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@@ -182,7 +182,10 @@ float Planner::previous_speed[NUM_AXIS],
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182
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182
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183
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183
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#if ENABLED(LIN_ADVANCE)
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184
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184
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float Planner::extruder_advance_k, // Initialized by settings.load()
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185
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- Planner::advance_ed_ratio; // Initialized by settings.load()
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185
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+ Planner::advance_ed_ratio, // Initialized by settings.load()
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186
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+ Planner::position_float[XYZE], // Needed for accurate maths. Steps cannot be used!
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187
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+ Planner::lin_dist_xy,
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+ Planner::lin_dist_e;
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#endif
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#if ENABLED(ULTRA_LCD)
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@@ -198,6 +201,9 @@ Planner::Planner() { init(); }
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void Planner::init() {
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block_buffer_head = block_buffer_tail = 0;
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ZERO(position);
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+ #if ENABLED(LIN_ADVANCE)
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+ ZERO(position_float);
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+ #endif
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ZERO(previous_speed);
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previous_nominal_speed = 0.0;
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209
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#if ABL_PLANAR
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@@ -742,7 +748,9 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
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748
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SERIAL_ECHOLNPGM(" steps)");
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749
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//*/
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744
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750
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745
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- #if ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE)
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751
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+ // If LIN_ADVANCE is disabled then do E move prevention with integers
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752
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+ // Otherwise it's done in _buffer_segment.
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753
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+ #if DISABLED(LIN_ADVANCE) && (ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE))
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754
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if (de) {
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755
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#if ENABLED(PREVENT_COLD_EXTRUSION)
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748
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756
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if (thermalManager.tooColdToExtrude(extruder)) {
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@@ -761,7 +769,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
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769
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}
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770
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#endif // PREVENT_LENGTHY_EXTRUDE
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771
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}
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- #endif // PREVENT_COLD_EXTRUSION || PREVENT_LENGTHY_EXTRUDE
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772
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+ #endif // !LIN_ADVANCE && (PREVENT_COLD_EXTRUSION || PREVENT_LENGTHY_EXTRUDE)
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773
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766
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// Compute direction bit-mask for this block
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uint8_t dm = 0;
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@@ -1355,16 +1363,16 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
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* In that case, the retract and move will be executed together.
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1364
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* This leads to too many advance steps due to a huge e_acceleration.
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* The math is good, but we must avoid retract moves with advance!
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- * de > 0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves)
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+ * lin_dist_e > 0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves)
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*/
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block->use_advance_lead = esteps && (block->steps[X_AXIS] || block->steps[Y_AXIS])
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&& extruder_advance_k
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&& (uint32_t)esteps != block->step_event_count
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- && de > 0;
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+ && lin_dist_e > 0;
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if (block->use_advance_lead)
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block->abs_adv_steps_multiplier8 = LROUND(
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1374
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extruder_advance_k
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- * (UNEAR_ZERO(advance_ed_ratio) ? de * steps_to_mm[E_AXIS_N] / HYPOT(da * steps_to_mm[X_AXIS], db * steps_to_mm[Y_AXIS]) : advance_ed_ratio) // Use the fixed ratio, if set
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+ * (UNEAR_ZERO(advance_ed_ratio) ? lin_dist_e / lin_dist_xy : advance_ed_ratio) // Use the fixed ratio, if set
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* (block->nominal_speed / (float)block->nominal_rate)
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* axis_steps_per_mm[E_AXIS_N] * 256.0
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);
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@@ -1442,16 +1450,69 @@ void Planner::buffer_segment(const float &a, const float &b, const float &c, con
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SERIAL_ECHOLNPGM(")");
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//*/
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1452
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1445
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- // DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
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1446
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- if (DEBUGGING(DRYRUN))
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+ // DRYRUN prevents E moves from taking place
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+ if (DEBUGGING(DRYRUN)) {
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position[E_AXIS] = target[E_AXIS];
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+ #if ENABLED(LIN_ADVANCE)
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+ position_float[E_AXIS] = e;
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+ #endif
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+ }
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+
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+ #if ENABLED(LIN_ADVANCE)
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+ lin_dist_e = e - position_float[E_AXIS];
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+ #endif
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+
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+ // If LIN_ADVANCE is enabled then do E move prevention with floats
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+ // Otherwise it's done in _buffer_steps.
