404 lines
13 KiB
C++
404 lines
13 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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/**
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* motion.h
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*
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* High-level motion commands to feed the planner
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* Some of these methods may migrate to the planner class.
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*/
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#include "../inc/MarlinConfig.h"
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#if IS_SCARA
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#include "scara.h"
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#endif
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// Axis homed and known-position states
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extern uint8_t axis_homed, axis_known_position;
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constexpr uint8_t xyz_bits = _BV(X_AXIS) | _BV(Y_AXIS) | _BV(Z_AXIS);
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FORCE_INLINE bool no_axes_homed() { return !axis_homed; }
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FORCE_INLINE bool all_axes_homed() { return (axis_homed & xyz_bits) == xyz_bits; }
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FORCE_INLINE bool all_axes_known() { return (axis_known_position & xyz_bits) == xyz_bits; }
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FORCE_INLINE void set_all_unhomed() { axis_homed = 0; }
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FORCE_INLINE void set_all_unknown() { axis_known_position = 0; }
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FORCE_INLINE bool homing_needed() {
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return !TERN(HOME_AFTER_DEACTIVATE, all_axes_known, all_axes_homed)();
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}
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// Error margin to work around float imprecision
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constexpr float fslop = 0.0001;
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extern bool relative_mode;
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extern xyze_pos_t current_position, // High-level current tool position
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destination; // Destination for a move
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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 xyz_pos_t stored_position[SAVED_POSITIONS];
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#endif
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// Scratch space for a cartesian result
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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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#endif
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#if HAS_ABL_NOT_UBL
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extern float xy_probe_feedrate_mm_s;
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#define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s
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#elif defined(XY_PROBE_SPEED)
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#define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED)
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#else
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#define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
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#endif
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#if ENABLED(Z_SAFE_HOMING)
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constexpr xy_float_t safe_homing_xy = { Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT };
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#endif
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/**
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* Feed rates are often configured with mm/m
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* but the planner and stepper like mm/s units.
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*/
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extern const feedRate_t homing_feedrate_mm_s[XYZ];
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FORCE_INLINE feedRate_t homing_feedrate(const AxisEnum a) { return pgm_read_float(&homing_feedrate_mm_s[a]); }
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feedRate_t get_homing_bump_feedrate(const AxisEnum axis);
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extern feedRate_t feedrate_mm_s;
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/**
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* Feedrate scaling
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*/
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extern int16_t feedrate_percentage;
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// The active extruder (tool). Set with T<extruder> command.
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#if EXTRUDERS > 1
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extern uint8_t active_extruder;
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#else
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constexpr uint8_t active_extruder = 0;
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#endif
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#if ENABLED(LCD_SHOW_E_TOTAL)
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extern float e_move_accumulator;
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#endif
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inline float pgm_read_any(const float *p) { return pgm_read_float(p); }
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inline signed char pgm_read_any(const signed char *p) { return pgm_read_byte(p); }
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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 PROGMEM = { X_##OPT, Y_##OPT, Z_##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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XYZ_DEFS(float, base_max_pos, MAX_POS);
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XYZ_DEFS(float, base_home_pos, HOME_POS);
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XYZ_DEFS(float, max_length, MAX_LENGTH);
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XYZ_DEFS(signed char, home_dir, HOME_DIR);
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inline float home_bump_mm(const AxisEnum axis) {
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static const xyz_pos_t home_bump_mm_P PROGMEM = HOMING_BUMP_MM;
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return pgm_read_any(&home_bump_mm_P[axis]);
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}
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#if HAS_WORKSPACE_OFFSET
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void update_workspace_offset(const AxisEnum axis);
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#else
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inline void update_workspace_offset(const AxisEnum) {}
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#endif
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#if HAS_HOTEND_OFFSET
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extern xyz_pos_t hotend_offset[HOTENDS];
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void reset_hotend_offsets();
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#elif HOTENDS
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constexpr xyz_pos_t hotend_offset[HOTENDS] = { { 0 } };
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#else
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constexpr xyz_pos_t hotend_offset[1] = { { 0 } };
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#endif
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typedef struct { xyz_pos_t min, max; } axis_limits_t;
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#if HAS_SOFTWARE_ENDSTOPS
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extern bool soft_endstops_enabled;
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extern axis_limits_t soft_endstop;
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void apply_motion_limits(xyz_pos_t &target);
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void update_software_endstops(const AxisEnum axis
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#if HAS_HOTEND_OFFSET
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, const uint8_t old_tool_index=0, const uint8_t new_tool_index=0
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#endif
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);
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#define TEMPORARY_SOFT_ENDSTOP_STATE(enable) REMEMBER(tes, soft_endstops_enabled, enable);
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#else
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constexpr bool soft_endstops_enabled = false;
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//constexpr axis_limits_t soft_endstop = {
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// { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
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// { X_MAX_POS, Y_MAX_POS, Z_MAX_POS } };
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#define apply_motion_limits(V) NOOP
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#define update_software_endstops(...) NOOP
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#define TEMPORARY_SOFT_ENDSTOP_STATE(...) NOOP
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#endif
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void report_real_position();
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void report_current_position();
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void report_current_position_projected();
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void get_cartesian_from_steppers();
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void set_current_from_steppers_for_axis(const AxisEnum axis);
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/**
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* sync_plan_position
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*
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* Set the planner/stepper positions directly from current_position with
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* no kinematic translation. Used for homing axes and cartesian/core syncing.
