Merge branch 'bugfix-2.1.x' into mike-config

* bugfix-2.1.x: (37 commits)
  [cron] Bump distribution date (2024-01-16)
  🧑‍💻 Tweak limit_and_warn
  🧑‍💻 Tweak planner debug
  [cron] Bump distribution date (2024-01-15)
  🔨 Make / pins-format patches
  [cron] Bump distribution date (2024-01-14)
  🔧 Fix SD connection defaults (MarlinFirmware#26666)
  [cron] Bump distribution date (2024-01-13)
  🐛 Fix PLR pos/sdpos (MarlinFirmware#26365)
  [cron] Bump distribution date (2024-01-12)
  ⏪️ Revert encoder changes
  [cron] Bump distribution date (2024-01-11)
  🎨 Misc. style adjustments
  ✨ EDITABLE_STEPS_PER_UNIT (MarlinFirmware#26618)
  ✨ PLR_BED_THRESHOLD (MarlinFirmware#26649)
  🩹 Clarify servo µs min/max
  🩹 Fix some temp constraints
  🩹 Fix PID / MPC tune background tasks (MarlinFirmware#26652)
  🎨 Minor temp / UI refactor
  [cron] Bump distribution date (2024-01-10)
  ...

Author: mikezs

Makefile

@@ -5,13 +5,14 @@ CONTAINER_IMAGE := marlin-dev
 
 help:
 	@echo "Tasks for local development:"
-	@echo "* format-pins:                 Reformat all pins files"
-	@echo "* tests-single-ci:             Run a single test from inside the CI"
-	@echo "* tests-single-local:          Run a single test locally"
-	@echo "* tests-single-local-docker:   Run a single test locally, using docker"
-	@echo "* tests-all-local:             Run all tests locally"
-	@echo "* tests-all-local-docker:      Run all tests locally, using docker"
-	@echo "* setup-local-docker:          Build the local docker image"
+	@echo "make marlin                    : Build marlin for the configured board"
+	@echo "make format-pins               : Reformat all pins files"
+	@echo "make tests-single-ci           : Run a single test from inside the CI"
+	@echo "make tests-single-local        : Run a single test locally"
+	@echo "make tests-single-local-docker : Run a single test locally, using docker"
+	@echo "make tests-all-local           : Run all tests locally"
+	@echo "make tests-all-local-docker    : Run all tests locally, using docker"
+	@echo "make setup-local-docker        : Build the local docker image"
 	@echo ""
 	@echo "Options for testing:"
 	@echo "  TEST_TARGET          Set when running tests-single-*, to select the"
@@ -24,46 +25,41 @@ help:
 	@echo "  VERBOSE_PLATFORMIO   If you want the full PIO output, set any value"
 	@echo "  GIT_RESET_HARD       Used by CI: reset all local changes. WARNING:"
 	@echo "                       THIS WILL UNDO ANY CHANGES YOU'VE MADE!"
-.PHONY: help
+
+marlin:
+	./buildroot/bin/mftest -a
+.PHONY: marlin
 
 tests-single-ci:
 	export GIT_RESET_HARD=true
 	$(MAKE) tests-single-local TEST_TARGET=$(TEST_TARGET) PLATFORMIO_BUILD_FLAGS=-DGITHUB_ACTION
-.PHONY: tests-single-ci
 
 tests-single-local:
 	@if ! test -n "$(TEST_TARGET)" ; then echo "***ERROR*** Set TEST_TARGET=<your-module> or use make tests-all-local" ; return 1; fi
 	export PATH="./buildroot/bin/:./buildroot/tests/:${PATH}" \
 	  && export VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) \
 	  && run_tests . $(TEST_TARGET) "$(ONLY_TEST)"
-.PHONY: tests-single-local
 
 tests-single-local-docker:
 	@if ! test -n "$(TEST_TARGET)" ; then echo "***ERROR*** Set TEST_TARGET=<your-module> or use make tests-all-local-docker" ; return 1; fi
 	@if ! $(CONTAINER_RT_BIN) images -q $(CONTAINER_IMAGE) > /dev/null ; then $(MAKE) setup-local-docker ; fi
 	$(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS) $(CONTAINER_IMAGE) $(MAKE) tests-single-local TEST_TARGET=$(TEST_TARGET) VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD) ONLY_TEST="$(ONLY_TEST)"
-.PHONY: tests-single-local-docker
 
