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618 lines
21 KiB
618 lines
21 KiB
/**
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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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// 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]; // TODO: Add support for LINEAR_AXES >= 4
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extern xyze_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 abce_pos_t delta;
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#endif
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#if HAS_ABL_NOT_UBL
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extern feedRate_t 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_FEEDRATE)
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#define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_FEEDRATE)
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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 HAS_BED_PROBE
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constexpr feedRate_t z_probe_fast_mm_s = MMM_TO_MMS(Z_PROBE_FEEDRATE_FAST);
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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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constexpr xyz_feedrate_t homing_feedrate_mm_m = HOMING_FEEDRATE_MM_M;
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FORCE_INLINE feedRate_t homing_feedrate(const AxisEnum a) {
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float v = TERN0(HAS_Z_AXIS, homing_feedrate_mm_m.z);
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#if DISABLED(DELTA)
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LINEAR_AXIS_CODE(
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if (a == X_AXIS) v = homing_feedrate_mm_m.x,
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else if (a == Y_AXIS) v = homing_feedrate_mm_m.y,
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else if (a == Z_AXIS) v = homing_feedrate_mm_m.z,
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else if (a == I_AXIS) v = homing_feedrate_mm_m.i,
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else if (a == J_AXIS) v = homing_feedrate_mm_m.j,
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else if (a == K_AXIS) v = homing_feedrate_mm_m.k
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);
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#endif
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return MMM_TO_MMS(v);
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}
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feedRate_t get_homing_bump_feedrate(const AxisEnum axis);
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/**
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* The default feedrate for many moves, set by the most recent move
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*/
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extern feedRate_t feedrate_mm_s;
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/**
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* Feedrate scaling is applied to all G0/G1, G2/G3, and G5 moves
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*/
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extern int16_t feedrate_percentage;
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#define MMS_SCALED(V) ((V) * 0.01f * feedrate_percentage)
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// The active extruder (tool). Set with T<extruder> command.
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#if HAS_MULTI_EXTRUDER
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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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#ifdef __IMXRT1062__
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#define DEFS_PROGMEM
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#else
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#define DEFS_PROGMEM PROGMEM
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#endif
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inline float pgm_read_any(const float *p) { return TERN(__IMXRT1062__, *p, pgm_read_float(p)); }
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inline int8_t pgm_read_any(const int8_t *p) { return TERN(__IMXRT1062__, *p, 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 DEFS_PROGMEM = LINEAR_AXIS_ARRAY(X_##OPT, Y_##OPT, Z_##OPT, I_##OPT, J_##OPT, K_##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(int8_t, 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 DEFS_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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#if HAS_SOFTWARE_ENDSTOPS
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typedef struct {
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bool _enabled, _loose;
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bool enabled() { return _enabled && !_loose; }
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xyz_pos_t min, max;
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void get_manual_axis_limits(const AxisEnum axis, float &amin, float &amax) {
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amin = -100000; amax = 100000; // "No limits"
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#if HAS_SOFTWARE_ENDSTOPS
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if (enabled()) switch (axis) {
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case X_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_X, amin = min.x);
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TERN_(MAX_SOFTWARE_ENDSTOP_X, amax = max.x);
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break;
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#if HAS_Y_AXIS
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case Y_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_Y, amin = min.y);
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TERN_(MAX_SOFTWARE_ENDSTOP_Y, amax = max.y);
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break;
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#endif
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#if HAS_Z_AXIS
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case Z_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_Z, amin = min.z);
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TERN_(MAX_SOFTWARE_ENDSTOP_Z, amax = max.z);
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break;
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#endif
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#if HAS_I_AXIS
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case I_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_I, amin = min.i);
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TERN_(MIN_SOFTWARE_ENDSTOP_I, amax = max.i);
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break;
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#endif
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#if HAS_J_AXIS
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case J_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_J, amin = min.j);
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TERN_(MIN_SOFTWARE_ENDSTOP_J, amax = max.j);
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break;
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#endif
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#if HAS_K_AXIS
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case K_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_K, amin = min.k);
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TERN_(MIN_SOFTWARE_ENDSTOP_K, amax = max.k);
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break;
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#endif
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default: break;
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}
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#endif
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}
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} soft_endstops_t;
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extern soft_endstops_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 SET_SOFT_ENDSTOP_LOOSE(loose) (soft_endstop._loose = loose)
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#else // !HAS_SOFTWARE_ENDSTOPS
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typedef struct {
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bool enabled() { return false; }
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void get_manual_axis_limits(const AxisEnum axis, float &amin, float &amax) {
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// No limits
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amin = current_position[axis] - 1000;
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amax = current_position[axis] + 1000;
