WIP

Author: vovodroid

Marlin/Configuration_adv.h

@@ -1156,12 +1156,12 @@
  * Enable/disable and set parameters with G-code M493 and M494.
  * See ft_types.h for named values used by FTM options.
  */
-//#define FT_MOTION
+#define FT_MOTION
 #if ENABLED(FT_MOTION)
-  //#define FTM_IS_DEFAULT_MOTION               // Use FT Motion as the factory default?
-  //#define FT_MOTION_MENU                      // Provide a MarlinUI menu to set M493 and M494 parameters
+  #define FTM_IS_DEFAULT_MOTION               // Use FT Motion as the factory default?
+  #define FT_MOTION_MENU                      // Provide a MarlinUI menu to set M493 and M494 parameters
 
-  //#define NO_STANDARD_MOTION                  // Disable the standard motion system entirely to save Flash and RAM
+  #define NO_STANDARD_MOTION                  // Disable the standard motion system entirely to save Flash and RAM
   #if DISABLED(NO_STANDARD_MOTION)
     //#define FTM_HOME_AND_PROBE                // Use FT Motion for homing / probing. Disable if FT Motion breaks these functions.
   #endif
@@ -1197,7 +1197,7 @@
   #define FTM_SHAPING_ZETA_Z            0.03f   // Zeta used by input shapers for Z axis
   #define FTM_SHAPING_V_TOL_Z           0.05f   // Vibration tolerance used by EI input shapers for Z axis
 
-  //#define FTM_SHAPER_E                        // Include E shaping support
+  #define FTM_SHAPER_E                          // Include E shaping support
                                                 // Required to synchronize extruder with XYZ (better quality)
   #define FTM_DEFAULT_SHAPER_E      ftMotionShaper_NONE // Default shaper mode on Extruder axis
   #define FTM_SHAPING_DEFAULT_FREQ_E   21.0f    // (Hz) Default peak frequency used by input shapers

Marlin/src/inc/SanityCheck.h

@@ -4495,9 +4495,7 @@ static_assert(_PLUS_TEST(3), "DEFAULT_MAX_ACCELERATION values must be positive."
     #error "EMERGENCY_PARSER is required with FTM_RESONANCE_TEST (to cancel the test)."
   #endif
   #if !HAS_STANDARD_MOTION
-    #if ENABLED(NONLINEAR_EXTRUSION)
-      #error "NONLINEAR_EXTRUSION is not yet available in FT_MOTION. Disable NO_STANDARD_MOTION if you require it."
-    #elif ENABLED(SMOOTH_LIN_ADVANCE)
+    #if ENABLED(SMOOTH_LIN_ADVANCE)
       #error "SMOOTH_LIN_ADVANCE is not yet available in FT_MOTION. Disable NO_STANDARD_MOTION if you require it."
     #elif ENABLED(MIXING_EXTRUDER)
       #error "MIXING_EXTRUDER is not yet available in FT_MOTION. Disable NO_STANDARD_MOTION if you require it."

Marlin/src/inc/Warnings.cpp

@@ -941,9 +941,6 @@
   #if ENABLED(I2S_STEPPER_STREAM)
     #warning "FT_MOTION has not been tested with I2S_STEPPER_STREAM."
   #endif
-  #if ENABLED(NONLINEAR_EXTRUSION)
-    #warning "NONLINEAR_EXTRUSION does not (currently) operate when FT_MOTION is the active motion system."
-  #endif
   #if ENABLED(LIN_ADVANCE)
     #warning "Be aware that FT_MOTION K factor is now set with M900 K (same as LIN_ADVANCE)."
     #if DISABLED(FTM_SMOOTHING)

Marlin/src/lcd/menu/menu_media.cpp

@@ -110,6 +110,7 @@ void menu_file_selector_sd() {
     card.release();
     card.selectMediaSDCard();
   }
+  if (card.isSDCardMounted())  card.release();
   if (!card.isSDCardMounted()) card.mount();
   ui.goto_screen(menu_file_selector);
 }

Marlin/src/module/ft_motion.cpp

@@ -470,9 +470,30 @@ xyze_float_t FTMotion::calc_traj_point(const float dist) {
     if (advK) {
       const float traj_e = traj_coords.e;
       if (use_advance_lead) {
-        // Don't apply LA to retract/unretract blocks
+        // Apply LA only to printing (not retract/unretract) blocks
         const float e_rate = (traj_e - prev_traj_e) * (FTM_FS);
         traj_coords.e += e_rate * advK;
+
+        #if ENABLED(NONLINEAR_EXTRUSION)
+          if (stepper.ne.settings.enabled) {
+            const float v = abs(e_rate); // extruder velocity in mm/s
+            const float multiplier = 1.5;//max(stepper.ne.settings.coeff.C, stepper.ne.settings.coeff.A * sq(v) + stepper.ne.settings.coeff.B * v + stepper.ne.settings.coeff.C);
+            const float nle_term = abs(traj_e - prev_traj_e) * (multiplier - 1);
+
+            const float traj_delta = traj_e - prev_traj_e;
+            static uint64_t ticks = 0;
+
+            if (ticks++ % 1000 == 0) {
+              SERIAL_ECHOLNPGM("traj_e ", traj_e, ", prev_traj_e", prev_traj_e, ", traj_delta ", traj_delta, ", e_rate ", e_rate, ", nle_term ", nle_term);
+              SERIAL_ECHOLNPGM("startPos.e ", startPos.e, ", endPos_prevBlock.e ", endPos_prevBlock.e);
+            }
+
+            traj_coords.e += nle_term;
+            prev_traj_e = traj_e + nle_term;
+            startPos.e += nle_term;
+            endPos_prevBlock.e += nle_term;
+          }
+        #endif
       }
       prev_traj_e = traj_e;
     }