From b74af78736fe6c1664df4054fccfbfb5a1174b04 Mon Sep 17 00:00:00 2001 From: AnHardt Date: Fri, 13 May 2016 13:27:45 +0200 Subject: [PATCH] Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!) --- Marlin/Configuration_adv.h | 1 + Marlin/Marlin_main.cpp | 298 +++++++++--------- .../Felix/Configuration_adv.h | 1 + .../Hephestos/Configuration_adv.h | 1 + .../Hephestos_2/Configuration_adv.h | 1 + .../K8200/Configuration_adv.h | 1 + .../RigidBot/Configuration_adv.h | 1 + .../SCARA/Configuration_adv.h | 1 + .../TAZ4/Configuration_adv.h | 1 + .../WITBOX/Configuration_adv.h | 1 + .../delta/biv2.5/Configuration_adv.h | 1 + .../delta/generic/Configuration_adv.h | 1 + .../delta/kossel_mini/Configuration_adv.h | 1 + .../delta/kossel_pro/Configuration_adv.h | 1 + .../delta/kossel_xl/Configuration_adv.h | 1 + .../makibox/Configuration_adv.h | 1 + .../tvrrug/Round2/Configuration_adv.h | 1 + 17 files changed, 168 insertions(+), 146 deletions(-) diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index 3947e425fb..3ecc66e88f 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -455,6 +455,7 @@ // @section extras // Arc interpretation settings: +#define ARC_SUPPORT // Disabling this saves ~2660bytes #define MM_PER_ARC_SEGMENT 1 #define N_ARC_CORRECTION 25 diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 99786e6170..26a9823e88 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -506,7 +506,9 @@ void stop(); void get_available_commands(); void process_next_command(); -void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise); +#if ENABLED(ARC_SUPPORT) + void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise); +#endif void serial_echopair_P(const char* s_P, int v) { serialprintPGM(s_P); SERIAL_ECHO(v); } void serial_echopair_P(const char* s_P, long v) { serialprintPGM(s_P); SERIAL_ECHO(v); } @@ -2461,32 +2463,34 @@ inline void gcode_G0_G1() { * G2: Clockwise Arc * G3: Counterclockwise Arc */ -inline void gcode_G2_G3(bool clockwise) { - if (IsRunning()) { +#if ENABLED(ARC_SUPPORT) + inline void gcode_G2_G3(bool clockwise) { + if (IsRunning()) { - #if ENABLED(SF_ARC_FIX) - bool relative_mode_backup = relative_mode; - relative_mode = true; - #endif + #if ENABLED(SF_ARC_FIX) + bool relative_mode_backup = relative_mode; + relative_mode = true; + #endif - gcode_get_destination(); + gcode_get_destination(); - #if ENABLED(SF_ARC_FIX) - relative_mode = relative_mode_backup; - #endif + #if ENABLED(SF_ARC_FIX) + relative_mode = relative_mode_backup; + #endif - // Center of arc as offset from current_position - float arc_offset[2] = { - code_seen('I') ? code_value() : 0, - code_seen('J') ? code_value() : 0 - }; + // Center of arc as offset from current_position + float arc_offset[2] = { + code_seen('I') ? code_value() : 0, + code_seen('J') ? code_value() : 0 + }; - // Send an arc to the planner - plan_arc(destination, arc_offset, clockwise); + // Send an arc to the planner + plan_arc(destination, arc_offset, clockwise); - refresh_cmd_timeout(); + refresh_cmd_timeout(); + } } -} +#endif /** * G4: Dwell S or P @@ -6484,7 +6488,7 @@ void process_next_command() { break; // G2, G3 - #if DISABLED(SCARA) + #if ENABLED(ARC_SUPPORT) & DISABLED(SCARA) case 2: // G2 - CW ARC case 3: // G3 - CCW ARC gcode_G2_G3(codenum == 2); @@ -7423,147 +7427,149 @@ void prepare_move() { set_current_to_destination(); } -/** - * Plan an arc in 2 dimensions - * - * The arc is approximated by generating many small linear segments. - * The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm) - * Arcs should only be made relatively large (over 5mm), as larger arcs with - * larger segments will tend to be more efficient. Your slicer should have - * options for G2/G3 arc generation. In future these options may be GCode tunable. - */ -void plan_arc( - float target[NUM_AXIS], // Destination position - float* offset, // Center of rotation relative to current_position - uint8_t clockwise // Clockwise? -) { - - float radius = hypot(offset[X_AXIS], offset[Y_AXIS]), - center_X = current_position[X_AXIS] + offset[X_AXIS], - center_Y = current_position[Y_AXIS] + offset[Y_AXIS], - linear_travel = target[Z_AXIS] - current_position[Z_AXIS], - extruder_travel = target[E_AXIS] - current_position[E_AXIS], - r_X = -offset[X_AXIS], // Radius vector from center to current location - r_Y = -offset[Y_AXIS], - rt_X = target[X_AXIS] - center_X, - rt_Y = target[Y_AXIS] - center_Y; - - // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required. - float