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Add custom types for position (#15204)

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This commit is contained in:
Scott Lahteine
2019-09-29 04:25:39 -05:00
committed by GitHub
parent 43d6e9fa43
commit 50e4545255
227 changed files with 3147 additions and 3264 deletions
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99
Marlin/src/module/motion.h
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@@ -61,15 +61,15 @@ constexpr float slop = 0.0001;
extern bool relative_mode;
extern float current_position[XYZE], // High-level current tool position
destination[XYZE]; // Destination for a move
extern xyze_pos_t current_position, // High-level current tool position
destination; // Destination for a move
// Scratch space for a cartesian result
extern float cartes[XYZ];
extern xyz_pos_t cartes;
// Until kinematics.cpp is created, declare this here
#if IS_KINEMATIC
extern float delta[ABC];
extern abc_pos_t delta;
#endif
#if HAS_ABL_NOT_UBL
@@ -81,6 +81,10 @@ extern float cartes[XYZ];
#define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
#endif
#if ENABLED(Z_SAFE_HOMING)
constexpr xy_float_t safe_homing_xy = { Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT };
#endif
/**
* Feed rates are often configured with mm/m
* but the planner and stepper like mm/s units.
@@ -106,10 +110,10 @@ extern int16_t feedrate_percentage;
FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float(p); }
FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte(p); }
#define XYZ_DEFS(type, array, CONFIG) \
extern const type array##_P[XYZ]; \
FORCE_INLINE type array(AxisEnum axis) { return pgm_read_any(&array##_P[axis]); } \
typedef void __void_##CONFIG##__
#define XYZ_DEFS(T, NAME, OPT) \
extern const XYZval<T> NAME##_P; \
FORCE_INLINE T NAME(AxisEnum axis) { return pgm_read_any(&NAME##_P[axis]); } \
typedef void __void_##OPT##__
XYZ_DEFS(float, base_min_pos, MIN_POS);
XYZ_DEFS(float, base_max_pos, MAX_POS);
@@ -125,19 +129,19 @@ XYZ_DEFS(signed char, home_dir, HOME_DIR);
#endif
#if HAS_HOTEND_OFFSET
extern float hotend_offset[XYZ][HOTENDS];
extern xyz_pos_t hotend_offset[HOTENDS];
void reset_hotend_offsets();
#elif HOTENDS > 0
constexpr float hotend_offset[XYZ][HOTENDS] = { { 0 }, { 0 }, { 0 } };
#elif HOTENDS
constexpr xyz_pos_t hotend_offset[HOTENDS] = { { 0 } };
#else
constexpr float hotend_offset[XYZ][1] = { { 0 }, { 0 }, { 0 } };
constexpr xyz_pos_t hotend_offset[1] = { { 0 } };
#endif
typedef struct { float min, max; } axis_limits_t;
typedef struct { xyz_pos_t min, max; } axis_limits_t;
#if HAS_SOFTWARE_ENDSTOPS
extern bool soft_endstops_enabled;
extern axis_limits_t soft_endstop[XYZ];
void apply_motion_limits(float target[XYZ]);
extern axis_limits_t soft_endstop;
void apply_motion_limits(xyz_pos_t &target);
void update_software_endstops(const AxisEnum axis
#if HAS_HOTEND_OFFSET
, const uint8_t old_tool_index=0, const uint8_t new_tool_index=0
@@ -145,16 +149,15 @@ typedef struct { float min, max; } axis_limits_t;
);
#else
constexpr bool soft_endstops_enabled = false;
//constexpr axis_limits_t soft_endstop[XYZ] = { { X_MIN_POS, X_MAX_POS }, { Y_MIN_POS, Y_MAX_POS }, { Z_MIN_POS, Z_MAX_POS } };
