609 lines
21 KiB
C++
609 lines
21 KiB
C++
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
|
|
*
|
|
*/
|
|
#pragma once
|
|
|
|
/**
|
|
* motion.h
|
|
*
|
|
* High-level motion commands to feed the planner
|
|
* Some of these methods may migrate to the planner class.
|
|
*/
|
|
|
|
#include "../inc/MarlinConfig.h"
|
|
|
|
#if IS_SCARA
|
|
#include "scara.h"
|
|
#endif
|
|
|
|
// Error margin to work around float imprecision
|
|
constexpr float fslop = 0.0001;
|
|
|
|
extern bool relative_mode;
|
|
|
|
extern xyze_pos_t current_position, // High-level current tool position
|
|
destination; // Destination for a move
|
|
|
|
// G60/G61 Position Save and Return
|
|
#if SAVED_POSITIONS
|
|
extern uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3]; // TODO: Add support for LINEAR_AXES >= 4
|
|
extern xyze_pos_t stored_position[SAVED_POSITIONS];
|
|
#endif
|
|
|
|
// Scratch space for a cartesian result
|
|
extern xyz_pos_t cartes;
|
|
|
|
// Until kinematics.cpp is created, declare this here
|
|
#if IS_KINEMATIC
|
|
extern abce_pos_t delta;
|
|
#endif
|
|
|
|
#if HAS_ABL_NOT_UBL
|
|
extern feedRate_t xy_probe_feedrate_mm_s;
|
|
#define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s
|
|
#elif defined(XY_PROBE_FEEDRATE)
|
|
#define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_FEEDRATE)
|
|
#else
|
|
#define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
|
|
#endif
|
|
|
|
#if HAS_BED_PROBE
|
|
constexpr feedRate_t z_probe_fast_mm_s = MMM_TO_MMS(Z_PROBE_FEEDRATE_FAST);
|
|
#endif
|
|
|
|
/**
|
|
* Feed rates are often configured with mm/m
|
|
* but the planner and stepper like mm/s units.
|
|
*/
|
|
constexpr xyz_feedrate_t homing_feedrate_mm_m = HOMING_FEEDRATE_MM_M;
|
|
FORCE_INLINE feedRate_t homing_feedrate(const AxisEnum a) {
|
|
float v = TERN0(HAS_Z_AXIS, homing_feedrate_mm_m.z);
|
|
#if DISABLED(DELTA)
|
|
LINEAR_AXIS_CODE(
|
|
if (a == X_AXIS) v = homing_feedrate_mm_m.x,
|
|
else if (a == Y_AXIS) v = homing_feedrate_mm_m.y,
|
|
else if (a == Z_AXIS) v = homing_feedrate_mm_m.z,
|
|
else if (a == I_AXIS) v = homing_feedrate_mm_m.i,
|
|
else if (a == J_AXIS) v = homing_feedrate_mm_m.j,
|
|
else if (a == K_AXIS) v = homing_feedrate_mm_m.k
|
|
);
|
|
#endif
|
|
return MMM_TO_MMS(v);
|
|
}
|
|
|
|
feedRate_t get_homing_bump_feedrate(const AxisEnum axis);
|
|
|
|
/**
|
|
* The default feedrate for many moves, set by the most recent move
|
|
*/
|
|
extern feedRate_t feedrate_mm_s;
|
|
|
|
/**
|
|
* Feedrate scaling is applied to all G0/G1, G2/G3, and G5 moves
|
|
*/
|
|
extern int16_t feedrate_percentage;
|
|
#define MMS_SCALED(V) ((V) * 0.01f * feedrate_percentage)
|
|
|
|
// The active extruder (tool). Set with T<extruder> command.
