Bugfix 2.0.x

Marlin/Configuration.h

@@ -706,7 +706,7 @@
  * Enable if your probe or endstops falsely trigger due to noise.
  *
  * - Higher values may affect repeatability or accuracy of some bed probes.
- * - To fix noise install a 100nF ceramic capacitor inline with the switch.
+ * - To fix noise install a 100nF ceramic capacitor in parallel with the switch.
  * - This feature is not required for common micro-switches mounted on PCBs
  *   based on the Makerbot design, which already have the 100nF capacitor.
  *

Marlin/Configuration_adv.h

@@ -770,7 +770,7 @@
 //#define HOME_AFTER_DEACTIVATE  // Require rehoming after steppers are deactivated
 
 // Minimum time that a segment needs to take if the buffer is emptied
-#define DEFAULT_MINSEGMENTTIME        20000   // (ms)
+#define DEFAULT_MINSEGMENTTIME        20000   // (µs)
 
 // Slow down the machine if the look ahead buffer is (by default) half full.
 // Increase the slowdown divisor for larger buffer sizes.
@@ -1381,7 +1381,6 @@
   //#define AO_EXP2_PINMAP      // AlephObjects CLCD UI EXP2 mapping
   //#define CR10_TFT_PINMAP     // Rudolph Riedel's CR10 pin mapping
   //#define S6_TFT_PINMAP       // FYSETC S6 pin mapping
-  //#define CHEETAH_TFT_PINMAP  // FYSETC Cheetah pin mapping
   //#define E3_EXP1_PINMAP      // E3 type boards (SKR E3/DIP, and Stock boards) EXP1 pin mapping
   //#define GENERIC_EXP2_PINMAP // GENERIC EXP2 pin mapping
 
@@ -1663,6 +1662,16 @@
 // Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
 //#define BEZIER_CURVE_SUPPORT
 
+/**
+ * Direct Stepping
+ *
+ * Comparable to the method used by Klipper, G6 direct stepping significantly
+ * reduces motion calculations, increases top printing speeds, and results in
+ * less step aliasing by calculating all motions in advance.
+ * Preparing your G-code: https://github.com/colinrgodsey/step-daemon
+ */
+//#define DIRECT_STEPPING
+
 /**
  * G38 Probe Target
  *
@@ -1731,14 +1740,16 @@
 //================================= Buffers =================================
 //===========================================================================
 
-// @section hidden
+// @section motion
 
-// The number of linear motions that can be in the plan at any give time.
-// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2 (e.g. 8, 16, 32) because shifts and ors are used to do the ring-buffering.
-#if ENABLED(SDSUPPORT)
-  #define BLOCK_BUFFER_SIZE 16 // SD,LCD,Buttons take more memory, block buffer needs to be smaller
+// The number of lineear moves that can be in the planner at once.
+// The value of BLOCK_BUFFER_SIZE must be a power of 2 (e.g. 8, 16, 32)
+#if BOTH(SDSUPPORT, DIRECT_STEPPING)
+  #define BLOCK_BUFFER_SIZE  8
+#elif ENABLED(SDSUPPORT)
+  #define BLOCK_BUFFER_SIZE 16
 #else
-  #define BLOCK_BUFFER_SIZE 16 // maximize block buffer
+  #define BLOCK_BUFFER_SIZE 16
 #endif
 
 // @section serial
@@ -1781,10 +1792,14 @@
   //#define SERIAL_STATS_DROPPED_RX
 #endif
 
-// Enable an emergency-command parser to intercept certain commands as they
-// enter the serial receive buffer, so they cannot be blocked.
-// Currently handles M108, M112, M410
-// Does not work on boards using AT90USB (USBCON) processors!
+/**
+ * Emergency Command Parser
+ *
+ * Add a low-level parser to intercept certain commands as they
+ * enter the serial receive buffer, so they cannot be blocked.
+ * Currently handles M108, M112, M410, M876
+ * NOTE: Not yet implemented for all platforms.
+ */
 //#define EMERGENCY_PARSER
 
 // Bad Serial-connections can miss a received command by sending an 'ok'

