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Adding Orca 3D Modular Controller #26534

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merged 5 commits into from
Dec 23, 2023
Merged

Adding Orca 3D Modular Controller #26534

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a133e4a
Adding Orca 3D Modular Controller
aktronicsdotnet Dec 15, 2023
d67b93b
Merge branch 'MarlinFirmware:bugfix-2.1.x' into bugfix-2.1.x
aktronicsdotnet Dec 22, 2023
ded3c03
formatting, spelling
thinkyhead Dec 23, 2023
af9394b
Renumber EXP1/2
thinkyhead Dec 23, 2023
4ec9648
stops
thinkyhead Dec 23, 2023
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1 change: 1 addition & 0 deletions Marlin/src/core/boards.h
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Original file line number Diff line number Diff line change
Expand Up @@ -401,6 +401,7 @@
#define BOARD_KEDI_CONTROLLER_V1_2 5069 // EDUTRONICS Kedi Controller V1.2 (STM32F103RC)
#define BOARD_MD_D301 5070 // Mingda D2 DZ301 V1.0 (STM32F103ZE)
#define BOARD_VOXELAB_AQUILA 5071 // Voxelab Aquila V1.0.0/V1.0.1 (GD32F103RC / N32G455RE / STM32F103RE)
#define BOARD_SPRINGER_CONTROLLER 5072 // ORCA 3D SPRINGER Modular Controller (STM32F103VC)

//
// ARM Cortex-M4F
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10 changes: 5 additions & 5 deletions Marlin/src/module/ft_motion.cpp
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Expand Up @@ -324,7 +324,7 @@ void FTMotion::loop() {
x.Ai[1] = (0.5f - x.Ai[0]) * Kx;
x.Ai[2] = x.Ai[1] * Kx;
x.Ai[3] = x.Ai[0] * cu(Kx);

const float vtoly2 = sq(vtol[1]);
const float Y = pow(vtoly2 * (sqrt(1.0f - vtoly2) + 1.0f), 1.0f / 3.0f);
y.Ai[0] = (3.0f * sq(Y) + 2.0f * Y + 3.0f * vtoly2) / (16.0f * Y);
Expand Down Expand Up @@ -361,7 +361,7 @@ void FTMotion::loop() {
x.Ai[i] *= X_adj;
y.Ai[i] *= Y_adj;
}
}
}
break;

case ftMotionMode_MZV: {
Expand All @@ -375,15 +375,15 @@ void FTMotion::loop() {
y.Ai[0] = 1.0f / (1.0f + By + Ky2);
y.Ai[1] = y.Ai[0] * By;
y.Ai[2] = y.Ai[0] * Ky2;
}
}
break;

default:
ZERO(x.Ai);
ZERO(y.Ai);
max_i = 0;
}

}

void FTMotion::updateShapingA(float zeta[]/*=cfg.zeta*/, float vtol[]/*=cfg.vtol*/) {
Expand Down Expand Up @@ -428,7 +428,7 @@ void FTMotion::loop() {
void FTMotion::updateShapingN(const_float_t xf OPTARG(HAS_Y_AXIS, const_float_t yf), float zeta[]/*=cfg.zeta*/) {
const float xdf = sqrt(1.0f - sq(zeta[0]));
shaping.x.updateShapingN(xf, xdf);

#if HAS_Y_AXIS
const float ydf = sqrt(1.0f - sq(zeta[1]));
shaping.y.updateShapingN(yf, ydf);
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1 change: 0 additions & 1 deletion Marlin/src/module/ft_motion.h
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Expand Up @@ -44,7 +44,6 @@ typedef struct FTConfig {
#if HAS_X_AXIS
float baseFreq[1 + ENABLED(HAS_Y_AXIS)] = // Base frequency. [Hz]
{ FTM_SHAPING_DEFAULT_X_FREQ OPTARG(HAS_Y_AXIS, FTM_SHAPING_DEFAULT_Y_FREQ) };

float zeta[1 + ENABLED(HAS_Y_AXIS)] = // Damping factor
{ FTM_SHAPING_ZETA_X OPTARG(HAS_Y_AXIS, FTM_SHAPING_ZETA_Y) };
float vtol[1 + ENABLED(HAS_Y_AXIS)] = // Vibration Level
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2 changes: 1 addition & 1 deletion Marlin/src/module/stepper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3552,7 +3552,7 @@ void Stepper::report_positions() {
// Sync block? Sync the stepper counts and return
while (current_block->is_sync()) {
TERN_(LASER_FEATURE, if (!(current_block->is_fan_sync() || current_block->is_pwr_sync()))) _set_position(current_block->position);

planner.release_current_block();

// Try to get a new block
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2 changes: 2 additions & 0 deletions Marlin/src/pins/pins.h
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Original file line number Diff line number Diff line change
Expand Up @@ -702,6 +702,8 @@
#include "stm32f1/pins_MD_D301.h" // STM32F1 env:mingda_d301 env:mingda_d301_maple
#elif MB(VOXELAB_AQUILA)
#include "gd32f1/pins_VOXELAB_AQUILA.h" // GD32F1, N32G4, STM32F1 env:GD32F103RC_voxelab_maple env:N32G455RE_voxelab_maple env:STM32F103RE_creality_maple env:STM32F103RE_creality
#elif MB(SPRINGER_CONTROLLER)
#include "stm32f1/pins_ORCA_3D_SPRINGER.h" // STM32F1 env:STM32F103VC_orca3d

//
// ARM Cortex-M4F
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