Merge branch 'bugfix-2.1.x' into Geeetech-A10T

Marlin/Configuration.h

@@ -38,7 +38,7 @@
  *
  * Advanced settings can be found in Configuration_adv.h
  */
-#define CONFIGURATION_H_VERSION 02010200
+#define CONFIGURATION_H_VERSION 02010300
 
 //===========================================================================
 //============================= Getting Started =============================
@@ -927,7 +927,7 @@
   #endif
 
   // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
-  #define DELTA_PRINTABLE_RADIUS 140.0    // (mm)
+  #define PRINTABLE_RADIUS       140.0    // (mm)
 
   // Maximum reachable area
   #define DELTA_MAX_RADIUS       140.0    // (mm)
@@ -981,7 +981,7 @@
   #if ENABLED(MORGAN_SCARA)
 
     //#define DEBUG_SCARA_KINEMATICS
-    #define SCARA_FEEDRATE_SCALING  // Convert XY feedrate from mm/s to degrees/s on the fly
+    #define FEEDRATE_SCALING        // Convert XY feedrate from mm/s to degrees/s on the fly
 
     // Radius around the center where the arm cannot reach
     #define MIDDLE_DEAD_ZONE_R   0  // (mm)
@@ -1016,7 +1016,7 @@
   #define TPARA_OFFSET_Y    0       // (mm)
   #define TPARA_OFFSET_Z    0       // (mm)
 
-  #define SCARA_FEEDRATE_SCALING  // Convert XY feedrate from mm/s to degrees/s on the fly
+  #define FEEDRATE_SCALING        // Convert XY feedrate from mm/s to degrees/s on the fly
 
   // Radius around the center where the arm cannot reach
   #define MIDDLE_DEAD_ZONE_R   0  // (mm)
@@ -1026,6 +1026,59 @@
   #define PSI_HOMING_OFFSET    0
 #endif
 
+// @section polar
+
+/**
+ * POLAR Kinematics
+ *  developed by Kadir ilkimen for PolarBear CNC and babyBear
+ *  https://github.com/kadirilkimen/Polar-Bear-Cnc-Machine
+ *  https://github.com/kadirilkimen/babyBear-3D-printer
+ *
+ * A polar machine can have different configurations.
+ * This kinematics is only compatible with the following configuration:
+ *        X : Independent linear
+ *   Y or B : Polar
+ *        Z : Independent linear
+ *
+ * For example, PolarBear has CoreXZ plus Polar Y or B.
+ *
+ * Motion problem for Polar axis near center / origin:
+ *
+ * 3D printing:
+ * Movements very close to the center of the polar axis take more time than others.
+ * This brief delay results in more material deposition due to the pressure in the nozzle.
+ *
+ * Current Kinematics and feedrate scaling deals with this by making the movement as fast
+ * as possible. It works for slow movements but doesn't work well with fast ones. A more
+ * complicated extrusion compensation must be implemented.
+ *
+ * Ideally, it should estimate that a long rotation near the center is ahead and will cause
+ * unwanted deposition. Therefore it can compensate the extrusion beforehand.
+ *
+ * Laser cutting:
+ * Same thing would be a problem for laser engraving too. As it spends time rotating at the
+ * center point, more likely it will burn more material than it should. Therefore similar
+ * compensation would be implemented for laser-cutting operations.
+ *
+ * Milling:
+ * This shouldn't be a problem for cutting/milling operations.
+ */
+//#define POLAR
+#if ENABLED(POLAR)
+  #define DEFAULT_SEGMENTS_PER_SECOND 180   // If movement is choppy try lowering this value
+  #define PRINTABLE_RADIUS 82.0f            // (mm) Maximum travel of X axis
+
+  // Movements fall inside POLAR_FAST_RADIUS are assigned the highest possible feedrate
+  // to compensate unwanted deposition related to the near-origin motion problem.
+  #define POLAR_FAST_RADIUS 3.0f            // (mm)
+
+  // Radius which is unreachable by the tool.
+  // Needed if the tool is not perfectly aligned to the center of the polar axis.
+  #define POLAR_CENTER_OFFSET 0.0f          // (mm)
+
+  #define FEEDRATE_SCALING                  // Convert XY feedrate from mm/s to degrees/s on the fly
+#endif
+
 // @section machine
 
 // Articulated robot (arm). Joints are directly mapped to axes with no kinematics.
@@ -1428,13 +1481,13 @@
   // 2 or 3 sets of coordinates for deploying and retracting the spring loaded touch probe on G29,
   // if servo actuated touch probe is not defined. Uncomment as appropriate for your printer/probe.
 
