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Add gcode.cpp, motion.*, queue.* - Apply to some G-codes.

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Scott Lahteine
2017-09-07 22:33:16 -05:00
parent 4231faf779
commit 722786966a
42 changed files with 1898 additions and 1370 deletions
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Marlin/src/module/motion.h Normal file
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* motion.h
*
* High-level motion commands to feed the planner
* Some of these methods may migrate to the planner class.
*/
#ifndef MOTION_H
#define MOTION_H
#include "../inc/MarlinConfig.h"
//#include "../HAL/HAL.h"
// #if ENABLED(DELTA)
// #include "../module/delta.h"
// #endif
extern bool relative_mode;
extern float current_position[XYZE], destination[XYZE];
extern float feedrate_mm_s;
extern uint8_t active_extruder;
extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ];
FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float_near(p); }
FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte_near(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##__
XYZ_DEFS(float, base_min_pos, MIN_POS);
XYZ_DEFS(float, base_max_pos, MAX_POS);
XYZ_DEFS(float, base_home_pos, HOME_POS);
XYZ_DEFS(float, max_length, MAX_LENGTH);
XYZ_DEFS(float, home_bump_mm, HOME_BUMP_MM);
XYZ_DEFS(signed char, home_dir, HOME_DIR);
#if HAS_SOFTWARE_ENDSTOPS
extern bool soft_endstops_enabled;
void clamp_to_software_endstops(float target[XYZ]);
#else
#define soft_endstops_enabled false
#define clamp_to_software_endstops(x) NOOP
#endif
inline void set_current_to_destination() { COPY(current_position, destination); }
inline void set_destination_to_current() { COPY(destination, current_position); }
/**
* sync_plan_position
*
* Set the planner/stepper positions directly from current_position with
* no kinematic translation. Used for homing axes and cartesian/core syncing.
*/
void sync_plan_position();
void sync_plan_position_e();
#if IS_KINEMATIC
void sync_plan_position_kinematic();
#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
#else
#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
#endif
/**
* Move the planner to the current position from wherever it last moved
* (or from wherever it has been told it is located).
*/
void line_to_current_position();
/**
* Move the planner to the position stored in the destination array, which is
* used by G0/G1/G2/G3/G5 and many other functions to set a destination.
*/
void line_to_destination(const float fr_mm_s);
inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
#if IS_KINEMATIC
void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0);
#endif
void prepare_move_to_destination();
void clamp_to_software_endstops(float target[XYZ]);
//
// Macros
//
// Workspace offsets
#if HAS_WORKSPACE_OFFSET
#if HAS_HOME_OFFSET
extern float home_offset[XYZ];
#endif
#if HAS_POSITION_SHIFT
extern float position_shift[XYZ];
#endif
#endif
#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
extern float workspace_offset[XYZ];
#define WORKSPACE_OFFSET(AXIS) workspace_offset[AXIS]
#elif HAS_HOME_OFFSET
#define WORKSPACE_OFFSET(AXIS) home_offset[AXIS]
#elif HAS_POSITION_SHIFT
#define WORKSPACE_OFFSET(AXIS) position_shift[AXIS]
#else
#define WORKSPACE_OFFSET(AXIS) 0
#endif
#define LOGICAL_POSITION(POS, AXIS) ((POS) + WORKSPACE_OFFSET(AXIS))
#define RAW_POSITION(POS, AXIS) ((POS) - WORKSPACE_OFFSET(AXIS))
#if HAS_POSITION_SHIFT || DISABLED(DELTA)
#define LOGICAL_X_POSITION(POS) LOGICAL_POSITION(POS, X_AXIS)
#define LOGICAL_Y_POSITION(POS) LOGICAL_POSITION(POS, Y_AXIS)
#define RAW_X_POSITION(POS) RAW_POSITION(POS, X_AXIS)
#define RAW_Y_POSITION(POS) RAW_POSITION(POS, Y_AXIS)
#else
#define LOGICAL_X_POSITION(POS) (POS)
#define LOGICAL_Y_POSITION(POS) (POS)
#define RAW_X_POSITION(POS) (POS)
#define RAW_Y_POSITION(POS) (POS)
#endif
#define LOGICAL_Z_POSITION(POS) LOGICAL_POSITION(POS, Z_AXIS)
#define RAW_Z_POSITION(POS) RAW_POSITION(POS, Z_AXIS)
#define RAW_CURRENT_POSITION(A) RAW_##A##_POSITION(current_position[A##_AXIS])
/**
* position_is_reachable family of functions
*/
#if IS_KINEMATIC // (DELTA or SCARA)
#if IS_SCARA
extern const float L1, L2;
#endif
inline bool position_is_reachable_raw_xy(const float &rx, const float &ry) {
#if ENABLED(DELTA)
return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS);
#elif IS_SCARA
#if MIDDLE_DEAD_ZONE_R > 0
const float R2 = HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y);
return R2 >= sq(float(MIDDLE_DEAD_ZONE_R)) && R2 <= sq(L1 + L2);
#else
return HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y) <= sq(L1 + L2);
#endif
#else // CARTESIAN
// To be migrated from MakerArm branch in future
#endif
}
inline bool position_is_reachable_by_probe_raw_xy(const float &rx, const float &ry) {
// Both the nozzle and the probe must be able to reach the point.
// This won't work on SCARA since the probe offset rotates with the arm.
return position_is_reachable_raw_xy(rx, ry)
&& position_is_reachable_raw_xy(rx - X_PROBE_OFFSET_FROM_EXTRUDER, ry - Y_PROBE_OFFSET_FROM_EXTRUDER);
}
#else // CARTESIAN
inline bool position_is_reachable_raw_xy(const float &rx, const float &ry) {
// Add 0.001 margin to deal with float imprecision
return WITHIN(rx, X_MIN_POS - 0.001, X_MAX_POS + 0.001)
&& WITHIN(ry, Y_MIN_POS - 0.001, Y_MAX_POS + 0.001);
}
inline bool position_is_reachable_by_probe_raw_xy(const float &rx, const float &ry) {
// Add 0.001 margin to deal with float imprecision
return WITHIN(rx, MIN_PROBE_X - 0.001, MAX_PROBE_X + 0.001)
&& WITHIN(ry, MIN_PROBE_Y - 0.001, MAX_PROBE_Y + 0.001);
}
#endif // CARTESIAN
FORCE_INLINE bool position_is_reachable_by_probe_xy(const float &lx, const float &ly) {
return position_is_reachable_by_probe_raw_xy(RAW_X_POSITION(lx), RAW_Y_POSITION(ly));
}
FORCE_INLINE bool position_is_reachable_xy(const float &lx, const float &ly) {
return position_is_reachable_raw_xy(RAW_X_POSITION(lx), RAW_Y_POSITION(ly));
}
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
extern bool extruder_duplication_enabled; // Used in Dual X mode 2
#endif
#if ENABLED(DUAL_X_CARRIAGE)
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
extern bool active_extruder_parked; // used in mode 1 & 2
extern millis_t delayed_move_time; // used in mode 1
extern int16_t duplicate_extruder_temp_offset; // used in mode 2
float x_home_pos(const int extruder);
FORCE_INLINE int x_home_dir(const uint8_t extruder) { return extruder ? X2_HOME_DIR : X_HOME_DIR; }
#endif // DUAL_X_CARRIAGE
#endif // MOTION_H