval &rs) const { return LOGICAL_AXIS_ARRAY(T(e - rs.e), T(x - rs.x), T(y - rs.y), T(z - rs.z), T(i - rs.i), T(j - rs.j), T(k - rs.k), T(u - rs.u), T(v - rs.v), T(w - rs.w)); } FI constexpr XYZEval operator* (const XYZEval &rs) const { return LOGICAL_AXIS_ARRAY(T(e * rs.e), T(x * rs.x), T(y * rs.y), T(z * rs.z), T(i * rs.i), T(j * rs.j), T(k * rs.k), T(u * rs.u), T(v * rs.v), T(w * rs.w)); } FI constexpr XYZEval operator/ (const XYZEval &rs) const { return LOGICAL_AXIS_ARRAY(T(e / rs.e), T(x / rs.x), T(y / rs.y), T(z / rs.z), T(i / rs.i), T(j / rs.j), T(k / rs.k), T(u / rs.u), T(v / rs.v), T(w / rs.w)); } + FI constexpr XYZEval operator+ (const uint32_t &p) const { return LOGICAL_AXIS_ARRAY(T(e + p), T(x + p), T(y + p), T(z + p), T(i + p), T(j + p), T(k + p), T(u + p), T(v + p), T(w + p)); } FI constexpr XYZEval operator* (const float &p) const { return LOGICAL_AXIS_ARRAY(T(e * p), T(x * p), T(y * p), T(z * p), T(i * p), T(j * p), T(k * p), T(u * p), T(v * p), T(w * p)); } + FI constexpr XYZEval operator* (const uint32_t &p) const { return LOGICAL_AXIS_ARRAY(T(e * p), T(x * p), T(y * p), T(z * p), T(i * p), T(j * p), T(k * p), T(u * p), T(v * p), T(w * p)); } + FI constexpr XYZEval operator& (const int64_t &p) const { return LOGICAL_AXIS_ARRAY(T(e & p), T(x & p), T(y & p), T(z & p), T(i & p), T(j & p), T(k & p), T(u & p), T(v & p), T(w & p)); } FI constexpr XYZEval operator* (const int &p) const { return LOGICAL_AXIS_ARRAY(e * p, x * p, y * p, z * p, i * p, j * p, k * p, u * p, v * p, w * p); } FI constexpr XYZEval operator/ (const float &p) const { return LOGICAL_AXIS_ARRAY(T(e / p), T(x / p), T(y / p), T(z / p), T(i / p), T(j / p), T(k / p), T(u / p), T(v / p), T(w / p)); } FI constexpr XYZEval operator/ (const int &p) const { return LOGICAL_AXIS_ARRAY(e / p, x / p, y / p, z / p, i / p, j / p, k / p, u / p, v / p, w / p); } @@ -905,14 +991,32 @@ struct XYZEval { FI XYZEval& operator<<=(const int &p) { LOGICAL_AXIS_CODE(_LSE(e), _LSE(x), _LSE(y), _LSE(z), _LSE(i), _LSE(j), _LSE(k), _LSE(u), _LSE(v), _LSE(w)); return *this; } // Exact comparisons. For floats a "NEAR" operation may be better. - FI bool operator==(const XYZval &rs) const { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); } - FI bool operator==(const XYZEval &rs) const { return true LOGICAL_AXIS_GANG(&& e == rs.e, && x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); } + FI bool operator==(const XYZval &rs) const { return ENABLED(HAS_X_AXIS) NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); } + FI bool operator==(const XYZEval &rs) const { return ANY(HAS_X_AXIS, HAS_EXTRUDERS) LOGICAL_AXIS_GANG(&& e == rs.e, && x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); } FI bool operator!=(const XYZval &rs) const { return !operator==(rs); } FI bool operator!=(const XYZEval &rs) const { return !operator==(rs); } + + // Exact comparison to a single value + FI bool operator==(const T &p) const { return ENABLED(HAS_X_AXIS) LOGICAL_AXIS_GANG(&& e == p, && x == p, && y == p, && z == p, && i == p, && j == p, && k == p, && u == p, && v == p, && w == p); } + FI bool operator!=(const T &p) const { return !operator==(p); } + + FI bool operator< (const XYZEval &rs) const { return true LOGICAL_AXIS_GANG(&& e < rs.e, && x < rs.x, && y < rs.y, && z < rs.z, && i < rs.i, && j < rs.j, && k < rs.k, && u < rs.u, && v < rs.v, && w < rs.w); } + FI bool operator<=(const XYZEval &rs) const { return true LOGICAL_AXIS_GANG(&& e <= rs.e, && x <= rs.x, && y <= rs.y, && z <= rs.z, && i <= rs.i, && j <= rs.j, && k <= rs.k, && u <= rs.u, && v <= rs.v, && w <= rs.w); } + FI bool operator> (const XYZEval &rs) const { return true LOGICAL_AXIS_GANG(&& e > rs.e, && x > rs.x, && y > rs.y, && z > rs.z, && i > rs.i, && j > rs.j, && k > rs.k, && u > rs.u, && v > rs.v, && w > rs.w); } + FI bool operator>=(const XYZEval &rs) const { return true LOGICAL_AXIS_GANG(&& e >= rs.e, && x >= rs.x, && y >= rs.y, && z >= rs.z, && i >= rs.i, && j >= rs.j, && k >= rs.k, && u >= rs.u, && v >= rs.v, && w >= rs.w); } + + FI bool operator< (const XYZval &rs) const { return true NUM_AXIS_GANG(&& x < rs.x, && y < rs.y, && z < rs.z, && i < rs.i, && j < rs.j, && k < rs.k, && u < rs.u, && v < rs.v, && w < rs.w); } + FI bool operator<=(const XYZval &rs) const { return true NUM_AXIS_GANG(&& x <= rs.x, && y <= rs.y, && z <= rs.z, && i <= rs.i, && j <= rs.j, && k <= rs.k, && u <= rs.u, && v <= rs.v, && w <= rs.w); } + FI bool operator> (const XYZval &rs) const { return true NUM_AXIS_GANG(&& x > rs.x, && y > rs.y, && z > rs.z, && i > rs.i, && j > rs.j, && k > rs.k, && u > rs.u, && v > rs.v, && w > rs.w); } + FI bool operator>=(const XYZval &rs) const { return true NUM_AXIS_GANG(&& x >= rs.x, && y >= rs.y, && z >= rs.z, && i >= rs.i, && j >= rs.j, && k >= rs.k, && u >= rs.u, && v >= rs.v, && w >= rs.w); } + }; #include // for memset +// +// Axis indexed arrays of type T (x[SIZE], y[SIZE], etc.) +// template struct XYZarray { typedef T el[SIZE]; @@ -1012,6 +1116,9 @@ struct XYZEarray { FI XYZEval operator[](const int n) const { return XYZval(LOGICAL_AXIS_ARRAY(e[n], x[n], y[n], z[n], i[n], j[n], k[n], u[n], v[n], w[n])); } }; +// +// Axes mapped to bits in a mask of minimum size, bits_t(NUM_AXIS_HEADS) +// class AxisBits { public: typedef bits_t(NUM_AXIS_HEADS) el; @@ -1209,6 +1316,7 @@ public: FI AxisBits operator|(const AxisBits &p) const { return AxisBits(bits | p.bits); } FI AxisBits operator&(const AxisBits &p) const { return AxisBits(bits & p.bits); } FI AxisBits operator^(const AxisBits &p) const { return AxisBits(bits ^ p.bits); } + FI AxisBits operator~() const { return AxisBits(~bits); } FI operator bool() const { return !!bits; } FI operator uint16_t() const { return uint16_t(bits & 0xFFFF); } diff --git a/Marlin/src/core/utility.cpp b/Marlin/src/core/utility.cpp index cc49cf2cfb..c8b903ecc2 100644 --- a/Marlin/src/core/utility.cpp +++ b/Marlin/src/core/utility.cpp @@ -143,7 +143,7 @@ void safe_delay(millis_t ms) { SERIAL_ECHOPGM("ABL Adjustment"); LOOP_NUM_AXES(a) { SERIAL_ECHOPGM_P((PGM_P)pgm_read_ptr(&SP_AXIS_STR[a])); - serial_offset(planner.get_axis_position_mm(AxisEnum(a)) - current_position[a]); + serial_offset(planner.get_axis_position_mm((AxisEnum)a) - current_position[a]); } #else #if ENABLED(AUTO_BED_LEVELING_UBL) diff --git a/Marlin/src/feature/babystep.cpp b/Marlin/src/feature/babystep.cpp index 91b3c7f403..6a4929e60f 100644 --- a/Marlin/src/feature/babystep.cpp +++ b/Marlin/src/feature/babystep.cpp @@ -26,7 +26,7 @@ #include "babystep.h" #include "../MarlinCore.h" -#include "../module/motion.h" // for axes_should_home(), BABYSTEP_ALLOWED +#include "../module/motion.h" // for axis_should_home(), BABYSTEP_ALLOWED #include "../module/planner.h" // for axis_steps_per_mm[] #include "../module/stepper.h" @@ -49,7 +49,7 @@ int16_t Babystep::accum; void Babystep::step_axis(const AxisEnum axis) { const int16_t curTodo = steps[BS_AXIS_IND(axis)]; // get rid of volatile for performance if (curTodo) { - stepper.do_babystep((AxisEnum)axis, curTodo > 0); + stepper.do_babystep(axis, curTodo > 0); if (curTodo > 0) steps[BS_AXIS_IND(axis)]--; else steps[BS_AXIS_IND(axis)]++; } } diff --git a/Marlin/src/feature/bedlevel/bdl/bdl.cpp b/Marlin/src/feature/bedlevel/bdl/bdl.cpp index 7e9d583cc1..ea4bcc0607 100644 --- a/Marlin/src/feature/bedlevel/bdl/bdl.cpp +++ b/Marlin/src/feature/bedlevel/bdl/bdl.cpp @@ -101,7 +101,7 @@ bool BDS_Leveling::check(const uint16_t data, const bool raw_data/*=false*/, con } float BDS_Leveling::interpret(const uint16_t data) { - return (data & 0x3FF) / 100.0f; + return (data & 0x3FF) * 0.01f; } float BDS_Leveling::read() { diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp index d97f1aa0af..24a1638731 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp +++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp @@ -48,7 +48,7 @@ #include "../hilbert_curve.h" #endif -#if FT_MOTION_DISABLE_FOR_PROBING +#if ENABLED(FT_MOTION) #include "../../../module/ft_motion.h" #endif @@ -313,9 +313,8 @@ void unified_bed_leveling::G29() { const uint8_t p_val = parser.byteval('P'); const bool may_move = p_val == 1 || p_val == 2 || p_val == 4 || parser.seen_test('J'); - #if FT_MOTION_DISABLE_FOR_PROBING - FTMotionDisableInScope FT_Disabler; // Disable Fixed-Time Motion for probing - #endif + // Potentially disable Fixed-Time Motion for probing + TERN_(FT_MOTION, FTM_DISABLE_IN_SCOPE()); // Check for commands that require the printer to be homed if (may_move) { @@ -398,7 +397,7 @@ void unified_bed_leveling::G29() { if (parser.seen('Q')) { const int16_t test_pattern = parser.has_value() ? parser.value_int() : -99; if (!WITHIN(test_pattern, TERN0(UBL_DEVEL_DEBUGGING, -1), 2)) { - SERIAL_ECHOLNPGM("?Invalid (Q) test pattern. (" TERN(UBL_DEVEL_DEBUGGING, "-1", "0") " to 2)\n"); + SERIAL_ECHOLN(F("?Invalid "), F("(Q) test pattern. (" TERN(UBL_DEVEL_DEBUGGING, "-1", "0") " to 2)\n")); return; } SERIAL_ECHOLNPGM("Applying test pattern.\n"); @@ -649,7 +648,7 @@ void unified_bed_leveling::G29() { } if (!WITHIN(param.KLS_storage_slot, 0, a - 1)) { - SERIAL_ECHOLNPGM("?Invalid storage slot.\n?Use 0 to ", a - 1); + SERIAL_ECHOLN(F("?Invalid "), F("storage slot.\n?Use 0 to "), a - 1); return; } @@ -677,7 +676,7 @@ void unified_bed_leveling::G29() { } if (!WITHIN(param.KLS_storage_slot, 0, a - 1)) { - SERIAL_ECHOLNPGM("?Invalid storage slot.\n?Use 0 to ", a - 1); + SERIAL_ECHOLN(F("?Invalid "), F("storage slot.