//constexpr axis_limits_t soft_endstop = {
// { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
// { X_MAX_POS, Y_MAX_POS, Z_MAX_POS } };
#define apply_motion_limits(V) NOOP
#define update_software_endstops(...) NOOP
#endif
void report_current_position();
inline void set_current_from_destination() { COPY(current_position, destination); }
inline void set_destination_from_current() { COPY(destination, current_position); }
void get_cartesian_from_steppers();
void set_current_from_steppers_for_axis(const AxisEnum axis);
@@ -202,12 +205,17 @@ void do_blocking_move_to_y(const float &ry, const feedRate_t &fr_mm_s=0.0f);
void do_blocking_move_to_z(const float &rz, const feedRate_t &fr_mm_s=0.0f);
void do_blocking_move_to_xy(const float &rx, const float &ry, const feedRate_t &fr_mm_s=0.0f);
FORCE_INLINE void do_blocking_move_to(const float (&raw)[XYZ], const feedRate_t &fr_mm_s=0) {
do_blocking_move_to(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], fr_mm_s);
FORCE_INLINE void do_blocking_move_to(const xy_pos_t &raw, const feedRate_t &fr_mm_s=0.0f) {
do_blocking_move_to(raw.x, raw.y, current_position.z, fr_mm_s);
}
FORCE_INLINE void do_blocking_move_to(const float (&raw)[XYZE], const feedRate_t &fr_mm_s=0) {
do_blocking_move_to(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], fr_mm_s);
FORCE_INLINE void do_blocking_move_to(const xyz_pos_t &raw, const feedRate_t &fr_mm_s=0.0f) {
do_blocking_move_to(raw.x, raw.y, raw.z, fr_mm_s);
}
FORCE_INLINE void do_blocking_move_to(const xyze_pos_t &raw, const feedRate_t &fr_mm_s=0.0f) {
do_blocking_move_to(raw.x, raw.y, raw.z, fr_mm_s);
}
FORCE_INLINE void do_blocking_move_to_xy(const xy_pos_t &raw, const feedRate_t &fr_mm_s=0.0f) {
do_blocking_move_to_xy(raw.x, raw.y, fr_mm_s);
}
void remember_feedrate_and_scaling();
@@ -238,24 +246,36 @@ void homeaxis(const AxisEnum axis);
*/
#if HAS_HOME_OFFSET || HAS_POSITION_SHIFT
#if HAS_HOME_OFFSET
extern float home_offset[XYZ];
extern xyz_pos_t home_offset;
#endif
#if HAS_POSITION_SHIFT
extern float position_shift[XYZ];
extern xyz_pos_t position_shift;
#endif
#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
extern float workspace_offset[XYZ];
#define WORKSPACE_OFFSET(AXIS) workspace_offset[AXIS]
extern xyz_pos_t workspace_offset;
#define _WS workspace_offset
#elif HAS_HOME_OFFSET
#define WORKSPACE_OFFSET(AXIS) home_offset[AXIS]
#define _WS home_offset
#else
#define WORKSPACE_OFFSET(AXIS) position_shift[AXIS]
#define _WS position_shift
#endif
#define NATIVE_TO_LOGICAL(POS, AXIS) ((POS) + WORKSPACE_OFFSET(AXIS))
#define LOGICAL_TO_NATIVE(POS, AXIS) ((POS) - WORKSPACE_OFFSET(AXIS))
#define NATIVE_TO_LOGICAL(POS, AXIS) ((POS) + _WS[AXIS])
#define LOGICAL_TO_NATIVE(POS, AXIS) ((POS) - _WS[AXIS])
FORCE_INLINE void toLogical(xy_pos_t &raw) { raw += _WS; }
FORCE_INLINE void toLogical(xyz_pos_t &raw) { raw += _WS; }
FORCE_INLINE void toLogical(xyze_pos_t &raw) { raw += _WS; }
FORCE_INLINE void toNative(xy_pos_t &raw) { raw -= _WS; }
FORCE_INLINE void toNative(xyz_pos_t &raw) { raw -= _WS; }
FORCE_INLINE void toNative(xyze_pos_t &raw) { raw -= _WS; }
#else
#define NATIVE_TO_LOGICAL(POS, AXIS) (POS)
