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CJ-JD Leftover Code Cleanup #20639

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CJ-JD Leftover Code Cleanup #20639

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c3350c1
CJ-JD Cleanup
qwewer0 Jan 2, 2021
a4f1f9f
Merge remote-tracking branch 'upstream/bugfix-2.0.x' into pr/20639
thinkyhead Jan 3, 2021
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6 changes: 2 additions & 4 deletions Marlin/src/inc/Conditionals_LCD.h
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Original file line number Diff line number Diff line change
Expand Up @@ -945,11 +945,9 @@
#endif

// This flag indicates some kind of jerk storage is needed
#if EITHER(CLASSIC_JERK, IS_KINEMATIC)
#if ENABLED(CLASSIC_JERK)
#define HAS_CLASSIC_JERK 1
#endif

#if DISABLED(CLASSIC_JERK)
#else
#define HAS_JUNCTION_DEVIATION 1
#endif

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2 changes: 1 addition & 1 deletion Marlin/src/inc/SanityCheck.h
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Expand Up @@ -1244,7 +1244,7 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
/**
* Junction deviation is incompatible with kinematic systems.
*/
#if HAS_JUNCTION_DEVIATION && IS_KINEMATIC
#if BOTH(HAS_JUNCTION_DEVIATION, IS_KINEMATIC)
#error "CLASSIC_JERK is required for DELTA and SCARA."
#endif

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8 changes: 0 additions & 8 deletions Marlin/src/lcd/menu/menu_advanced.cpp
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Expand Up @@ -442,14 +442,6 @@ void menu_backlash();
START_MENU();
BACK_ITEM(MSG_ADVANCED_SETTINGS);

#if HAS_JUNCTION_DEVIATION
#if ENABLED(LIN_ADVANCE)
EDIT_ITEM(float43, MSG_JUNCTION_DEVIATION, &planner.junction_deviation_mm, 0.001f, 0.3f, planner.recalculate_max_e_jerk);
#else
EDIT_ITEM(float43, MSG_JUNCTION_DEVIATION, &planner.junction_deviation_mm, 0.001f, 0.5f);
#endif
#endif

constexpr xyze_float_t max_jerk_edit =
#ifdef MAX_JERK_EDIT_VALUES
MAX_JERK_EDIT_VALUES
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11 changes: 1 addition & 10 deletions Marlin/src/module/motion.cpp
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Expand Up @@ -1341,18 +1341,9 @@ void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t
target[axis] = 0; // Set the single homing axis to 0
planner.set_machine_position_mm(target); // Update the machine position

#if HAS_DIST_MM_ARG
const xyze_float_t cart_dist_mm{0};
#endif

// Set delta/cartesian axes directly
target[axis] = distance; // The move will be towards the endstop
planner.buffer_segment(target
#if HAS_DIST_MM_ARG
, cart_dist_mm
#endif
, home_fr_mm_s, active_extruder
);
planner.buffer_segment(target, home_fr_mm_s, active_extruder);
#endif

planner.synchronize();
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45 changes: 4 additions & 41 deletions Marlin/src/module/planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1684,9 +1684,6 @@ bool Planner::_buffer_steps(const xyze_long_t &target
#if HAS_POSITION_FLOAT
, const xyze_pos_t &target_float
#endif
#if HAS_DIST_MM_ARG
, const xyze_float_t &cart_dist_mm
#endif
, feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters
) {

Expand All @@ -1702,9 +1699,6 @@ bool Planner::_buffer_steps(const xyze_long_t &target
#if HAS_POSITION_FLOAT
, target_float
#endif
#if HAS_DIST_MM_ARG
, cart_dist_mm
#endif
, fr_mm_s, extruder, millimeters
)) {
// Movement was not queued, probably because it was too short.
Expand Down Expand Up @@ -1748,9 +1742,6 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
#if HAS_POSITION_FLOAT
, const xyze_pos_t &target_float
#endif
#if HAS_DIST_MM_ARG
, const xyze_float_t &cart_dist_mm
#endif
, feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters/*=0.0*/
) {

Expand Down Expand Up @@ -2348,13 +2339,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
// Unit vector of previous path line segment
static xyze_float_t prev_unit_vec;

xyze_float_t unit_vec =
#if HAS_DIST_MM_ARG
cart_dist_mm
#else
{ steps_dist_mm.x, steps_dist_mm.y, steps_dist_mm.z, steps_dist_mm.e }
#endif
;
xyze_float_t unit_vec = { steps_dist_mm.x, steps_dist_mm.y, steps_dist_mm.z, steps_dist_mm.e };

/**
* On CoreXY the length of the vector [A,B] is SQRT(2) times the length of the head movement vector [X,Y].
Expand Down Expand Up @@ -2591,11 +2576,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,

previous_safe_speed = safe_speed;

