🏗️ Support for up to 6 linear axes (#19112)
Co-authored-by: Scott Lahteine <github@thinkyhead.com>
This commit is contained in:
DerAndere
committed by
Scott Lahteine
Scott Lahteine
parent
d3c56a76e7
commit
c1fca91103
@ -44,7 +44,7 @@ extern xyze_pos_t current_position, // High-level current tool position
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// G60/G61 Position Save and Return
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#if SAVED_POSITIONS
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extern uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3];
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extern uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3]; // TODO: Add support for LINEAR_AXES >= 4
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extern xyze_pos_t stored_position[SAVED_POSITIONS];
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#endif
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@ -53,7 +53,7 @@ extern xyz_pos_t cartes;
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// Until kinematics.cpp is created, declare this here
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#if IS_KINEMATIC
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extern abc_pos_t delta;
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extern abce_pos_t delta;
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#endif
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#if HAS_ABL_NOT_UBL
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@ -75,16 +75,16 @@ extern xyz_pos_t cartes;
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*/
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constexpr xyz_feedrate_t homing_feedrate_mm_m = HOMING_FEEDRATE_MM_M;
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FORCE_INLINE feedRate_t homing_feedrate(const AxisEnum a) {
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float v;
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#if ENABLED(DELTA)
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v = homing_feedrate_mm_m.z;
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#else
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switch (a) {
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case X_AXIS: v = homing_feedrate_mm_m.x; break;
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case Y_AXIS: v = homing_feedrate_mm_m.y; break;
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case Z_AXIS:
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default: v = homing_feedrate_mm_m.z;
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}
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float v = TERN0(HAS_Z_AXIS, homing_feedrate_mm_m.z);
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#if DISABLED(DELTA)
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LINEAR_AXIS_CODE(
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if (a == X_AXIS) v = homing_feedrate_mm_m.x,
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else if (a == Y_AXIS) v = homing_feedrate_mm_m.y,
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else if (a == Z_AXIS) v = homing_feedrate_mm_m.z,
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else if (a == I_AXIS) v = homing_feedrate_mm_m.i,
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else if (a == J_AXIS) v = homing_feedrate_mm_m.j,
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else if (a == K_AXIS) v = homing_feedrate_mm_m.k
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);
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#endif
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return MMM_TO_MMS(v);
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}
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@ -124,7 +124,7 @@ inline int8_t pgm_read_any(const int8_t *p) { return TERN(__IMXRT1062__, *p, pgm
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#define XYZ_DEFS(T, NAME, OPT) \
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inline T NAME(const AxisEnum axis) { \
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static const XYZval<T> NAME##_P DEFS_PROGMEM = LINEAR_AXIS_ARRAY(X_##OPT, Y_##OPT, Z_##OPT); \
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static const XYZval<T> NAME##_P DEFS_PROGMEM = LINEAR_AXIS_ARRAY(X_##OPT, Y_##OPT, Z_##OPT, I_##OPT, J_##OPT, K_##OPT); \
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return pgm_read_any(&NAME##_P[axis]); \
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}
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XYZ_DEFS(float, base_min_pos, MIN_POS);
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@ -168,13 +168,36 @@ inline float home_bump_mm(const AxisEnum axis) {
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TERN_(MIN_SOFTWARE_ENDSTOP_X, amin = min.x);
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TERN_(MAX_SOFTWARE_ENDSTOP_X, amax = max.x);
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break;
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case Y_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_Y, amin = min.y);
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TERN_(MAX_SOFTWARE_ENDSTOP_Y, amax = max.y);
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break;
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case Z_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_Z, amin = min.z);
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TERN_(MAX_SOFTWARE_ENDSTOP_Z, amax = max.z);
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#if HAS_Y_AXIS
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case Y_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_Y, amin = min.y);
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TERN_(MAX_SOFTWARE_ENDSTOP_Y, amax = max.y);
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break;
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#endif
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#if HAS_Z_AXIS
