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- /**
- * 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 HAS_I_AXIS
- 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)
- NUM_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,
- else if (a == U_AXIS) v = homing_feedrate_mm_m.u,
- else if (a == V_AXIS) v = homing_feedrate_mm_m.v,
- else if (a == W_AXIS) v = homing_feedrate_mm_m.w
- );
- #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 = NUM_AXIS_ARRAY(X_##OPT, Y_##OPT, Z_##OPT, I_##OPT, J_##OPT, K_##OPT, U_##OPT, V_##OPT, W_##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 HAS_I_AXIS
- case I_AXIS:
- TERN_(MIN_SOFTWARE_ENDSTOP_I, amin = min.i);
- TERN_(MIN_SOFTWARE_ENDSTOP_I, amax = max.i);
- break;
- #endif
- #if HAS_J_AXIS
- case J_AXIS:
- TERN_(MIN_SOFTWARE_ENDSTOP_J, amin = min.j);
- TERN_(MIN_SOFTWARE_ENDSTOP_J, amax = max.j);
- break;
- #endif
- #if HAS_K_AXIS
- case K_AXIS:
- TERN_(MIN_SOFTWARE_ENDSTOP_K, amin = min.k);
- TERN_(MIN_SOFTWARE_ENDSTOP_K, amax = max.k);
- break;
- #endif
- #if HAS_U_AXIS
- case U_AXIS:
- TERN_(MIN_SOFTWARE_ENDSTOP_U, amin = min.u);
- TERN_(MIN_SOFTWARE_ENDSTOP_U, amax = max.u);
- break;
- #endif
- #if HAS_V_AXIS
- case V_AXIS:
- TERN_(MIN_SOFTWARE_ENDSTOP_V, amin = min.v);
- TERN_(MIN_SOFTWARE_ENDSTOP_V, amax = max.v);
- break;
- #endif
- #if HAS_W_AXIS
- case W_AXIS:
- TERN_(MIN_SOFTWARE_ENDSTOP_W, amin = min.w);
- TERN_(MIN_SOFTWARE_ENDSTOP_W, amax = max.w);
- 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, const bool force=true) {
- if (force || M_State_grbl != 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(NUM_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 HAS_I_AXIS
- 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 HAS_J_AXIS
- 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 HAS_K_AXIS
- 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_U_AXIS
- void do_blocking_move_to_u(const_float_t ru, const_feedRate_t fr_mm_s=0.0f);
- void do_blocking_move_to_xyzijk_u(const xyze_pos_t &raw, const_float_t u, const_feedRate_t fr_mm_s=0.0f);
- #endif
- #if HAS_V_AXIS
- void do_blocking_move_to_v(const_float_t rv, const_feedRate_t fr_mm_s=0.0f);
- void do_blocking_move_to_xyzijku_v(const xyze_pos_t &raw, const_float_t v, const_feedRate_t fr_mm_s=0.0f);
- #endif
- #if HAS_W_AXIS
- void do_blocking_move_to_w(const float rw, const feedRate_t &fr_mm_s=0.0f);
- void do_blocking_move_to_xyzijkuv_w(const xyze_pos_t &raw, const float w, 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<(NUM_AXES > 8), uint16_t, uint8_t>::type main_axes_bits_t;
- constexpr main_axes_bits_t main_axes_mask = _BV(NUM_AXES) - 1;
-
- typedef IF<(NUM_AXES + EXTRUDERS > 8), uint16_t, uint8_t>::type e_axis_bits_t;
- constexpr e_axis_bits_t e_axis_mask = (_BV(EXTRUDERS) - 1) << NUM_AXES;
-
- void set_axis_is_at_home(const AxisEnum axis);
-
- #if HAS_ENDSTOPS
- /**
- * axes_homed
- * Flags that each linear axis was homed.
- * XYZ on cartesian, ABC on delta, ABZ on SCARA.
