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🧑‍💻 Get E axis in FTMotion::loadBlockData (#27870)

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Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
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B 2025-05-24 17:21:06 -07:00 • committed by GitHub
parent bd9d7a3c4d
commit 6a871b2879
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2 changed files with 24 additions and 9 deletions
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27
Marlin/src/module/ft_motion.cpp
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@ -89,6 +89,12 @@ xyze_long_t FTMotion::steps = { 0 }; // Step count accumulator.
uint32_t FTMotion::interpIdx = 0; // Index of current data point being interpolated.
#if ENABLED(DISTINCT_E_FACTORS)
uint8_t FTMotion::block_extruder_axis; // Cached E Axis from last-fetched block
#else
constexpr uint8_t FTMotion::block_extruder_axis;
#endif
// Shaping variables.
#if HAS_FTM_SHAPING
FTMotion::shaping_t FTMotion::shaping = {
@ -143,6 +149,12 @@ void FTMotion::loop() {
continue;
}
loadBlockData(stepper.current_block);
// If the endstop is already pressed, endstop interrupts won't invoke
// endstop_triggered and the move will grind. So check here for a
// triggered endstop, which shortly marks the block for discard.
endstops.update();
blockProcRdy = true;
// Some kinematics track axis motion in HX, HY, HZ
#if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_YX)
@ -389,6 +401,7 @@ void FTMotion::reset() {
#endif
TERN_(HAS_EXTRUDERS, e_raw_z1 = e_advanced_z1 = 0.0f);
TERN_(DISTINCT_E_FACTORS, block_extruder_axis = E_AXIS);
axis_move_end_ti.reset();
}
@ -453,13 +466,15 @@ void FTMotion::init() {
// Load / convert block data from planner to fixed-time control variables.
void FTMotion::loadBlockData(block_t * const current_block) {
// Cache the extruder index for this block
TERN_(DISTINCT_E_FACTORS, block_extruder_axis = E_AXIS_N(current_block->extruder));
const float totalLength = current_block->millimeters,
oneOverLength = 1.0f / totalLength;
startPosn = endPosn_prevBlock;
const xyze_pos_t moveDist = LOGICAL_AXIS_ARRAY(
current_block->steps.e * planner.mm_per_step[E_AXIS_N(current_block->extruder)] * (current_block->direction_bits.e ? 1 : -1),
current_block->steps.e * planner.mm_per_step[block_extruder_axis] * (current_block->direction_bits.e ? 1 : -1),
current_block->steps.x * planner.mm_per_step[X_AXIS] * (current_block->direction_bits.x ? 1 : -1),
current_block->steps.y * planner.mm_per_step[Y_AXIS] * (current_block->direction_bits.y ? 1 : -1),
current_block->steps.z * planner.mm_per_step[Z_AXIS] * (current_block->direction_bits.z ? 1 : -1),
@ -568,12 +583,6 @@ void FTMotion::loadBlockData(block_t * const current_block) {
#endif
TERN_(HAS_Z_AXIS, _SET_MOVE_END(Z));
SECONDARY_AXIS_MAP(_SET_MOVE_END);
// If the endstop is already pressed, endstop interrupts won't invoke
// endstop_triggered and the move will grind. So check here for a
// triggered endstop, which shortly marks the block for discard.
endstops.update();
}
// Generate data points of the trajectory.
@ -721,7 +730,7 @@ void FTMotion::convertToSteps(const uint32_t idx) {
#if ENABLED(STEPS_ROUNDING)
#define TOSTEPS(A,B) int32_t(trajMod.A[idx] * planner.settings.axis_steps_per_mm[B] + (trajMod.A[idx] < 0.0f ? -0.5f : 0.5f))
const xyze_long_t steps_tar = LOGICAL_AXIS_ARRAY(
TOSTEPS(e, E_AXIS_N(stepper.current_block->extruder)), // May be eliminated if guaranteed positive.
TOSTEPS(e, block_extruder_axis), // May be eliminated if guaranteed positive.
TOSTEPS(x, X_AXIS), TOSTEPS(y, Y_AXIS), TOSTEPS(z, Z_AXIS),
TOSTEPS(i, I_AXIS), TOSTEPS(j, J_AXIS), TOSTEPS(k, K_AXIS),
TOSTEPS(u, U_AXIS), TOSTEPS(v, V_AXIS), TOSTEPS(w, W_AXIS)
@ -730,7 +739,7 @@ void FTMotion::convertToSteps(const uint32_t idx) {
#else
#define TOSTEPS(A,B) int32_t(trajMod.A[idx] * planner.settings.axis_steps_per_mm[B]) - steps.A
xyze_long_t delta = LOGICAL_AXIS_ARRAY(
TOSTEPS(e, E_AXIS_N(stepper.current_block->extruder)),
TOSTEPS(e, block_extruder_axis),
TOSTEPS(x, X_AXIS), TOSTEPS(y, Y_AXIS), TOSTEPS(z, Z_AXIS),
TOSTEPS(i, I_AXIS), TOSTEPS(j, J_AXIS), TOSTEPS(k, K_AXIS),
TOSTEPS(u, U_AXIS), TOSTEPS(v, V_AXIS), TOSTEPS(w, W_AXIS)

6
Marlin/src/module/ft_motion.h
View file

@ -169,6 +169,12 @@ class FTMotion {
static xyze_long_t steps;
#if ENABLED(DISTINCT_E_FACTORS)
static uint8_t block_extruder_axis; // Cached extruder axis index
#else
static constexpr uint8_t block_extruder_axis = E_AXIS;
#endif
// Shaping variables.
#if HAS_FTM_SHAPING