|
|
#if HAS_MULTI_EXTRUDER
|
|
extern uint8_t active_extruder;
|
|
#else
|
|
constexpr uint8_t active_extruder = 0;
|
|
#endif
|
|
|
|
#if ENABLED(LCD_SHOW_E_TOTAL)
|
|
extern float e_move_accumulator;
|
|
#endif
|
|
|
|
#ifdef __IMXRT1062__
|
|
#define DEFS_PROGMEM
|
|
#else
|
|
#define DEFS_PROGMEM PROGMEM
|
|
#endif
|
|
|
|
inline float pgm_read_any(const float *p) { return TERN(__IMXRT1062__, *p, pgm_read_float(p)); }
|
|
inline int8_t pgm_read_any(const int8_t *p) { return TERN(__IMXRT1062__, *p, pgm_read_byte(p)); }
|
|
|
|
#define XYZ_DEFS(T, NAME, OPT) \
|
|
inline T NAME(const AxisEnum axis) { \
|
|
static const XYZval<T> NAME##_P DEFS_PROGMEM = LINEAR_AXIS_ARRAY(X_##OPT, Y_##OPT, Z_##OPT, I_##OPT, J_##OPT, K_##OPT); \
|
|
return pgm_read_any(&NAME##_P[axis]); \
|
|
}
|
|
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(int8_t, home_dir, HOME_DIR);
|
|
|
|
inline float home_bump_mm(const AxisEnum axis) {
|
|
static const xyz_pos_t home_bump_mm_P DEFS_PROGMEM = HOMING_BUMP_MM;
|
|
return pgm_read_any(&home_bump_mm_P[axis]);
|
|
}
|
|
|
|
#if HAS_WORKSPACE_OFFSET
|
|
void update_workspace_offset(const AxisEnum axis);
|
|
#else
|
|
inline void update_workspace_offset(const AxisEnum) {}
|
|
#endif
|
|
|
|
#if HAS_HOTEND_OFFSET
|
|
extern xyz_pos_t hotend_offset[HOTENDS];
|
|
void reset_hotend_offsets();
|
|
#elif HOTENDS
|
|
constexpr xyz_pos_t hotend_offset[HOTENDS] = { { 0 } };
|
|
#else
|
|
constexpr xyz_pos_t hotend_offset[1] = { { 0 } };
|
|
#endif
|
|
|
|
#if HAS_SOFTWARE_ENDSTOPS
|
|
|
|
typedef struct {
|
|
bool _enabled, _loose;
|
|
bool enabled() { return _enabled && !_loose; }
|
|
|
|
xyz_pos_t min, max;
|
|
void get_manual_axis_limits(const AxisEnum axis, float &amin, float &amax) {
|
|
amin = -100000; amax = 100000; // "No limits"
|
|
#if HAS_SOFTWARE_ENDSTOPS
|
|
if (enabled()) switch (axis) {
|
|
case X_AXIS:
|
|
TERN_(MIN_SOFTWARE_ENDSTOP_X, amin = min.x);
|
|
TERN_(MAX_SOFTWARE_ENDSTOP_X, amax = max.x);
|
|
break;
|
|
#if HAS_Y_AXIS
|
|
case Y_AXIS:
|
|
TERN_(MIN_SOFTWARE_ENDSTOP_Y, amin = min.y);
|
|
TERN_(MAX_SOFTWARE_ENDSTOP_Y, amax = max.y);
|
|
break;
|
|
#endif
|
|
#if HAS_Z_AXIS
|
|
case Z_AXIS:
|
|
TERN_(MIN_SOFTWARE_ENDSTOP_Z, amin = min.z);
|
|
TERN_(MAX_SOFTWARE_ENDSTOP_Z, amax = max.z);
|
|
break;
|
|
#endif
|
|
#if LINEAR_AXES >= 4
|
|
case I_AXIS:
|
|
TERN_(MIN_SOFTWARE_ENDSTOP_I, amin = min.i);
|
|
TERN_(MIN_SOFTWARE_ENDSTOP_I, amax = max.i);
|
|
break;
|
|
#endif
|
|
#if LINEAR_AXES >= 5
|
|
case J_AXIS:
|
|
TERN_(MIN_SOFTWARE_ENDSTOP_J, amin = min.j);
|
|
TERN_(MIN_SOFTWARE_ENDSTOP_J, amax = max.j);
|
|
break;
|
|
#endif
|
|
#if LINEAR_AXES >= 6
|
|
case K_AXIS:
|
|
TERN_(MIN_SOFTWARE_ENDSTOP_K, amin = min.k);
|
|
TERN_(MIN_SOFTWARE_ENDSTOP_K, amax = max.k);
|
|
break;
|
|
#endif
|
|
default: break;
|
|
}
|
|
#endif
|
|
}
|
|
} soft_endstops_t;
|
|
|
|
extern soft_endstops_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
|
|
#endif
|
|
);
|
|