angular_travel = atan2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y); - if (angular_travel < 0) angular_travel += RADIANS(360); - if (clockwise) angular_travel -= RADIANS(360); - - // Make a circle if the angular rotation is 0 - if (angular_travel == 0 && current_position[X_AXIS] == target[X_AXIS] && current_position[Y_AXIS] == target[Y_AXIS]) - angular_travel += RADIANS(360); - - float mm_of_travel = hypot(angular_travel * radius, fabs(linear_travel)); - if (mm_of_travel < 0.001) return; - uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT)); - if (segments == 0) segments = 1; - - float theta_per_segment = angular_travel / segments; - float linear_per_segment = linear_travel / segments; - float extruder_per_segment = extruder_travel / segments; - +#if ENABLED(ARC_SUPPORT) /** - * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, - * and phi is the angle of rotation. Based on the solution approach by Jens Geisler. - * r_T = [cos(phi) -sin(phi); - * sin(phi) cos(phi] * r ; + * Plan an arc in 2 dimensions * - * For arc generation, the center of the circle is the axis of rotation and the radius vector is - * defined from the circle center to the initial position. Each line segment is formed by successive - * vector rotations. This requires only two cos() and sin() computations to form the rotation - * matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since - * all double numbers are single precision on the Arduino. (True double precision will not have - * round off issues for CNC applications.) Single precision error can accumulate to be greater than - * tool precision in some cases. Therefore, arc path correction is implemented. - * - * Small angle approximation may be used to reduce computation overhead further. This approximation - * holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words, - * theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large - * to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for - * numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an - * issue for CNC machines with the single precision Arduino calculations. - * - * This approximation also allows plan_arc to immediately insert a line segment into the planner - * without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied - * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead. - * This is important when there are successive arc motions. + * The arc is approximated by generating many small linear segments. + * The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm) + * Arcs should only be made relatively large (over 5mm), as larger arcs with + * larger segments will tend to be more efficient. Your slicer should have + * options for G2/G3 arc generation. In future these options may be GCode tunable. */ - // Vector rotation matrix values - float cos_T = 1 - 0.5 * theta_per_segment * theta_per_segment; // Small angle approximation - float sin_T = theta_per_segment; + void plan_arc( + float target[NUM_AXIS], // Destination position + float* offset, // Center of rotation relative to current_position + uint8_t clockwise // Clockwise? + ) { - float arc_target[NUM_AXIS]; - float sin_Ti, cos_Ti, r_new_Y; - uint16_t i; - int8_t count = 0; + float radius = hypot(offset[X_AXIS], offset[Y_AXIS]), + center_X = current_position[X_AXIS] + offset[X_AXIS], + center_Y = current_position[Y_AXIS] + offset[Y_AXIS], + linear_travel = target[Z_AXIS] - current_position[Z_AXIS], + extruder_travel = target[E_AXIS] - current_position[E_AXIS], + r_X = -offset[X_AXIS], // Radius vector from center to current location + r_Y = -offset[Y_AXIS], + rt_X = target[X_AXIS] - center_X, + rt_Y = target[Y_AXIS] - center_Y; - // Initialize the linear axis - arc_target[Z_AXIS] = current_position[Z_AXIS]; + // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required. + float angular_travel = atan2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y); + if (angular_travel < 0) angular_travel += RADIANS(360); + if (clockwise) angular_travel -= RADIANS(360); - // Initialize the extruder axis - arc_target[E_AXIS] = current_position[E_AXIS]; + // Make a circle if the angular rotation is 0 + if (angular_travel == 0 && current_position[X_AXIS] == target[X_AXIS] && current_position[Y_AXIS] == target[Y_AXIS]) + angular_travel += RADIANS(360); - float feed_rate = feedrate * feedrate_multiplier / 60 / 