Marlin/Version.h

@@ -34,7 +34,7 @@
  * Verbose version identifier which should contain a reference to the location
  * from where the binary was downloaded or the source code was compiled.
  */
-//#define DETAILED_BUILD_VERSION SHORT_BUILD_VERSION " (Github)"
+//#define DETAILED_BUILD_VERSION SHORT_BUILD_VERSION
 
 /**
  * The STRING_DISTRIBUTION_DATE represents when the binary file was built,

Marlin/src/HAL/AVR/MarlinSerial.cpp

@@ -43,6 +43,10 @@
   #include "MarlinSerial.h"
   #include "../../MarlinCore.h"
 
+  #if ENABLED(DIRECT_STEPPING)
+    #include "../../feature/direct_stepping.h"
+  #endif
+
   template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_r MarlinSerial<Cfg>::rx_buffer = { 0, 0, { 0 } };
   template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_t MarlinSerial<Cfg>::tx_buffer = { 0 };
   template<typename Cfg> bool     MarlinSerial<Cfg>::_written = false;
@@ -131,6 +135,18 @@
 
     static EmergencyParser::State emergency_state; // = EP_RESET
 
+    // This must read the R_UCSRA register before reading the received byte to detect error causes
+    if (Cfg::DROPPED_RX && B_DOR && !++rx_dropped_bytes) --rx_dropped_bytes;
+    if (Cfg::RX_OVERRUNS && B_DOR && !++rx_buffer_overruns) --rx_buffer_overruns;
+    if (Cfg::RX_FRAMING_ERRORS && B_FE && !++rx_framing_errors) --rx_framing_errors;
+
+    // Read the character from the USART
+    uint8_t c = R_UDR;
+
+    #if ENABLED(DIRECT_STEPPING)
+      if (page_manager.maybe_store_rxd_char(c)) return;
+    #endif
+
     // Get the tail - Nothing can alter its value while this ISR is executing, but there's
     // a chance that this ISR interrupted the main process while it was updating the index.
     // The backup mechanism ensures the correct value is always returned.
@@ -142,14 +158,6 @@
     // Get the next element
     ring_buffer_pos_t i = (ring_buffer_pos_t)(h + 1) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1);
 
-    // This must read the R_UCSRA register before reading the received byte to detect error causes
-    if (Cfg::DROPPED_RX && B_DOR && !++rx_dropped_bytes) --rx_dropped_bytes;
-    if (Cfg::RX_OVERRUNS && B_DOR && !++rx_buffer_overruns) --rx_buffer_overruns;
-    if (Cfg::RX_FRAMING_ERRORS && B_FE && !++rx_framing_errors) --rx_framing_errors;
-
-    // Read the character from the USART
-    uint8_t c = R_UDR;
-
     if (Cfg::EMERGENCYPARSER) emergency_parser.update(emergency_state, c);
 
     // If the character is to be stored at the index just before the tail

Marlin/src/MarlinCore.cpp

@@ -59,6 +59,10 @@
 #include "gcode/parser.h"
 #include "gcode/queue.h"
 
+#if ENABLED(DIRECT_STEPPING)
+  #include "feature/direct_stepping.h"
+#endif
+
 #if ENABLED(TOUCH_BUTTONS)
   #include "feature/touch/xpt2046.h"
 #endif
@@ -713,6 +717,9 @@ void idle(TERN_(ADVANCED_PAUSE_FEATURE, bool no_stepper_sleep/*=false*/)) {
 
   // Handle Joystick jogging
   TERN_(POLL_JOG, joystick.inject_jog_moves());
+
+  // Direct Stepping
+  TERN_(DIRECT_STEPPING, page_manager.write_responses());
 }
 
 /**
@@ -1124,6 +1131,10 @@ void setup() {
     SETUP_RUN(max7219.init());
   #endif
 
+  #if ENABLED(DIRECT_STEPPING)
+    SETUP_RUN(page_manager.init());
+  #endif
+
   marlin_state = MF_RUNNING;
 
   SETUP_LOG("setup() completed.");