#define SET_SOFT_ENDSTOP_LOOSE(loose) (soft_endstop._loose = loose)
|
|
|
|
#else // !HAS_SOFTWARE_ENDSTOPS
|
|
|
|
typedef struct {
|
|
bool enabled() { return false; }
|
|
void get_manual_axis_limits(const AxisEnum axis, float &amin, float &amax) {
|
|
// No limits
|
|
amin = current_position[axis] - 1000;
|
|
amax = current_position[axis] + 1000;
|
|
}
|
|
} soft_endstops_t;
|
|
extern soft_endstops_t soft_endstop;
|
|
#define apply_motion_limits(V) NOOP
|
|
#define update_software_endstops(...) NOOP
|
|
#define SET_SOFT_ENDSTOP_LOOSE(V) NOOP
|
|
|
|
#endif // !HAS_SOFTWARE_ENDSTOPS
|
|
|
|
void report_real_position();
|
|
void report_current_position();
|
|
void report_current_position_projected();
|
|
|
|
#if ENABLED(AUTO_REPORT_POSITION)
|
|
#include "../libs/autoreport.h"
|
|
struct PositionReport { static void report() { report_current_position_projected(); } };
|
|
extern AutoReporter<PositionReport> position_auto_reporter;
|
|
#endif
|
|
|
|
#if EITHER(FULL_REPORT_TO_HOST_FEATURE, REALTIME_REPORTING_COMMANDS)
|
|
#define HAS_GRBL_STATE 1
|
|
/**
|
|
* Machine states for GRBL or TinyG
|
|
*/
|
|
enum M_StateEnum : uint8_t {
|
|
M_INIT = 0, // 0 machine is initializing
|
|
M_RESET, // 1 machine is ready for use
|
|
M_ALARM, // 2 machine is in alarm state (soft shut down)
|
|
M_IDLE, // 3 program stop or no more blocks (M0, M1, M60)
|
|
M_END, // 4 program end via M2, M30
|
|
M_RUNNING, // 5 motion is running
|
|
M_HOLD, // 6 motion is holding
|
|
M_PROBE, // 7 probe cycle active
|
|
M_CYCLING, // 8 machine is running (cycling)
|
|
M_HOMING, // 9 machine is homing
|
|
M_JOGGING, // 10 machine is jogging
|
|
M_ERROR // 11 machine is in hard alarm state (shut down)
|
|
};
|
|
extern M_StateEnum M_State_grbl;
|
|
M_StateEnum grbl_state_for_marlin_state();
|
|
void report_current_grblstate_moving();
|
|
void report_current_position_moving();
|
|
|
|
#if ENABLED(FULL_REPORT_TO_HOST_FEATURE)
|
|
inline void set_and_report_grblstate(const M_StateEnum state) {
|
|
M_State_grbl = state;
|
|
report_current_grblstate_moving();
|
|
}
|
|
#endif
|
|
|
|
#if ENABLED(REALTIME_REPORTING_COMMANDS)
|
|
void quickpause_stepper();
|
|
void quickresume_stepper();
|
|
#endif
|
|
#endif
|
|
|
|
void get_cartesian_from_steppers();
|
|
void set_current_from_steppers_for_axis(const AxisEnum axis);
|
|
|
|
void quickstop_stepper();
|
|
|
|
/**
|
|
* 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();
|
|
|
|
#if HAS_EXTRUDERS
|
|
void sync_plan_position_e();
|
|
#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(const_feedRate_t fr_mm_s=feedrate_mm_s);
|
|
|
|
#if HAS_EXTRUDERS
|
|
void unscaled_e_move(const_float_t length, const_feedRate_t fr_mm_s);
|
|
#endif
|
|
|
|
void prepare_line_to_destination();
|
|
|
|
void _internal_move_to_destination(const_feedRate_t fr_mm_s=0.0f OPTARG(IS_KINEMATIC, const bool is_fast=false));
|
|
|
|
inline void prepare_internal_move_to_destination(const_feedRate_t fr_mm_s=0.0f) {
|
|