#define LOGICAL_TO_NATIVE(POS, AXIS) (POS)
FORCE_INLINE void toLogical(xy_pos_t &raw) { UNUSED(raw); }
FORCE_INLINE void toLogical(xyz_pos_t &raw) { UNUSED(raw); }
FORCE_INLINE void toLogical(xyze_pos_t &raw) { UNUSED(raw); }
FORCE_INLINE void toNative(xy_pos_t &raw) { UNUSED(raw); }
FORCE_INLINE void toNative(xyz_pos_t &raw) { UNUSED(raw); }
FORCE_INLINE void toNative(xyze_pos_t &raw) { UNUSED(raw); }
#endif
#define LOGICAL_X_POSITION(POS) NATIVE_TO_LOGICAL(POS, X_AXIS)
#define LOGICAL_Y_POSITION(POS) NATIVE_TO_LOGICAL(POS, Y_AXIS)
@@ -270,7 +290,7 @@ void homeaxis(const AxisEnum axis);
#if IS_KINEMATIC // (DELTA or SCARA)
#if HAS_SCARA_OFFSET
extern float scara_home_offset[ABC]; // A and B angular offsets, Z mm offset
extern abc_pos_t scara_home_offset; // A and B angular offsets, Z mm offset
#endif
// Return true if the given point is within the printable area
@@ -288,11 +308,15 @@ void homeaxis(const AxisEnum axis);
#endif
}
inline bool position_is_reachable(const xy_pos_t &pos, const float inset=0) {
return position_is_reachable(pos.x, pos.y, inset);
}
#if HAS_BED_PROBE
// Return true if the both nozzle and the probe can reach the given point.
// Note: This won't work on SCARA since the probe offset rotates with the arm.
inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
return position_is_reachable(rx - probe_offset[X_AXIS], ry - probe_offset[Y_AXIS])
return position_is_reachable(rx - probe_offset.x, ry - probe_offset.y)
&& position_is_reachable(rx, ry, ABS(MIN_PROBE_EDGE));
}
#endif
@@ -311,6 +335,7 @@ void homeaxis(const AxisEnum axis);
return WITHIN(rx, X_MIN_POS - slop, X_MAX_POS + slop);
#endif
}
inline bool position_is_reachable(const xy_pos_t &pos) { return position_is_reachable(pos.x, pos.y); }
#if HAS_BED_PROBE
/**
@@ -321,7 +346,7 @@ void homeaxis(const AxisEnum axis);
* nozzle must be be able to reach +10,-10.
*/
inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
return position_is_reachable(rx - probe_offset[X_AXIS], ry - probe_offset[Y_AXIS])
return position_is_reachable(rx - probe_offset.x, ry - probe_offset.y)
&& WITHIN(rx, probe_min_x() - slop, probe_max_x() + slop)
&& WITHIN(ry, probe_min_y() - slop, probe_max_y() + slop);
}
@@ -332,6 +357,8 @@ void homeaxis(const AxisEnum axis);
#if !HAS_BED_PROBE
FORCE_INLINE bool position_is_reachable_by_probe(const float &rx, const float &ry) { return position_is_reachable(rx, ry); }
#endif
FORCE_INLINE bool position_is_reachable_by_probe(const xy_int_t &pos) { return position_is_reachable_by_probe(pos.x, pos.y); }
FORCE_INLINE bool position_is_reachable_by_probe(const xy_pos_t &pos) { return position_is_reachable_by_probe(pos.x, pos.y); }
/**
* Duplication mode
@@ -358,8 +385,8 @@ void homeaxis(const AxisEnum axis);
extern DualXMode dual_x_carriage_mode;
extern float inactive_extruder_x_pos, // Used in mode 0 & 1
raised_parked_position[XYZE], // Used in mode 1
duplicate_extruder_x_offset; // Used in mode 2 & 3
extern xyz_pos_t raised_parked_position; // Used in mode 1
extern bool active_extruder_parked; // Used in mode 1, 2 & 3
extern millis_t delayed_move_time; // Used in mode 1
extern int16_t duplicate_extruder_temp_offset; // Used in mode 2 & 3