Marlin/src/core/language.h

@@ -125,7 +125,7 @@
 #define STR_INVALID_E_STEPPER               "Invalid E stepper"
 #define STR_E_STEPPER_NOT_SPECIFIED         "E stepper not specified"
 #define STR_INVALID_SOLENOID                "Invalid solenoid"
-#define STR_M115_REPORT                     "FIRMWARE_NAME:Marlin " DETAILED_BUILD_VERSION " SOURCE_CODE_URL:" SOURCE_CODE_URL " PROTOCOL_VERSION:" PROTOCOL_VERSION " MACHINE_TYPE:" MACHINE_NAME " EXTRUDER_COUNT:" STRINGIFY(EXTRUDERS) " UUID:" MACHINE_UUID
+#define STR_M115_REPORT                     "FIRMWARE_NAME:Marlin " DETAILED_BUILD_VERSION " (" __DATE__ " " __TIME__ ") SOURCE_CODE_URL:" SOURCE_CODE_URL " PROTOCOL_VERSION:" PROTOCOL_VERSION " MACHINE_TYPE:" MACHINE_NAME " EXTRUDER_COUNT:" STRINGIFY(EXTRUDERS) " UUID:" MACHINE_UUID
 #define STR_COUNT_X                         " Count X:"
 #define STR_COUNT_A                         " Count A:"
 #define STR_WATCHDOG_FIRED                  "Watchdog timeout. Reset required."

Marlin/src/core/macros.h

@@ -102,15 +102,15 @@
 #define SBI32(n,b) (n |= _BV32(b))
 #define CBI32(n,b) (n &= ~_BV32(b))
 
-#define cu(x)      ((x)*(x)*(x))
+#define cu(x)      ({__typeof__(x) _x = (x); (_x)*(_x)*(_x);})
 #define RADIANS(d) ((d)*float(M_PI)/180.0f)
 #define DEGREES(r) ((r)*180.0f/float(M_PI))
 #define HYPOT2(x,y) (sq(x)+sq(y))
 
 #define CIRCLE_AREA(R) (float(M_PI) * sq(float(R)))
 #define CIRCLE_CIRC(R) (2 * float(M_PI) * float(R))
 
-#define SIGN(a) ((a>0)-(a<0))
+#define SIGN(a) ({__typeof__(a) _a = (a); (_a>0)-(_a<0);})
 #define IS_POWER_OF_2(x) ((x) && !((x) & ((x) - 1)))
 
 // Macros to constrain values
@@ -130,8 +130,6 @@
 
 #else
 
-  // Using GCC extensions, but Travis GCC version does not like it and gives
-  //  "error: statement-expressions are not allowed outside functions nor in template-argument lists"
   #define NOLESS(v, n) \
     do{ \
       __typeof__(n) _n = (n); \
@@ -269,7 +267,7 @@
 #define NEAR(x,y) NEAR_ZERO((x)-(y))
 
 #define RECIPROCAL(x) (NEAR_ZERO(x) ? 0 : (1 / float(x)))
-#define FIXFLOAT(f) (f + (f < 0 ? -0.00005f : 0.00005f))
+#define FIXFLOAT(f)  ({__typeof__(f) _f = (f); _f + (_f < 0 ? -0.00005f : 0.00005f);})
 
 //
 // Maths macros that can be overridden by HAL
@@ -482,3 +480,14 @@
 #define RREPEAT(N,OP)            RREPEAT_S(0,N,OP)
 #define RREPEAT2_S(S,N,OP,V...)  EVAL1024(_RREPEAT2(S,SUB##S(N),OP,V))
 #define RREPEAT2(N,OP,V...)      RREPEAT2_S(0,N,OP,V)
+
+// See https://github.com/swansontec/map-macro
+#define MAP_OUT
+#define MAP_END(...)
+#define MAP_GET_END() 0, MAP_END
+#define MAP_NEXT0(test, next, ...) next MAP_OUT
+#define MAP_NEXT1(test, next) MAP_NEXT0 (test, next, 0)
+#define MAP_NEXT(test, next)  MAP_NEXT1 (MAP_GET_END test, next)
+#define MAP0(f, x, peek, ...) f(x) MAP_NEXT (peek, MAP1) (f, peek, __VA_ARGS__)
+#define MAP1(f, x, peek, ...) f(x) MAP_NEXT (peek, MAP0) (f, peek, __VA_ARGS__)
+#define MAP(f, ...) EVAL512 (MAP1 (f, __VA_ARGS__, (), 0))