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FT_MOTION Fix possible nullptr dereference #27870

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Merged
merged 3 commits into from
May 25, 2025
Merged

FT_MOTION Fix possible nullptr dereference #27870

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9be1c8b
Prevent a possible nullptr dereference
bnmguy May 21, 2025
a0494f4
optimize
thinkyhead May 24, 2025
c5c3f48
endstop check in FTM::loop
thinkyhead May 24, 2025
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4 changes: 2 additions & 2 deletions Marlin/src/lcd/extui/mks_ui/draw_number_key.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -243,10 +243,10 @@ static void set_value_confirm() {
#if HAS_Z_AXIS
case ZMaxFeedRate: planner.settings.max_feedrate_mm_s[Z_AXIS] = atof(key_value); break;
#endif
#if HAS_E0_AXIS
#if HAS_EXTRUDERS
case E0MaxFeedRate: planner.settings.max_feedrate_mm_s[E_AXIS] = atof(key_value); break;
#endif
#if HAS_E1_AXIS
#if HAS_MULTI_EXTRUDER
case E1MaxFeedRate: planner.settings.max_feedrate_mm_s[E_AXIS_N(1)] = atof(key_value); break;
#endif

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27 changes: 18 additions & 9 deletions Marlin/src/module/ft_motion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,6 +89,12 @@ xyze_long_t FTMotion::steps = { 0 }; // Step count accumulator.

uint32_t FTMotion::interpIdx = 0; // Index of current data point being interpolated.

#if ENABLED(DISTINCT_E_FACTORS)
uint8_t FTMotion::block_extruder_axis; // Cached E Axis from last-fetched block
#else
constexpr uint8_t FTMotion::block_extruder_axis;
#endif

// Shaping variables.
#if HAS_FTM_SHAPING
FTMotion::shaping_t FTMotion::shaping = {
Expand Down Expand Up @@ -143,6 +149,12 @@ void FTMotion::loop() {
continue;
}
loadBlockData(stepper.current_block);

// If the endstop is already pressed, endstop interrupts won't invoke
// endstop_triggered and the move will grind. So check here for a
// triggered endstop, which shortly marks the block for discard.
endstops.update();

blockProcRdy = true;
// Some kinematics track axis motion in HX, HY, HZ
#if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_YX)
Expand Down Expand Up @@ -389,6 +401,7 @@ void FTMotion::reset() {
#endif

TERN_(HAS_EXTRUDERS, e_raw_z1 = e_advanced_z1 = 0.0f);
TERN_(DISTINCT_E_FACTORS, block_extruder_axis = E_AXIS);

axis_move_end_ti.reset();
}
Expand Down Expand Up @@ -453,13 +466,15 @@ void FTMotion::init() {

// Load / convert block data from planner to fixed-time control variables.
void FTMotion::loadBlockData(block_t * const current_block) {
// Cache the extruder index for this block
TERN_(DISTINCT_E_FACTORS, block_extruder_axis = E_AXIS_N(current_block->extruder));

const float totalLength = current_block->millimeters,
oneOverLength = 1.0f / totalLength;

startPosn = endPosn_prevBlock;
const xyze_pos_t moveDist = LOGICAL_AXIS_ARRAY(
current_block->steps.e * planner.mm_per_step[E_AXIS_N(current_block->extruder)] * (current_block->direction_bits.e ? 1 : -1),
current_block->steps.e * planner.mm_per_step[block_extruder_axis] * (current_block->direction_bits.e ? 1 : -1),
current_block->steps.x * planner.mm_per_step[X_AXIS] * (current_block->direction_bits.x ? 1 : -1),
current_block->steps.y * planner.mm_per_step[Y_AXIS] * (current_block->direction_bits.y ? 1 : -1),
current_block->steps.z * planner.mm_per_step[Z_AXIS] * (current_block->direction_bits.z ? 1 : -1),
Expand Down Expand Up @@ -568,12 +583,6 @@ void FTMotion::loadBlockData(block_t * const current_block) {
#endif
TERN_(HAS_Z_AXIS, _SET_MOVE_END(Z));
SECONDARY_AXIS_MAP(_SET_MOVE_END);

// If the endstop is already pressed, endstop interrupts won't invoke
// endstop_triggered and the move will grind. So check here for a
// triggered endstop, which shortly marks the block for discard.
endstops.update();

}

// Generate data points of the trajectory.
Expand Down Expand Up @@ -721,7 +730,7 @@ void FTMotion::convertToSteps(const uint32_t idx) {
#if ENABLED(STEPS_ROUNDING)
#define TOSTEPS(A,B) int32_t(trajMod.A[idx] * planner.settings.axis_steps_per_mm[B] + (trajMod.A[idx] < 0.0f ? -0.5f : 0.5f))
const xyze_long_t steps_tar = LOGICAL_AXIS_ARRAY(
TOSTEPS(e, E_AXIS_N(stepper.current_block->extruder)), // May be eliminated if guaranteed positive.
TOSTEPS(e, block_extruder_axis), // May be eliminated if guaranteed positive.
TOSTEPS(x, X_AXIS), TOSTEPS(y, Y_AXIS), TOSTEPS(z, Z_AXIS),
TOSTEPS(i, I_AXIS), TOSTEPS(j, J_AXIS), TOSTEPS(k, K_AXIS),
TOSTEPS(u, U_AXIS), TOSTEPS(v, V_AXIS), TOSTEPS(w, W_AXIS)
Expand All @@ -730,7 +739,7 @@ void FTMotion::convertToSteps(const uint32_t idx) {
#else
#define TOSTEPS(A,B) int32_t(trajMod.A[idx] * planner.settings.axis_steps_per_mm[B]) - steps.A
xyze_long_t delta = LOGICAL_AXIS_ARRAY(
TOSTEPS(e, E_AXIS_N(stepper.current_block->extruder)),
TOSTEPS(e, block_extruder_axis),
TOSTEPS(x, X_AXIS), TOSTEPS(y, Y_AXIS), TOSTEPS(z, Z_AXIS),
TOSTEPS(i, I_AXIS), TOSTEPS(j, J_AXIS), TOSTEPS(k, K_AXIS),
TOSTEPS(u, U_AXIS), TOSTEPS(v, V_AXIS), TOSTEPS(w, W_AXIS)
Expand Down
6 changes: 6 additions & 0 deletions Marlin/src/module/ft_motion.h
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Original file line number Diff line number Diff line change
Expand Up @@ -169,6 +169,12 @@ class FTMotion {

static xyze_long_t steps;

#if ENABLED(DISTINCT_E_FACTORS)
static uint8_t block_extruder_axis; // Cached extruder axis index
#else
static constexpr uint8_t block_extruder_axis = E_AXIS;
#endif

// Shaping variables.
#if HAS_FTM_SHAPING

Expand Down
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