_internal_move_to_destination(fr_mm_s);
|
|
}
|
|
|
|
#if IS_KINEMATIC
|
|
void prepare_fast_move_to_destination(const_feedRate_t scaled_fr_mm_s=MMS_SCALED(feedrate_mm_s));
|
|
|
|
inline void prepare_internal_fast_move_to_destination(const_feedRate_t fr_mm_s=0.0f) {
|
|
_internal_move_to_destination(fr_mm_s, true);
|
|
}
|
|
#endif
|
|
|
|
/**
|
|
* Blocking movement and shorthand functions
|
|
*/
|
|
void do_blocking_move_to(LINEAR_AXIS_ARGS(const float), const_feedRate_t fr_mm_s=0.0f);
|
|
void do_blocking_move_to(const xy_pos_t &raw, const_feedRate_t fr_mm_s=0.0f);
|
|
void do_blocking_move_to(const xyz_pos_t &raw, const_feedRate_t fr_mm_s=0.0f);
|
|
void do_blocking_move_to(const xyze_pos_t &raw, const_feedRate_t fr_mm_s=0.0f);
|
|
|
|
void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s=0.0f);
|
|
#if HAS_Y_AXIS
|
|
void do_blocking_move_to_y(const_float_t ry, const_feedRate_t fr_mm_s=0.0f);
|
|
#endif
|
|
#if HAS_Z_AXIS
|
|
void do_blocking_move_to_z(const_float_t rz, const_feedRate_t fr_mm_s=0.0f);
|
|
#endif
|
|
#if LINEAR_AXES >= 4
|
|
void do_blocking_move_to_i(const_float_t ri, const_feedRate_t fr_mm_s=0.0f);
|
|
void do_blocking_move_to_xyz_i(const xyze_pos_t &raw, const_float_t i, const_feedRate_t fr_mm_s=0.0f);
|
|
#endif
|
|
#if LINEAR_AXES >= 5
|
|
void do_blocking_move_to_j(const_float_t rj, const_feedRate_t fr_mm_s=0.0f);
|
|
void do_blocking_move_to_xyzi_j(const xyze_pos_t &raw, const_float_t j, const_feedRate_t fr_mm_s=0.0f);
|
|
#endif
|
|
#if LINEAR_AXES >= 6
|
|
void do_blocking_move_to_k(const_float_t rk, const_feedRate_t fr_mm_s=0.0f);
|
|
void do_blocking_move_to_xyzij_k(const xyze_pos_t &raw, const_float_t k, const_feedRate_t fr_mm_s=0.0f);
|
|
#endif
|
|
|
|
#if HAS_Y_AXIS
|
|
void do_blocking_move_to_xy(const_float_t rx, const_float_t ry, const_feedRate_t fr_mm_s=0.0f);
|
|
void do_blocking_move_to_xy(const xy_pos_t &raw, const_feedRate_t fr_mm_s=0.0f);
|
|
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); }
|
|
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); }
|
|
#endif
|
|
|
|
#if HAS_Z_AXIS
|
|
void do_blocking_move_to_xy_z(const xy_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s=0.0f);
|
|
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); }
|
|
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); }
|
|
#endif
|
|
|
|
void remember_feedrate_and_scaling();
|
|
void remember_feedrate_scaling_off();
|
|
void restore_feedrate_and_scaling();
|
|
|
|
#if HAS_Z_AXIS
|
|
void do_z_clearance(const_float_t zclear, const bool lower_allowed=false);
|
|
#else
|
|
inline void do_z_clearance(float, bool=false) {}
|
|
#endif
|
|
|
|
/**
|
|
* Homing and Trusted Axes
|
|
*/
|
|
typedef IF<(LINEAR_AXES > 8), uint16_t, uint8_t>::type linear_axis_bits_t;
|
|
constexpr linear_axis_bits_t linear_bits = _BV(LINEAR_AXES) - 1;
|
|
|
|
void set_axis_is_at_home(const AxisEnum axis);
|
|
|
|
#if HAS_ENDSTOPS
|
|
/**
|
|
* axis_homed
|
|
* Flags that each linear axis was homed.
