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343 lines
11 KiB
343 lines
11 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
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*
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*/
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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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#ifndef MOTION_H
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#define MOTION_H
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#include "../inc/MarlinConfig.h"
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#if IS_SCARA
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#include "../module/scara.h"
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#endif
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extern bool relative_mode;
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extern float current_position[XYZE], // High-level current tool position
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destination[XYZE]; // Destination for a move
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// Scratch space for a cartesian result
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extern float cartes[XYZ];
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// Until kinematics.cpp is created, declare this here
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#if IS_KINEMATIC
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extern float delta[ABC];
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#endif
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#if OLDSCHOOL_ABL
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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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/**
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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 float homing_feedrate_mm_s[4];
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FORCE_INLINE float homing_feedrate(const AxisEnum a) { return pgm_read_float(&homing_feedrate_mm_s[a]); }
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extern float feedrate_mm_s;
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/**
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* Feedrate scaling and conversion
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*/
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extern int16_t feedrate_percentage;
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#define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01)
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extern uint8_t active_extruder;
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#if HOTENDS > 1
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extern float hotend_offset[XYZ][HOTENDS];
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#endif
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extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ];
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FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float_near(p); }
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FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte_near(p); }
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#define XYZ_DEFS(type, array, CONFIG) \
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extern const type array##_P[XYZ]; \
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FORCE_INLINE type array(AxisEnum axis) { return pgm_read_any(&array##_P[axis]); } \
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typedef void __void_##CONFIG##__
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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(float, home_bump_mm, HOME_BUMP_MM);
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XYZ_DEFS(signed char, home_dir, HOME_DIR);
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#if HAS_SOFTWARE_ENDSTOPS
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extern bool soft_endstops_enabled;
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void clamp_to_software_endstops(float target[XYZ]);
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#else
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#define soft_endstops_enabled false
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#define clamp_to_software_endstops(x) NOOP
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#endif
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void report_current_position();
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inline void set_current_from_destination() { COPY(current_position, destination); }
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inline void set_destination_from_current() { COPY(destination, current_position); }
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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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#if IS_KINEMATIC
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void sync_plan_position_kinematic();
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#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
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#else
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#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
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#endif
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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();
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/**
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* Move the planner to the position stored in the destination array, which is
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* used by G0/G1/G2/G3/G5 and many other functions to set a destination.
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*/
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void buffer_line_to_destination(const float fr_mm_s);
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#if IS_KINEMATIC
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void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0);
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#endif
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void prepare_move_to_destination();
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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 float &fr_mm_s=0.0);
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void do_blocking_move_to_x(const float &rx, const float &fr_mm_s=0.0);
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void do_blocking_move_to_z(const float &rz, const float &fr_mm_s=0.0);
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void do_blocking_move_to_xy(const float &rx, const float &ry, const float &fr_mm_s=0.0);
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void setup_for_endstop_or_probe_move();
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void clean_up_after_endstop_or_probe_move();
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void bracket_probe_move(const bool before);
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void setup_for_endstop_or_probe_move();
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void clean_up_after_endstop_or_probe_move();
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//
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// Homing
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//
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#define HAS_AXIS_UNHOMED_ERR ( \
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ENABLED(Z_PROBE_ALLEN_KEY) \
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|| ENABLED(Z_PROBE_SLED) \
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|| HAS_PROBING_PROCEDURE \
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|| HOTENDS > 1 \
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|| ENABLED(NOZZLE_CLEAN_FEATURE) \
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|| ENABLED(NOZZLE_PARK_FEATURE) \
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|| (ENABLED(ADVANCED_PAUSE_FEATURE) && ENABLED(HOME_BEFORE_FILAMENT_CHANGE)) \
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|| HAS_M206_COMMAND \
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) || ENABLED(NO_MOTION_BEFORE_HOMING)
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#if HAS_AXIS_UNHOMED_ERR
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bool axis_unhomed_error(const bool x=true, const bool y=true, const bool z=true);
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#endif
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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 homeaxis(const AxisEnum axis);
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#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
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#if ENABLED(SENSORLESS_HOMING)
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void sensorless_homing_per_axis(const AxisEnum axis, const bool enable=true);
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#endif
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//
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// Macros
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//
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/**
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* Workspace offsets
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*/
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#if HAS_WORKSPACE_OFFSET
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#if HAS_HOME_OFFSET
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extern float home_offset[XYZ];
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#endif
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#if HAS_POSITION_SHIFT
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extern float position_shift[XYZ];
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#endif
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#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
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extern float workspace_offset[XYZ];
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#define WORKSPACE_OFFSET(AXIS) workspace_offset[AXIS]
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#elif HAS_HOME_OFFSET
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#define WORKSPACE_OFFSET(AXIS) home_offset[AXIS]
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#elif HAS_POSITION_SHIFT
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#define WORKSPACE_OFFSET(AXIS) position_shift[AXIS]
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#endif
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#define NATIVE_TO_LOGICAL(POS, AXIS) ((POS) + WORKSPACE_OFFSET(AXIS))
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#define LOGICAL_TO_NATIVE(POS, AXIS) ((POS) - WORKSPACE_OFFSET(AXIS))
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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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#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 IS_SCARA
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extern const float L1, L2;
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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);
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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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#if HAS_BED_PROBE
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// Return true if the both nozzle and the probe can reach the given point.
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// Note: This won't work on SCARA since the probe offset rotates with the arm.
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inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
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return position_is_reachable(rx - (X_PROBE_OFFSET_FROM_EXTRUDER), ry - (Y_PROBE_OFFSET_FROM_EXTRUDER))
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&& position_is_reachable(rx, ry, FABS(MIN_PROBE_EDGE));
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}
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#endif
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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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// Add 0.001 margin to deal with float imprecision
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return WITHIN(rx, X_MIN_POS - 0.001, X_MAX_POS + 0.001)
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&& WITHIN(ry, Y_MIN_POS - 0.001, Y_MAX_POS + 0.001);
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}
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#if HAS_BED_PROBE
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/**
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* Return whether the given position is within the bed, and whether the nozzle
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* can reach the position required to put the probe at the given position.
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*
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* Example: For a probe offset of -10,+10, then for the probe to reach 0,0 the
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* nozzle must be be able to reach +10,-10.
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*/
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inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
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return position_is_reachable(rx - (X_PROBE_OFFSET_FROM_EXTRUDER), ry - (Y_PROBE_OFFSET_FROM_EXTRUDER))
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&& WITHIN(rx, MIN_PROBE_X - 0.001, MAX_PROBE_X + 0.001)
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&& WITHIN(ry, MIN_PROBE_Y - 0.001, MAX_PROBE_Y + 0.001);
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}
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#endif
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#endif // CARTESIAN
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#if !HAS_BED_PROBE
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FORCE_INLINE bool position_is_reachable_by_probe(const float &rx, const float &ry) { return position_is_reachable(rx, ry); }
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#endif
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/**
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* Dual X Carriage / Dual Nozzle
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*/
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#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
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extern bool extruder_duplication_enabled; // Used in Dual X mode 2
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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, // DUAL_X_CARRIAGE only
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DXC_AUTO_PARK_MODE, // DUAL_X_CARRIAGE only
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DXC_DUPLICATION_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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raised_parked_position[XYZE], // used in mode 1
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duplicate_extruder_x_offset; // used in mode 2
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extern bool active_extruder_parked; // used in mode 1 & 2
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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
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float x_home_pos(const int 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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#elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
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enum DualXMode : char {
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DXC_DUPLICATION_MODE = 2
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};
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#endif
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#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
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void update_software_endstops(const AxisEnum 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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#endif // MOTION_H
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