#if HAS_JUNCTION_DEVIATION
NOMORE(vmax_junction_sqr, sq(vmax_junction)); // Throttle down to max speed
#else
vmax_junction_sqr = sq(vmax_junction); // Go up or down to the new speed
#endif
vmax_junction_sqr = sq(vmax_junction); // Go up or down to the new speed

#endif // Classic Jerk Limiting

Expand Down Expand Up @@ -2679,9 +2660,6 @@ void Planner::buffer_sync_block() {
* Return 'false' if no segment was queued due to cleaning, cold extrusion, full queue, etc.
*/
bool Planner::buffer_segment(const float &a, const float &b, const float &c, const float &e
#if HAS_DIST_MM_ARG
, const xyze_float_t &cart_dist_mm
#endif
, const feedRate_t &fr_mm_s, const uint8_t extruder, const float &millimeters/*=0.0*/
) {

Expand Down Expand Up @@ -2751,9 +2729,6 @@ bool Planner::buffer_segment(const float &a, const float &b, const float &c, con
#if HAS_POSITION_FLOAT
, target_float
#endif
#if HAS_DIST_MM_ARG
, cart_dist_mm
#endif
, fr_mm_s, extruder, millimeters)
) return false;

Expand Down Expand Up @@ -2782,14 +2757,7 @@ bool Planner::buffer_line(const float &rx, const float &ry, const float &rz, con

#if IS_KINEMATIC

#if HAS_JUNCTION_DEVIATION
const xyze_pos_t cart_dist_mm = {
rx - position_cart.x, ry - position_cart.y,
rz - position_cart.z, e - position_cart.e
};
#else
const xyz_pos_t cart_dist_mm = { rx - position_cart.x, ry - position_cart.y, rz - position_cart.z };
#endif
const xyz_pos_t cart_dist_mm = { rx - position_cart.x, ry - position_cart.y, rz - position_cart.z };

float mm = millimeters;
if (mm == 0.0)
Expand All @@ -2807,12 +2775,7 @@ bool Planner::buffer_line(const float &rx, const float &ry, const float &rz, con
#else
const feedRate_t feedrate = fr_mm_s;
#endif
if (buffer_segment(delta.a, delta.b, delta.c, machine.e
#if HAS_JUNCTION_DEVIATION
, cart_dist_mm
#endif
, feedrate, extruder, mm
)) {
if (buffer_segment(delta.a, delta.b, delta.c, machine.e, feedrate, extruder, mm)) {
position_cart.set(rx, ry, rz, e);
return true;
}
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22 changes: 1 addition & 21 deletions Marlin/src/module/planner.h
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Original file line number Diff line number Diff line change
Expand Up @@ -79,10 +79,6 @@
manual_feedrate_mm_s { _mf.x / 60.0f, _mf.y / 60.0f, _mf.z / 60.0f, _mf.e / 60.0f };
#endif

#if IS_KINEMATIC && HAS_JUNCTION_DEVIATION
#define HAS_DIST_MM_ARG 1
#endif

enum BlockFlagBit : char {
// Recalculate trapezoids on entry junction. For optimization.
BLOCK_BIT_RECALCULATE,
Expand Down Expand Up @@ -673,9 +669,6 @@ class Planner {
#if HAS_POSITION_FLOAT
, const xyze_pos_t &target_float
#endif
#if HAS_DIST_MM_ARG
, const xyze_float_t &cart_dist_mm
#endif
, feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
);

Expand All @@ -696,9 +689,6 @@ class Planner {
#if HAS_POSITION_FLOAT
, const xyze_pos_t &target_float
#endif
#if HAS_DIST_MM_ARG
, const xyze_float_t &cart_dist_mm
#endif
, feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
);

Expand Down Expand Up @@ -728,23 +718,13 @@ class Planner {
* millimeters - the length of the movement, if known
*/
static bool buffer_segment(const float &a, const float &b, const float &c, const float &e
#if HAS_DIST_MM_ARG
, const xyze_float_t &cart_dist_mm
#endif
, const feedRate_t &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
);

FORCE_INLINE static bool buffer_segment(abce_pos_t &abce
#if HAS_DIST_MM_ARG
, const xyze_float_t &cart_dist_mm
#endif
, const feedRate_t &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
) {
return buffer_segment(abce.a, abce.b, abce.c, abce.e
#if HAS_DIST_MM_ARG
, cart_dist_mm
#endif
, fr_mm_s, extruder, millimeters);
return buffer_segment(abce.a, abce.b, abce.c, abce.e, fr_mm_s, extruder, millimeters);
}

public:
Expand Down