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*/
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void sync_plan_position();
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void sync_plan_position_e();
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/**
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* Move the planner to the current position from wherever it last moved
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* (or from wherever it has been told it is located).
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*/
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void line_to_current_position(const feedRate_t &fr_mm_s=feedrate_mm_s);
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#if EXTRUDERS
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void unscaled_e_move(const float &length, const feedRate_t &fr_mm_s);
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#endif
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void prepare_line_to_destination();
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void _internal_move_to_destination(const feedRate_t &fr_mm_s=0.0f
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#if IS_KINEMATIC
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, const bool is_fast=false
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#endif
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);
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inline void prepare_internal_move_to_destination(const feedRate_t &fr_mm_s=0.0f) {
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_internal_move_to_destination(fr_mm_s);
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}
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#if IS_KINEMATIC
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void prepare_fast_move_to_destination(const feedRate_t &scaled_fr_mm_s=MMS_SCALED(feedrate_mm_s));
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inline void prepare_internal_fast_move_to_destination(const feedRate_t &fr_mm_s=0.0f) {
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_internal_move_to_destination(fr_mm_s, true);
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}
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#endif
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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(const float rx, const float ry, const float rz, 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 &rx, const feedRate_t &fr_mm_s=0.0f);
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void do_blocking_move_to_y(const float &ry, const feedRate_t &fr_mm_s=0.0f);
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void do_blocking_move_to_z(const float &rz, const feedRate_t &fr_mm_s=0.0f);
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void do_blocking_move_to_xy(const float &rx, const float &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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void do_blocking_move_to_xy_z(const xy_pos_t &raw, const float &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 &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 &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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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 &zclear, const bool z_known=true, const bool raise_on_unknown=true, const bool lower_allowed=false);
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//
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// Homing
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//
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uint8_t axes_need_homing(uint8_t axis_bits=0x07);
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bool axis_unhomed_error(uint8_t axis_bits=0x07);
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#if ENABLED(NO_MOTION_BEFORE_HOMING)
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#define MOTION_CONDITIONS (IsRunning() && !axis_unhomed_error())
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#else
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#define MOTION_CONDITIONS IsRunning()
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#endif
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void set_axis_is_at_home(const AxisEnum axis);
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void set_axis_not_trusted(const AxisEnum axis);
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void homeaxis(const AxisEnum axis);
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/**
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* Workspace offsets
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*/
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#if HAS_HOME_OFFSET || HAS_POSITION_SHIFT
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#if HAS_HOME_OFFSET
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extern xyz_pos_t home_offset;
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#endif
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#if HAS_POSITION_SHIFT
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extern xyz_pos_t position_shift;
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#endif
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#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
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extern xyz_pos_t workspace_offset;
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#define _WS workspace_offset
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#elif HAS_HOME_OFFSET
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#define _WS home_offset
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#else
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#define _WS position_shift
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#endif
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#define NATIVE_TO_LOGICAL(POS, AXIS) ((POS) + _WS[AXIS])
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#define LOGICAL_TO_NATIVE(POS, AXIS) ((POS) - _WS[AXIS])
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FORCE_INLINE void toLogical(xy_pos_t &raw) { raw += _WS; }
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FORCE_INLINE void toLogical(xyz_pos_t &raw) { raw += _WS; }
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FORCE_INLINE void toLogical(xyze_pos_t &raw) { raw += _WS; }
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FORCE_INLINE void toNative(xy_pos_t &raw) { raw -= _WS; }
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FORCE_INLINE void toNative(xyz_pos_t &raw) { raw -= _WS; }
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FORCE_INLINE void toNative(xyze_pos_t &raw) { raw -= _WS; }
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#else
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#define NATIVE_TO_LOGICAL(POS, AXIS) (POS)
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#define LOGICAL_TO_NATIVE(POS, AXIS) (POS)
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FORCE_INLINE void toLogical(xy_pos_t&) {}
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FORCE_INLINE void toLogical(xyz_pos_t&) {}
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FORCE_INLINE void toLogical(xyze_pos_t&) {}
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FORCE_INLINE void toNative(xy_pos_t&) {}
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FORCE_INLINE void toNative(xyz_pos_t&) {}