-  #define Z_PROBE_ALLEN_KEY_DEPLOY_1 { 30.0, DELTA_PRINTABLE_RADIUS, 100.0 }
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_1 { 30.0, PRINTABLE_RADIUS, 100.0 }
   #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE XY_PROBE_FEEDRATE
 
-  #define Z_PROBE_ALLEN_KEY_DEPLOY_2 { 0.0, DELTA_PRINTABLE_RADIUS, 100.0 }
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_2 { 0.0, PRINTABLE_RADIUS, 100.0 }
   #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_FEEDRATE)/10
 
-  #define Z_PROBE_ALLEN_KEY_DEPLOY_3 { 0.0, (DELTA_PRINTABLE_RADIUS) * 0.75, 100.0 }
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_3 { 0.0, (PRINTABLE_RADIUS) * 0.75, 100.0 }
   #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE XY_PROBE_FEEDRATE
 
   #define Z_PROBE_ALLEN_KEY_STOW_1 { -64.0, 56.0, 23.0 } // Move the probe into position
@@ -1962,7 +2015,7 @@
     //#define EXTRAPOLATE_BEYOND_GRID
 
     //
-    // Experimental Subdivision of the grid by Catmull-Rom method.
+    // Subdivision of the grid by Catmull-Rom method.
     // Synthesizes intermediate points to produce a more detailed mesh.
     //
     //#define ABL_BILINEAR_SUBDIVISION
@@ -2237,7 +2290,7 @@
 #endif
 
 /**
- * Clean Nozzle Feature -- EXPERIMENTAL
+ * Clean Nozzle Feature
  *
  * Adds the G12 command to perform a nozzle cleaning process.
  *
@@ -2271,7 +2324,6 @@
  *       Before starting, the nozzle moves to NOZZLE_CLEAN_START_POINT.
  *
  *   Caveats: The ending Z should be the same as starting Z.
- * Attention: EXPERIMENTAL. G-code arguments may change.
  */
 //#define NOZZLE_CLEAN_FEATURE
 

Marlin/Configuration_adv.h

@@ -30,7 +30,7 @@
  *
  * Basic settings can be found in Configuration.h
  */
-#define CONFIGURATION_ADV_H_VERSION 02010200
+#define CONFIGURATION_ADV_H_VERSION 02010300
 
 // @section develop
 
@@ -375,7 +375,7 @@
 #endif
 
 #if ENABLED(PIDTEMP)
-  // Add an experimental additional term to the heater power, proportional to the extrusion speed.
+  // Add an additional term to the heater power, proportional to the extrusion speed.
   // A well-chosen Kc value should add just enough power to melt the increased material volume.
   #define PID_EXTRUSION_SCALING
   #if ENABLED(PID_EXTRUSION_SCALING)
@@ -384,7 +384,7 @@
   #endif
 
   /**
-   * Add an experimental additional term to the heater power, proportional to the fan speed.
+   * Add an additional term to the heater power, proportional to the fan speed.
    * A well-chosen Kf value should add just enough power to compensate for power-loss from the cooling fan.
    * You can either just add a constant compensation with the DEFAULT_Kf value
    * or follow the instruction below to get speed-dependent compensation.
@@ -493,7 +493,8 @@
  * the minimum temperature your thermistor can read. The lower the better/safer.
  * This shouldn't need to be more than 30 seconds (30000)
  */
-//#define MILLISECONDS_PREHEAT_TIME 0
+//#define PREHEAT_TIME_HOTEND_MS 0
+//#define PREHEAT_TIME_BED_MS 0
 
 // @section extruder
 
@@ -1430,14 +1431,12 @@
 
 #endif // HAS_MARLINUI_MENU
 
-#if ANY(HAS_DISPLAY, DWIN_LCD_PROUI, DWIN_CREALITY_LCD_JYERSUI)
+#if HAS_DISPLAY
   //#define SOUND_MENU_ITEM   // Add a mute option to the LCD menu
   #define SOUND_ON_DEFAULT    // Buzzer/speaker default enabled state
-#endif
 
