123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246247248249250251252253254255256257258259260261262263264265266267268269270271272273274275276277278279280281282283284285286287288289290291292293294295296297298299300301302303304305306307308309310311312313314315316317318319320321322323324325326327328329330331332333334335336337338339340341342343344345346347348349350351352353354355356357358359360361362363364365366367368369370371372373374375376377378379380381382383384385386387388389390391392393394395396397398399400401402403404405406407408409410411412413414415416417418419420421422423424425426427428429430431432433434435436437438439440 |
- /**
- * 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
-
- // 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_homed() { axis_homed = axis_known_position = xyz_bits; }
- FORCE_INLINE void set_all_unhomed() { axis_homed = axis_known_position = 0; }
-
- FORCE_INLINE bool homing_needed() {
- return !TERN(HOME_AFTER_DEACTIVATE, all_axes_known, all_axes_homed)();
- }
-
- // 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 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 = { X_##OPT, Y_##OPT, Z_##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 {
- xyz_pos_t min, max;
- struct {
- bool _enabled:1;
- bool _loose:1;
- };
- bool enabled() { return _enabled && !_loose; }
- 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;
- case Y_AXIS:
- TERN_(MIN_SOFTWARE_ENDSTOP_Y, amin = min.y);
- TERN_(MAX_SOFTWARE_ENDSTOP_Y, amax = max.y);
- break;
- case Z_AXIS:
- TERN_(MIN_SOFTWARE_ENDSTOP_Z, amin = min.z);
- TERN_(MAX_SOFTWARE_ENDSTOP_Z, amax = max.z);
- 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() NOOP
-
- #endif // !HAS_SOFTWARE_ENDSTOPS
-
- 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();
-
- void do_z_clearance(const float &zclear, const bool z_known=true, const bool raise_on_unknown=true, const bool lower_allowed=false);
-
- //
- // Homing
- //
- void homeaxis(const AxisEnum axis);
- void set_axis_is_at_home(const AxisEnum axis);
- void set_axis_never_homed(const AxisEnum axis);
- uint8_t axes_should_home(uint8_t axis_bits=0x07);
- bool homing_needed_error(uint8_t axis_bits=0x07);
-
- #if ENABLED(NO_MOTION_BEFORE_HOMING)
- #define MOTION_CONDITIONS (IsRunning() && !homing_needed_error())
- #else
- #define MOTION_CONDITIONS IsRunning()
- #endif
-
- /**
- * 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 uint8_t 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
-
- #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
|