[2.0.x] Improve sync of planner / stepper position, asynchronous G92

Marlin/src/feature/I2CPositionEncoder.cpp

@@ -358,7 +358,7 @@ bool I2CPositionEncoder::test_axis() {
 
   stepper.synchronize();
 
-  planner.buffer_line(startCoord[X_AXIS],startCoord[Y_AXIS],startCoord[Z_AXIS],
+  planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
                       stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
   stepper.synchronize();
 
@@ -415,10 +415,10 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
   startCoord[encoderAxis] = startDistance;
   endCoord[encoderAxis] = endDistance;
 
-  LOOP_L_N(i, iter) {
-    stepper.synchronize();
+  stepper.synchronize();
 
-    planner.buffer_line(startCoord[X_AXIS],startCoord[Y_AXIS],startCoord[Z_AXIS],
+  LOOP_L_N(i, iter) {
+    planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
                         stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
     stepper.synchronize();
 
@@ -427,7 +427,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
 
     //do_blocking_move_to(endCoord[X_AXIS],endCoord[Y_AXIS],endCoord[Z_AXIS]);
 
-    planner.buffer_line(endCoord[X_AXIS],endCoord[Y_AXIS],endCoord[Z_AXIS],
+    planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS],
                         stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
     stepper.synchronize();
 

Marlin/src/feature/fwretract.cpp

@@ -108,7 +108,7 @@ void FWRetract::retract(const bool retracting
     // G11 priority to recover the long retract if activated
     if (!retracting) swapping = retracted_swap[active_extruder];
   #else
-    const bool swapping = false;
+    constexpr bool swapping = false;
   #endif
 
   /* // debugging
@@ -118,62 +118,57 @@ void FWRetract::retract(const bool retracting
     for (uint8_t i = 0; i < EXTRUDERS; ++i) {
       SERIAL_ECHOPAIR("retracted[", i);
       SERIAL_ECHOLNPAIR("] ", retracted[i]);
-      SERIAL_ECHOPAIR("retracted_swap[", i);
-      SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
+      #if EXTRUDERS > 1
+        SERIAL_ECHOPAIR("retracted_swap[", i);
+        SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
+      #endif
     }
     SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
     SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]);
     SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
   //*/
 
-  const float old_feedrate_mm_s = feedrate_mm_s;
+  const float old_feedrate_mm_s = feedrate_mm_s,
+              renormalize = RECIPROCAL(planner.e_factor[active_extruder]),
+              base_retract = swapping ? swap_retract_length : retract_length,
+              old_z = current_position[Z_AXIS],
+              old_e = current_position[E_AXIS];
 
   // The current position will be the destination for E and Z moves
   set_destination_from_current();
-  stepper.synchronize();  // Wait for buffered moves to complete
-
-  const float renormalize = 1.0 / planner.e_factor[active_extruder];
 
   if (retracting) {
     // Retract by moving from a faux E position back to the current E position
     feedrate_mm_s = retract_feedrate_mm_s;
-    current_position[E_AXIS] += (swapping ? swap_retract_length : retract_length) * renormalize;
-    sync_plan_position_e();
-    prepare_move_to_destination();  // set_current_to_destination
+    destination[E_AXIS] -= base_retract * renormalize;
+    prepare_move_to_destination();                        // set_current_to_destination
 
     // Is a Z hop set, and has the hop not yet been done?
-    // No double zlifting
-    // Feedrate to the max
     if (retract_zlift > 0.01 && !hop_amount) {            // Apply hop only once
-      const float old_z = current_position[Z_AXIS];
       hop_amount += retract_zlift;                        // Add to the hop total (again, only once)
       destination[Z_AXIS] += retract_zlift;               // Raise Z by the zlift (M207 Z) amount
       feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS];  // Maximum Z feedrate
       prepare_move_to_destination();                      // Raise up, set_current_to_destination
-      current_position[Z_AXIS] = old_z;                   // Spoof the Z position in the planner
-      SYNC_PLAN_POSITION_KINEMATIC();
     }
   }
   else {
     // If a hop was done and Z hasn't changed, undo the Z hop
     if (hop_amount) {
-      current_position[Z_AXIS] += hop_amount;             // Set actual Z (due to the prior hop)
-      SYNC_PLAN_POSITION_KINEMATIC();                     // Spoof the Z position in the planner
+      destination[Z_AXIS] -= hop_amount;                  // Move back down by the total hop amount
       feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS];  // Z feedrate to max
       prepare_move_to_destination();                      // Lower Z, set_current_to_destination
       hop_amount = 0.0;                                   // Clear the hop amount
     }
 
