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- /**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2016 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/>.
- *
- */
-
- /**
- * motion.h
- *
- * High-level motion commands to feed the planner
- * Some of these methods may migrate to the planner class.
- */
-
- #ifndef MOTION_H
- #define MOTION_H
-
- #include "../inc/MarlinConfig.h"
-
- #if IS_SCARA
- #include "../module/scara.h"
- #endif
-
- extern bool relative_mode;
-
- extern float current_position[XYZE], // High-level current tool position
- destination[XYZE]; // Destination for a move
-
- // Scratch space for a cartesian result
- extern float cartes[XYZ];
-
- // Until kinematics.cpp is created, declare this here
- #if IS_KINEMATIC
- extern float delta[ABC];
- #endif
-
- #if OLDSCHOOL_ABL
- 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
-
- /**
- * Feed rates are often configured with mm/m
- * but the planner and stepper like mm/s units.
- */
- extern const float homing_feedrate_mm_s[4];
- FORCE_INLINE float homing_feedrate(const AxisEnum a) { return pgm_read_float(&homing_feedrate_mm_s[a]); }
-
- extern float feedrate_mm_s;
-
- /**
- * Feedrate scaling and conversion
- */
- extern int16_t feedrate_percentage;
- #define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01)
-
- extern uint8_t active_extruder;
-
- #if HOTENDS > 1
- extern float hotend_offset[XYZ][HOTENDS];
- #endif
-
- extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ];
-
- FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float_near(p); }
- FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte_near(p); }
-
- #define XYZ_DEFS(type, array, CONFIG) \
- extern const type array##_P[XYZ]; \
- FORCE_INLINE type array(AxisEnum axis) { return pgm_read_any(&array##_P[axis]); } \
- typedef void __void_##CONFIG##__
-
- 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_SOFTWARE_ENDSTOPS
- extern bool soft_endstops_enabled;
- void clamp_to_software_endstops(float target[XYZ]);
- #else
- #define soft_endstops_enabled false
- #define clamp_to_software_endstops(x) NOOP
- #endif
-
- void report_current_position();
-
- inline void set_current_from_destination() { COPY(current_position, destination); }
- inline void set_destination_from_current() { COPY(destination, current_position); }
-
- 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();
-
- #if IS_KINEMATIC
- void sync_plan_position_kinematic();
- #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
- #else
- #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
- #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();
-
- /**
- * Move the planner to the position stored in the destination array, which is
- * used by G0/G1/G2/G3/G5 and many other functions to set a destination.
- */
- void buffer_line_to_destination(const float fr_mm_s);
-
- #if IS_KINEMATIC
- void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0);
- #endif
-
- void prepare_move_to_destination();
-
- /**
- * Blocking movement and shorthand functions
- */
- void do_blocking_move_to(const float rx, const float ry, const float rz, const float &fr_mm_s=0.0);
- void do_blocking_move_to_x(const float &rx, const float &fr_mm_s=0.0);
- void do_blocking_move_to_z(const float &rz, const float &fr_mm_s=0.0);
- void do_blocking_move_to_xy(const float &rx, const float &ry, const float &fr_mm_s=0.0);
-
- void setup_for_endstop_or_probe_move();
- void clean_up_after_endstop_or_probe_move();
-
- void bracket_probe_move(const bool before);
- void setup_for_endstop_or_probe_move();
- void clean_up_after_endstop_or_probe_move();
-
- //
- // Homing
- //
-
- #define HAS_AXIS_UNHOMED_ERR ( \
- ENABLED(Z_PROBE_ALLEN_KEY) \
- || ENABLED(Z_PROBE_SLED) \
- || HAS_PROBING_PROCEDURE \
- || HOTENDS > 1 \
- || ENABLED(NOZZLE_CLEAN_FEATURE) \
- || ENABLED(NOZZLE_PARK_FEATURE) \
- || (ENABLED(ADVANCED_PAUSE_FEATURE) && ENABLED(HOME_BEFORE_FILAMENT_CHANGE)) \
- || HAS_M206_COMMAND \
- ) || ENABLED(NO_MOTION_BEFORE_HOMING)
-
- #if HAS_AXIS_UNHOMED_ERR
- bool axis_unhomed_error(const bool x=true, const bool y=true, const bool z=true);
- #endif
-
- #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 homeaxis(const AxisEnum axis);
- #define HOMEAXIS(A) homeaxis(_AXIS(A))
-
- #if ENABLED(SENSORLESS_HOMING)
- void sensorless_homing_per_axis(const AxisEnum axis, const bool enable=true);
- #endif
-
- //
- // Macros
- //
-
- /**
- * Workspace offsets
- */
- #if HAS_WORKSPACE_OFFSET
- #if HAS_HOME_OFFSET
- extern float home_offset[XYZ];
- #endif
- #if HAS_POSITION_SHIFT
- extern float position_shift[XYZ];
- #endif
- #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
- extern float workspace_offset[XYZ];
- #define WORKSPACE_OFFSET(AXIS) workspace_offset[AXIS]
- #elif HAS_HOME_OFFSET
- #define WORKSPACE_OFFSET(AXIS) home_offset[AXIS]
- #elif HAS_POSITION_SHIFT
- #define WORKSPACE_OFFSET(AXIS) position_shift[AXIS]
- #endif
- #define NATIVE_TO_LOGICAL(POS, AXIS) ((POS) + WORKSPACE_OFFSET(AXIS))
- #define LOGICAL_TO_NATIVE(POS, AXIS) ((POS) - WORKSPACE_OFFSET(AXIS))
- #else
- #define NATIVE_TO_LOGICAL(POS, AXIS) (POS)
- #define LOGICAL_TO_NATIVE(POS, AXIS) (POS)
- #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 IS_SCARA
- extern const float L1, L2;
- #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);
- #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
- }
-
- #if HAS_BED_PROBE
- // Return true if the both nozzle and the probe can reach the given point.