 tests-all-local:
 	export PATH="./buildroot/bin/:./buildroot/tests/:${PATH}" \
 	  && export VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) \
 	  && for TEST_TARGET in $$($(SCRIPTS_DIR)/get_test_targets.py) ; do echo "Running tests for $$TEST_TARGET" ; run_tests . $$TEST_TARGET ; done
-.PHONY: tests-all-local
 
 tests-all-local-docker:
 	@if ! $(CONTAINER_RT_BIN) images -q $(CONTAINER_IMAGE) > /dev/null ; then $(MAKE) setup-local-docker ; fi
 	$(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS) $(CONTAINER_IMAGE) $(MAKE) tests-all-local VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD)
-.PHONY: tests-all-local-docker
 
 setup-local-docker:
 	$(CONTAINER_RT_BIN) build -t $(CONTAINER_IMAGE) -f docker/Dockerfile .
-.PHONY: setup-local-docker
 
 PINS := $(shell find Marlin/src/pins -mindepth 2 -name '*.h')
 
-.PHONY: $(PINS)
-
 $(PINS): %:
-	@echo "Formatting $@" && node buildroot/share/scripts/pinsformat.js $@
+	@echo "Formatting $@" && node $(SCRIPTS_DIR)/pinsformat.js $@
 
 format-pins: $(PINS)

Marlin/Configuration.h

@@ -1236,11 +1236,16 @@
 
 /**
  * Default Axis Steps Per Unit (linear=steps/mm, rotational=steps/°)
- * Override with M92
+ * Override with M92 (when enabled below)
  *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
  */
 #define DEFAULT_AXIS_STEPS_PER_UNIT   { 100, 100, 400, 94.75 }
 
+/**
+ * Enable support for M92. Disable to save at least ~530 bytes of flash.
+ */
+#define EDITABLE_STEPS_PER_UNIT
+
 /**
  * Default Max Feed Rate (linear=mm/s, rotational=°/s)
  * Override with M203
@@ -2037,7 +2042,7 @@
  * Commands to execute at the end of G29 probing.
  * Useful to retract or move the Z probe out of the way.
  */
-//#define Z_PROBE_END_SCRIPT "G1 Z10 F12000\nG1 X15 Y330\nG1 Z0.5\nG1 Z10"
+//#define EVENT_GCODE_AFTER_G29 "G1 Z10 F12000\nG1 X15 Y330\nG1 Z0.5\nG1 Z10"
 
 /**
  * Normally G28 leaves leveling disabled on completion. Enable one of

Marlin/Configuration_adv.h

@@ -1743,19 +1743,20 @@
    */
   //#define POWER_LOSS_RECOVERY
   #if ENABLED(POWER_LOSS_RECOVERY)
-    #define PLR_ENABLED_DEFAULT   false // Power Loss Recovery enabled by default. (Set with 'M413 Sn' & M500)
-    //#define BACKUP_POWER_SUPPLY       // Backup power / UPS to move the steppers on power loss
-    //#define POWER_LOSS_ZRAISE       2 // (mm) Z axis raise on resume (on power loss with UPS)
-    //#define POWER_LOSS_PIN         44 // Pin to detect power loss. Set to -1 to disable default pin on boards without module.
-    //#define POWER_LOSS_STATE     HIGH // State of pin indicating power loss
-    //#define POWER_LOSS_PULLUP         // Set pullup / pulldown as appropriate for your sensor
+    #define PLR_ENABLED_DEFAULT       false // Power Loss Recovery enabled by default. (Set with 'M413 Sn' & M500)
+    //#define PLR_BED_THRESHOLD BED_MAXTEMP // (°C) Skip user confirmation at or above this bed temperature (0 to disable)
+    //#define BACKUP_POWER_SUPPLY           // Backup power / UPS to move the steppers on power loss
+    //#define POWER_LOSS_ZRAISE           2 // (mm) Z axis raise on resume (on power loss with UPS)
+    //#define POWER_LOSS_PIN             44 // Pin to detect power loss. Set to -1 to disable default pin on boards without module.
+    //#define POWER_LOSS_STATE         HIGH // State of pin indicating power loss
+    //#define POWER_LOSS_PULLUP             // Set pullup / pulldown as appropriate for your sensor
     //#define POWER_LOSS_PULLDOWN
-    //#define POWER_LOSS_PURGE_LEN   20 // (mm) Length of filament to purge on resume
-    //#define POWER_LOSS_RETRACT_LEN 10 // (mm) Length of filament to retract on fail. Requires backup power.
+    //#define POWER_LOSS_PURGE_LEN       20 // (mm) Length of filament to purge on resume
+    //#define POWER_LOSS_RETRACT_LEN     10 // (mm) Length of filament to retract on fail. Requires backup power.
 
