Initial commit. Unusable Marlin 2.0.5.3 core without any custimization.
This commit is contained in:
Knutwurst
394
Marlin/src/module/motion.h
Executable file
394
Marlin/src/module/motion.h
Executable file
@@ -0,0 +1,394 @@
|
||||
/**
|
||||
* 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 <http://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
|
||||
|
||||
// Axis homed and known-position states
|
||||
extern uint8_t axis_homed, axis_known_position;
|
||||
constexpr uint8_t xyz_bits = _BV(X_AXIS) | _BV(Y_AXIS) | _BV(Z_AXIS);
|
||||
FORCE_INLINE bool no_axes_homed() { return !axis_homed; }
|
||||
FORCE_INLINE bool all_axes_homed() { return (axis_homed & xyz_bits) == xyz_bits; }
|
||||
FORCE_INLINE bool all_axes_known() { return (axis_known_position & xyz_bits) == xyz_bits; }
|
||||
FORCE_INLINE void set_all_unhomed() { axis_homed = 0; }
|
||||
FORCE_INLINE void set_all_unknown() { axis_known_position = 0; }
|
||||
|
||||
FORCE_INLINE bool homing_needed() {
|
||||
return !(
|
||||
#if ENABLED(HOME_AFTER_DEACTIVATE)
|
||||
all_axes_known()
|
||||
#else
|
||||
all_axes_homed()
|
||||
#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];
|
||||
extern xyz_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 abc_pos_t delta;
|
||||
#endif
|
||||
|
||||
#if HAS_ABL_NOT_UBL
|
||||
extern float xy_probe_feedrate_mm_s;
|
||||
#define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s
|
||||
#elif defined(XY_PROBE_SPEED)
|
||||
#define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED)
|
||||
#else
|
||||
#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.
|
||||
*/
|
||||
extern const feedRate_t homing_feedrate_mm_s[XYZ];
|
||||
FORCE_INLINE feedRate_t homing_feedrate(const AxisEnum a) { return pgm_read_float(&homing_feedrate_mm_s[a]); }
|
||||
feedRate_t get_homing_bump_feedrate(const AxisEnum axis);
|
||||
|
||||
extern feedRate_t feedrate_mm_s;
|
||||
|
||||
/**
|
||||
* Feedrate scaling
|
||||
*/
|
||||
extern int16_t feedrate_percentage;
|
||||
|
||||
// The active extruder (tool). Set with T<extruder> command.
|
||||
#if EXTRUDERS > 1
|
||||
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
|
||||
|
||||
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(T, NAME, OPT) \
|
||||
extern const XYZval<T> NAME##_P; \
|
||||
FORCE_INLINE T NAME(AxisEnum axis) { 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(float, home_bump_mm, HOME_BUMP_MM);
|
||||
XYZ_DEFS(signed char, home_dir, HOME_DIR);
|
||||
|
||||
#if HAS_WORKSPACE_OFFSET
|
||||
void update_workspace_offset(const AxisEnum axis);
|
||||
#else
|
||||
#define update_workspace_offset(x) NOOP
|
||||
#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
|
||||
|
||||
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;
|
||||
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
|
||||
);
|
||||
#else
|
||||
constexpr bool soft_endstops_enabled = false;
|
||||
//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_real_position();
|
||||
void report_current_position();
|
||||
void report_current_position_projected();
|
||||
|
||||
void get_cartesian_from_steppers();
|
||||
void set_current_from_steppers_for_axis(const AxisEnum axis);
|
||||
|
||||
/**
|
||||
* 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();
|
||||
|
||||
/**
|
||||
* 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 EXTRUDERS
|
||||
void unscaled_e_move(const float &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