100.0; + float mm_of_travel = hypot(angular_travel * radius, fabs(linear_travel)); + if (mm_of_travel < 0.001) return; + uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT)); + if (segments == 0) segments = 1; - for (i = 1; i < segments; i++) { // Iterate (segments-1) times + float theta_per_segment = angular_travel / segments; + float linear_per_segment = linear_travel / segments; + float extruder_per_segment = extruder_travel / segments; - if (++count < N_ARC_CORRECTION) { - // Apply vector rotation matrix to previous r_X / 1 - r_new_Y = r_X * sin_T + r_Y * cos_T; - r_X = r_X * cos_T - r_Y * sin_T; - r_Y = r_new_Y; - } - else { - // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. - // Compute exact location by applying transformation matrix from initial radius vector(=-offset). - // To reduce stuttering, the sin and cos could be computed at different times. - // For now, compute both at the same time. - cos_Ti = cos(i * theta_per_segment); - sin_Ti = sin(i * theta_per_segment); - r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti; - r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti; - count = 0; - } + /** + * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, + * and phi is the angle of rotation. Based on the solution approach by Jens Geisler. + * r_T = [cos(phi) -sin(phi); + * sin(phi) cos(phi] * r ; + * + * For arc generation, the center of the circle is the axis of rotation and the radius vector is + * defined from the circle center to the initial position. Each line segment is formed by successive + * vector rotations. This requires only two cos() and sin() computations to form the rotation + * matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since + * all double numbers are single precision on the Arduino. (True double precision will not have + * round off issues for CNC applications.) Single precision error can accumulate to be greater than + * tool precision in some cases. Therefore, arc path correction is implemented. + * + * Small angle approximation may be used to reduce computation overhead further. This approximation + * holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words, + * theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large + * to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for + * numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an + * issue for CNC machines with the single precision Arduino calculations. + * + * This approximation also allows plan_arc to immediately insert a line segment into the planner + * without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied + * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead. + * This is important when there are successive arc motions. + */ + // Vector rotation matrix values + float cos_T = 1 - 0.5 * theta_per_segment * theta_per_segment; // Small angle approximation + float sin_T = theta_per_segment; - // Update arc_target location - arc_target[X_AXIS] = center_X + r_X; - arc_target[Y_AXIS] = center_Y + r_Y; - arc_target[Z_AXIS] += linear_per_segment; - arc_target[E_AXIS] += extruder_per_segment; + float arc_target[NUM_AXIS]; + float sin_Ti, cos_Ti, r_new_Y; + uint16_t i; + int8_t count = 0; - clamp_to_software_endstops(arc_target); + // Initialize the linear axis + arc_target[Z_AXIS] = current_position[Z_AXIS]; - #if ENABLED(DELTA) || ENABLED(SCARA) - calculate_delta(arc_target); - #if ENABLED(AUTO_BED_LEVELING_FEATURE) - adjust_delta(arc_target); + // Initialize the extruder axis + arc_target[E_AXIS] = current_position[E_AXIS]; + + float feed_rate = feedrate * feedrate_multiplier / 60 / 100.0; + + for (i = 1; i < segments; i++) { // Iterate (segments-1) times + + if (++count < N_ARC_CORRECTION) { + // Apply vector rotation matrix to previous r_X / 1 + r_new_Y = r_X * sin_T + r_Y * cos_T; + r_X = r_X * cos_T - r_Y * sin_T; + r_Y = r_new_Y; + } + else { + // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. + // Compute exact location by applying transformation matrix from initial radius vector(=-offset). + // To reduce stuttering, the sin and cos could be computed at different times. + // For now, compute both at the same time. + cos_Ti = cos(i * theta_per_segment); + sin_Ti = sin(i * theta_per_segment); + r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti; + r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti; + count = 0; + } + + // Update arc_target location + arc_target[X_AXIS] = center_X + r_X; + arc_target[Y_AXIS] = center_Y + r_Y; + arc_target[Z_AXIS] += linear_per_segment; + arc_target[E_AXIS] += extruder_per_segment; + + clamp_to_software_endstops(arc_target); + + #if ENABLED(DELTA) || ENABLED(SCARA) + calculate_delta(arc_target); + #if ENABLED(AUTO_BED_LEVELING_FEATURE) + adjust_delta(arc_target); + #endif + planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder); + #else + planner.buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder); #endif - planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder); + } + + // Ensure last segment arrives at target location. + #if ENABLED(DELTA) || ENABLED(SCARA) + calculate_delta(target); + #if ENABLED(AUTO_BED_LEVELING_FEATURE) + adjust_delta(target); + #endif + planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feed_rate, active_extruder); #else - planner.buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder); + planner.buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, active_extruder); #endif + + // As far as the parser is concerned, the position is now == target. In reality the + // motion control system might still be processing the action and the real tool position + // in any intermediate location. + set_current_to_destination(); } - - // Ensure last segment arrives at target location. - #if ENABLED(DELTA) || ENABLED(SCARA) - calculate_delta(target); - #if ENABLED(AUTO_BED_LEVELING_FEATURE) - adjust_delta(target); - #endif - planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feed_rate, active_extruder); - #else - planner.buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, active_extruder); - #endif - - // As far as the parser is concerned, the position is now == target. In reality the - // motion control system might still be processing the action and the real tool position - // in any intermediate location. - set_current_to_destination(); -} +#endif #if HAS_CONTROLLERFAN diff --git a/Marlin/example_configurations/Felix/Configuration_adv.h b/Marlin/example_configurations/Felix/Configuration_adv.h index 24e5d5ec64..0cd58015c1 100644 --- a/Marlin/example_configurations/Felix/Configuration_adv.h +++ b/Marlin/example_configurations/Felix/Configuration_adv.h @@ -455,6 +455,7 @@ // @section extras // Arc interpretation settings: +#define ARC_SUPPORT // Disabling this saves ~2660bytes #define MM_PER_ARC_SEGMENT 1 #define N_ARC_CORRECTION 25 diff --git a/Marlin/example_configurations/Hephestos/Configuration_adv.h b/Marlin/example_configurations/Hephestos/Configuration_adv.h index 69e11a8d14..321e5c634b 100644 --- a/Marlin/example_configurations/Hephestos/Configuration_adv.h +++ b/Marlin/example_configurations/Hephestos/Configuration_adv.h @@ -455,6 +455,7 @@ // @section extras // Arc interpretation settings: +#define ARC_SUPPORT // Disabling this saves ~2660bytes #define MM_PER_ARC_SEGMENT 1 #define N_ARC_CORRECTION 25 diff --git a/Marlin/example_configurations/Hephestos_2/Configuration_adv.h b/Marlin/example_configurations/Hephestos_2/Configuration_adv.h index f641975f13..892aad0d21 100644 --- a/Marlin/example_configurations/Hephestos_2/Configuration_adv.h +++ b/Marlin/example_configurations/Hephestos_2/Configuration_adv.h @@ -455,6 +455,7 @@ // @section extras // Arc interpretation settings: +#define ARC_SUPPORT // Disabling this saves ~2660bytes #define MM_PER_ARC_SEGMENT 1 #define N_ARC_CORRECTION 25 diff --git a/Marlin/example_configurations/K8200/Configuration_adv.h b/Marlin/example_configurations/K8200/Configuration_adv.h index 25988f577e..a965e09b46 100644 --- a/Marlin/example_configurations/K8200/Configuration_adv.h +++ b/Marlin/example_configurations/K8200/Configuration_adv.h @@ -461,6 +461,7 @@ // @section extras // Arc interpretation settings: +#define ARC_SUPPORT // Disabling this saves ~2660bytes #define MM_PER_ARC_SEGMENT 1 #define N_ARC_CORRECTION 25 diff --git a/Marlin/example_configurations/RigidBot/Configuration_adv.h b/Marlin/example_configurations/RigidBot/Configuration_adv.h index bad72079b3..36abb84aa2 100644 --- a/Marlin/example_configurations/RigidBot/Configuration_adv.h +++ b/Marlin/example_configurations/RigidBot/Configuration_adv.h @@ -455,6 +455,7 @@ // @section extras // Arc interpretation settings: +#define ARC_SUPPORT // Disabling this saves ~2660bytes #define MM_PER_ARC_SEGMENT 1 #define N_ARC_CORRECTION 25 diff --git a/Marlin/example_configurations/SCARA/Configuration_adv.h b/Marlin/example_configurations/SCARA/Configuration_adv.h