     // Without a POWER_LOSS_PIN the following option helps reduce wear on the SD card,
     // especially with "vase mode" printing. Set too high and vases cannot be continued.
-    #define POWER_LOSS_MIN_Z_CHANGE 0.05 // (mm) Minimum Z change before saving power-loss data
+    #define POWER_LOSS_MIN_Z_CHANGE    0.05 // (mm) Minimum Z change before saving power-loss data
 
     // Enable if Z homing is needed for proper recovery. 99.9% of the time this should be disabled!
     //#define POWER_LOSS_RECOVER_ZHOME
@@ -3839,38 +3840,6 @@
  */
 //#define CNC_COORDINATE_SYSTEMS
 
-// @section reporting
-
-/**
- * Auto-report fan speed with M123 S<seconds>
- * Requires fans with tachometer pins
- */
-//#define AUTO_REPORT_FANS
-
-/**
- * Auto-report temperatures with M155 S<seconds>
- */
-#define AUTO_REPORT_TEMPERATURES
-#if ENABLED(AUTO_REPORT_TEMPERATURES) && TEMP_SENSOR_REDUNDANT
-  //#define AUTO_REPORT_REDUNDANT // Include the "R" sensor in the auto-report
-#endif
-
-/**
- * Auto-report position with M154 S<seconds>
- */
-//#define AUTO_REPORT_POSITION
-#if ENABLED(AUTO_REPORT_POSITION)
-  //#define AUTO_REPORT_REAL_POSITION // Auto-report the real position
-#endif
-
-/**
- * Include capabilities in M115 output
- */
-#define EXTENDED_CAPABILITIES_REPORT
-#if ENABLED(EXTENDED_CAPABILITIES_REPORT)
-  //#define M115_GEOMETRY_REPORT
-#endif
-
 // @section security
 
 /**
@@ -3913,13 +3882,50 @@
 
 // @section reporting
 
-// Extra options for the M114 "Current Position" report
+/**
+ * Extra options for the M114 "Current Position" report
+ */
 //#define M114_DETAIL         // Use 'M114` for details to check planner calculations
 //#define M114_REALTIME       // Real current position based on forward kinematics
 //#define M114_LEGACY         // M114 used to synchronize on every call. Enable if needed.
 
+/**
+ * Auto-report fan speed with M123 S<seconds>
+ * Requires fans with tachometer pins
+ */
+//#define AUTO_REPORT_FANS
+
 //#define REPORT_FAN_CHANGE   // Report the new fan speed when changed by M106 (and others)
 
+/**
+ * Auto-report temperatures with M155 S<seconds>
+ */
+#define AUTO_REPORT_TEMPERATURES
+#if ENABLED(AUTO_REPORT_TEMPERATURES) && TEMP_SENSOR_REDUNDANT
+  //#define AUTO_REPORT_REDUNDANT // Include the "R" sensor in the auto-report
+#endif
+
+/**
+ * Auto-report position with M154 S<seconds>
+ */
+//#define AUTO_REPORT_POSITION
+#if ENABLED(AUTO_REPORT_POSITION)
+  //#define AUTO_REPORT_REAL_POSITION // Auto-report the real position
+#endif
+
+/**
+ * M115 - Report capabilites. Disable to save ~1150 bytes of flash.
+ *        Some hosts (and serial TFT displays) rely on this feature.
+ */
+#define CAPABILITIES_REPORT
+#if ENABLED(CAPABILITIES_REPORT)
+  // Include capabilities in M115 output
+  #define EXTENDED_CAPABILITIES_REPORT
+  #if ENABLED(EXTENDED_CAPABILITIES_REPORT)
+    //#define M115_GEOMETRY_REPORT
+  #endif
+#endif
+
 // @section gcode
 
 /**
@@ -3931,7 +3937,9 @@
   //#define GCODE_QUOTED_STRINGS  // Support for quoted string parameters
 #endif
 
-// Support for MeatPack G-code compression (https://github.com/scottmudge/OctoPrint-MeatPack)
+/**
+ * Support for MeatPack G-code compression (https://github.com/scottmudge/OctoPrint-MeatPack)
+ */
 //#define MEATPACK_ON_SERIAL_PORT_1
 //#define MEATPACK_ON_SERIAL_PORT_2
 
@@ -3945,12 +3953,6 @@
  */
 #define DEBUG_FLAGS_GCODE
 
-/**
- * M115 - Report capabilites. Disable to save ~1150 bytes of flash.
- *        Some hosts (and serial TFT displays) rely on this feature.
- */
-#define REPORT_CAPABILITIES_GCODE
-
 /**
  * Enable this option for a leaner build of Marlin that removes
  * workspace offsets to slightly optimize performance.
@@ -3978,8 +3980,6 @@
   //#define VARIABLE_G0_FEEDRATE // The G0 feedrate is set by F in G0 motion mode
 #endif
 
-// @section gcode
-
 /**
  * Startup commands
  *

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 "2024-01-04"
+//#define STRING_DISTRIBUTION_DATE "2024-01-16"
 
 /**
  * Defines a generic printer name to be output to the LCD after booting Marlin.