|
||||
#if IS_KINEMATIC
|
||||
, const bool is_fast=false
|
||||
#endif
|
||||
);
|
||||
|
||||
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(const float rx, const float ry, const float rz, 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 &rx, const feedRate_t &fr_mm_s=0.0f);
|
||||
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);
|
||||
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); }
|
||||
|
||||
void do_blocking_move_to_xy_z(const xy_pos_t &raw, const float &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 &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 &z, const feedRate_t &fr_mm_s=0.0f) { do_blocking_move_to_xy_z(xy_pos_t(raw), z, fr_mm_s); }
|
||||
|
||||
void remember_feedrate_and_scaling();
|
||||
void remember_feedrate_scaling_off();
|
||||
void restore_feedrate_and_scaling();
|
||||
|
||||
//
|
||||
// Homing
|
||||
//
|
||||
|
||||
uint8_t axes_need_homing(uint8_t axis_bits=0x07);
|
||||
bool axis_unhomed_error(uint8_t axis_bits=0x07);
|
||||
|
||||
#if ENABLED(NO_MOTION_BEFORE_HOMING)
|
||||
#define MOTION_CONDITIONS (IsRunning() && !axis_unhomed_error())
|
||||
#else
|
||||
#define MOTION_CONDITIONS IsRunning()
|
||||
#endif
|
||||
|
||||
void set_axis_is_at_home(const AxisEnum axis);
|
||||
|
||||
void set_axis_not_trusted(const AxisEnum axis);
|
||||
|
||||
void homeaxis(const AxisEnum axis);
|
||||
|
||||
/**
|
||||
* 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 LOGICAL_Y_POSITION(POS) NATIVE_TO_LOGICAL(POS, Y_AXIS)
|
||||
#define LOGICAL_Z_POSITION(POS) NATIVE_TO_LOGICAL(POS, Z_AXIS)
|
||||
#define RAW_X_POSITION(POS) LOGICAL_TO_NATIVE(POS, X_AXIS)
|
||||
#define RAW_Y_POSITION(POS) LOGICAL_TO_NATIVE(POS, Y_AXIS)
|
||||
#define RAW_Z_POSITION(POS) LOGICAL_TO_NATIVE(POS, Z_AXIS)
|
||||
|
||||
/**
|
||||
* 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 &rx, const float &ry, const float inset=0) {
|
||||
#if ENABLED(DELTA)
|
||||
return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset + fslop);
|
||||
#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 &rx, const float &ry) {
|
||||
if (!WITHIN(ry, Y_MIN_POS - fslop, Y_MAX_POS + fslop)) return false;
|
||||
#if ENABLED(DUAL_X_CARRIAGE)
|
||||
if (active_extruder)
|
||||
return WITHIN(rx, X2_MIN_POS - fslop, X2_MAX_POS + fslop);
|
||||
else
|
||||
return WITHIN(rx, X1_MIN_POS - fslop, X1_MAX_POS + fslop);
|
||||
#else
|
||||
return WITHIN(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
|
||||
mirrored_duplication_mode; // Used in Dual X mode 3
|
||||
#if ENABLED(MULTI_NOZZLE_DUPLICATION)
|
||||
extern uint8_t duplication_e_mask;
|
||||
#endif
|
||||
#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_pos, // 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 int16_t duplicate_extruder_temp_offset; // Used in mode 2 & 3
|
||||
|
||||
FORCE_INLINE bool dxc_is_duplicating() { return dual_x_carriage_mode >= DXC_DUPLICATION_MODE; }
|
||||
|
||||
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; }
|
||||
|
||||
#else
|
||||
|
||||
#if ENABLED(MULTI_NOZZLE_DUPLICATION)
|
||||
enum DualXMode : char { DXC_DUPLICATION_MODE = 2 };
|
||||
#endif
|
||||
|
||||
FORCE_INLINE int x_home_dir(const uint8_t) { return home_dir(X_AXIS); }
|
||||
|
||||
#endif
|
||||
|
||||
#if HAS_M206_COMMAND
|
||||
void set_home_offset(const AxisEnum axis, const float v);
|
||||
#endif
|
||||
Reference in New Issue
Block a user