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}
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} soft_endstops_t;
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extern soft_endstops_t soft_endstop;
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#define apply_motion_limits(V) NOOP
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#define update_software_endstops(...) NOOP
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#define SET_SOFT_ENDSTOP_LOOSE(V) NOOP
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#endif // !HAS_SOFTWARE_ENDSTOPS
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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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#if ENABLED(AUTO_REPORT_POSITION)
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#include "../libs/autoreport.h"
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struct PositionReport { static void report() { report_current_position_projected(); } };
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extern AutoReporter<PositionReport> position_auto_reporter;
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#endif
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#if EITHER(FULL_REPORT_TO_HOST_FEATURE, REALTIME_REPORTING_COMMANDS)
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#define HAS_GRBL_STATE 1
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/**
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* Machine states for GRBL or TinyG
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*/
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enum M_StateEnum : uint8_t {
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M_INIT = 0, // 0 machine is initializing
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M_RESET, // 1 machine is ready for use
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M_ALARM, // 2 machine is in alarm state (soft shut down)
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M_IDLE, // 3 program stop or no more blocks (M0, M1, M60)
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M_END, // 4 program end via M2, M30
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M_RUNNING, // 5 motion is running
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M_HOLD, // 6 motion is holding
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M_PROBE, // 7 probe cycle active
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M_CYCLING, // 8 machine is running (cycling)
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M_HOMING, // 9 machine is homing
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M_JOGGING, // 10 machine is jogging
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M_ERROR // 11 machine is in hard alarm state (shut down)
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};
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extern M_StateEnum M_State_grbl;
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M_StateEnum grbl_state_for_marlin_state();
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void report_current_grblstate_moving();
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void report_current_position_moving();
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#if ENABLED(FULL_REPORT_TO_HOST_FEATURE)
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inline void set_and_report_grblstate(const M_StateEnum state) {
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M_State_grbl = state;
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report_current_grblstate_moving();
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}
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#endif
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#if ENABLED(REALTIME_REPORTING_COMMANDS)
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void quickpause_stepper();
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void quickresume_stepper();
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#endif
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#endif
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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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void quickstop_stepper();
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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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#if HAS_EXTRUDERS
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void sync_plan_position_e();
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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(const_feedRate_t fr_mm_s=feedrate_mm_s);
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#if HAS_EXTRUDERS
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void unscaled_e_move(const_float_t 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 OPTARG(IS_KINEMATIC, const bool is_fast=false));
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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(LINEAR_AXIS_ARGS(const float), 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_t rx, const_feedRate_t fr_mm_s=0.0f);
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#if HAS_Y_AXIS
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void do_blocking_move_to_y(const_float_t ry, const_feedRate_t fr_mm_s=0.0f);
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#endif
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#if HAS_Z_AXIS
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void do_blocking_move_to_z(const_float_t rz, const_feedRate_t fr_mm_s=0.0f);
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#endif
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#if HAS_I_AXIS
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void do_blocking_move_to_i(const_float_t ri, const_feedRate_t fr_mm_s=0.0f);
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void do_blocking_move_to_xyz_i(const xyze_pos_t &raw, const_float_t i, const_feedRate_t fr_mm_s=0.0f);
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#endif
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#if HAS_J_AXIS
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void do_blocking_move_to_j(const_float_t rj, const_feedRate_t fr_mm_s=0.0f);
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void do_blocking_move_to_xyzi_j(const xyze_pos_t &raw, const_float_t j, const_feedRate_t fr_mm_s=0.0f);
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#endif
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#if HAS_K_AXIS
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void do_blocking_move_to_k(const_float_t rk, const_feedRate_t fr_mm_s=0.0f);
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void do_blocking_move_to_xyzij_k(const xyze_pos_t &raw, const_float_t k, const_feedRate_t fr_mm_s=0.0f);
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#endif
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#if HAS_Y_AXIS
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void do_blocking_move_to_xy(const_float_t rx, const_float_t 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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#endif
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#if HAS_Z_AXIS
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void do_blocking_move_to_xy_z(const xy_pos_t &raw, const_float_t 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_t 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_t 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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#endif
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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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#if HAS_Z_AXIS
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void do_z_clearance(const_float_t zclear, const bool lower_allowed=false);
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#else
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inline void do_z_clearance(float, bool=false) {}
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#endif
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/**
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* Homing and Trusted Axes
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*/
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typedef IF<(LINEAR_AXES > 8), uint16_t, uint8_t>::type linear_axis_bits_t;
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constexpr linear_axis_bits_t linear_bits = _BV(LINEAR_AXES) - 1;
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void set_axis_is_at_home(const AxisEnum axis);
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#if HAS_ENDSTOPS
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/**
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* axis_homed
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* Flags that each linear axis was homed.