Marlin/src/HAL/AVR/HAL.cpp

@@ -81,6 +81,12 @@ void MarlinHAL::init() {
   #if HAS_SERVO_3
     OUT_WRITE(SERVO3_PIN, LOW);
   #endif
+  #if HAS_SERVO_4
+    OUT_WRITE(SERVO4_PIN, LOW);
+  #endif
+  #if HAS_SERVO_5
+    OUT_WRITE(SERVO5_PIN, LOW);
+  #endif
 
   init_pwm_timers();   // Init user timers to default frequency - 1000HZ
 

Marlin/src/HAL/ESP32/i2s.cpp

@@ -34,6 +34,10 @@
 #include <freertos/queue.h>
 #include "../../module/stepper.h"
 
+#if ENABLED(FT_MOTION)
+  #include "../../module/ft_motion.h"
+#endif
+
 #define DMA_BUF_COUNT 8                                // number of DMA buffers to store data
 #define DMA_BUF_LEN   4092                             // maximum size in bytes
 #define I2S_SAMPLE_SIZE 4                              // 4 bytes, 32 bits per sample
@@ -134,8 +138,8 @@ static void IRAM_ATTR i2s_intr_handler_default(void *arg) {
 
   if (high_priority_task_awoken == pdTRUE) portYIELD_FROM_ISR();
 
-  // clear interrupt
-  I2S0.int_clr.val = I2S0.int_st.val; //clear pending interrupt
+  // Clear pending interrupt
+  I2S0.int_clr.val = I2S0.int_st.val;
 }
 
 void stepperTask(void *parameter) {
@@ -148,29 +152,43 @@ void stepperTask(void *parameter) {
     xQueueReceive(dma.queue, &dma.current, portMAX_DELAY);
     dma.rw_pos = 0;
 
+    const bool using_ftMotion = TERN0(FT_MOTION, ftMotion.cfg.mode);
+
     while (dma.rw_pos < DMA_SAMPLE_COUNT) {
-      if (!nextMainISR) {
-        Stepper::pulse_phase_isr();
-        nextMainISR = Stepper::block_phase_isr();
-      }
-      #if ENABLED(LIN_ADVANCE)
-        else if (!nextAdvanceISR) {
-          Stepper::advance_isr();
-          nextAdvanceISR = Stepper::la_interval;
-        }
-      #endif
-      else
-        i2s_push_sample();
 
-      nextMainISR--;
+      #if ENABLED(FT_MOTION)
 
-      #if ENABLED(LIN_ADVANCE)
-        if (nextAdvanceISR == Stepper::LA_ADV_NEVER)
-          nextAdvanceISR = Stepper::la_interval;
+        if (using_ftMotion) {
+          if (!nextMainISR) stepper.ftMotion_stepper();
+          nextMainISR = 0;
+        }
 
-        if (nextAdvanceISR && nextAdvanceISR != Stepper::LA_ADV_NEVER)
-          nextAdvanceISR--;
       #endif
+
+      if (!using_ftMotion) {
+        if (!nextMainISR) {
+          Stepper::pulse_phase_isr();
+          nextMainISR = Stepper::block_phase_isr();
+        }
+        #if ENABLED(LIN_ADVANCE)
+          else if (!nextAdvanceISR) {
+            Stepper::advance_isr();
+            nextAdvanceISR = Stepper::la_interval;
+          }
+        #endif
+        else
+          i2s_push_sample();
+
+        nextMainISR--;
+
+        #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/LPC1768/HAL.cpp

@@ -111,6 +111,12 @@ void MarlinHAL::init() {
   #if HAS_SERVO_3
     INIT_SERVO(3);
   #endif
+  #if HAS_SERVO_4
+    INIT_SERVO(4);
+  #endif
+  #if HAS_SERVO_5
+    INIT_SERVO(5);
+  #endif
 
   //debug_frmwrk_init();
   //_DBG("\n\nDebug running\n");