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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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/**
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* position_is_reachable family of functions
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*/
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#if IS_KINEMATIC // (DELTA or SCARA)
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#if HAS_SCARA_OFFSET
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extern abc_pos_t scara_home_offset; // A and B angular offsets, Z mm offset
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#endif
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// Return true if the given point is within the printable area
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inline bool position_is_reachable(const float &rx, const float &ry, const float inset=0) {
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#if ENABLED(DELTA)
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return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset + fslop);
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#elif IS_SCARA
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const float R2 = HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y);
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return (
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R2 <= sq(L1 + L2) - inset
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#if MIDDLE_DEAD_ZONE_R > 0
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&& R2 >= sq(float(MIDDLE_DEAD_ZONE_R))
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#endif
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);
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#endif
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}
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inline bool position_is_reachable(const xy_pos_t &pos, const float inset=0) {
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return position_is_reachable(pos.x, pos.y, inset);
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}
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#else // CARTESIAN
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// Return true if the given position is within the machine bounds.
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inline bool position_is_reachable(const float &rx, const float &ry) {
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if (!WITHIN(ry, Y_MIN_POS - fslop, Y_MAX_POS + fslop)) return false;
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#if ENABLED(DUAL_X_CARRIAGE)
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if (active_extruder)
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return WITHIN(rx, X2_MIN_POS - fslop, X2_MAX_POS + fslop);
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else
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return WITHIN(rx, X1_MIN_POS - fslop, X1_MAX_POS + fslop);
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#else
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return WITHIN(rx, X_MIN_POS - fslop, X_MAX_POS + fslop);
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#endif
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}
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inline bool position_is_reachable(const xy_pos_t &pos) { return position_is_reachable(pos.x, pos.y); }
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#endif // CARTESIAN
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/**
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* Duplication mode
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*/
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#if HAS_DUPLICATION_MODE
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extern bool extruder_duplication_enabled, // Used in Dual X mode 2
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mirrored_duplication_mode; // Used in Dual X mode 3
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#if ENABLED(MULTI_NOZZLE_DUPLICATION)
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extern uint8_t duplication_e_mask;
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#endif
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#endif
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/**
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* Dual X Carriage
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*/
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#if ENABLED(DUAL_X_CARRIAGE)
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enum DualXMode : char {
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DXC_FULL_CONTROL_MODE,
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DXC_AUTO_PARK_MODE,
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DXC_DUPLICATION_MODE,
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DXC_MIRRORED_MODE
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};
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extern DualXMode dual_x_carriage_mode;
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extern float inactive_extruder_x_pos, // Used in mode 0 & 1
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duplicate_extruder_x_offset; // Used in mode 2 & 3
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extern xyz_pos_t raised_parked_position; // Used in mode 1
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extern bool active_extruder_parked; // Used in mode 1, 2 & 3
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extern millis_t delayed_move_time; // Used in mode 1
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extern int16_t duplicate_extruder_temp_offset; // Used in mode 2 & 3
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FORCE_INLINE bool dxc_is_duplicating() { return dual_x_carriage_mode >= DXC_DUPLICATION_MODE; }
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float x_home_pos(const uint8_t extruder);
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FORCE_INLINE int x_home_dir(const uint8_t extruder) { return extruder ? X2_HOME_DIR : X_HOME_DIR; }
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#else
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#if ENABLED(MULTI_NOZZLE_DUPLICATION)
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enum DualXMode : char { DXC_DUPLICATION_MODE = 2 };
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#endif
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FORCE_INLINE int x_home_dir(const uint8_t) { return home_dir(X_AXIS); }
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#endif
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#if HAS_M206_COMMAND
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void set_home_offset(const AxisEnum axis, const float v);
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#endif
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#if USE_SENSORLESS
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struct sensorless_t;
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sensorless_t start_sensorless_homing_per_axis(const AxisEnum axis);
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void end_sensorless_homing_per_axis(const AxisEnum axis, sensorless_t enable_stealth);
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#endif
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