\n?Use 0 to "), a - 1); goto LEAVE; } @@ -782,7 +781,7 @@ void unified_bed_leveling::shift_mesh_height(const float zoffs) { const grid_count_t point_num = (GRID_MAX_POINTS - count) + 1; SERIAL_ECHOLNPGM("Probing mesh point ", point_num, "/", GRID_MAX_POINTS, "."); - TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT_F(MSG_PROBING_POINT), point_num, int(GRID_MAX_POINTS))); + TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT(MSG_PROBING_POINT), point_num, int(GRID_MAX_POINTS))); TERN_(HAS_BACKLIGHT_TIMEOUT, ui.refresh_backlight_timeout()); #if HAS_MARLINUI_MENU @@ -1183,7 +1182,7 @@ bool unified_bed_leveling::G29_parse_parameters() { #if HAS_BED_PROBE param.J_grid_size = parser.value_byte(); if (param.J_grid_size && !WITHIN(param.J_grid_size, 2, 9)) { - SERIAL_ECHOLNPGM("?Invalid grid size (J) specified (2-9).\n"); + SERIAL_ECHOLN(F("?Invalid "), F("grid size (J) specified (2-9).\n")); err_flag = true; } #else @@ -1511,7 +1510,7 @@ void unified_bed_leveling::smart_fill_mesh() { for (uint8_t i = 0; i < 3; ++i) { SERIAL_ECHOLNPGM("Tilting mesh (", i + 1, "/3)"); - TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/3"), GET_TEXT_F(MSG_LCD_TILTING_MESH), i + 1)); + TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/3"), GET_TEXT(MSG_LCD_TILTING_MESH), i + 1)); measured_z = probe.probe_at_point(points[i], i < 2 ? PROBE_PT_RAISE : PROBE_PT_LAST_STOW, param.V_verbosity); if ((abort_flag = isnan(measured_z))) break; @@ -1567,7 +1566,7 @@ void unified_bed_leveling::smart_fill_mesh() { #endif SERIAL_ECHOLNPGM("Tilting mesh point ", point_num, "/", total_points, "\n"); - TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT_F(MSG_LCD_TILTING_MESH), point_num, total_points)); + TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT(MSG_LCD_TILTING_MESH), point_num, total_points)); measured_z = probe.probe_at_point(rpos, parser.seen_test('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, param.V_verbosity); // TODO: Needs error handling @@ -1852,7 +1851,7 @@ void unified_bed_leveling::smart_fill_mesh() { } if (!parser.has_value() || !WITHIN(parser.value_int(), 0, a - 1)) { - SERIAL_ECHOLNPGM("?Invalid storage slot.\n?Use 0 to ", a - 1); + SERIAL_ECHOLN(F("?Invalid "), F("storage slot.\n?Use 0 to "), a - 1); return; } diff --git a/Marlin/src/feature/dac/stepper_dac.cpp b/Marlin/src/feature/dac/stepper_dac.cpp index f5664bc598..65423d3189 100644 --- a/Marlin/src/feature/dac/stepper_dac.cpp +++ b/Marlin/src/feature/dac/stepper_dac.cpp @@ -68,7 +68,7 @@ void StepperDAC::set_current_value(const uint8_t channel, uint16_t val) { } void StepperDAC::set_current_percent(const uint8_t channel, float val) { - set_current_value(channel, _MIN(val, 100.0f) * (DAC_STEPPER_MAX) / 100.0f); + set_current_value(channel, _MIN(val, 100.0f) * (DAC_STEPPER_MAX) * 0.01f); } static float dac_perc(int8_t n) { return mcp4728.getDrvPct(dac_order[n]); } @@ -87,7 +87,7 @@ void StepperDAC::print_values() { LOOP_LOGICAL_AXES(a) { SERIAL_CHAR(' ', IAXIS_CHAR(a), ':'); SERIAL_ECHO(dac_perc(a)); - SERIAL_ECHOPGM_P(PSTR(" ("), dac_amps(AxisEnum(a)), PSTR(")")); + SERIAL_ECHOPGM_P(PSTR(" ("), dac_amps((AxisEnum)a), PSTR(")")); } #if HAS_EXTRUDERS SERIAL_ECHOLNPGM_P(SP_E_LBL, dac_perc(E_AXIS), PSTR(" ("), dac_amps(E_AXIS), PSTR(")")); diff --git a/Marlin/src/feature/e_parser.cpp b/Marlin/src/feature/e_parser.cpp index e249d81969..9e974f2e83 100644 --- a/Marlin/src/feature/e_parser.cpp +++ b/Marlin/src/feature/e_parser.cpp @@ -33,6 +33,9 @@ // Static data members bool EmergencyParser::killed_by_M112, // = false EmergencyParser::quickstop_by_M410, + #if ENABLED(FTM_RESONANCE_TEST) + EmergencyParser::rt_stop_by_M496, // = false + #endif #if HAS_MEDIA EmergencyParser::sd_abort_by_M524, #endif @@ -147,9 +150,22 @@ void EmergencyParser::update(EmergencyParser::State &state, const uint8_t c) { case EP_M10: state = (c == '8') ? EP_M108 : EP_IGNORE; break; case EP_M11: state = (c == '2') ? EP_M112 : EP_IGNORE; break; - case EP_M4: state = (c == '1') ? EP_M41 : EP_IGNORE; break; + case EP_M4: + switch (c) { + case '1' :state = EP_M41; break; + #if ENABLED(FT_MOTION_RESONANCE_TEST) + case '9': state = EP_M49; break; + #endif + default: state = EP_IGNORE; + } + break; + case EP_M41: state = (c == '0') ? EP_M410 : EP_IGNORE; break; + #if ENABLED(FTM_RESONANCE_TEST) + case EP_M49: state = (c == '6') ? EP_M496 : EP_IGNORE; break; + #endif + #if HAS_MEDIA case EP_M5: state = (c == '2') ? EP_M52 : EP_IGNORE; break; case EP_M52: state = (c == '4') ? EP_M524 : EP_IGNORE; break; @@ -195,6 +211,9 @@ void EmergencyParser::update(EmergencyParser::State &state, const uint8_t c) { case EP_M108: wait_for_user = wait_for_heatup = false; break; case EP_M112: killed_by_M112 = true; break; case EP_M410: quickstop_by_M410 = true; break; + #if ENABLED(FTM_RESONANCE_TEST) + case EP_M496: rt_stop_by_M496 = true; break; + #endif #if ENABLED(EP_BABYSTEPPING) case EP_M293: babystep.ep_babysteps++; break; case EP_M294: babystep.ep_babysteps--; break; diff --git a/Marlin/src/feature/e_parser.h b/Marlin/src/feature/e_parser.h index 8dacb0581c..17e85a331d 100644 --- a/Marlin/src/feature/e_parser.h +++ b/Marlin/src/feature/e_parser.h @@ -43,6 +43,9 @@ public: #if HAS_MEDIA EP_M5, EP_M52, EP_M524, #endif + #if ENABLED(FTM_RESONANCE_TEST) + EP_M49, EP_M496, + #endif #if ENABLED(EP_BABYSTEPPING) EP_M2, EP_M29, EP_M293, EP_M294, #endif @@ -64,6 +67,10 @@ public: static bool killed_by_M112; static bool quickstop_by_M410; + #if ENABLED(FTM_RESONANCE_TEST) + static bool rt_stop_by_M496; + #endif + #if HAS_MEDIA static bool sd_abort_by_M524; #endif diff --git a/Marlin/src/feature/encoder_i2c.cpp b/Marlin/src/feature/encoder_i2c.cpp index 1930176aa6..5a47600792 100644 --- a/Marlin/src/feature/encoder_i2c.cpp +++ b/Marlin/src/feature/encoder_i2c.cpp @@ -801,7 +801,7 @@ void I2CPositionEncodersMgr::M860() { if (I2CPE_idx == 0xFF) { LOOP_LOGICAL_AXES(i) { if (!I2CPE_anyaxis || parser.seen_test(AXIS_CHAR(i))) { - const uint8_t idx = idx_from_axis(AxisEnum(i)); + const uint8_t idx = idx_from_axis((AxisEnum)i); if ((int8_t)idx >= 0) report_position(idx, hasU, hasO); } } @@ -828,7 +828,7 @@ void I2CPositionEncodersMgr::M861() { if (I2CPE_idx == 0xFF) { LOOP_LOGICAL_AXES(i) { if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { - const uint8_t idx = idx_from_axis(AxisEnum(i)); + const uint8_t idx = idx_from_axis((AxisEnum)i); if ((int8_t)idx >= 0) report_status(idx); } } @@ -856,7 +856,7 @@ void I2CPositionEncodersMgr::M862() { if (I2CPE_idx == 0xFF) { LOOP_LOGICAL_AXES(i) { if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { - const uint8_t idx = idx_from_axis(AxisEnum(i)); + const uint8_t idx = idx_from_axis((AxisEnum)i); if ((int8_t)idx >= 0) test_axis(idx); } } @@ -887,7 +887,7 @@ void I2CPositionEncodersMgr::M863() { if (I2CPE_idx == 0xFF) { LOOP_LOGICAL_AXES(i) { if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { - const uint8_t idx = idx_from_axis(AxisEnum(i)); + const uint8_t idx = idx_from_axis((AxisEnum)i); if ((int8_t)idx >= 0) calibrate_steps_mm(idx, iterations); } } @@ -963,7 +963,7 @@ void I2CPositionEncodersMgr::M865() { if (!I2CPE_addr) { LOOP_LOGICAL_AXES(i) { if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { - const uint8_t idx = idx_from_axis(AxisEnum(i)); + const uint8_t idx = idx_from_axis((AxisEnum)i); if ((int8_t)idx >= 0) report_module_firmware(encoders[idx].get_address()); } } @@ -994,12 +994,12 @@ void I2CPositionEncodersMgr::M866() { if (I2CPE_idx == 0xFF) { LOOP_LOGICAL_AXES(i) { if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { - const uint8_t idx = idx_from_axis(AxisEnum(i)); + const uint8_t idx = idx_from_axis((AxisEnum)i); if ((int8_t)idx >= 0) { if (hasR) - reset_error_count(idx, AxisEnum(i)); + reset_error_count(idx, (AxisEnum)i); else - report_error_count(idx, AxisEnum(i)); + report_error_count(idx, (AxisEnum)i); } } } @@ -1032,10 +1032,10 @@ void I2CPositionEncodersMgr::M867() { if (I2CPE_idx == 0xFF) { LOOP_LOGICAL_AXES(i) { if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { - const uint8_t idx = idx_from_axis(AxisEnum(i)); + const uint8_t idx = idx_from_axis((AxisEnum)i); if ((int8_t)idx >= 0) { const bool ena = onoff == -1 ? !encoders[I2CPE_idx].get_ec_enabled() : !!onoff; - enable_ec(idx, ena, AxisEnum(i)); + enable_ec(idx, ena, (AxisEnum)i); } } } @@ -1068,7 +1068,7 @@ void I2CPositionEncodersMgr::M868() { if (I2CPE_idx == 0xFF) { LOOP_LOGICAL_AXES(i) { if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { - const uint8_t idx = idx_from_axis(AxisEnum(i)); + const uint8_t idx = idx_from_axis((AxisEnum)i); if ((int8_t)idx >= 0) { if (newThreshold != -9999) set_ec_threshold(idx, newThreshold, encoders[idx].get_axis()); @@ -1102,7 +1102,7 @@ void I2CPositionEncodersMgr::M869() { if (I2CPE_idx == 0xFF) { LOOP_LOGICAL_AXES(i) { if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { - const uint8_t idx = idx_from_axis(AxisEnum(i)); + const uint8_t idx = idx_from_axis((AxisEnum)i); if ((int8_t)idx >= 0) report_error(idx); } } diff --git a/Marlin/src/feature/filwidth.h b/Marlin/src/feature/filwidth.h index d9e2a00025..a16240936a 100644 --- a/Marlin/src/feature/filwidth.h +++ b/Marlin/src/feature/filwidth.h @@ -67,7 +67,7 @@ public: } // Convert raw measurement to mm - static float raw_to_mm(const uint16_t v) { return v * (float(ADC_VREF_MV) / 1000.0f) * RECIPROCAL(float(MAX_RAW_THERMISTOR_VALUE)); } + static float raw_to_mm(const uint16_t v) { return v * (float(ADC_VREF_MV) * 