Merge pull request #6045 from thinkyhead/rc_remove_raw_kinematics

Remove delta optimization concepts… for now

Marlin/Marlin_main.cpp

@@ -9145,7 +9145,7 @@ void ok_to_send() {
       )                                       \
     )
 
-  #define DELTA_RAW_IK() do {   \
+  #define DELTA_RAW_IK() do {        \
     delta[A_AXIS] = DELTA_Z(A_AXIS); \
     delta[B_AXIS] = DELTA_Z(B_AXIS); \
     delta[C_AXIS] = DELTA_Z(C_AXIS); \
@@ -9512,112 +9512,21 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
     // If there's only 1 segment, loops will be skipped entirely.
     --segments;
 
-    // Using "raw" coordinates saves 6 float subtractions
-    // per segment, saving valuable CPU cycles
+    // Get the logical current position as starting point
+    float logical[XYZE];
+    COPY(logical, current_position);
 
-    #if ENABLED(USE_RAW_KINEMATICS)
-
-      // Get the raw current position as starting point
-      float raw[XYZE] = {
-        RAW_CURRENT_POSITION(X_AXIS),
-        RAW_CURRENT_POSITION(Y_AXIS),
-        RAW_CURRENT_POSITION(Z_AXIS),
-        current_position[E_AXIS]
-      };
-
-      #define DELTA_VAR raw
-
-      // Delta can inline its kinematics
-      #if ENABLED(DELTA)
-        #define DELTA_IK() DELTA_RAW_IK()
-      #else
-        #define DELTA_IK() inverse_kinematics(raw)
-      #endif
-
-    #else
-
-      // Get the logical current position as starting point
-      float logical[XYZE];
-      COPY(logical, current_position);
-
-      #define DELTA_VAR logical
-
-      // Delta can inline its kinematics
+    // Calculate and execute the segments
+    for (uint16_t s = segments + 1; --s;) {
+      LOOP_XYZE(i) logical[i] += segment_distance[i];
       #if ENABLED(DELTA)
-        #define DELTA_IK() DELTA_LOGICAL_IK()
+        DELTA_LOGICAL_IK(); // Delta can inline its kinematics
       #else
-        #define DELTA_IK() inverse_kinematics(logical)
+        inverse_kinematics(logical);
       #endif
-
-    #endif
-
-    #if ENABLED(USE_DELTA_IK_INTERPOLATION)
-
-      // Only interpolate XYZ. Advance E normally.
-      #define DELTA_NEXT(ADDEND) LOOP_XYZ(i) DELTA_VAR[i] += ADDEND;
-
-      // Get the starting delta if interpolation is possible
-      if (segments >= 2) {
-        DELTA_IK();
-        ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
-      }
-
-      // Loop using decrement
-      for (uint16_t s = segments + 1; --s;) {
-        // Are there at least 2 moves left?
-        if (s >= 2) {
-          // Save the previous delta for interpolation
-          float prev_delta[ABC] = { delta[A_AXIS], delta[B_AXIS], delta[C_AXIS] };
-
-          // Get the delta 2 segments ahead (rather than the next)
-          DELTA_NEXT(segment_distance[i] + segment_distance[i]);
-
-          // Advance E normally
-          DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
-
-          // Get the exact delta for the move after this
-          DELTA_IK();
-          ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
-
-          // Move to the interpolated delta position first
-          planner.buffer_line(
-            (prev_delta[A_AXIS] + delta[A_AXIS]) * 0.5,
-            (prev_delta[B_AXIS] + delta[B_AXIS]) * 0.5,
-            (prev_delta[C_AXIS] + delta[C_AXIS]) * 0.5,
-            DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder
-          );
-
-          // Advance E once more for the next move
-          DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
-
-          // Do an extra decrement of the loop
-          --s;
-        }
-        else {
-          // Get the last segment delta. (Used when segments is odd)
-          DELTA_NEXT(segment_distance[i]);
-          DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
-          DELTA_IK();
-          ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
-        }
-
-        // Move to the non-interpolated position
-        planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder);
-      }
-
-    #else
-
-      #define DELTA_NEXT(ADDEND) LOOP_XYZE(i) DELTA_VAR[i] += ADDEND;
-
-      // For non-interpolated delta calculate every segment
-      for (uint16_t s = segments + 1; --s;) {
-        DELTA_NEXT(segment_distance[i]);
-        DELTA_IK();
-        ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
-        planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder);
-      }
-
-    #endif
+      ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
+      planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
+    }
 
     // Since segment_distance is only approximate,
     // the final move must be to the exact destination.

Marlin/SanityCheck.h

@@ -232,6 +232,8 @@
 #if ENABLED(DELTA)
   #if DISABLED(USE_XMAX_PLUG) && DISABLED(USE_YMAX_PLUG) && DISABLED(USE_ZMAX_PLUG)
     #error "You probably want to use Max Endstops for DELTA!"
+  #elif ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
+    #error "DELTA is incompatible with ENABLE_LEVELING_FADE_HEIGHT. Please disable it."
   #endif
   #if ABL_GRID
     #if (ABL_GRID_MAX_POINTS_X & 1) == 0 || (ABL_GRID_MAX_POINTS_Y & 1) == 0

Marlin/example_configurations/delta/flsun_kossel_mini/Configuration.h

@@ -932,7 +932,7 @@
     // Gradually reduce leveling correction until a set height is reached,
     // at which point movement will be level to the machine's XY plane.
     // The height can be set with M420 Z<height>
-    #define ENABLE_LEVELING_FADE_HEIGHT
+    //#define ENABLE_LEVELING_FADE_HEIGHT
 
     //
     // Experimental Subdivision of the grid by Catmull-Rom method.

Marlin/example_configurations/delta/generic/Configuration.h

@@ -916,7 +916,7 @@
     // Gradually reduce leveling correction until a set height is reached,
     // at which point movement will be level to the machine's XY plane.
     // The height can be set with M420 Z<height>
-    #define ENABLE_LEVELING_FADE_HEIGHT
+    //#define ENABLE_LEVELING_FADE_HEIGHT
 
     //
     // Experimental Subdivision of the grid by Catmull-Rom method.

Marlin/example_configurations/delta/kossel_pro/Configuration.h

@@ -918,7 +918,7 @@
     // Gradually reduce leveling correction until a set height is reached,
     // at which point movement will be level to the machine's XY plane.
     // The height can be set with M420 Z<height>
-    #define ENABLE_LEVELING_FADE_HEIGHT
+    //#define ENABLE_LEVELING_FADE_HEIGHT
 
     //
     // Experimental Subdivision of the grid by Catmull-Rom method.

Marlin/example_configurations/delta/kossel_xl/Configuration.h

@@ -922,7 +922,7 @@
     // Gradually reduce leveling correction until a set height is reached,
     // at which point movement will be level to the machine's XY plane.
     // The height can be set with M420 Z<height>
-    #define ENABLE_LEVELING_FADE_HEIGHT
+    //#define ENABLE_LEVELING_FADE_HEIGHT
 
     //
     // Experimental Subdivision of the grid by Catmull-Rom method.