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Move get_axis_position_mm to Planner (#10718)

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This commit is contained in:
Scott Lahteine
2018-05-12 09:59:11 -05:00
committed by GitHub
parent a1062eec5b
commit 8f8c6a9bc4
12 changed files with 75 additions and 80 deletions
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31
Marlin/src/module/planner.cpp
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@ -1299,6 +1299,37 @@ void Planner::check_axes_activity() {
#endif // PLANNER_LEVELING
/**
* Get an axis position according to stepper position(s)
* For CORE machines apply translation from ABC to XYZ.
*/
float Planner::get_axis_position_mm(const AxisEnum axis) {
float axis_steps;
#if IS_CORE
// Requesting one of the "core" axes?
if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
// Protect the access to the position.
const bool was_enabled = STEPPER_ISR_ENABLED();
DISABLE_STEPPER_DRIVER_INTERRUPT();
// ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
// ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
axis_steps = 0.5f * (
axis == CORE_AXIS_2 ? CORESIGN(stepper.position(CORE_AXIS_1) - stepper.position(CORE_AXIS_2))
: stepper.position(CORE_AXIS_1) + stepper.position(CORE_AXIS_2)
);
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
}
else
axis_steps = stepper.position(axis);
#else
axis_steps = stepper.position(axis);
#endif
return axis_steps * steps_to_mm[axis];
}
/**
* Block until all buffered steps are executed / cleaned
*/