-#if EITHER(HAS_DISPLAY, DWIN_LCD_PROUI)
-  // The timeout (in ms) to return to the status screen from sub-menus
-  #define LCD_TIMEOUT_TO_STATUS 60000
+  // The timeout to return to the status screen from sub-menus
+  //#define LCD_TIMEOUT_TO_STATUS 15000   // (ms)
 
   #if ENABLED(SHOW_BOOTSCREEN)
     #define BOOTSCREEN_TIMEOUT 4000       // (ms) Total Duration to display the boot screen(s)
@@ -1484,7 +1483,7 @@
     #endif
   #endif
 
-#endif // HAS_DISPLAY || DWIN_LCD_PROUI
+#endif // HAS_DISPLAY
 
 // Add 'M73' to set print job progress, overrides Marlin's built-in estimate
 //#define SET_PROGRESS_MANUALLY
@@ -2125,7 +2124,6 @@
   #endif
   //#define ADVANCE_K_EXTRA       // Add a second linear advance constant, configurable with M900 L.
   //#define LA_DEBUG              // Print debug information to serial during operation. Disable for production use.
-  //#define EXPERIMENTAL_SCURVE   // Allow S-Curve Acceleration to be used with LA.
   //#define ALLOW_LOW_EJERK       // Allow a DEFAULT_EJERK value of <10. Recommended for direct drive hotends.
   //#define EXPERIMENTAL_I2S_LA   // Allow I2S_STEPPER_STREAM to be used with LA. Performance degrades as the LA step rate reaches ~20kHz.
 #endif

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 "2023-01-10"
+//#define STRING_DISTRIBUTION_DATE "2023-01-27"
 
 /**
  * Defines a generic printer name to be output to the LCD after booting Marlin.

Marlin/src/HAL/ESP32/i2s.cpp

@@ -149,30 +149,28 @@ void stepperTask(void *parameter) {
     dma.rw_pos = 0;
 
     while (dma.rw_pos < DMA_SAMPLE_COUNT) {
-      // Fill with the port data post pulse_phase until the next step
-      if (nextMainISR && TERN1(LIN_ADVANCE, nextAdvanceISR))
-        i2s_push_sample();
-
-      // i2s_push_sample() is also called from Stepper::pulse_phase_isr() and Stepper::advance_isr()
-      // in a rare case where both are called, we need to double decrement the counters
-      const uint8_t push_count = 1 + (!nextMainISR && TERN0(LIN_ADVANCE, !nextAdvanceISR));
-
+      if (!nextMainISR) {
+        Stepper::pulse_phase_isr();
+        nextMainISR = Stepper::block_phase_isr();
+      }
       #if ENABLED(LIN_ADVANCE)
-        if (!nextAdvanceISR) {
+        else if (!nextAdvanceISR) {
           Stepper::advance_isr();
           nextAdvanceISR = Stepper::la_interval;
         }
-        else if (nextAdvanceISR == Stepper::LA_ADV_NEVER)
-          nextAdvanceISR = Stepper::la_interval;
       #endif
+      else
+        i2s_push_sample();
 
-      if (!nextMainISR) {
-        Stepper::pulse_phase_isr();
-        nextMainISR = Stepper::block_phase_isr();
-      }
+      nextMainISR--;
 
-      nextMainISR -= push_count;
-      TERN_(LIN_ADVANCE, nextAdvanceISR -= push_count);
+      #if ENABLED(LIN_ADVANCE)
+        if (nextAdvanceISR == Stepper::LA_ADV_NEVER)
+          nextAdvanceISR = Stepper::la_interval;
+
+        if (nextAdvanceISR && nextAdvanceISR != Stepper::LA_ADV_NEVER)
+          nextAdvanceISR--;
+      #endif
     }
   }
 }

Marlin/src/HAL/NATIVE_SIM/HAL.h

@@ -208,8 +208,8 @@ class MarlinHAL {
   MarlinHAL() {}
 
   // Watchdog
-  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
-  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
+  static void watchdog_init();
+  static void watchdog_refresh();
 
   static void init() {}        // Called early in setup()
   static void init_board() {}  // Called less early in setup()