0.001f) * RECIPROCAL(float(MAX_RAW_THERMISTOR_VALUE)); } static float raw_to_mm() { return raw_to_mm(raw); } // A scaled reading is ready diff --git a/Marlin/src/feature/fwretract.cpp b/Marlin/src/feature/fwretract.cpp index 8944d2bd35..5ea20401ea 100644 --- a/Marlin/src/feature/fwretract.cpp +++ b/Marlin/src/feature/fwretract.cpp @@ -164,9 +164,8 @@ void FWRetract::retract(const bool retracting E_OPTARG(bool swapping/*=false*/)) current_retract[active_extruder] = 0; // Recover E, set_current_to_destination - prepare_internal_move_to_destination( - MUL_TERN(RETRACT_SYNC_MIXING, swapping ? settings.swap_retract_recover_feedrate_mm_s : settings.retract_recover_feedrate_mm_s, MIXING_STEPPERS) - ); + const feedRate_t fr_mm_s = swapping ? settings.swap_retract_recover_feedrate_mm_s : settings.retract_recover_feedrate_mm_s; + prepare_internal_move_to_destination(MUL_TERN(RETRACT_SYNC_MIXING, fr_mm_s, MIXING_STEPPERS)); } TERN_(RETRACT_SYNC_MIXING, mixer.T(old_mixing_tool)); // Restore original mixing tool diff --git a/Marlin/src/feature/mmu/mmu2-serial-protocol.md b/Marlin/src/feature/mmu/mmu2-serial-protocol.md index 40799d41a9..474fcd488b 100644 --- a/Marlin/src/feature/mmu/mmu2-serial-protocol.md +++ b/Marlin/src/feature/mmu/mmu2-serial-protocol.md @@ -7,9 +7,9 @@ When initialized, MMU sends We follow with - MMU <= 'S1\n' -- MMU => 'ok*Firmware version*\n' +- MMU => 'ok<_Firmware version_>\n' - MMU <= 'S2\n' -- MMU => 'ok*Build number*\n' +- MMU => 'ok<_Build number_>\n' #if (12V_mode) @@ -19,25 +19,25 @@ We follow with #endif - MMU <= 'P0\n' -- MMU => '_FINDA status_\n' +- MMU => '<_FINDA status_>\n' Now we are sure MMU is available and ready. If there was a timeout or other communication problem somewhere, printer will be killed. -- _Firmware version_ is an integer value, but we don't care about it -- _Build number_ is an integer value and has to be >=126, or =>132 if 12V mode is enabled -- _FINDA status_ is 1 if the filament is loaded to the extruder, 0 otherwise +- <_Firmware version_> is an integer value, but we don't care about it. +- <_Build number_> is an integer value and has to be >=126, or =>132 if 12V mode is enabled. +- <_FINDA status_> is 1 if the filament is loaded to the extruder, 0 otherwise. -_Build number_ is checked against the required value, if it does not match, printer is halted. +<_Build number_> is checked against the required value, if it does not match, printer is halted. # Toolchange -- MMU <= 'T*Filament index*\n' +- MMU <= 'T<_Filament index_>\n' MMU sends - MMU => 'ok\n' -as soon as the filament is fed down to the extruder. We follow with +as soon as the filament is fed down to the extruder. We follow with: - MMU <= 'C0\n' @@ -52,15 +52,15 @@ be one or more extruder moves to feed the filament into the hotend. # FINDA status - MMU <= 'P0\n' -- MMU => '_FINDA status_\n' +- MMU => '<_FINDA status_>\n' _FINDA status_ is 1 if the is filament loaded to the extruder, 0 otherwise. This could be used as filament runout sensor if probed regularly. # Load filament -- MMU <= 'L*Filament index*\n' +- MMU <= 'L<_Filament index_>\n' -MMU will feed filament down to the extruder, when done +MMU will feed filament down to the extruder, when done: - MMU => 'ok\n' @@ -68,11 +68,11 @@ MMU will feed filament down to the extruder, when done - MMU <= 'U0\n' -MMU will retract current filament from the extruder, when done +MMU will retract current filament from the extruder, when done: - MMU => 'ok\n' # Eject filament -- MMU <= 'E*Filament index*\n' +- MMU <= 'E<_Filament index_>\n' - MMU => 'ok\n' diff --git a/Marlin/src/feature/mmu3/mmu3.cpp b/Marlin/src/feature/mmu3/mmu3.cpp index de91916b56..f2c7be3f6a 100644 --- a/Marlin/src/feature/mmu3/mmu3.cpp +++ b/Marlin/src/feature/mmu3/mmu3.cpp @@ -255,7 +255,7 @@ namespace MMU3 { uint8_t block_index = planner.block_buffer_tail; while (block_index != planner.block_buffer_head) { block = &planner.block_buffer[block_index]; - if (block->steps[E_AXIS] != 0) e_active++; + if (block->steps.e != 0) e_active++; block_index = (block_index + 1) & (BLOCK_BUFFER_SIZE - 1); } } @@ -760,10 +760,10 @@ namespace MMU3 { LogEchoEvent(F("Resuming XYZ")); // Move XY to starting position, then Z - motion_do_blocking_move_to_xy(resume_position.x, resume_position.x, feedRate_t(NOZZLE_PARK_XY_FEEDRATE)); + motion_blocking_move_xy(resume_position.x, resume_position.y, feedRate_t(NOZZLE_PARK_XY_FEEDRATE)); // Move Z_AXIS to saved position - motion_do_blocking_move_to_z(resume_position.z, feedRate_t(NOZZLE_PARK_Z_FEEDRATE)); + motion_blocking_move_z(resume_position.z, feedRate_t(NOZZLE_PARK_Z_FEEDRATE)); // From this point forward, power panic should not use // the partial backup in RAM since the extruder is no @@ -867,7 +867,7 @@ namespace MMU3 { nozzle_timer.start(); LogEchoEvent(F("Cooling Timeout started")); } - else if (nozzle_timer.duration() > (PAUSE_PARK_NOZZLE_TIMEOUT * 1000ul)) { // mins->msec. + else if (nozzle_timer.duration() > (PAUSE_PARK_NOZZLE_TIMEOUT * 1000UL)) { // mins->msec. mmu_print_saved &= ~(SavedState::CooldownPending); mmu_print_saved |= SavedState::Cooldown; thermal_setTargetHotend(0); diff --git a/Marlin/src/feature/mmu3/mmu3_marlin.h b/Marlin/src/feature/mmu3/mmu3_marlin.h index 1a0050cd0e..499af0f285 100644 --- a/Marlin/src/feature/mmu3/mmu3_marlin.h +++ b/Marlin/src/feature/mmu3/mmu3_marlin.h @@ -46,8 +46,8 @@ namespace MMU3 { void planner_set_current_position_E(float e); xyz_pos_t planner_current_position(); - void motion_do_blocking_move_to_xy(float rx, float ry, float feedRate_mm_s); - void motion_do_blocking_move_to_z(float z, float feedRate_mm_s); + void motion_blocking_move_xy(float rx, float ry, float feedRate_mm_s); + void motion_blocking_move_z(float z, float feedRate_mm_s); void nozzle_park(); diff --git a/Marlin/src/feature/mmu3/mmu3_marlin1.cpp b/Marlin/src/feature/mmu3/mmu3_marlin1.cpp index 03e50da218..2c4effe106 100644 --- a/Marlin/src/feature/mmu3/mmu3_marlin1.cpp +++ b/Marlin/src/feature/mmu3/mmu3_marlin1.cpp @@ -103,14 +103,13 @@ namespace MMU3 { return xyz_pos_t(current_position); } - void motion_do_blocking_move_to_xy(float rx, float ry, float feedRate_mm_s) { - current_position[X_AXIS] = rx; - current_position[Y_AXIS] = ry; + void motion_blocking_move_xy(float rx, float ry, float feedRate_mm_s) { + current_position.set(rx, ry); planner_line_to_current_position_sync(feedRate_mm_s); } - void motion_do_blocking_move_to_z(float z, float feedRate_mm_s) { - current_position[Z_AXIS] = z; + void motion_blocking_move_z(float z, float feedRate_mm_s) { + current_position.z = z; planner_line_to_current_position_sync(feedRate_mm_s); } @@ -152,34 +151,18 @@ namespace MMU3 { #endif } - int16_t thermal_degTargetHotend() { - return thermalManager.degTargetHotend(0); - } - - int16_t thermal_degHotend() { - return thermalManager.degHotend(0); - } - - void thermal_setExtrudeMintemp(int16_t t) { - thermalManager.extrude_min_temp = t; - } - - void thermal_setTargetHotend(int16_t t) { - thermalManager.setTargetHotend(t, 0); - } + int16_t thermal_degTargetHotend() { return thermalManager.degTargetHotend(0); } + int16_t thermal_degHotend() { return thermalManager.degHotend(0); } + void thermal_setExtrudeMintemp(int16_t t) { thermalManager.extrude_min_temp = t; } + void thermal_setTargetHotend(int16_t t) { thermalManager.setTargetHotend(t, 0); } void safe_delay_keep_alive(uint16_t t) { idle(true); safe_delay(t); } - void Enable_E0() { - stepper.enable_extruder(TERN_(HAS_EXTRUDERS, 0)); - } - - void Disable_E0() { - stepper.disable_extruder(TERN_(HAS_EXTRUDERS, 0)); - } + void Enable_E0() { stepper.enable_extruder(TERN_(HAS_EXTRUDERS, 0)); } + void Disable_E0() { stepper.disable_extruder(TERN_(HAS_EXTRUDERS, 0)); } bool xy_are_trusted() { return axis_is_trusted(X_AXIS) && axis_is_trusted(Y_AXIS); diff --git a/Marlin/src/feature/mmu3/mmu3_protocol_logic.cpp b/Marlin/src/feature/mmu3/mmu3_protocol_logic.cpp index cf74e669b8..4323925b6b 100644 --- a/Marlin/src/feature/mmu3/mmu3_protocol_logic.cpp +++ b/Marlin/src/feature/mmu3/mmu3_protocol_logic.cpp @@ -707,7 +707,7 @@ namespace MMU3 { } bool ProtocolLogic::Elapsed(uint32_t timeout) const { - return _millis() >= (lastUARTActivityMs + timeout); + return ELAPSED(_millis(), lastUARTActivityMs + timeout); } void ProtocolLogic::RecordUARTActivity() { @@ -716,7 +716,7 @@ namespace MMU3 { void ProtocolLogic::RecordReceivedByte(uint8_t c) { lastReceivedBytes[lrb] = c; - lrb = (lrb + 1) % lastReceivedBytes.size(); + lrb = (lrb + 1) % COUNT(lastReceivedBytes); } constexpr char NibbleToChar(uint8_t c) { @@ -728,13 +728,13 @@ namespace MMU3 { } void ProtocolLogic::FormatLastReceivedBytes(char *dst) { - for (uint8_t i = 0; i < lastReceivedBytes.size(); ++i) { - uint8_t b = lastReceivedBytes[(lrb - i - 1) % lastReceivedBytes.size()]; + for (uint8_t i = 0; i < COUNT(lastReceivedBytes); ++i) { + uint8_t b = lastReceivedBytes[(COUNT(lastReceivedBytes) - 1 + (lrb - i)) % COUNT(lastReceivedBytes)]; dst[i * 3] = NibbleToChar(b >> 4); dst[i * 3 + 1] = NibbleToChar(b & 0xf); dst[i * 3 + 2] = ' '; } - dst[(lastReceivedBytes.size() - 1) * 3 + 2] = 0; // terminate properly + dst[(COUNT(lastReceivedBytes) - 1) * 3 + 2] = 0; // terminate properly } void ProtocolLogic::FormatLastResponseMsgAndClearLRB(char *dst) { @@ -777,18 +777,18 @@ namespace MMU3 { } void ProtocolLogic::LogError(const char *reason_P) { - char lrb[lastReceivedBytes.size() * 3]; - FormatLastReceivedBytes(lrb); + char _lrb[COUNT(lastReceivedBytes) * 3]; + FormatLastReceivedBytes(_lrb); MMU2_ERROR_MSGRPGM(reason_P); SERIAL_ECHOPGM(", last bytes: "); - SERIAL_ECHOLN(lrb); + SERIAL_ECHOLN(_lrb); } void ProtocolLogic::LogResponse() { - char lrb[lastReceivedBytes.size()]; - FormatLastResponseMsgAndClearLRB(lrb); - MMU2_ECHO_MSGLN(lrb); + char _lrb[COUNT(lastReceivedBytes)]; + FormatLastResponseMsgAndClearLRB(_lrb); + MMU2_ECHO_MSGLN(_lrb); } StepStatus ProtocolLogic::SuppressShortDropOuts(const char *msg_P, StepStatus ss) { diff --git a/Marlin/src/feature/mmu3/mmu3_protocol_logic.h b/Marlin/src/feature/mmu3/mmu3_protocol_logic.h index 2fef77c276..30f9c5d0d5 100644 --- a/Marlin/src/feature/mmu3/mmu3_protocol_logic.h +++ b/Marlin/src/feature/mmu3/mmu3_protocol_logic.h @@ -36,24 +36,8 @@ #include "mmu_hw/buttons.h" #include "mmu_hw/registers.h" #include "mmu3_protocol.h" - - // #include std array is not available on AVR ... we need to "fake" it - namespace std { - template - class array { - T data[N]; - public: - array() = default; - inline constexpr T *begin() const { return data; } - inline constexpr T *end() const { return data + N; } - static constexpr uint8_t size() { return N; } - inline T &operator[](uint8_t i) { return data[i]; } - }; - } // std - #else // !