|
|
* XYZ on cartesian, ABC on delta, ABZ on SCARA.
|
|
*
|
|
* axis_trusted
|
|
* Flags that the position is trusted in each linear axis. Set when homed.
|
|
* Cleared whenever a stepper powers off, potentially losing its position.
|
|
*/
|
|
extern linear_axis_bits_t axis_homed, axis_trusted;
|
|
void homeaxis(const AxisEnum axis);
|
|
void set_axis_never_homed(const AxisEnum axis);
|
|
linear_axis_bits_t axes_should_home(linear_axis_bits_t axis_bits=linear_bits);
|
|
bool homing_needed_error(linear_axis_bits_t axis_bits=linear_bits);
|
|
FORCE_INLINE void set_axis_unhomed(const AxisEnum axis) { CBI(axis_homed, axis); }
|
|
FORCE_INLINE void set_axis_untrusted(const AxisEnum axis) { CBI(axis_trusted, axis); }
|
|
FORCE_INLINE void set_all_unhomed() { axis_homed = axis_trusted = 0; }
|
|
FORCE_INLINE void set_axis_homed(const AxisEnum axis) { SBI(axis_homed, axis); }
|
|
FORCE_INLINE void set_axis_trusted(const AxisEnum axis) { SBI(axis_trusted, axis); }
|
|
FORCE_INLINE void set_all_homed() { axis_homed = axis_trusted = linear_bits; }
|
|
#else
|
|
constexpr linear_axis_bits_t axis_homed = linear_bits, axis_trusted = linear_bits; // Zero-endstop machines are always homed and trusted
|
|
FORCE_INLINE void homeaxis(const AxisEnum axis) {}
|
|
FORCE_INLINE void set_axis_never_homed(const AxisEnum) {}
|
|
FORCE_INLINE linear_axis_bits_t axes_should_home(linear_axis_bits_t=linear_bits) { return false; }
|
|
FORCE_INLINE bool homing_needed_error(linear_axis_bits_t=linear_bits) { return false; }
|
|
FORCE_INLINE void set_axis_unhomed(const AxisEnum axis) {}
|
|
FORCE_INLINE void set_axis_untrusted(const AxisEnum axis) {}
|
|
FORCE_INLINE void set_all_unhomed() {}
|
|
FORCE_INLINE void set_axis_homed(const AxisEnum axis) {}
|
|
FORCE_INLINE void set_axis_trusted(const AxisEnum axis) {}
|
|
FORCE_INLINE void set_all_homed() {}
|
|
#endif
|
|
|
|
FORCE_INLINE bool axis_was_homed(const AxisEnum axis) { return TEST(axis_homed, axis); }
|
|
FORCE_INLINE bool axis_is_trusted(const AxisEnum axis) { return TEST(axis_trusted, axis); }
|
|
FORCE_INLINE bool axis_should_home(const AxisEnum axis) { return (axes_should_home() & _BV(axis)) != 0; }
|
|
FORCE_INLINE bool no_axes_homed() { return !axis_homed; }
|
|
FORCE_INLINE bool all_axes_homed() { return linear_bits == (axis_homed & linear_bits); }
|
|
FORCE_INLINE bool homing_needed() { return !all_axes_homed(); }
|
|
FORCE_INLINE bool all_axes_trusted() { return linear_bits == (axis_trusted & linear_bits); }
|
|
|
|
#if ENABLED(NO_MOTION_BEFORE_HOMING)
|
|
#define MOTION_CONDITIONS (IsRunning() && !homing_needed_error())
|
|
#else
|
|
#define MOTION_CONDITIONS IsRunning()
|
|
#endif
|
|
|
|
#define BABYSTEP_ALLOWED() ((ENABLED(BABYSTEP_WITHOUT_HOMING) || all_axes_trusted()) && (ENABLED(BABYSTEP_ALWAYS_AVAILABLE) || printer_busy()))
|
|
|
|
/**
|
|