-    // A retract multiplier has been added here to get faster swap recovery
+    destination[E_AXIS] += (base_retract + (swapping ? swap_retract_recover_length : retract_recover_length)) * renormalize;
     feedrate_mm_s = swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s;
-
-    current_position[E_AXIS] -= (swapping ? swap_retract_length + swap_retract_recover_length
-                                          : retract_length + retract_recover_length) * renormalize;
-    sync_plan_position_e();
     prepare_move_to_destination();                        // Recover E, set_current_to_destination
   }
 
   feedrate_mm_s = old_feedrate_mm_s;                      // Restore original feedrate
+  current_position[Z_AXIS] = old_z;                       // Restore Z and E positions
+  current_position[E_AXIS] = old_e;
+  SYNC_PLAN_POSITION_KINEMATIC();                         // As if the move never took place
 
   retracted[active_extruder] = retracting;                // Active extruder now retracted / recovered
 
@@ -189,8 +184,10 @@ void FWRetract::retract(const bool retracting
     for (uint8_t i = 0; i < EXTRUDERS; ++i) {
       SERIAL_ECHOPAIR("retracted[", i);
       SERIAL_ECHOLNPAIR("] ", retracted[i]);
-      SERIAL_ECHOPAIR("retracted_swap[", i);
-      SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
+      #if EXTRUDERS > 1
+        SERIAL_ECHOPAIR("retracted_swap[", i);
+        SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
+      #endif
     }
     SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
     SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]);

Marlin/src/feature/pause.cpp

@@ -121,8 +121,8 @@ static void do_pause_e_move(const float &length, const float &fr) {
   set_destination_from_current();
   destination[E_AXIS] += length / planner.e_factor[active_extruder];
   planner.buffer_line_kinematic(destination, fr, active_extruder);
-  stepper.synchronize();
   set_current_from_destination();
+  stepper.synchronize();
 }
 
 /**
@@ -366,12 +366,12 @@ bool pause_print(const float &retract, const point_t &park_point, const float &u
   #endif
   print_job_timer.pause();
 
-  // Wait for synchronize steppers
-  stepper.synchronize();
-
   // Save current position
   COPY(resume_position, current_position);
 
+  // Wait for buffered blocks to complete
+  stepper.synchronize();
+
   // Initial retract before move to filament change position
   if (retract && thermalManager.hotEnoughToExtrude(active_extruder))
     do_pause_e_move(retract, PAUSE_PARK_RETRACT_FEEDRATE);

Marlin/src/gcode/bedlevel/G26.cpp

@@ -240,8 +240,6 @@ void move_to(const float &rx, const float &ry, const float &z, const float &e_de
     destination[E_AXIS] = current_position[E_AXIS];
 
     G26_line_to_destination(feed_value);
-
-    stepper.synchronize();
     set_destination_from_current();
   }
 
@@ -256,8 +254,6 @@ void move_to(const float &rx, const float &ry, const float &z, const float &e_de
   destination[E_AXIS] += e_delta;
 
   G26_line_to_destination(feed_value);
-
-  stepper.synchronize();
   set_destination_from_current();
 }
 
@@ -499,13 +495,11 @@ inline bool prime_nozzle() {
           if (Total_Prime >= EXTRUDE_MAXLENGTH) return G26_ERR;
         #endif
         G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
-
+        set_destination_from_current();
         stepper.synchronize();    // Without this synchronize, the purge is more consistent,
                                   // but because the planner has a buffer, we won't be able
                                   // to stop as quickly. So we put up with the less smooth
                                   // action to give the user a more responsive 'Stop'.
-        set_destination_from_current();
-        idle();
       }
 
       wait_for_release();
@@ -526,7 +520,6 @@ inline bool prime_nozzle() {
     set_destination_from_current();
     destination[E_AXIS] += g26_prime_length;
     G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
-    stepper.synchronize();
     set_destination_from_current();
     retract_filament(destination);
   }
@@ -700,7 +693,6 @@ void GcodeSuite::G26() {
 
   if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) {
     do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
-    stepper.synchronize();
     set_current_from_destination();
   }
 