- // Note: This won't work on SCARA since the probe offset rotates with the arm.
- inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
- return position_is_reachable(rx - (X_PROBE_OFFSET_FROM_EXTRUDER), ry - (Y_PROBE_OFFSET_FROM_EXTRUDER))
- && position_is_reachable(rx, ry, ABS(MIN_PROBE_EDGE));
- }
- #endif
-
- #else // CARTESIAN
-
- // Return true if the given position is within the machine bounds.
- inline bool position_is_reachable(const float &rx, const float &ry) {
- // Add 0.001 margin to deal with float imprecision
- return WITHIN(rx, X_MIN_POS - 0.001, X_MAX_POS + 0.001)
- && WITHIN(ry, Y_MIN_POS - 0.001, Y_MAX_POS + 0.001);
- }
-
- #if HAS_BED_PROBE
- /**
- * Return whether the given position is within the bed, and whether the nozzle
- * can reach the position required to put the probe at the given position.
- *
- * Example: For a probe offset of -10,+10, then for the probe to reach 0,0 the
- * nozzle must be be able to reach +10,-10.
- */
- inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
- return position_is_reachable(rx - (X_PROBE_OFFSET_FROM_EXTRUDER), ry - (Y_PROBE_OFFSET_FROM_EXTRUDER))
- && WITHIN(rx, MIN_PROBE_X - 0.001, MAX_PROBE_X + 0.001)
- && WITHIN(ry, MIN_PROBE_Y - 0.001, MAX_PROBE_Y + 0.001);
- }
- #endif
-
- #endif // CARTESIAN
-
- #if !HAS_BED_PROBE
- FORCE_INLINE bool position_is_reachable_by_probe(const float &rx, const float &ry) { return position_is_reachable(rx, ry); }
- #endif
-
- /**
- * Dual X Carriage / Dual Nozzle
- */
- #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_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, // DUAL_X_CARRIAGE only
- DXC_AUTO_PARK_MODE, // DUAL_X_CARRIAGE only
- DXC_DUPLICATION_MODE
- };
-
- extern DualXMode dual_x_carriage_mode;
- extern float inactive_extruder_x_pos, // used in mode 0 & 1
- raised_parked_position[XYZE], // used in mode 1
- duplicate_extruder_x_offset; // used in mode 2
- extern bool active_extruder_parked; // used in mode 1 & 2
- extern millis_t delayed_move_time; // used in mode 1
- extern int16_t duplicate_extruder_temp_offset; // used in mode 2
-
- 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; }
-
- #elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
-
- enum DualXMode : char {
- DXC_DUPLICATION_MODE = 2
- };
-
- #endif
-
- #if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
- void update_software_endstops(const AxisEnum axis);
- #endif
-
- #if HAS_M206_COMMAND
- void set_home_offset(const AxisEnum axis, const float v);
- #endif
-
- #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
- #if ENABLED(DELTA)
- #define ADJUST_DELTA(V) \
- if (planner.leveling_active) { \
- const float zadj = bilinear_z_offset(V); \
- delta[A_AXIS] += zadj; \
- delta[B_AXIS] += zadj; \
- delta[C_AXIS] += zadj; \
- }
- #else
- #define ADJUST_DELTA(V) if (planner.leveling_active) { delta[Z_AXIS] += bilinear_z_offset(V); }
- #endif
- #else
- #define ADJUST_DELTA(V) NOOP
- #endif
-
- #endif // MOTION_H
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