__AVR__ - #include #include "mmu_hw/error_codes.h" #include "mmu_hw/progress_codes.h" @@ -351,8 +335,7 @@ namespace MMU3 { Protocol protocol; //!< protocol codec - std::array lastReceivedBytes; //!< remembers the last few bytes of incoming communication for diagnostic purposes - uint8_t lrb; + uint8_t lrb, lastReceivedBytes[16]; //!< keep the last few bytes of incoming communication for diagnostic purposes ErrorCode errorCode; //!< last received error code from the MMU ProgressCode progressCode; //!< last received progress code from the MMU diff --git a/Marlin/src/feature/powerloss.cpp b/Marlin/src/feature/powerloss.cpp index 01a4d3bc02..385ca6b72d 100644 --- a/Marlin/src/feature/powerloss.cpp +++ b/Marlin/src/feature/powerloss.cpp @@ -221,7 +221,7 @@ void PrintJobRecovery::save(const bool force/*=false*/, const float zraise/*=POW TERN_(HAS_WORKSPACE_OFFSET, info.workspace_offset = workspace_offset); E_TERN_(info.active_extruder = active_extruder); - #if DISABLED(NO_VOLUMETRICS) + #if HAS_VOLUMETRIC_EXTRUSION info.flag.volumetric_enabled = parser.volumetric_enabled; #if HAS_MULTI_EXTRUDER COPY(info.filament_size, planner.filament_size); @@ -496,7 +496,7 @@ void PrintJobRecovery::resume() { #endif // Recover volumetric extrusion state - #if DISABLED(NO_VOLUMETRICS) + #if HAS_VOLUMETRIC_EXTRUSION #if HAS_MULTI_EXTRUDER EXTRUDER_LOOP() PROCESS_SUBCOMMANDS_NOW(TS(F("M200T"), e, F("D"), p_float_t(info.filament_size[e], 3))); @@ -659,7 +659,7 @@ void PrintJobRecovery::resume() { DEBUG_ECHOLNPGM("active_extruder: ", info.active_extruder); #endif - #if DISABLED(NO_VOLUMETRICS) + #if HAS_VOLUMETRIC_EXTRUSION DEBUG_ECHOPGM("filament_size:"); EXTRUDER_LOOP() DEBUG_ECHOLNPGM(" ", info.filament_size[e]); DEBUG_EOL(); @@ -725,7 +725,7 @@ void PrintJobRecovery::resume() { DEBUG_ECHOLNPGM("flag.dryrun: ", AS_DIGIT(info.flag.dryrun)); DEBUG_ECHOLNPGM("flag.allow_cold_extrusion: ", AS_DIGIT(info.flag.allow_cold_extrusion)); - #if DISABLED(NO_VOLUMETRICS) + #if HAS_VOLUMETRIC_EXTRUSION DEBUG_ECHOLNPGM("flag.volumetric_enabled: ", AS_DIGIT(info.flag.volumetric_enabled)); #endif } diff --git a/Marlin/src/feature/powerloss.h b/Marlin/src/feature/powerloss.h index 187e804aa8..eceb862779 100644 --- a/Marlin/src/feature/powerloss.h +++ b/Marlin/src/feature/powerloss.h @@ -88,7 +88,7 @@ typedef struct { uint8_t active_extruder; #endif - #if DISABLED(NO_VOLUMETRICS) + #if HAS_VOLUMETRIC_EXTRUSION float filament_size[EXTRUDERS]; #endif @@ -140,7 +140,7 @@ typedef struct { #if HAS_LEVELING bool leveling:1; // M420 S #endif - #if DISABLED(NO_VOLUMETRICS) + #if HAS_VOLUMETRIC_EXTRUSION bool volumetric_enabled:1; // M200 S D #endif } flag; diff --git a/Marlin/src/feature/probe_temp_comp.cpp b/Marlin/src/feature/probe_temp_comp.cpp index 413beda161..7dfa28f4b9 100644 --- a/Marlin/src/feature/probe_temp_comp.cpp +++ b/Marlin/src/feature/probe_temp_comp.cpp @@ -212,7 +212,7 @@ void ProbeTempComp::compensate_measurement(const TempSensorID tsi, const celsius } // convert offset to mm and apply it - meas_z -= offset / 1000.0f; + meas_z -= offset * 0.001f; } bool ProbeTempComp::linear_regression(const TempSensorID tsi, float &k, float &d) { diff --git a/Marlin/src/feature/spindle_laser.h b/Marlin/src/feature/spindle_laser.h index 8702bd289a..8305c1fec4 100644 --- a/Marlin/src/feature/spindle_laser.h +++ b/Marlin/src/feature/spindle_laser.h @@ -60,7 +60,7 @@ public: // Convert configured power range to a percentage static constexpr cutter_cpower_t power_floor = TERN(CUTTER_POWER_RELATIVE, SPEED_POWER_MIN, 0); static constexpr uint8_t cpwr_to_pct(const cutter_cpower_t cpwr) { - return cpwr ? round(100.0f * (cpwr - power_floor) / (SPEED_POWER_MAX - power_floor)) : 0; + return cpwr ? LROUND(100.0f * (cpwr - power_floor) / (SPEED_POWER_MAX - power_floor)) : 0; } // Convert config defines from RPM to %, angle or PWM when in Spindle mode @@ -164,7 +164,7 @@ public: */ static cutter_power_t power_to_range(const cutter_power_t pwr, const uint8_t pwrUnit=_CUTTER_POWER(CUTTER_POWER_UNIT)) { static constexpr float - min_pct = TERN(CUTTER_POWER_RELATIVE, 0, TERN(SPINDLE_FEATURE, round(100.0f * (SPEED_POWER_MIN) / (SPEED_POWER_MAX)), SPEED_POWER_MIN)), + min_pct = TERN(CUTTER_POWER_RELATIVE, 0, TERN(SPINDLE_FEATURE, roundf(100.0f * (SPEED_POWER_MIN) / (SPEED_POWER_MAX)), SPEED_POWER_MIN)), max_pct = TERN(SPINDLE_FEATURE, 100, SPEED_POWER_MAX); if (pwr <= 0) return 0; cutter_power_t upwr; diff --git a/Marlin/src/feature/stepper_driver_safety.cpp b/Marlin/src/feature/stepper_driver_safety.cpp index 3ddc05ea1e..acdd695909 100644 --- a/Marlin/src/feature/stepper_driver_safety.cpp +++ b/Marlin/src/feature/stepper_driver_safety.cpp @@ -31,7 +31,7 @@ static uint32_t axis_plug_backward = 0; void stepper_driver_backward_error(FSTR_P const fstr) { SERIAL_ERROR_START(); SERIAL_ECHOLN(fstr, F(" driver is backward!")); - ui.status_printf(2, F(S_FMT S_FMT), FTOP(fstr), GET_TEXT_F(MSG_DRIVER_BACKWARD)); + ui.status_printf(2, F(S_FMT S_FMT), FTOP(fstr), GET_TEXT(MSG_DRIVER_BACKWARD)); } void stepper_driver_backward_check() { diff --git a/Marlin/src/feature/tmc_util.cpp b/Marlin/src/feature/tmc_util.cpp index 06ee4c9e93..b1fc69f88a 100644 --- a/Marlin/src/feature/tmc_util.cpp +++ b/Marlin/src/feature/tmc_util.cpp @@ -973,14 +973,14 @@ TMC_REPORT("[mm/s]\t", TMC_TPWMTHRS_MMS); TMC_REPORT("OT prewarn", TMC_DEBUG_OTPW); #if ENABLED(MONITOR_DRIVER_STATUS) - TMC_REPORT("triggered\n OTP\t", TMC_OTPW_TRIGGERED); + TMC_REPORT("OTPW trig.\t", TMC_OTPW_TRIGGERED); #endif #if HAS_TMC220x - TMC_REPORT("pwm scale sum", TMC_PWM_SCALE_SUM); - TMC_REPORT("pwm scale auto", TMC_PWM_SCALE_AUTO); - TMC_REPORT("pwm offset auto", TMC_PWM_OFS_AUTO); - TMC_REPORT("pwm grad auto", TMC_PWM_GRAD_AUTO); + TMC_REPORT("pwm scale sum", TMC_PWM_SCALE_SUM); + TMC_REPORT("pwm scale auto", TMC_PWM_SCALE_AUTO); + TMC_REPORT("pwm offset auto", TMC_PWM_OFS_AUTO); + TMC_REPORT("pwm grad auto", TMC_PWM_GRAD_AUTO); #endif TMC_REPORT("off time", TMC_TOFF); diff --git a/Marlin/src/gcode/bedlevel/G26.cpp b/Marlin/src/gcode/bedlevel/G26.cpp index b655c3026f..ba4647e6f5 100644 --- a/Marlin/src/gcode/bedlevel/G26.cpp +++ b/Marlin/src/gcode/bedlevel/G26.cpp @@ -663,7 +663,7 @@ void GcodeSuite::G26() { do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES); - #if DISABLED(NO_VOLUMETRICS) + #if HAS_VOLUMETRIC_EXTRUSION bool volumetric_was_enabled = parser.volumetric_enabled; parser.volumetric_enabled = false; planner.calculate_volumetric_multipliers(); @@ -856,7 +856,7 @@ void GcodeSuite::G26() { destination.z = Z_CLEARANCE_BETWEEN_PROBES; move_to(destination, 0); // Raise the nozzle - #if DISABLED(NO_VOLUMETRICS) + #if HAS_VOLUMETRIC_EXTRUSION parser.volumetric_enabled = volumetric_was_enabled; planner.calculate_volumetric_multipliers(); #endif diff --git a/Marlin/src/gcode/bedlevel/abl/G29.cpp b/Marlin/src/gcode/bedlevel/abl/G29.cpp index e0cf28156b..c306274aec 100644 --- a/Marlin/src/gcode/bedlevel/abl/G29.cpp +++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp @@ -59,7 +59,7 @@ #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) #include "../../../core/debug_out.h" -#if DISABLED(PROBE_MANUALLY) && FT_MOTION_DISABLE_FOR_PROBING +#if DISABLED(PROBE_MANUALLY) && ENABLED(FT_MOTION) #include "../../../module/ft_motion.h" #endif @@ -275,8 +275,9 @@ G29_TYPE GcodeSuite::G29() { // Set and report "probing" state to host TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_PROBE, false)); - #if DISABLED(PROBE_MANUALLY) && FT_MOTION_DISABLE_FOR_PROBING - FTMotionDisableInScope FT_Disabler; // Disable Fixed-Time Motion for probing + #if DISABLED(PROBE_MANUALLY) + // Potentially disable Fixed-Time Motion for probing + TERN_(FT_MOTION, FTM_DISABLE_IN_SCOPE()); #endif /** @@ -708,7 +709,7 @@ G29_TYPE GcodeSuite::G29() { if (TERN0(IS_KINEMATIC, !probe.can_reach(abl.probePos))) continue; if (abl.verbose_level) SERIAL_ECHOLNPGM("Probing mesh point ", pt_index, "/", abl.abl_points, "."); - TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT_F(MSG_PROBING_POINT), int(pt_index), int(abl.abl_points))); + TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT(MSG_PROBING_POINT), int(pt_index), int(abl.abl_points))); #if ENABLED(BD_SENSOR_PROBE_NO_STOP) if (PR_INNER_VAR == inStart) { @@ -813,7 +814,7 @@ G29_TYPE GcodeSuite::G29() { for (uint8_t i = 0; i < 3; ++i) { if (abl.verbose_level) SERIAL_ECHOLNPGM("Probing point ", i + 1, "/3."); - TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/3"), GET_TEXT_F(MSG_PROBING_POINT), int(i + 1))); + TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/3"), GET_TEXT(MSG_PROBING_POINT), int(i + 1))); // Retain the last probe position abl.probePos = xy_pos_t(points[i]); diff --git a/Marlin/src/gcode/bedlevel/mbl/G29.cpp b/Marlin/src/gcode/bedlevel/mbl/G29.cpp index 4bd444c5a3..0e48ec1449 100644 --- a/Marlin/src/gcode/bedlevel/mbl/G29.cpp +++ b/Marlin/src/gcode/bedlevel/mbl/G29.cpp @@ -45,7 +45,7 @@ #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) #include "../../../core/debug_out.h" -#if FT_MOTION_DISABLE_FOR_PROBING +#if ENABLED(FT_MOTION) #include "../../module/ft_motion.h" #endif @@ -67,9 +67,8 @@ inline void echo_not_entered(const char c) { SERIAL_CHAR(c); SERIAL_ECHOLNPGM(" */ void GcodeSuite::G29() { - #if FT_MOTION_DISABLE_FOR_PROBING - FTMotionDisableInScope FT_Disabler; // Disable Fixed-Time Motion for probing - #endif + // Potentially disable Fixed-Time Motion for probing + TERN_(FT_MOTION, FTM_DISABLE_IN_SCOPE()); DEBUG_SECTION(log_G29, "G29", true); @@ -261,7 +260,7 @@ void GcodeSuite::G29() { if (state == MeshNext) { SERIAL_ECHOLNPGM("MBL G29 point ", _MIN(mbl_probe_index, GRID_MAX_POINTS), " of ", GRID_MAX_POINTS); - if (mbl_probe_index > 0) TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT_F(MSG_PROBING_POINT), _MIN(mbl_probe_index, GRID_MAX_POINTS), int(GRID_MAX_POINTS))); + if (mbl_probe_index > 0) TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT(MSG_PROBING_POINT), _MIN(mbl_probe_index, GRID_MAX_POINTS), int(GRID_MAX_POINTS))); } report_current_position(); diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp index 6ac51e4235..20b50cd7f1 100644 --- a/Marlin/src/gcode/calibrate/G28.cpp +++ b/Marlin/src/gcode/calibrate/G28.cpp @@ -52,7 +52,7 @@ #include "../../feature/bltouch.h" #endif -#if FT_MOTION_DISABLE_FOR_PROBING +#if ENABLED(FT_MOTION) #include "../../module/ft_motion.h" #endif @@ -130,9 +130,8 @@ inline void home_z_safely() { - #if FT_MOTION_DISABLE_FOR_PROBING - FTMotionDisableInScope FT_Disabler; // Disable Fixed-Time Motion for homing - #endif + // Potentially disable Fixed-Time Motion for homing + TERN_(FT_MOTION, FTM_DISABLE_IN_SCOPE()); DEBUG_SECTION(log_G28, "home_z_safely", DEBUGGING(LEVELING)); @@ -290,9 +289,8 @@ void GcodeSuite::G28() { motion_state_t saved_motion_state = begin_slow_homing(); #endif - #if FT_MOTION_DISABLE_FOR_PROBING - FTMotionDisableInScope FT_Disabler; // Disable Fixed-Time Motion for homing - #endif + // Potentially disable Fixed-Time Motion for homing + TERN_(FT_MOTION, FTM_DISABLE_IN_SCOPE()); // Always home with tool 0 active #if HAS_MULTI_HOTEND diff --git a/Marlin/src/gcode/calibrate/G33.cpp b/Marlin/src/gcode/calibrate/G33.cpp index 11c3cdca78..1eabb30ffa 100644 --- a/Marlin/src/gcode/calibrate/G33.cpp +++ b/Marlin/src/gcode/calibrate/G33.cpp @@ -154,7 +154,7 @@ static float std_dev_points(float z_pt[NPP + 1], const bool _0p_cal, const bool S2 += sq(z_pt[rad]); N++; } - return LROUND(SQRT(S2 / N) * 1000.0f) / 1000.0f + 0.00001f; + return LROUND(SQRT(S2 / N) * 1000.0f) * 0.001f + 0.00001f; } } return 0.00001f; @@ -315,7 +315,7 @@ static void calc_kinematics_diff_probe_points(float z_pt[NPP + 1], const float d static float auto_tune_h(const float dcr) { const float r_quot = dcr / delta_radius; - return RECIPROCAL(r_quot / (2.0f / 3.0f)); // (2/3)/CR + return RECIPROCAL(r_quot * (3.0f / 2.0f)); // (2/3)/CR } static float auto_tune_r(const float dcr) { @@ -490,7 +490,7 @@ void GcodeSuite::G33() { float z_at_pt[NPP + 1] = { 0.0f }; - test_precision = zero_std_dev_old != 999.0f ? (zero_std_dev + zero_std_dev_old) / 2.0f : zero_std_dev; + test_precision = zero_std_dev_old != 999.0f ? (zero_std_dev + zero_std_dev_old) * 0.5f : zero_std_dev; iterations++; // Probe the points @@ -527,7 +527,7 @@ void GcodeSuite::G33() { * - Definition of the matrix scaling parameters * - Matrices for 4 and 7 point calibration */ - #define ZP(N,I) ((N) * z_at_pt[I] / 4.0f) // 4.0 = divider to normalize to integers + #define ZP(N,I) ((N) * z_at_pt[I] * 0.25f) // 4.0 = divider to normalize to integers #define Z12(I) ZP(12, I) #define Z4(I) ZP(4, I) #define Z2(I) ZP(2, I) diff --git a/Marlin/src/gcode/calibrate/G34_M422.cpp b/Marlin/src/gcode/calibrate/G34_M422.cpp index aba828d6dd..6c367ad882 100644 --- a/Marlin/src/gcode/calibrate/G34_M422.cpp +++ b/Marlin/src/gcode/calibrate/G34_M422.cpp @@ -236,10 +236,8 @@ void GcodeSuite::G34() { Z_TWEEN_SAFE_CLEARANCE // z_clearance ); - if (DEBUGGING(LEVELING)) { - DEBUG_ECHOLNPGM_P(PSTR("Probing X"), ppos.x, SP_Y_STR, ppos.y); - DEBUG_ECHOLNPGM("Height = ", z_probed_height); - } + if (DEBUGGING(LEVELING)) + DEBUG_ECHOLN(F("Probing X"), ppos.x, FPSTR(SP_Y_STR), ppos.y, F(" Height = "), z_probed_height); if (isnan(z_probed_height)) { SERIAL_ECHOLNPGM(STR_ERR_PROBING_FAILED); @@ -392,7 +390,7 @@ void GcodeSuite::G34() { // Decreasing accuracy was detected so move was inverted. // Will match reversed Z steppers on dual steppers. Triple will need more work to map. if (adjustment_reverse) { - z_align_move = -z_align_move; + z_align_move *= -1; if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Z", zstepper + 1, " correction reversed to ", z_align_move); } #endif diff --git a/Marlin/src/gcode/calibrate/G76_M871.cpp b/Marlin/src/gcode/calibrate/G76_M871.cpp index 7051540e7b..a909ef4c84 100644 --- a/Marlin/src/gcode/calibrate/G76_M871.cpp +++ b/Marlin/src/gcode/calibrate/G76_M871.cpp @@ -320,7 +320,7 @@ */ void GcodeSuite::M871() { - if (parser.seen('R')) { + if (parser.seen_test('R')) { // Reset z-probe offsets to factory defaults ptc.clear_all_offsets(); SERIAL_ECHOLNPGM("Offsets reset to default."); diff --git a/Marlin/src/gcode/calibrate/M425.cpp b/Marlin/src/gcode/calibrate/M425.cpp index fcf6296697..5dab92a307 100644 --- a/Marlin/src/gcode/calibrate/M425.cpp +++ b/Marlin/src/gcode/calibrate/M425.cpp @@ -94,7 +94,7 @@ void GcodeSuite::M425() { #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING) SERIAL_ECHOPGM(" Average measured backlash (mm):"); if (backlash.has_any_measurement()) { - LOOP_NUM_AXES(a) if (axis_can_calibrate(a) && backlash.has_measurement(AxisEnum(a))) { + LOOP_NUM_AXES(a) if (axis_can_calibrate(a) && backlash.has_measurement((AxisEnum)a)) { SERIAL_ECHOPGM_P((PGM_P)pgm_read_ptr(&SP_AXIS_STR[a]), backlash.get_measurement((AxisEnum)a)); } } diff --git a/Marlin/src/gcode/calibrate/M48.cpp b/Marlin/src/gcode/calibrate/M48.cpp index f57bfeb584..0c4355f5b1 100644 --- a/Marlin/src/gcode/calibrate/M48.cpp +++ b/Marlin/src/gcode/calibrate/M48.cpp @@ -149,7 +149,7 @@ void GcodeSuite::M48() { for (uint8_t n = 0; n < n_samples; ++n) { #if HAS_STATUS_MESSAGE // Display M48 progress in the status bar - ui.status_printf(0, F(S_FMT ": %d/%d"), GET_TEXT_F(MSG_M48_POINT), int(n + 1), int(n_samples)); + ui.status_printf(0, F(S_FMT ": %d/%d"), GET_TEXT(MSG_M48_POINT), int(n + 1), int(n_samples)); #endif // When there are "legs" of movement move around the point before probing diff --git a/Marlin/src/gcode/config/M200-M205.cpp b/Marlin/src/gcode/config/M200-M205.cpp index dd4eada06f..53d0b4b4a8 100644 --- a/Marlin/src/gcode/config/M200-M205.cpp +++ b/Marlin/src/gcode/config/M200-M205.cpp @@ -24,7 +24,7 @@ #include "../../MarlinCore.h" #include "../../module/planner.h" -#if DISABLED(NO_VOLUMETRICS) +#if HAS_VOLUMETRIC_EXTRUSION /** * M200: Set filament diameter and set E axis units to cubic units @@ -107,7 +107,7 @@ #endif } -#endif // !NO_VOLUMETRICS +#endif // HAS_VOLUMETRIC_EXTRUSION /** * M201: Set max acceleration in units/s^2 for print moves. diff --git a/Marlin/src/gcode/config/M210.cpp b/Marlin/src/gcode/config/M210.cpp index f9ae155f60..f07e009b4a 100644 --- a/Marlin/src/gcode/config/M210.cpp +++ b/Marlin/src/gcode/config/M210.cpp @@ -48,31 +48,31 @@ void GcodeSuite::M210() { return M210_report(); #if HAS_X_AXIS - if (parser.floatval('X') > 0) homing_feedrate_mm_m.x = parser.value_axis_units(X_AXIS); + if (parser.floatval(AXIS1_PARAM) > 0) homing_feedrate_mm_m.x = parser.value_axis_units(X_AXIS); #endif #if HAS_Y_AXIS - if (parser.floatval('Y') > 0) homing_feedrate_mm_m.y = parser.value_axis_units(Y_AXIS); + if (parser.floatval(AXIS2_PARAM) > 0) homing_feedrate_mm_m.y = parser.value_axis_units(Y_AXIS); #endif #if HAS_Z_AXIS - if (parser.floatval('Z') > 0) homing_feedrate_mm_m.z = parser.value_axis_units(Z_AXIS); + if (parser.floatval(AXIS3_PARAM) > 0) homing_feedrate_mm_m.z = parser.value_axis_units(Z_AXIS); #endif #if HAS_I_AXIS - if (parser.floatval(AXIS4_NAME) > 0) homing_feedrate_mm_m.i = parser.value_axis_units(I_AXIS); + if (parser.floatval(AXIS4_PARAM) > 0) homing_feedrate_mm_m.i = parser.value_axis_units(I_AXIS); #endif #if HAS_J_AXIS - if (parser.floatval(AXIS5_NAME) > 0) homing_feedrate_mm_m.j = parser.value_axis_units(J_AXIS); + if (parser.floatval(AXIS5_PARAM) > 0) homing_feedrate_mm_m.j = parser.value_axis_units(J_AXIS); #endif #if HAS_K_AXIS - if (parser.floatval(AXIS6_NAME) > 0) homing_feedrate_mm_m.k = parser.value_axis_units(K_AXIS); + if (parser.floatval(AXIS6_PARAM) > 0) homing_feedrate_mm_m.k = parser.value_axis_units(K_AXIS); #endif #if HAS_U_AXIS - if (parser.floatval(AXIS7_NAME) > 0) homing_feedrate_mm_m.u = parser.value_axis_units(U_AXIS); + if (parser.floatval(AXIS7_PARAM) > 0) homing_feedrate_mm_m.u = parser.value_axis_units(U_AXIS); #endif #if HAS_V_AXIS - if (parser.floatval(AXIS8_NAME) > 0) homing_feedrate_mm_m.v = parser.value_axis_units(V_AXIS); + if (parser.floatval(AXIS8_PARAM) > 0) homing_feedrate_mm_m.v = parser.value_axis_units(V_AXIS); #endif #if HAS_W_AXIS - if (parser.floatval(AXIS9_NAME) > 0) homing_feedrate_mm_m.w = parser.value_axis_units(W_AXIS); + if (parser.floatval(AXIS9_PARAM) > 0) homing_feedrate_mm_m.w = parser.value_axis_units(W_AXIS); #endif } diff --git a/Marlin/src/gcode/config/M43.cpp b/Marlin/src/gcode/config/M43.cpp index a515acb241..deeabf8fac 100644 --- a/Marlin/src/gcode/config/M43.cpp +++ b/Marlin/src/gcode/config/M43.cpp @@ -154,37 +154,36 @@ inline void servo_probe_test() { SET_INPUT_PULLUP(PROBE_TEST_PIN); - // First, check for a probe that recognizes an advanced BLTouch sequence. - // In addition to STOW and DEPLOY, it uses SW MODE (and RESET in the beginning) - // to see if this is one of the following: BLTOUCH Classic 1.2, 1.3, or - // BLTouch Smart 1.0, 2.0, 2.2, 3.0, 3.1. But only if the user has actually - // configured a BLTouch as being present. If the user has not configured this, - // the BLTouch will be detected in the last phase of these tests (see further on). - bool blt = false; - // This code will try to detect a BLTouch probe or clone + /** + * This code will try to detect a BLTouch probe or clone. + * First, check for a probe that recognizes an advanced BLTouch sequence. + * In addition to STOW and DEPLOY, it uses SW MODE (and RESET in the beginning) + * to see if this is one of the following: BLTOUCH Classic 1.2, 1.3, or + * BLTouch Smart 1.0, 2.0, 2.2, 3.0, 3.1. But only if the user has actually + * configured a BLTouch as being present. If the user has not configured this, + * the BLTouch will be detected in the last phase of these tests (see further on). + */ #if ENABLED(BLTOUCH) - SERIAL_ECHOLNPGM(". Check for BLTOUCH"); - bltouch._reset(); - bltouch._stow(); - if (!PROBE_TRIGGERED()) { - bltouch._set_SW_mode(); - if (PROBE_TRIGGERED()) { - bltouch._deploy(); - if (!PROBE_TRIGGERED()) { - bltouch._stow(); - SERIAL_ECHOLNPGM("= BLTouch Classic 1.2, 1.3, Smart 1.0, 2.0, 2.2, 3.0, 3.1 detected."); - // Check for a 3.1 by letting the user trigger it, later - blt = true; - } - } - } + bool blt = false; + do { + SERIAL_ECHOLNPGM(". Check for BLTOUCH"); + bltouch._reset(); + bltouch._stow(); if ( PROBE_TRIGGERED()) break; + bltouch._set_SW_mode(); if (!PROBE_TRIGGERED()) break; + bltouch._deploy(); if ( PROBE_TRIGGERED()) break; + bltouch._stow(); + SERIAL_ECHOLNPGM("= BLTouch Classic 1.2, 1.3, Smart 1.0, 2.0, 2.2, 3.0, 3.1 detected."); + blt = true; // Check for a 3.1 by letting the user trigger it, later + } while(0); + #else + static constexpr bool blt = false; #endif // The following code is common to all kinds of servo probes. // Since it could be a real servo or a BLTouch (any kind) or a clone, // use only "common" functions - i.e. SERVO_MOVE. No bltouch.xxxx stuff. - // If it is already recognised as a being a BLTouch, no need for this test + // If it is already recognized as a being a BLTouch, no need for this test if (!blt) { // DEPLOY and STOW 4 times and see if the signal follows // Then it is a mechanical switch diff --git a/Marlin/src/gcode/control/M17_M18_M84.cpp b/Marlin/src/gcode/control/M17_M18_M84.cpp index 1742d288b3..90563889f3 100644 --- a/Marlin/src/gcode/control/M17_M18_M84.cpp +++ b/Marlin/src/gcode/control/M17_M18_M84.cpp @@ -78,7 +78,7 @@ void do_enable(const stepper_flags_t to_enable) { // Enable all flagged axes LOOP_NUM_AXES(a) { if (TEST(shall_enable, a)) { - stepper.enable_axis(AxisEnum(a)); // Mark and enable the requested axis + stepper.enable_axis((AxisEnum)a); // Mark and enable the requested axis DEBUG_ECHOLNPGM("Enabled ", AXIS_CHAR(a), " (", a, ") with overlap ", hex_word(enable_overlap[a]), " ... Enabled: ", hex_word(stepper.axis_enabled.bits)); also_enabled |= enable_overlap[a]; } @@ -153,7 +153,7 @@ void try_to_disable(const stepper_flags_t to_disable) { LOOP_NUM_AXES(a) if (TEST(to_disable.bits, a)) { DEBUG_ECHOPGM("Try to disable ", AXIS_CHAR(a), " (", a, ") with overlap ", hex_word(enable_overlap[a]), " ... "); - if (stepper.disable_axis(AxisEnum(a))) { // Mark the requested axis and request to disable + if (stepper.disable_axis((AxisEnum)a)) { // Mark the requested axis and request to disable DEBUG_ECHOPGM("OK"); still_enabled &= ~(_BV(a) | enable_overlap[a]); // If actually disabled, clear one or more tracked bits } diff --git a/Marlin/src/gcode/feature/advance/M900.cpp b/Marlin/src/gcode/feature/advance/M900.cpp index 7b92cad9d2..7631cd0e8c 100644 --- a/Marlin/src/gcode/feature/advance/M900.cpp +++ b/Marlin/src/gcode/feature/advance/M900.cpp @@ -22,7 +22,7 @@ #include "../../../inc/MarlinConfig.h" -#if ENABLED(LIN_ADVANCE) +#if HAS_LIN_ADVANCE_K #include "../../gcode.h" #include "../../../module/planner.h" @@ -41,6 +41,9 @@ * With ADVANCE_K_EXTRA: * S<0/1> Activate slot 0 or 1. * L Set secondary advance K factor (Slot 1). + * + * With SMOOTH_LIN_ADVANCE: + * U Set a tau value for LA smoothing */ void GcodeSuite::M900() { @@ -191,4 +194,4 @@ void GcodeSuite::M900_report(const bool forReplay/*=true*/) { } } -#endif // LIN_ADVANCE +#endif // HAS_LIN_ADVANCE_K diff --git a/Marlin/src/gcode/feature/cancel/M486.cpp b/Marlin/src/gcode/feature/cancel/M486.cpp index 37347e9d43..237654e433 100644 --- a/Marlin/src/gcode/feature/cancel/M486.cpp +++ b/Marlin/src/gcode/feature/cancel/M486.cpp @@ -47,7 +47,7 @@ void GcodeSuite::M486() { if (parser.seenval('S')) cancelable.set_active_object(parser.value_int()); - if (parser.seen('C')) cancelable.cancel_active_object(); + if (parser.seen_test('C')) cancelable.cancel_active_object(); if (parser.seenval('P')) cancelable.cancel_object(parser.value_int()); diff --git a/Marlin/src/gcode/feature/ft_motion/M493.cpp b/Marlin/src/gcode/feature/ft_motion/M493.cpp index 606d23179d..6696ae64af 100644 --- a/Marlin/src/gcode/feature/ft_motion/M493.cpp +++ b/Marlin/src/gcode/feature/ft_motion/M493.cpp @@ -28,8 +28,9 @@ #include "../../../module/ft_motion.h" #include "../../../module/stepper.h" -void say_shaper_type(const AxisEnum a) { - SERIAL_ECHOPGM(" axis "); +void say_shaper_type(const AxisEnum a, bool &sep, const char axis_name) { + if (sep) SERIAL_ECHOPGM(" ; "); + SERIAL_CHAR(axis_name, '='); switch (ftMotion.cfg.shaper[a]) { default: break; case ftMotionShaper_ZV: SERIAL_ECHOPGM("ZV"); break; @@ -41,49 +42,36 @@ void say_shaper_type(const AxisEnum a) { case ftMotionShaper_3HEI: SERIAL_ECHOPGM("3 Hump EI"); break; case ftMotionShaper_MZV: SERIAL_ECHOPGM("MZV"); break; } - SERIAL_ECHOPGM(" shaping"); + sep = true; } -#if CORE_IS_XY || CORE_IS_XZ - #define AXIS_0_NAME "A" -#else - #define AXIS_0_NAME "X" -#endif -#if CORE_IS_XY || CORE_IS_YZ - #define AXIS_1_NAME "B" -#else - #define AXIS_1_NAME "Y" -#endif - void say_shaping() { + const ft_config_t &c = ftMotion.cfg; + // FT Enabled - SERIAL_ECHO_TERNARY(ftMotion.cfg.active, "Fixed-Time Motion ", "en", "dis", "abled"); + SERIAL_ECHO_TERNARY(c.active, "Fixed-Time Motion ", "en", "dis", "abled"); // FT Shaping - #if HAS_X_AXIS - if (AXIS_IS_SHAPING(X)) { - SERIAL_ECHOPGM(" with " AXIS_0_NAME); - say_shaper_type(X_AXIS); - } - #endif - #if HAS_Y_AXIS - if (AXIS_IS_SHAPING(Y)) { - SERIAL_ECHOPGM(" and with " AXIS_1_NAME); - say_shaper_type(Y_AXIS); - } - #endif + const bool is_shaping = AXIS_IS_SHAPING(X) || AXIS_IS_SHAPING(Y) || AXIS_IS_SHAPING(Z) || AXIS_IS_SHAPING(E); + bool sep = false; + if (is_shaping) { + #define STEPPER_E_NAME 'E' + #define _SAY_SHAPER(A) if (AXIS_IS_SHAPING(A)) say_shaper_type(_AXIS(A), sep, STEPPER_##A##_NAME); + SERIAL_ECHOPGM(" ("); + SHAPED_CODE(_SAY_SHAPER(A), _SAY_SHAPER(B), _SAY_SHAPER(C), _SAY_SHAPER(E)); + SERIAL_CHAR(')'); + } + SERIAL_EOL(); - SERIAL_ECHOLNPGM("."); - - const bool z_based = TERN0(HAS_DYNAMIC_FREQ_MM, ftMotion.cfg.dynFreqMode == dynFreqMode_Z_BASED), - g_based = TERN0(HAS_DYNAMIC_FREQ_G, ftMotion.cfg.dynFreqMode == dynFreqMode_MASS_BASED), + const bool z_based = TERN0(HAS_DYNAMIC_FREQ_MM, c.dynFreqMode == dynFreqMode_Z_BASED), + g_based = TERN0(HAS_DYNAMIC_FREQ_G, c.dynFreqMode == dynFreqMode_MASS_BASED), dynamic = z_based || g_based; // FT Dynamic Frequency Mode - if (AXIS_IS_SHAPING(X) || AXIS_IS_SHAPING(Y)) { + if (is_shaping) { #if HAS_DYNAMIC_FREQ SERIAL_ECHOPGM("Dynamic Frequency Mode "); - switch (ftMotion.cfg.dynFreqMode) { + switch (c.dynFreqMode) { default: case dynFreqMode_DISABLED: SERIAL_ECHOPGM("disabled"); break; #if HAS_DYNAMIC_FREQ_MM @@ -97,31 +85,35 @@ void say_shaping() { #endif #if HAS_X_AXIS - SERIAL_ECHO_TERNARY(dynamic, AXIS_0_NAME " ", "base dynamic", "static", " shaper frequency: "); - SERIAL_ECHO(p_float_t(ftMotion.cfg.baseFreq.x, 2), F("Hz")); + SERIAL_CHAR(STEPPER_A_NAME); + SERIAL_ECHO_TERNARY(dynamic, " ", "base dynamic", "static", " shaper frequency: "); + SERIAL_ECHO(p_float_t(c.baseFreq.x, 2), F("Hz")); #if HAS_DYNAMIC_FREQ - if (dynamic) SERIAL_ECHO(F(" scaling: "), p_float_t(ftMotion.cfg.dynFreqK.x, 2), F("Hz/"), z_based ? F("mm") : F("g")); + if (dynamic) SERIAL_ECHO(F(" scaling: "), p_float_t(c.dynFreqK.x, 2), F("Hz/"), z_based ? F("mm") : F("g")); #endif SERIAL_EOL(); #endif #if HAS_Y_AXIS - SERIAL_ECHO_TERNARY(dynamic, AXIS_1_NAME " ", "base dynamic", "static", " shaper frequency: "); - SERIAL_ECHO(p_float_t(ftMotion.cfg.baseFreq.y, 