index 4eb58471fa..cb906545e9 100644 --- a/Marlin/example_configurations/SCARA/Configuration_adv.h +++ b/Marlin/example_configurations/SCARA/Configuration_adv.h @@ -455,6 +455,7 @@ // @section extras // Arc interpretation settings: +#define ARC_SUPPORT // Disabling this saves ~2660bytes #define MM_PER_ARC_SEGMENT 1 #define N_ARC_CORRECTION 25 diff --git a/Marlin/example_configurations/TAZ4/Configuration_adv.h b/Marlin/example_configurations/TAZ4/Configuration_adv.h index 14fd394b54..7e6375deb8 100644 --- a/Marlin/example_configurations/TAZ4/Configuration_adv.h +++ b/Marlin/example_configurations/TAZ4/Configuration_adv.h @@ -463,6 +463,7 @@ // @section extras // Arc interpretation settings: +#define ARC_SUPPORT // Disabling this saves ~2660bytes #define MM_PER_ARC_SEGMENT 1 #define N_ARC_CORRECTION 25 diff --git a/Marlin/example_configurations/WITBOX/Configuration_adv.h b/Marlin/example_configurations/WITBOX/Configuration_adv.h index 69e11a8d14..321e5c634b 100644 --- a/Marlin/example_configurations/WITBOX/Configuration_adv.h +++ b/Marlin/example_configurations/WITBOX/Configuration_adv.h @@ -455,6 +455,7 @@ // @section extras // Arc interpretation settings: +#define ARC_SUPPORT // Disabling this saves ~2660bytes #define MM_PER_ARC_SEGMENT 1 #define N_ARC_CORRECTION 25 diff --git a/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h b/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h index 25909cf375..fc7dab25f8 100644 --- a/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h +++ b/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h @@ -457,6 +457,7 @@ // @section extras // Arc interpretation settings: +#define ARC_SUPPORT // Disabling this saves ~2660bytes #define MM_PER_ARC_SEGMENT 1 #define N_ARC_CORRECTION 25 diff --git a/Marlin/example_configurations/delta/generic/Configuration_adv.h b/Marlin/example_configurations/delta/generic/Configuration_adv.h index 982bb572f9..ccd17269a2 100644 --- a/Marlin/example_configurations/delta/generic/Configuration_adv.h +++ b/Marlin/example_configurations/delta/generic/Configuration_adv.h @@ -457,6 +457,7 @@ // @section extras // Arc interpretation settings: +#define ARC_SUPPORT // Disabling this saves ~2660bytes #define MM_PER_ARC_SEGMENT 1 #define N_ARC_CORRECTION 25 diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h index 50041784c9..e6e85aba07 100644 --- a/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h +++ b/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h @@ -456,6 +456,7 @@ // @section extras // Arc interpretation settings: +#define ARC_SUPPORT // Disabling this saves ~2660bytes #define MM_PER_ARC_SEGMENT 1 #define N_ARC_CORRECTION 25 diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h index 6a098190f7..edd1649c14 100644 --- a/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h +++ b/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h @@ -461,6 +461,7 @@ // @section extras // Arc interpretation settings: +#define ARC_SUPPORT // Disabling this saves ~2660bytes #define MM_PER_ARC_SEGMENT 1 #define N_ARC_CORRECTION 25 diff --git a/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h index 07bfa32d2a..33ff25a852 100644 --- a/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h +++ b/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h @@ -457,6 +457,7 @@ // @section extras // Arc interpretation settings: +#define ARC_SUPPORT // Disabling this saves ~2660bytes #define MM_PER_ARC_SEGMENT 1 #define N_ARC_CORRECTION 25 diff --git a/Marlin/example_configurations/makibox/Configuration_adv.h b/Marlin/example_configurations/makibox/Configuration_adv.h index f0699dfdb7..e93df28b15 100644 --- a/Marlin/example_configurations/makibox/Configuration_adv.h +++ b/Marlin/example_configurations/makibox/Configuration_adv.h @@ -455,6 +455,7 @@ // @section extras // Arc interpretation settings: +#define ARC_SUPPORT // Disabling this saves ~2660bytes #define MM_PER_ARC_SEGMENT 1 #define N_ARC_CORRECTION 25 diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h b/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h index 3bc2fe2e0e..bf73f2ce89 100644 --- a/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h +++ b/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h @@ -455,6 +455,7 @@ // @section extras // Arc interpretation settings: +#define ARC_SUPPORT // Disabling this saves ~2660bytes #define MM_PER_ARC_SEGMENT 1 #define N_ARC_CORRECTION 25