bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

♻️ Refactor Linear / Logical / Distinct Axes (#21953)

Browse Source 
* More patches supporting EXTRUDERS 0
* Extend types in prep for more axes
This commit is contained in:
Scott Lahteine
2021-05-24 16:38:57 -05:00
committed by Scott Lahteine
parent f5f999d7bf
commit 4194cdda5b
43 changed files with 1142 additions and 788 deletions
Download Patch File Download Diff File Expand all files Collapse all files

50
Marlin/src/module/planner.h
View File

@ -76,7 +76,7 @@
// Feedrate for manual moves
#ifdef MANUAL_FEEDRATE
constexpr xyze_feedrate_t _mf = MANUAL_FEEDRATE,
manual_feedrate_mm_s { _mf.x / 60.0f, _mf.y / 60.0f, _mf.z / 60.0f, _mf.e / 60.0f };
manual_feedrate_mm_s = LOGICAL_AXIS_ARRAY(_mf.e / 60.0f, _mf.x / 60.0f, _mf.y / 60.0f, _mf.z / 60.0f);
#endif
#if IS_KINEMATIC && HAS_JUNCTION_DEVIATION
@ -758,7 +758,8 @@ class Planner {
* extruder - target extruder
* millimeters - the length of the movement, if known
*/
static bool buffer_segment(const_float_t a, const_float_t b, const_float_t c, const_float_t e
static bool buffer_segment(
LOGICAL_AXIS_LIST(const_float_t e, const_float_t a, const_float_t b, const_float_t c)
OPTARG(HAS_DIST_MM_ARG, const xyze_float_t &cart_dist_mm)
, const_feedRate_t fr_mm_s, const uint8_t extruder, const_float_t millimeters=0.0
);
@ -767,9 +768,11 @@ class Planner {
OPTARG(HAS_DIST_MM_ARG, const xyze_float_t &cart_dist_mm)
, const_feedRate_t fr_mm_s, const uint8_t extruder, const_float_t millimeters=0.0
) {
return buffer_segment(abce.a, abce.b, abce.c, abce.e
return buffer_segment(
LOGICAL_AXIS_LIST(abce.e, abce.a, abce.b, abce.c)
OPTARG(HAS_DIST_MM_ARG, cart_dist_mm)
, fr_mm_s, extruder, millimeters);
, fr_mm_s, extruder, millimeters
);
}
public:
@ -785,14 +788,18 @@ class Planner {
* millimeters - the length of the movement, if known
* inv_duration - the reciprocal if the duration of the movement, if known (kinematic only if feeedrate scaling is enabled)
*/
static bool buffer_line(const_float_t rx, const_float_t ry, const_float_t rz, const_float_t e, const_feedRate_t fr_mm_s, const uint8_t extruder, const float millimeters=0.0
static bool buffer_line(
LOGICAL_AXIS_LIST(const_float_t e, const_float_t rx, const_float_t ry, const_float_t rz)
, const feedRate_t &fr_mm_s, const uint8_t extruder, const float millimeters=0.0
OPTARG(SCARA_FEEDRATE_SCALING, const_float_t inv_duration=0.0)
);
FORCE_INLINE static bool buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s, const uint8_t extruder, const float millimeters=0.0
OPTARG(SCARA_FEEDRATE_SCALING, const_float_t inv_duration=0.0)
) {
return buffer_line(cart.x, cart.y, cart.z, cart.e, fr_mm_s, extruder, millimeters
return buffer_line(
LOGICAL_AXIS_LIST(cart.e, cart.x, cart.y, cart.z)
, fr_mm_s, extruder, millimeters
OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)
);
}
@ -814,9 +821,16 @@ class Planner {
*
* Clears previous speed values.
*/
static void set_position_mm(const_float_t rx, const_float_t ry, const_float_t rz, const_float_t e);
FORCE_INLINE static void set_position_mm(const xyze_pos_t &cart) { set_position_mm(cart.x, cart.y, cart.z, cart.e); }
static void set_e_position_mm(const_float_t e);
static void set_position_mm(
LOGICAL_AXIS_LIST(const_float_t e, const_float_t rx, const_float_t ry, const_float_t rz)
);
FORCE_INLINE static void set_position_mm(const xyze_pos_t &cart) {
set_position_mm(LOGICAL_AXIS_LIST(cart.e, cart.x, cart.y, cart.z, cart.i, cart.j, cart.k));
}
#if HAS_EXTRUDERS
static void set_e_position_mm(const_float_t e);
#endif
/**
* Set the planner.position and individual stepper positions.
@ -824,8 +838,12 @@ class Planner {
* The supplied position is in machine space, and no additional
* conversions are applied.
*/
static void set_machine_position_mm(const_float_t a, const_float_t b, const_float_t c, const_float_t e);
FORCE_INLINE static void set_machine_position_mm(const abce_pos_t &abce) { set_machine_position_mm(abce.a, abce.b, abce.c, abce.e); }
static void set_machine_position_mm(
LOGICAL_AXIS_LIST(const_float_t e, const_float_t a, const_float_t b, const_float_t c)
);
FORCE_INLINE static void set_machine_position_mm(const abce_pos_t &abce) {
set_machine_position_mm(LOGICAL_AXIS_LIST(abce.e, abce.a, abce.b, abce.c));
}
/**
* Get an axis position according to stepper position(s)
@ -834,12 +852,10 @@ 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)
};
const abce_pos_t out = LOGICAL_AXIS_ARRAY(
get_axis_position_mm(E_AXIS),
get_axis_position_mm(A_AXIS), get_axis_position_mm(B_AXIS), get_axis_position_mm(C_AXIS)
);
return out;
}