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Asynchronous M114 and (R)ealtime position option (#17032)

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This commit is contained in:
Scott Lahteine
2020-03-02 21:52:53 -06:00
committed by GitHub
parent 5171e9da93
commit 3a07b4412d
8 changed files with 131 additions and 36 deletions
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22
Marlin/src/module/planner.h
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@ -289,6 +289,12 @@ class Planner {
static float extruder_advance_K[EXTRUDERS];
#endif
/**
* The current position of the tool in absolute steps
* Recalculated if any axis_steps_per_mm are changed by gcode
*/
static xyze_long_t position;
#if HAS_POSITION_FLOAT
static xyze_pos_t position_float;
#endif
@ -305,12 +311,6 @@ class Planner {
private:
/**
* The current position of the tool in absolute steps
* Recalculated if any axis_steps_per_mm are changed by gcode
*/
static xyze_long_t position;
/**
* Speed of previous path line segment
*/
@ -725,6 +725,16 @@ class Planner {
*/
static float get_axis_position_mm(const AxisEnum axis);
static inline abce_pos_t get_axis_positions_mm() {
const abce_pos_t out = {
get_axis_position_mm(A_AXIS),
get_axis_position_mm(B_AXIS),
get_axis_position_mm(C_AXIS),
get_axis_position_mm(E_AXIS)
};
return out;
}
// SCARA AB axes are in degrees, not mm
#if IS_SCARA
FORCE_INLINE static float get_axis_position_degrees(const AxisEnum axis) { return get_axis_position_mm(axis); }