* Workspace offsets
|
|
*/
|
|
#if HAS_HOME_OFFSET || HAS_POSITION_SHIFT
|
|
#if HAS_HOME_OFFSET
|
|
extern xyz_pos_t home_offset;
|
|
#endif
|
|
#if HAS_POSITION_SHIFT
|
|
extern xyz_pos_t position_shift;
|
|
#endif
|
|
#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
|
|
extern xyz_pos_t workspace_offset;
|
|
#define _WS workspace_offset
|
|
#elif HAS_HOME_OFFSET
|
|
#define _WS home_offset
|
|
#else
|
|
#define _WS position_shift
|
|
#endif
|
|
#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&) {}
|
|
FORCE_INLINE void toLogical(xyz_pos_t&) {}
|
|
FORCE_INLINE void toLogical(xyze_pos_t&) {}
|
|
FORCE_INLINE void toNative(xy_pos_t&) {}
|
|
FORCE_INLINE void toNative(xyz_pos_t&) {}
|
|
FORCE_INLINE void toNative(xyze_pos_t&) {}
|
|
#endif
|
|
#define LOGICAL_X_POSITION(POS) NATIVE_TO_LOGICAL(POS, X_AXIS)
|
|
#define RAW_X_POSITION(POS) LOGICAL_TO_NATIVE(POS, X_AXIS)
|
|
#if HAS_Y_AXIS
|
|
#define LOGICAL_Y_POSITION(POS) NATIVE_TO_LOGICAL(POS, Y_AXIS)
|
|
#define RAW_Y_POSITION(POS) LOGICAL_TO_NATIVE(POS, Y_AXIS)
|
|
#endif
|
|
#if HAS_Z_AXIS
|
|
#define LOGICAL_Z_POSITION(POS) NATIVE_TO_LOGICAL(POS, Z_AXIS)
|
|
#define RAW_Z_POSITION(POS) LOGICAL_TO_NATIVE(POS, Z_AXIS)
|
|
#endif
|
|
#if LINEAR_AXES >= 4
|
|
#define LOGICAL_I_POSITION(POS) NATIVE_TO_LOGICAL(POS, I_AXIS)
|
|
#define RAW_I_POSITION(POS) LOGICAL_TO_NATIVE(POS, I_AXIS)
|
|
#endif
|
|
#if LINEAR_AXES >= 5
|
|
#define LOGICAL_J_POSITION(POS) NATIVE_TO_LOGICAL(POS, J_AXIS)
|
|
#define RAW_J_POSITION(POS) LOGICAL_TO_NATIVE(POS, J_AXIS)
|
|
#endif
|
|
#if LINEAR_AXES >= 6
|
|
#define LOGICAL_K_POSITION(POS) NATIVE_TO_LOGICAL(POS, K_AXIS)
|
|
#define RAW_K_POSITION(POS) LOGICAL_TO_NATIVE(POS, K_AXIS)
|
|
#endif
|
|
|
|
/**
|
|
* position_is_reachable family of functions
|
|
*/
|
|
#if IS_KINEMATIC // (DELTA or SCARA)
|
|
|
|
#if HAS_SCARA_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
|
|
inline bool position_is_reachable(const_float_t rx, const_float_t ry, const float inset=0) {
|
|
#if ENABLED(DELTA)
|
|
|
|
return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset + fslop);
|
|
|
|
#elif ENABLED(AXEL_TPARA)
|
|
|
|
const float R2 = HYPOT2(rx - TPARA_OFFSET_X, ry - TPARA_OFFSET_Y);
|
|
return (
|
|
R2 <= sq(L1 + L2) - inset
|
|
#if MIDDLE_DEAD_ZONE_R > 0
|
|
&& R2 >= sq(float(MIDDLE_DEAD_ZONE_R))
|
|
#endif
|
|
);
|
|
|
|
#elif IS_SCARA
|
|
|
|
const float R2 = HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y);
|
|
return (
|
|
R2 <= sq(L1 + L2) - inset
|
|
#if MIDDLE_DEAD_ZONE_R > 0
|
|
&& R2 >= sq(float(MIDDLE_DEAD_ZONE_R))
|
|
#endif
|
|
);
|
|
|
|
#endif
|
|
}
|
|
|
|
inline bool position_is_reachable(const xy_pos_t &pos, const float inset=0) {
|
|
return position_is_reachable(pos.x, pos.y, inset);
|
|
}
|
|
|
|
#else // CARTESIAN
|
|
|
|
// Return true if the given position is within the machine bounds.