2), F(" Hz")); + SERIAL_CHAR(STEPPER_B_NAME); + SERIAL_ECHO_TERNARY(dynamic, " ", "base dynamic", "static", " shaper frequency: "); + SERIAL_ECHO(p_float_t(c.baseFreq.y, 2), F(" Hz")); #if HAS_DYNAMIC_FREQ - if (dynamic) SERIAL_ECHO(F(" scaling: "), p_float_t(ftMotion.cfg.dynFreqK.y, 2), F("Hz/"), z_based ? F("mm") : F("g")); + if (dynamic) SERIAL_ECHO(F(" scaling: "), p_float_t(c.dynFreqK.y, 2), F("Hz/"), z_based ? F("mm") : F("g")); + #endif + SERIAL_EOL(); + #endif + + #if ENABLED(FTM_SHAPER_Z) + SERIAL_CHAR(STEPPER_C_NAME); + SERIAL_ECHO_TERNARY(dynamic, " ", "base dynamic", "static", " shaper frequency: "); + SERIAL_ECHO(p_float_t(c.baseFreq.z, 2), F(" Hz")); + #if HAS_DYNAMIC_FREQ + if (dynamic) SERIAL_ECHO(F(" scaling: "), p_float_t(c.dynFreqK.z, 2), F("Hz/"), z_based ? F("mm") : F("g")); #endif SERIAL_EOL(); #endif } - - #if HAS_EXTRUDERS - SERIAL_ECHO_TERNARY(ftMotion.cfg.linearAdvEna, "Linear Advance ", "en", "dis", "abled"); - if (ftMotion.cfg.linearAdvEna) - SERIAL_ECHOLNPGM(". Gain: ", ftMotion.cfg.linearAdvK); - else - SERIAL_EOL(); - #endif } void GcodeSuite::M493_report(const bool forReplay/*=true*/) { @@ -129,26 +121,31 @@ void GcodeSuite::M493_report(const bool forReplay/*=true*/) { report_heading_etc(forReplay, F(STR_FT_MOTION)); const ft_config_t &c = ftMotion.cfg; - SERIAL_ECHOPGM(" M493 S", c.active); - #if HAS_X_AXIS - SERIAL_ECHOPGM(" A", c.baseFreq.x); - #if HAS_Y_AXIS - SERIAL_ECHOPGM(" B", c.baseFreq.y); + + SERIAL_ECHOLNPGM( + " M493 S", c.active + #if HAS_DYNAMIC_FREQ + , " D", c.dynFreqMode #endif - #endif + // Axis Synchronization + , " H", c.axis_sync_enabled + ); + #if HAS_DYNAMIC_FREQ - SERIAL_ECHOPGM(" D", c.dynFreqMode); - #if HAS_X_AXIS - SERIAL_ECHOPGM(" F", c.dynFreqK.x); - #if HAS_Y_AXIS - SERIAL_ECHOPGM(" H", c.dynFreqK.y); - #endif - #endif + #define F_REPORT(A) , F(" F"), c.dynFreqK.A + #else + #define F_REPORT(A) #endif - #if HAS_EXTRUDERS - SERIAL_ECHOPGM(" P", c.linearAdvEna, " K", c.linearAdvK); - #endif - SERIAL_EOL(); + #define _REPORT_M493_AXIS(A) \ + SERIAL_ECHOLN(F(" M493 "), C(AXIS_CHAR(_AXIS(A))) \ + , F(" C"), c.shaper.A \ + , F(" A"), c.baseFreq.A \ + F_REPORT(A) \ + , F(" I"), c.zeta.A \ + , F(" Q"), c.vtol.A \ + ); + // Shaper type for each axis + SHAPED_MAP(_REPORT_M493_AXIS); } /** @@ -158,8 +155,23 @@ void GcodeSuite::M493_report(const bool forReplay/*=true*/) { * 0: Fixed-Time Motion OFF (Standard Motion) * 1: Fixed-Time Motion ON * - * X/Y Set the vibration compensator [input shaper] mode for X / Y axis. - * Users / slicers must remember to set the mode for both axes! + * V Flag to request version (Version 2+). (No reply = Version < 2) + * + * H Enable (1) or Disable (0) Axis Synchronization. + * + * Linear / Pressure Advance: + * + * P Enable (1) or Disable (0) Linear Advance pressure control + * + * Specifying Axes (for A,C,F,I,Q): + * + * X/Y/Z/E : Flag the axes (or core steppers) on which to apply the given parameters + * If none are given then XY is assumed. + * + * Compensator / Input Shaper: + * + * C Set Compensator Mode (Input Shaper) for the specified axes + * Users / slicers must remember to set the mode for all relevant axes! * 0: NONE : No input shaper * 1: ZV : Zero Vibration * 2: ZVD : Zero Vibration and Derivative @@ -170,26 +182,27 @@ void GcodeSuite::M493_report(const bool forReplay/*=true*/) { * 7: 3HEI : 3-Hump Extra-Intensive * 8: MZV : Mass-based Zero Vibration * - * P Enable (1) or Disable (0) Linear Advance pressure control + * A Set static/base frequency for the specified axes + * I Set damping ratio for the specified axes + * Q Set vibration tolerance (vtol) for the specified axes * - * K Set Linear Advance gain + * Dynamic Frequency Mode: * - * D Set Dynamic Frequency mode + * D Set Dynamic Frequency mode (for all axis compensators) * 0: DISABLED * 1: Z-based (Requires a Z axis) * 2: Mass-based (Requires X and E axes) * - * A Set static/base frequency for the X axis - * F Set frequency scaling for the X axis - * I 0.0 Set damping ratio for the X axis - * Q 0.00 Set the vibration tolerance for the X axis + * F Set frequency scaling for the specified axes * - * B Set static/base frequency for the Y axis - * H Set frequency scaling for the Y axis - * J 0.0 Set damping ratio for the Y axis - * R 0.00 Set the vibration tolerance for the Y axis */ void GcodeSuite::M493() { + // Request version of FTM. (No response = Version < 2) + if (parser.seen('V') && !parser.has_value()) { + SERIAL_ECHOLNPGM("FTM V" STRINGIFY(FTM_VERSION)); + return; + } + struct { bool update:1, report:1; } flag = { false }; if (!parser.seen_any()) @@ -205,65 +218,42 @@ void GcodeSuite::M493() { } } - #if HAS_X_AXIS - auto set_shaper = [&](const AxisEnum axis, const char c) { - const ftMotionShaper_t newsh = (ftMotionShaper_t)parser.value_byte(); + #if NUM_AXES_SHAPED > 0 + + const bool seenC = parser.seenval('C'); + const ftMotionShaper_t shaperVal = seenC ? (ftMotionShaper_t)parser.value_byte() : ftMotionShaper_NONE; + const bool goodShaper = WITHIN(shaperVal, ftMotionShaper_NONE, ftMotionShaper_MZV); + if (seenC && !goodShaper) { + SERIAL_ECHOLN(F("?Invalid "), F("(C)ompensator value. (0-"), int(ftMotionShaper_MZV)); + return; + } + auto set_shaper = [&](const AxisEnum axis, ftMotionShaper_t newsh) { if (newsh != ftMotion.cfg.shaper[axis]) { - switch (newsh) { - default: SERIAL_ECHOLNPGM("?Invalid [", C(c), "] shaper."); return true; - case ftMotionShaper_NONE: - case ftMotionShaper_ZV: - case ftMotionShaper_ZVD: - case ftMotionShaper_ZVDD: - case ftMotionShaper_ZVDDD: - case ftMotionShaper_EI: - case ftMotionShaper_2HEI: - case ftMotionShaper_3HEI: - case ftMotionShaper_MZV: - ftMotion.cfg.shaper[axis] = newsh; - flag.update = flag.report = true; - break; - } + ftMotion.cfg.shaper[axis] = newsh; + flag.update = flag.report = true; } - return false; }; + if (seenC) { + #define _SET_SHAPER(A) set_shaper(_AXIS(A), shaperVal); + SHAPED_MAP(_SET_SHAPER); + } - if (parser.seenval('X') && set_shaper(X_AXIS, 'X')) return; // Parse 'X' mode parameter + #endif // NUM_AXES_SHAPED > 0 - #if HAS_Y_AXIS - if (parser.seenval('Y') && set_shaper(Y_AXIS, 'Y')) return; // Parse 'Y' mode parameter - #endif - - #endif // HAS_X_AXIS - - #if HAS_EXTRUDERS - - // Pressure control (linear advance) parameter. - if (parser.seen('P')) { - const bool val = parser.value_bool(); - ftMotion.cfg.linearAdvEna = val; + // Parse 'H' Axis Synchronization parameter. + if (parser.seenval('H')) { + const bool enabled = parser.value_bool(); + if (enabled != ftMotion.cfg.axis_sync_enabled) { + ftMotion.cfg.axis_sync_enabled = enabled; flag.report = true; - SERIAL_ECHO_TERNARY(val, "Linear Advance ", "en", "dis", "abled.\n"); } - - // Pressure control (linear advance) gain parameter. - if (parser.seenval('K')) { - const float val = parser.value_float(); - if (WITHIN(val, 0.0f, 10.0f)) { - ftMotion.cfg.linearAdvK = val; - flag.report = true; - } - else // Value out of range. - SERIAL_ECHOLNPGM("Linear Advance gain out of range."); - } - - #endif // HAS_EXTRUDERS + } #if HAS_DYNAMIC_FREQ // Dynamic frequency mode parameter. if (parser.seenval('D')) { - if (AXIS_IS_SHAPING(X) || AXIS_IS_SHAPING(Y)) { + if (AXIS_IS_SHAPING(X) || AXIS_IS_SHAPING(Y) || AXIS_IS_SHAPING(Z) || AXIS_IS_SHAPING(E)) { const dynFreqMode_t val = dynFreqMode_t(parser.value_byte()); switch (val) { #if HAS_DYNAMIC_FREQ_MM @@ -277,12 +267,12 @@ void GcodeSuite::M493() { flag.report = true; break; default: - SERIAL_ECHOLNPGM("?Invalid Dynamic Frequency Mode [D] value."); + SERIAL_ECHOLN(F("?Invalid "), F("(D)ynamic Frequency Mode value.")); break; } } else { - SERIAL_ECHOLNPGM("?Wrong shaper for [D] Dynamic Frequency mode."); + SERIAL_ECHOLNPGM("?Wrong shaper for (D)ynamic Frequency Mode ", ftMotion.cfg.dynFreqMode, "."); } } @@ -293,129 +283,242 @@ void GcodeSuite::M493() { #endif // HAS_DYNAMIC_FREQ + // Frequency parameter + const bool seenA = parser.seenval('A'); + const float baseFreqVal = seenA ? parser.value_float() : 0.0f; + const bool goodBaseFreq = seenA && WITHIN(baseFreqVal, FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2); + if (seenA && !goodBaseFreq) + SERIAL_ECHOLN(F("?Invalid "), F("(A) Base Frequency value. ("), int(FTM_MIN_SHAPE_FREQ), C('-'), int((FTM_FS) / 2), C(')')); + + #if HAS_DYNAMIC_FREQ + // Dynamic Frequency parameter + const bool seenF = parser.seenval('F'); + const float baseDynFreqVal = seenF ? parser.value_float() : 0.0f; + if (seenF && !modeUsesDynFreq) + SERIAL_ECHOLNPGM("?Wrong mode for (F)requency scaling."); + #endif + + // Zeta parameter + const bool seenI = parser.seenval('I'); + const float zetaVal = seenI ? parser.value_float() : 0.0f; + const bool goodZeta = seenI && WITHIN(zetaVal, 0.01f, 1.0f); + if (seenI && !goodZeta) + SERIAL_ECHOLN(F("?Invalid "), F("(I) Zeta value. (0.01-1.0)")); // Zeta out of range + + // Vibration Tolerance parameter + const bool seenQ = parser.seenval('Q'); + const float vtolVal = seenQ ? parser.value_float() : 0.0f; + const bool goodVtol = seenQ && WITHIN(vtolVal, 0.00f, 1.0f); + if (seenQ && !goodVtol) + SERIAL_ECHOLN(F("?Invalid "), F("(Q) Vibration Tolerance value. (0.0-1.0)")); // VTol out of range + + const bool apply_xy = !parser.seen("XYZE"); + #if HAS_X_AXIS - // Parse frequency parameter (X axis). - if (parser.seenval('A')) { - if (AXIS_IS_SHAPING(X)) { - const float val = parser.value_float(); - // TODO: Frequency minimum is dependent on the shaper used; the above check