- *
- * axes_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 main_axes_bits_t axes_homed, axes_trusted;
- void homeaxis(const AxisEnum axis);
- void set_axis_never_homed(const AxisEnum axis);
- main_axes_bits_t axes_should_home(main_axes_bits_t axes_mask=main_axes_mask);
- bool homing_needed_error(main_axes_bits_t axes_mask=main_axes_mask);
- inline void set_axis_unhomed(const AxisEnum axis) { CBI(axes_homed, axis); }
- inline void set_axis_untrusted(const AxisEnum axis) { CBI(axes_trusted, axis); }
- inline void set_all_unhomed() { axes_homed = axes_trusted = 0; }
- inline void set_axis_homed(const AxisEnum axis) { SBI(axes_homed, axis); }
- inline void set_axis_trusted(const AxisEnum axis) { SBI(axes_trusted, axis); }
- inline void set_all_homed() { axes_homed = axes_trusted = main_axes_mask; }
- #else
- constexpr main_axes_bits_t axes_homed = main_axes_mask, axes_trusted = main_axes_mask; // Zero-endstop machines are always homed and trusted
- inline void homeaxis(const AxisEnum axis) {}
- inline void set_axis_never_homed(const AxisEnum) {}
- inline main_axes_bits_t axes_should_home(main_axes_bits_t=main_axes_mask) { return 0; }
- inline bool homing_needed_error(main_axes_bits_t=main_axes_mask) { return false; }
- inline void set_axis_unhomed(const AxisEnum axis) {}
- inline void set_axis_untrusted(const AxisEnum axis) {}
- inline void set_all_unhomed() {}
- inline void set_axis_homed(const AxisEnum axis) {}
- inline void set_axis_trusted(const AxisEnum axis) {}
- inline void set_all_homed() {}
- #endif
-
- inline bool axis_was_homed(const AxisEnum axis) { return TEST(axes_homed, axis); }
- inline bool axis_is_trusted(const AxisEnum axis) { return TEST(axes_trusted, axis); }
- inline bool axis_should_home(const AxisEnum axis) { return (axes_should_home() & _BV(axis)) != 0; }
- inline bool no_axes_homed() { return !axes_homed; }
- inline bool all_axes_homed() { return main_axes_mask == (axes_homed & main_axes_mask); }
- inline bool homing_needed() { return !all_axes_homed(); }
- inline bool all_axes_trusted() { return main_axes_mask == (axes_trusted & main_axes_mask); }
-
- void home_if_needed(const bool keeplev=false);
-
- #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 HAS_I_AXIS
- #define LOGICAL_I_POSITION(POS) NATIVE_TO_LOGICAL(POS, I_AXIS)
- #define RAW_I_POSITION(POS) LOGICAL_TO_NATIVE(POS, I_AXIS)
- #endif
- #if HAS_J_AXIS
- #define LOGICAL_J_POSITION(POS) NATIVE_TO_LOGICAL(POS, J_AXIS)
- #define RAW_J_POSITION(POS) LOGICAL_TO_NATIVE(POS, J_AXIS)
- #endif
- #if HAS_K_AXIS
- #define LOGICAL_K_POSITION(POS) NATIVE_TO_LOGICAL(POS, K_AXIS)
- #define RAW_K_POSITION(POS) LOGICAL_TO_NATIVE(POS, K_AXIS)
- #endif
- #if HAS_U_AXIS
- #define LOGICAL_U_POSITION(POS) NATIVE_TO_LOGICAL(POS, U_AXIS)
- #define RAW_U_POSITION(POS) LOGICAL_TO_NATIVE(POS, U_AXIS)
- #endif
- #if HAS_V_AXIS
- #define LOGICAL_V_POSITION(POS) NATIVE_TO_LOGICAL(POS, V_AXIS)
- #define RAW_V_POSITION(POS) LOGICAL_TO_NATIVE(POS, V_AXIS)
- #endif
- #if HAS_W_AXIS
- #define LOGICAL_W_POSITION(POS) NATIVE_TO_LOGICAL(POS, W_AXIS)
- #define RAW_W_POSITION(POS) LOGICAL_TO_NATIVE(POS, W_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
- bool position_is_reachable(const_float_t rx, const_float_t ry, const float inset=0);
-
- inline bool position_is_reachable(const xy_pos_t &pos, const float inset=0) {
- return position_is_reachable(pos.x, pos.y, inset);
- }
-
- #else
-
- // Return true if the given position is within the machine bounds.
- bool position_is_reachable(const_float_t rx, const_float_t ry);
- inline bool position_is_reachable(const xy_pos_t &pos) {
- return position_is_reachable(pos.x, pos.y);
- }
-
- #endif
-
- /**
- * 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
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