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+ #if ENABLED(LIN_ADVANCE) && (ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE))
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+ if (lin_dist_e) {
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1469
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+ #if ENABLED(PREVENT_COLD_EXTRUSION)
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+ if (thermalManager.tooColdToExtrude(extruder)) {
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1471
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+ position_float[E_AXIS] = e; // Behave as if the move really took place, but ignore E part
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1472
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+ position[E_AXIS] = target[E_AXIS];
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+ lin_dist_e = 0;
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+ SERIAL_ECHO_START();
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+ SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
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+ }
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+ #endif // PREVENT_COLD_EXTRUSION
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+ #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
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+ if (lin_dist_e * e_factor[extruder] > (EXTRUDE_MAXLENGTH)) {
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1480
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+ position_float[E_AXIS] = e; // Behave as if the move really took place, but ignore E part
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+ position[E_AXIS] = target[E_AXIS];
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+ lin_dist_e = 0;
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+ SERIAL_ECHO_START();
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+ SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
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+ }
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+ #endif // PREVENT_LENGTHY_EXTRUDE
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+ }
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+ #endif // LIN_ADVANCE && (PREVENT_COLD_EXTRUSION || PREVENT_LENGTHY_EXTRUDE)
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+
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1490
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+ #if ENABLED(LIN_ADVANCE)
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+ if (lin_dist_e > 0)
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+ lin_dist_xy = HYPOT(a - position_float[X_AXIS], b - position_float[Y_AXIS]);
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+ #endif
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1448
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1494
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1449
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1495
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// Always split the first move into two (if not homing or probing)
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1450
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1496
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if (!blocks_queued()) {
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+
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1498
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#define _BETWEEN(A) (position[A##_AXIS] + target[A##_AXIS]) >> 1
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1499
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const int32_t between[XYZE] = { _BETWEEN(X), _BETWEEN(Y), _BETWEEN(Z), _BETWEEN(E) };
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1500
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DISABLE_STEPPER_DRIVER_INTERRUPT();
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1501
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+
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1502
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+ #if ENABLED(LIN_ADVANCE)
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+ lin_dist_xy *= 0.5;
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+ lin_dist_e *= 0.5;
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1505
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+ #endif
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1506
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+
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1507
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_buffer_steps(between, fr_mm_s, extruder);
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1508
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+
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1509
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+ #if ENABLED(LIN_ADVANCE)
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1510
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+ position_float[X_AXIS] = (position_float[X_AXIS] + a) * 0.5;
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1511
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+ position_float[Y_AXIS] = (position_float[Y_AXIS] + b) * 0.5;
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1512
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+ //position_float[Z_AXIS] = (position_float[Z_AXIS] + c) * 0.5;
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1513
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+ position_float[E_AXIS] = (position_float[E_AXIS] + e) * 0.5;
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1514
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+ #endif
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1515
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+
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1455
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1516
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const uint8_t next = block_buffer_head;
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1456
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1517
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_buffer_steps(target, fr_mm_s, extruder);
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1518
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SBI(block_buffer[next].flag, BLOCK_BIT_CONTINUED);
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@@ -1462,6 +1523,12 @@ void Planner::buffer_segment(const float &a, const float &b, const float &c, con
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1523
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1463
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1524
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stepper.wake_up();
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1525
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1526
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+ #if ENABLED(LIN_ADVANCE)
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1527
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+ position_float[X_AXIS] = a;
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1528
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+ position_float[Y_AXIS] = b;
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1529
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+ //position_float[Z_AXIS] = c;
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+ position_float[E_AXIS] = e;
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+ #endif
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1465
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1532
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} // buffer_segment()
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1533
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1467
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1534
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/**
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@@ -1482,6 +1549,12 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c
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1549
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nb = position[Y_AXIS] = LROUND(b * axis_steps_per_mm[Y_AXIS]),
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1550
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nc = position[Z_AXIS] = LROUND(c * axis_steps_per_mm[Z_AXIS]),
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1484
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1551
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ne = position[E_AXIS] = LROUND(e * axis_steps_per_mm[_EINDEX]);
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+ #if ENABLED(LIN_ADVANCE)
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+ position_float[X_AXIS] = a;
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+ position_float[Y_AXIS] = b;
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+ //position_float[Z_AXIS] = c;
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+ position_float[E_AXIS] = e;
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+ #endif
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1558
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stepper.set_position(na, nb, nc, ne);
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1559
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previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
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1560
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ZERO(previous_speed);
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@@ -1506,8 +1579,16 @@ void Planner::set_position_mm_kinematic(const float (&cart)[XYZE]) {
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1506
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1579
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* Sync from the stepper positions. (e.g., after an interrupted move)
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1507
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1580
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*/
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1508
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1581
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void Planner::sync_from_steppers() {
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1509
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- LOOP_XYZE(i)
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1582
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+ LOOP_XYZE(i) {
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1510
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1583
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position[i] = stepper.position((AxisEnum)i);
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1584
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+ #if ENABLED(LIN_ADVANCE)
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1585
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+ position_float[i] = position[i] * steps_to_mm[i
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1586
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+ #if ENABLED(DISTINCT_E_FACTORS)
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1587
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+ + (i == E_AXIS ? active_extruder : 0)
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1588
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+ #endif
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1589
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+ ];
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1590
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+ #endif
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1591
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+ }
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1511
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1592
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}
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1512
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1593
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1513
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1594
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/**
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@@ -1521,6 +1602,9 @@ void Planner::set_position_mm(const AxisEnum axis, const float &v) {
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1521
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1602
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const uint8_t axis_index = axis;
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1522
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1603
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#endif
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1523
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1604
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position[axis] = LROUND(v * axis_steps_per_mm[axis_index]);
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1605
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+ #if ENABLED(LIN_ADVANCE)
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1606
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+ position_float[axis] = v;
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1607
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+ #endif
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1524
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1608
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stepper.set_position(axis, v);
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1525
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1609
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previous_speed[axis] = 0.0;
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1526
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1610
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}
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