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case Z_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_Z, amin = min.z);
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TERN_(MAX_SOFTWARE_ENDSTOP_Z, amax = max.z);
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break;
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#endif
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#if LINEAR_AXES >= 4 // TODO (DerAndere): Test for LINEAR_AXES >= 4
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case I_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_I, amin = min.i);
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TERN_(MIN_SOFTWARE_ENDSTOP_I, amax = max.i);
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break;
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#endif
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#if LINEAR_AXES >= 5
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case J_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_J, amin = min.j);
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TERN_(MIN_SOFTWARE_ENDSTOP_J, amax = max.j);
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break;
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#endif
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#if LINEAR_AXES >= 6
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case K_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_K, amin = min.k);
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TERN_(MIN_SOFTWARE_ENDSTOP_K, amax = max.k);
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break;
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#endif
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default: break;
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}
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#endif
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@ -298,32 +321,53 @@ inline void prepare_internal_move_to_destination(const_feedRate_t fr_mm_s=0.0f)
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/**
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* Blocking movement and shorthand functions
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*/
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void do_blocking_move_to(
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LINEAR_AXIS_LIST(const float rx, const float ry, const float rz),
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const_feedRate_t fr_mm_s=0.0f
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);
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void do_blocking_move_to(LINEAR_AXIS_ARGS(const float), const_feedRate_t fr_mm_s=0.0f);
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void do_blocking_move_to(const xy_pos_t &raw, const_feedRate_t fr_mm_s=0.0f);
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void do_blocking_move_to(const xyz_pos_t &raw, const_feedRate_t fr_mm_s=0.0f);
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void do_blocking_move_to(const xyze_pos_t &raw, const_feedRate_t fr_mm_s=0.0f);
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void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s=0.0f);
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void do_blocking_move_to_y(const_float_t ry, const_feedRate_t fr_mm_s=0.0f);
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void do_blocking_move_to_z(const_float_t rz, const_feedRate_t fr_mm_s=0.0f);
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#if HAS_Y_AXIS
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void do_blocking_move_to_y(const_float_t ry, const_feedRate_t fr_mm_s=0.0f);
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#endif
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#if HAS_Z_AXIS
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void do_blocking_move_to_z(const_float_t rz, const_feedRate_t fr_mm_s=0.0f);
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#endif
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#if LINEAR_AXES >= 4
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void do_blocking_move_to_i(const_float_t ri, const_feedRate_t fr_mm_s=0.0f);
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void do_blocking_move_to_xyz_i(const xyze_pos_t &raw, const_float_t i, const_feedRate_t fr_mm_s=0.0f);
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#endif
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#if LINEAR_AXES >= 5
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void do_blocking_move_to_j(const_float_t rj, const_feedRate_t fr_mm_s=0.0f);
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void do_blocking_move_to_xyzi_j(const xyze_pos_t &raw, const_float_t j, const_feedRate_t fr_mm_s=0.0f);
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#endif
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#if LINEAR_AXES >= 6
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void do_blocking_move_to_k(const_float_t rk, const_feedRate_t fr_mm_s=0.0f);
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void do_blocking_move_to_xyzij_k(const xyze_pos_t &raw, const_float_t k, const_feedRate_t fr_mm_s=0.0f);
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#endif
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void do_blocking_move_to_xy(const_float_t rx, const_float_t ry, const_feedRate_t fr_mm_s=0.0f);
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void do_blocking_move_to_xy(const xy_pos_t &raw, const_feedRate_t fr_mm_s=0.0f);
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FORCE_INLINE void do_blocking_move_to_xy(const xyz_pos_t &raw, const_feedRate_t fr_mm_s=0.0f) { do_blocking_move_to_xy(xy_pos_t(raw), fr_mm_s); }
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FORCE_INLINE void do_blocking_move_to_xy(const xyze_pos_t &raw, const_feedRate_t fr_mm_s=0.0f) { do_blocking_move_to_xy(xy_pos_t(raw), fr_mm_s); }
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#if HAS_Y_AXIS