Marlin/src/gcode/bedlevel/abl/G29.cpp

@@ -949,8 +949,8 @@ void GcodeSuite::G29() {
       #if ENABLED(DEBUG_LEVELING_FEATURE)
         if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
       #endif
-      enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
       stepper.synchronize();
+      enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
     #endif
 
     // Auto Bed Leveling is complete! Enable if possible.

Marlin/src/gcode/control/M80_M81.cpp

@@ -108,7 +108,6 @@ void GcodeSuite::M81() {
   safe_delay(1000); // Wait 1 second before switching off
 
   #if HAS_SUICIDE
-    stepper.synchronize();
     suicide();
   #elif HAS_POWER_SWITCH
     PSU_OFF();

Marlin/src/gcode/geometry/G92.cpp

@@ -33,8 +33,6 @@
  */
 void GcodeSuite::G92() {
 
-  stepper.synchronize();
-
   #if ENABLED(CNC_COORDINATE_SYSTEMS)
     switch (parser.subcode) {
       case 1:
@@ -94,10 +92,8 @@ void GcodeSuite::G92() {
       COPY(coordinate_system[active_coordinate_system], position_shift);
   #endif
 
-  if (didXYZ)
-    SYNC_PLAN_POSITION_KINEMATIC();
-  else if (didE)
-    sync_plan_position_e();
+  if    (didXYZ) SYNC_PLAN_POSITION_KINEMATIC();
+  else if (didE) sync_plan_position_e();
 
   report_current_position();
 }

Marlin/src/gcode/host/M114.cpp

@@ -43,8 +43,6 @@
 
   void report_current_position_detail() {
 
-    stepper.synchronize();
-
     SERIAL_PROTOCOLPGM("\nLogical:");
     const float logical[XYZ] = {
       LOGICAL_X_POSITION(current_position[X_AXIS]),
@@ -79,6 +77,8 @@
       report_xyz(delta);
     #endif
 
+    stepper.synchronize();
+
     SERIAL_PROTOCOLPGM("Stepper:");
     LOOP_XYZE(i) {
       SERIAL_CHAR(' ');

Marlin/src/gcode/lcd/M0_M1.cpp

@@ -58,6 +58,8 @@ void GcodeSuite::M0_M1() {
 
   const bool has_message = !hasP && !hasS && args && *args;
 
+  stepper.synchronize();
+
   #if ENABLED(ULTIPANEL)
 
     if (has_message)
@@ -81,8 +83,6 @@ void GcodeSuite::M0_M1() {
   KEEPALIVE_STATE(PAUSED_FOR_USER);
   wait_for_user = true;
 
-  stepper.synchronize();
-
   if (ms > 0) {
     ms += millis();  // wait until this time for a click
     while (PENDING(millis(), ms) && wait_for_user) idle();

Marlin/src/module/motion.cpp

@@ -396,13 +396,13 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f
 
   #endif
 
-  stepper.synchronize();
-
   feedrate_mm_s = old_feedrate_mm_s;
 
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
   #endif
+
+  stepper.synchronize();
 }
 void do_blocking_move_to_x(const float &rx, const float &fr_mm_s/*=0.0*/) {
   do_blocking_move_to(rx, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
@@ -881,8 +881,8 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
               current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
               planner.max_feedrate_mm_s[X_AXIS], 1
             );
-            SYNC_PLAN_POSITION_KINEMATIC();
             stepper.synchronize();
+            SYNC_PLAN_POSITION_KINEMATIC();
             extruder_duplication_enabled = true;
             active_extruder_parked = false;
             #if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -1106,7 +1106,7 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
     planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
   #else
     sync_plan_position();
-    current_position[axis] = distance;
+    current_position[axis] = distance; // Set delta/cartesian axes directly
     planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
   #endif