isn't always correct. - if (WITHIN(val, FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2)) { - ftMotion.cfg.baseFreq.x = val; - flag.update = flag.report = true; - } - else // Frequency out of range. - SERIAL_ECHOLNPGM("Invalid [", C('A'), "] frequency value."); - } - else // Mode doesn't use frequency. - SERIAL_ECHOLNPGM("Wrong mode for [", C('A'), "] frequency."); - } + if (apply_xy || parser.seen_test('X')) { - #if HAS_DYNAMIC_FREQ - // Parse frequency scaling parameter (X axis). - if (parser.seenval('F')) { - if (modeUsesDynFreq) { - ftMotion.cfg.dynFreqK.x = parser.value_float(); + // Parse X frequency parameter + if (seenA) { + if (AXIS_IS_SHAPING(X)) { + // TODO: Frequency minimum is dependent on the shaper used; the above check isn't always correct. + if (goodBaseFreq) { + ftMotion.cfg.baseFreq.x = baseFreqVal; + flag.update = flag.report = true; + } + } + else // Mode doesn't use frequency. + SERIAL_ECHOLNPGM("?Wrong mode for ", C(STEPPER_A_NAME), " [A] frequency."); + } + + #if HAS_DYNAMIC_FREQ + // Parse X frequency scaling parameter + if (seenF && modeUsesDynFreq) { + ftMotion.cfg.dynFreqK.x = baseDynFreqVal; flag.report = true; } - else - SERIAL_ECHOLNPGM("Wrong mode for [", C('F'), "] frequency scaling."); - } - #endif + #endif - // Parse zeta parameter (X axis). - if (parser.seenval('I')) { - const float val = parser.value_float(); - if (AXIS_IS_SHAPING(X)) { - if (WITHIN(val, 0.01f, 1.0f)) { - ftMotion.cfg.zeta[0] = val; - flag.update = true; + // Parse X zeta parameter + if (seenI) { + if (AXIS_IS_SHAPING(X)) { + if (goodZeta) { + ftMotion.cfg.zeta.x = zetaVal; + flag.update = true; + } } else - SERIAL_ECHOLNPGM("Invalid X zeta [", C('I'), "] value."); // Zeta out of range. + SERIAL_ECHOLNPGM("?Wrong mode for ", C(STEPPER_A_NAME), " zeta parameter."); } - else - SERIAL_ECHOLNPGM("Wrong mode for zeta parameter."); - } - // Parse vtol parameter (X axis). - if (parser.seenval('Q')) { - const float val = parser.value_float(); - if (AXIS_IS_EISHAPING(X)) { - if (WITHIN(val, 0.00f, 1.0f)) { - ftMotion.cfg.vtol[0] = val; - flag.update = true; + // Parse X vtol parameter + if (seenQ) { + if (AXIS_IS_EISHAPING(X)) { + if (goodVtol) { + ftMotion.cfg.vtol.x = vtolVal; + flag.update = true; + } } else - SERIAL_ECHOLNPGM("Invalid X vtol [", C('Q'), "] value."); // VTol out of range. + SERIAL_ECHOLNPGM("?Wrong mode for ", C(STEPPER_A_NAME), " vtol parameter."); } - else - SERIAL_ECHOLNPGM("Wrong mode for vtol parameter."); } #endif // HAS_X_AXIS #if HAS_Y_AXIS - // Parse frequency parameter (Y axis). - if (parser.seenval('B')) { - if (AXIS_IS_SHAPING(Y)) { - const float val = parser.value_float(); - if (WITHIN(val, FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2)) { - ftMotion.cfg.baseFreq.y = val; - flag.update = flag.report = true; - } - else // Frequency out of range. - SERIAL_ECHOLNPGM("Invalid frequency [", C('B'), "] value."); - } - else // Mode doesn't use frequency. - SERIAL_ECHOLNPGM("Wrong mode for [", C('B'), "] frequency."); - } + if (apply_xy || parser.seen_test('Y')) { - #if HAS_DYNAMIC_FREQ - // Parse frequency scaling parameter (Y axis). - if (parser.seenval('H')) { - if (modeUsesDynFreq) { - ftMotion.cfg.dynFreqK.y = parser.value_float(); + // Parse Y frequency parameter + if (seenA) { + if (AXIS_IS_SHAPING(Y)) { + if (goodBaseFreq) { + ftMotion.cfg.baseFreq.y = baseFreqVal; + flag.update = flag.report = true; + } + } + else // Mode doesn't use frequency. + SERIAL_ECHOLNPGM("?Wrong mode for ", C(STEPPER_B_NAME), " [A] frequency."); + } + + #if HAS_DYNAMIC_FREQ + // Parse Y frequency scaling parameter + if (seenF && modeUsesDynFreq) { + ftMotion.cfg.dynFreqK.y = baseDynFreqVal; flag.report = true; } - else - SERIAL_ECHOLNPGM("Wrong mode for [", C('H'), "] frequency scaling."); - } - #endif + #endif - // Parse zeta parameter (Y axis). - if (parser.seenval('J')) { - const float val = parser.value_float(); - if (AXIS_IS_SHAPING(Y)) { - if (WITHIN(val, 0.01f, 1.0f)) { - ftMotion.cfg.zeta[1] = val; - flag.update = true; + // Parse Y zeta parameter + if (seenI) { + if (AXIS_IS_SHAPING(Y)) { + if (goodZeta) { + ftMotion.cfg.zeta.y = zetaVal; + flag.update = true; + } } else - SERIAL_ECHOLNPGM("Invalid Y zeta [", C('J'), "] value."); // Zeta Out of range + SERIAL_ECHOLNPGM("?Wrong mode for ", C(STEPPER_B_NAME), " zeta parameter."); } - else - SERIAL_ECHOLNPGM("Wrong mode for zeta parameter."); - } - // Parse vtol parameter (Y axis). - if (parser.seenval('R')) { - const float val = parser.value_float(); - if (AXIS_IS_EISHAPING(Y)) { - if (WITHIN(val, 0.00f, 1.0f)) { - ftMotion.cfg.vtol[1] = val; - flag.update = true; + // Parse Y vtol parameter + if (seenQ) { + if (AXIS_IS_EISHAPING(Y)) { + if (goodVtol) { + ftMotion.cfg.vtol.y = vtolVal; + flag.update = true; + } } else - SERIAL_ECHOLNPGM("Invalid Y vtol [", C('R'), "] value."); // VTol out of range. + SERIAL_ECHOLNPGM("?Wrong mode for ", C(STEPPER_B_NAME), " vtol parameter."); } - else - SERIAL_ECHOLNPGM("Wrong mode for vtol parameter."); } #endif // HAS_Y_AXIS + #if ENABLED(FTM_SHAPER_Z) + + if (parser.seen_test('Z')) { + + // Parse Z frequency parameter + if (seenA) { + if (AXIS_IS_SHAPING(Z)) { + if (goodBaseFreq) { + ftMotion.cfg.baseFreq.z = baseFreqVal; + flag.update = flag.report = true; + } + } + else // Mode doesn't use frequency. + SERIAL_ECHOLNPGM("?Wrong mode for ", C(STEPPER_C_NAME), " [A] frequency."); + } + + #if HAS_DYNAMIC_FREQ + // Parse Z frequency scaling parameter + if (seenF && modeUsesDynFreq) { + ftMotion.cfg.dynFreqK.z = baseDynFreqVal; + flag.report = true; + } + #endif + + // Parse Z zeta parameter + if (seenI) { + if (AXIS_IS_SHAPING(Z)) { + if (goodZeta) { + ftMotion.cfg.zeta.z = zetaVal; + flag.update = true; + } + } + else + SERIAL_ECHOLNPGM("?Wrong mode for ", C(STEPPER_C_NAME), " zeta parameter."); + } + + // Parse Z vtol parameter + if (seenQ) { + if (AXIS_IS_EISHAPING(Z)) { + if (goodVtol) { + ftMotion.cfg.vtol.z = vtolVal; + flag.update = true; + } + } + else + SERIAL_ECHOLNPGM("?Wrong mode for ", C(STEPPER_C_NAME), " vtol parameter."); + } + } + + #endif // FTM_SHAPER_Z + + #if ENABLED(FTM_SHAPER_E) + + if (parser.seen_test('E')) { + + // Parse E frequency parameter + if (seenA) { + if (AXIS_IS_SHAPING(E)) { + if (goodBaseFreq) { + ftMotion.cfg.baseFreq.e = baseFreqVal; + flag.update = flag.report = true; + } + } + else // Mode doesn't use frequency. + SERIAL_ECHOLNPGM("?Wrong mode for ", C('E'), " [A] frequency."); + } + + #if HAS_DYNAMIC_FREQ + // Parse E frequency scaling parameter + if (seenF && modeUsesDynFreq) { + ftMotion.cfg.dynFreqK.e = baseDynFreqVal; + flag.report = true; + } + #endif + + // Parse E zeta parameter + if (seenI) { + if (AXIS_IS_SHAPING(E)) { + if (goodZeta) { + ftMotion.cfg.zeta.e = zetaVal; + flag.update = true; + } + } + else + SERIAL_ECHOLNPGM("?Wrong mode for ", C('E'), " zeta parameter."); + } + + // Parse E vtol parameter + if (seenQ) { + if (AXIS_IS_EISHAPING(E)) { + if (goodVtol) { + ftMotion.cfg.vtol.e = vtolVal; + flag.update = true; + } + } + else + SERIAL_ECHOLNPGM("?Wrong mode for ", C('E'), " vtol parameter."); + } + } + + #endif // FTM_SHAPER_E + if (flag.update) ftMotion.update_shaping_params(); if (flag.report) say_shaping(); diff --git a/Marlin/src/gcode/feature/ft_motion/M494.cpp b/Marlin/src/gcode/feature/ft_motion/M494.cpp new file mode 100644 index 0000000000..840333f896 --- /dev/null +++ b/Marlin/src/gcode/feature/ft_motion/M494.cpp @@ -0,0 +1,137 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2025 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#include "../../../inc/MarlinConfigPre.h" + +#if ENABLED(FT_MOTION) + +#include "../../gcode.h" +#include "../../../module/ft_motion.h" +#include "../../../module/stepper.h" +#include "../../../module/planner.h" + +static FSTR_P get_trajectory_type_name() { + switch (ftMotion.getTrajectoryType()) { + default: + case TrajectoryType::TRAPEZOIDAL: return GET_TEXT_F(MSG_FTM_TRAPEZOIDAL); + case TrajectoryType::POLY5: return GET_TEXT_F(MSG_FTM_POLY5); + case TrajectoryType::POLY6: return GET_TEXT_F(MSG_FTM_POLY6); + } +} + +void say_ftm_settings() { + SERIAL_ECHOLN(F(" Trajectory: "), get_trajectory_type_name(), C('('), (uint8_t)ftMotion.getTrajectoryType(), C(')')); + + const ft_config_t &c = ftMotion.cfg; + + if (ftMotion.getTrajectoryType() == TrajectoryType::POLY6) + SERIAL_ECHOLNPGM(" Poly6 Overshoot: ", p_float_t(c.poly6_acceleration_overshoot, 3)); + + #if ENABLED(FTM_SMOOTHING) + #define _SMOO_REPORT(A) SERIAL_ECHOLN(F(" "), C(IAXIS_CHAR(_AXIS(A))), F(" smoothing time: "), p_float_t(c.smoothingTime.A, 3), C('s')); + CARTES_MAP(_SMOO_REPORT); + #endif +} + +void GcodeSuite::M494_report(const bool forReplay/*=true*/) { + TERN_(MARLIN_SMALL_BUILD, return); + + const ft_config_t &c = ftMotion.cfg; + + report_heading_etc(forReplay, F("FT Motion")); + SERIAL_ECHOPGM(" M494 T", (uint8_t)ftMotion.getTrajectoryType()); + + #if ENABLED(FTM_SMOOTHING) + SERIAL_ECHOPGM( + CARTES_PAIRED_LIST( + " X", c.smoothingTime.X, " Y", c.smoothingTime.Y, + " Z", c.smoothingTime.Z, " E", c.smoothingTime.E + ) + ); + #endif + + if (ftMotion.getTrajectoryType() == TrajectoryType::POLY6) + SERIAL_ECHOPGM(" O", c.poly6_acceleration_overshoot); + + SERIAL_EOL(); +} + +/** + * M494: Set Fixed-time Motion Control parameters + * + * Parameters: + * T Set trajectory generator type (0=TRAPEZOIDAL, 1=POLY5, 2=POLY6) + * O Set acceleration overshoot for POLY6 (1.25-1.875) + * X