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void do_blocking_move_to_xy(const_float_t rx, const_float_t ry, const_feedRate_t fr_mm_s=0.0f);
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void do_blocking_move_to_xy(const xy_pos_t &raw, const_feedRate_t fr_mm_s=0.0f);
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FORCE_INLINE void do_blocking_move_to_xy(const xyz_pos_t &raw, const_feedRate_t fr_mm_s=0.0f) { do_blocking_move_to_xy(xy_pos_t(raw), fr_mm_s); }
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FORCE_INLINE void do_blocking_move_to_xy(const xyze_pos_t &raw, const_feedRate_t fr_mm_s=0.0f) { do_blocking_move_to_xy(xy_pos_t(raw), fr_mm_s); }
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#endif
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void do_blocking_move_to_xy_z(const xy_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s=0.0f);
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FORCE_INLINE void do_blocking_move_to_xy_z(const xyz_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s=0.0f) { do_blocking_move_to_xy_z(xy_pos_t(raw), z, fr_mm_s); }
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FORCE_INLINE void do_blocking_move_to_xy_z(const xyze_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s=0.0f) { do_blocking_move_to_xy_z(xy_pos_t(raw), z, fr_mm_s); }
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#if HAS_Z_AXIS
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void do_blocking_move_to_xy_z(const xy_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s=0.0f);
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FORCE_INLINE void do_blocking_move_to_xy_z(const xyz_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s=0.0f) { do_blocking_move_to_xy_z(xy_pos_t(raw), z, fr_mm_s); }
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FORCE_INLINE void do_blocking_move_to_xy_z(const xyze_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s=0.0f) { do_blocking_move_to_xy_z(xy_pos_t(raw), z, fr_mm_s); }
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#endif
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void remember_feedrate_and_scaling();
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void remember_feedrate_scaling_off();
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void restore_feedrate_and_scaling();
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void do_z_clearance(const_float_t zclear, const bool lower_allowed=false);
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#if HAS_Z_AXIS
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void do_z_clearance(const_float_t zclear, const bool lower_allowed=false);
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#else
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inline void do_z_clearance(float, bool=false) {}
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#endif
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/**
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* Homing and Trusted Axes
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@ -421,11 +465,27 @@ FORCE_INLINE bool all_axes_trusted() { return linear_bits
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FORCE_INLINE void toNative(xyze_pos_t&) {}
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#endif
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#define LOGICAL_X_POSITION(POS) NATIVE_TO_LOGICAL(POS, X_AXIS)
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#define LOGICAL_Y_POSITION(POS) NATIVE_TO_LOGICAL(POS, Y_AXIS)
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#define LOGICAL_Z_POSITION(POS) NATIVE_TO_LOGICAL(POS, Z_AXIS)
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#define RAW_X_POSITION(POS) LOGICAL_TO_NATIVE(POS, X_AXIS)
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#define RAW_Y_POSITION(POS) LOGICAL_TO_NATIVE(POS, Y_AXIS)
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#define RAW_Z_POSITION(POS) LOGICAL_TO_NATIVE(POS, Z_AXIS)
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#if HAS_Y_AXIS
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#define LOGICAL_Y_POSITION(POS) NATIVE_TO_LOGICAL(POS, Y_AXIS)
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#define RAW_Y_POSITION(POS) LOGICAL_TO_NATIVE(POS, Y_AXIS)
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#endif
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#if HAS_Z_AXIS
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#define LOGICAL_Z_POSITION(POS) NATIVE_TO_LOGICAL(POS, Z_AXIS)
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#define RAW_Z_POSITION(POS) LOGICAL_TO_NATIVE(POS, Z_AXIS)
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#endif
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#if LINEAR_AXES >= 4
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#define LOGICAL_I_POSITION(POS) NATIVE_TO_LOGICAL(POS, I_AXIS)
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#define RAW_I_POSITION(POS) LOGICAL_TO_NATIVE(POS, I_AXIS)
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#endif
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#if LINEAR_AXES >= 5
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#define LOGICAL_J_POSITION(POS) NATIVE_TO_LOGICAL(POS, J_AXIS)
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#define RAW_J_POSITION(POS) LOGICAL_TO_NATIVE(POS, J_AXIS)
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#endif
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#if LINEAR_AXES >= 6
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#define LOGICAL_K_POSITION(POS) NATIVE_TO_LOGICAL(POS, K_AXIS)
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#define RAW_K_POSITION(POS) LOGICAL_TO_NATIVE(POS, K_AXIS)
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#endif
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/**
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* position_is_reachable family of functions
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