Marlin/src/HAL/NATIVE_SIM/tft/tft_spi.h

@@ -31,10 +31,11 @@
 #endif
 
 #define DATASIZE_8BIT    8
-#define DATASIZE_16BIT   16
-#define TFT_IO_DRIVER TFT_SPI
+#define DATASIZE_16BIT  16
+#define TFT_IO_DRIVER   TFT_SPI
+#define DMA_MAX_SIZE    0xFFFF
 
-#define DMA_MINC_ENABLE 1
+#define DMA_MINC_ENABLE  1
 #define DMA_MINC_DISABLE 0
 
 class TFT_SPI {
@@ -58,7 +59,9 @@ class TFT_SPI {
   static void WriteData(uint16_t Data);
   static void WriteReg(uint16_t Reg);
 
+  static void WriteSequence_DMA(uint16_t *Data, uint16_t Count) { WriteSequence(Data, Count); }
+  static void WriteMultiple_DMA(uint16_t Color, uint16_t Count) { WriteMultiple(Color, Count); }
+
   static void WriteSequence(uint16_t *Data, uint16_t Count);
-  // static void WriteMultiple(uint16_t Color, uint16_t Count);
   static void WriteMultiple(uint16_t Color, uint32_t Count);
 };

Marlin/src/HAL/STM32/sdio.cpp

@@ -286,6 +286,9 @@ void HAL_SD_MspInit(SD_HandleTypeDef *hsd) {
 
     go_to_transfer_speed();
 
+    hsd.Init.ClockPowerSave = SDIO_CLOCK_POWER_SAVE_ENABLE;
+    hsd.Init.ClockDiv = 8;
+
     #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3) // go to 4 bit wide mode if pins are defined
       retry_Cnt = retryCnt;
       for (;;) {
@@ -433,7 +436,10 @@ bool SDIO_WriteBlock(uint32_t block, const uint8_t *src) {
   #else
 
     uint8_t retries = SDIO_READ_RETRIES;
-    while (retries--) if (SDIO_ReadWriteBlock_DMA(block, src, nullptr)) return true;
+    while (retries--) {
+      if (SDIO_ReadWriteBlock_DMA(block, src, nullptr)) return true;
+      delay(10);
+    }
     return false;
 
   #endif

Marlin/src/HAL/STM32F1/onboard_sd.h

@@ -1,11 +1,31 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
 /*-----------------------------------------------------------------------
-/ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 / * Copyright (c) 2019 BigTreeTech [https://github.com/bigtreetech]
-/ * Low level disk interface module include file   (C)ChaN, 2015
+/ * Low level disk interface module include file (c) ChaN, 2015
 /-----------------------------------------------------------------------*/
 
-#pragma once
-
 #define _DISKIO_WRITE   1   /* 1: Enable disk_write function */
 #define _DISKIO_IOCTL   1   /* 1: Enable disk_ioctl function */
 #define _DISKIO_ISDIO   0   /* 1: Enable iSDIO control function */

Marlin/src/MarlinCore.cpp

@@ -168,6 +168,8 @@
   #include "module/polargraph.h"
 #elif IS_SCARA
   #include "module/scara.h"
+#elif ENABLED(POLAR)
+  #include "module/polar.h"
 #endif
 
 #if HAS_LEVELING

Marlin/src/core/language.h

@@ -279,6 +279,7 @@
 #define STR_S_SEG_PER_SEC                   "S<seg-per-sec>"
 #define STR_DELTA_SETTINGS                  "Delta (L<diagonal-rod> R<radius> H<height> S<seg-per-sec> XYZ<tower-angle-trim> ABC<rod-trim>)"
 #define STR_SCARA_SETTINGS                  "SCARA"
+#define STR_POLAR_SETTINGS                  "Polar"
 #define STR_POLARGRAPH_SETTINGS             "Polargraph"
 #define STR_SCARA_P_T_Z                     "P<theta-psi-offset> T<theta-offset> Z<home-offset>"
 #define STR_ENDSTOP_ADJUSTMENT              "Endstop adjustment"