|
|
inline bool position_is_reachable(const_float_t rx, const_float_t ry) {
|
|
if (!COORDINATE_OKAY(ry, Y_MIN_POS - fslop, Y_MAX_POS + fslop)) return false;
|
|
#if ENABLED(DUAL_X_CARRIAGE)
|
|
if (active_extruder)
|
|
return COORDINATE_OKAY(rx, X2_MIN_POS - fslop, X2_MAX_POS + fslop);
|
|
else
|
|
return COORDINATE_OKAY(rx, X1_MIN_POS - fslop, X1_MAX_POS + fslop);
|
|
#else
|
|
return COORDINATE_OKAY(rx, X_MIN_POS - fslop, X_MAX_POS + fslop);
|
|
#endif
|
|
}
|
|
inline bool position_is_reachable(const xy_pos_t &pos) { return position_is_reachable(pos.x, pos.y); }
|
|
|
|
#endif // CARTESIAN
|
|
|
|
/**
|
|
* Duplication mode
|
|
*/
|
|
#if HAS_DUPLICATION_MODE
|
|
extern bool extruder_duplication_enabled; // Used in Dual X mode 2
|
|
#endif
|
|
|
|
/**
|
|
* Dual X Carriage
|
|
*/
|
|
#if ENABLED(DUAL_X_CARRIAGE)
|
|
|
|
enum DualXMode : char {
|
|
DXC_FULL_CONTROL_MODE,
|
|
DXC_AUTO_PARK_MODE,
|
|
DXC_DUPLICATION_MODE,
|
|
DXC_MIRRORED_MODE
|
|
};
|
|
|
|
extern DualXMode dual_x_carriage_mode;
|
|
extern float inactive_extruder_x, // Used in mode 0 & 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 celsius_t duplicate_extruder_temp_offset; // Used in mode 2 & 3
|
|
extern bool idex_mirrored_mode; // Used in mode 3
|
|
|
|
FORCE_INLINE bool idex_is_duplicating() { return dual_x_carriage_mode >= DXC_DUPLICATION_MODE; }
|
|
|
|
float x_home_pos(const uint8_t extruder);
|
|
|
|
#define TOOL_X_HOME_DIR(T) ((T) ? X2_HOME_DIR : X_HOME_DIR)
|
|
|
|
void set_duplication_enabled(const bool dupe, const int8_t tool_index=-1);
|
|
void idex_set_mirrored_mode(const bool mirr);
|
|
void idex_set_parked(const bool park=true);
|
|
|
|
#else
|
|
|
|
#if ENABLED(MULTI_NOZZLE_DUPLICATION)
|
|
extern uint8_t duplication_e_mask;
|
|
enum DualXMode : char { DXC_DUPLICATION_MODE = 2 };
|
|
FORCE_INLINE void set_duplication_enabled(const bool dupe) { extruder_duplication_enabled = dupe; }
|
|
#endif
|
|
|
|
#define TOOL_X_HOME_DIR(T) X_HOME_DIR
|
|
|
|
#endif
|
|
|
|
#if HAS_M206_COMMAND
|
|
void set_home_offset(const AxisEnum axis, const float v);
|
|
#endif
|
|
|
|
#if USE_SENSORLESS
|
|
struct sensorless_t;
|
|
sensorless_t start_sensorless_homing_per_axis(const AxisEnum axis);
|
|
void end_sensorless_homing_per_axis(const AxisEnum axis, sensorless_t enable_stealth);
|
|
#endif
|