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* XYZ on cartesian, ABC on delta, ABZ on SCARA.
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*
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* axis_trusted
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* Flags that the position is trusted in each linear axis. Set when homed.
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* Cleared whenever a stepper powers off, potentially losing its position.
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*/
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extern linear_axis_bits_t axis_homed, axis_trusted;
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void homeaxis(const AxisEnum axis);
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void set_axis_never_homed(const AxisEnum axis);
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linear_axis_bits_t axes_should_home(linear_axis_bits_t axis_bits=linear_bits);
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bool homing_needed_error(linear_axis_bits_t axis_bits=linear_bits);
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inline void set_axis_unhomed(const AxisEnum axis) { CBI(axis_homed, axis); }
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inline void set_axis_untrusted(const AxisEnum axis) { CBI(axis_trusted, axis); }
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inline void set_all_unhomed() { axis_homed = axis_trusted = 0; }
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inline void set_axis_homed(const AxisEnum axis) { SBI(axis_homed, axis); }
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inline void set_axis_trusted(const AxisEnum axis) { SBI(axis_trusted, axis); }
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inline void set_all_homed() { axis_homed = axis_trusted = linear_bits; }
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#else
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constexpr linear_axis_bits_t axis_homed = linear_bits, axis_trusted = linear_bits; // Zero-endstop machines are always homed and trusted
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inline void homeaxis(const AxisEnum axis) {}
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inline void set_axis_never_homed(const AxisEnum) {}
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inline linear_axis_bits_t axes_should_home(linear_axis_bits_t=linear_bits) { return false; }
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inline bool homing_needed_error(linear_axis_bits_t=linear_bits) { return false; }
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inline void set_axis_unhomed(const AxisEnum axis) {}
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inline void set_axis_untrusted(const AxisEnum axis) {}
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inline void set_all_unhomed() {}
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inline void set_axis_homed(const AxisEnum axis) {}
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inline void set_axis_trusted(const AxisEnum axis) {}
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inline void set_all_homed() {}
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#endif
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inline bool axis_was_homed(const AxisEnum axis) { return TEST(axis_homed, axis); }
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inline bool axis_is_trusted(const AxisEnum axis) { return TEST(axis_trusted, axis); }
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inline bool axis_should_home(const AxisEnum axis) { return (axes_should_home() & _BV(axis)) != 0; }
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inline bool no_axes_homed() { return !axis_homed; }
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inline bool all_axes_homed() { return linear_bits == (axis_homed & linear_bits); }
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inline bool homing_needed() { return !all_axes_homed(); }
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inline bool all_axes_trusted() { return linear_bits == (axis_trusted & linear_bits); }
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void home_if_needed(const bool keeplev=false);
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#if ENABLED(NO_MOTION_BEFORE_HOMING)
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#define MOTION_CONDITIONS (IsRunning() && !homing_needed_error())
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#else
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#define MOTION_CONDITIONS IsRunning()
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#endif
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#define BABYSTEP_ALLOWED() ((ENABLED(BABYSTEP_WITHOUT_HOMING) || all_axes_trusted()) && (ENABLED(BABYSTEP_ALWAYS_AVAILABLE) || printer_busy()))
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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&) {}
|
|
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 RAW_X_POSITION(POS) LOGICAL_TO_NATIVE(POS, X_AXIS)
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|
#if HAS_Y_AXIS
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|
#define LOGICAL_Y_POSITION(POS) NATIVE_TO_LOGICAL(POS, Y_AXIS)
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|
#define RAW_Y_POSITION(POS) LOGICAL_TO_NATIVE(POS, Y_AXIS)
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#endif
|
|
#if HAS_Z_AXIS
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|
#define LOGICAL_Z_POSITION(POS) NATIVE_TO_LOGICAL(POS, Z_AXIS)
|
|
#define RAW_Z_POSITION(POS) LOGICAL_TO_NATIVE(POS, Z_AXIS)
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|
#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)
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|
#endif
|
|
#if HAS_J_AXIS
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|
#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
|
|
|
|
/**
|
|
* 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_t rx, const_float_t ry, const float inset=0) {
|
|
#if ENABLED(DELTA)
|
|
|
|
return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset + fslop);
|
|
|
|
#elif ENABLED(POLARGRAPH)
|
|
|
|
const float x1 = rx - (X_MIN_POS), x2 = (X_MAX_POS) - rx, y = ry - (Y_MAX_POS),
|
|
a = HYPOT(x1, y), b = HYPOT(x2, y);
|
|
return a < (POLARGRAPH_MAX_BELT_LEN) + 1
|
|
&& b < (POLARGRAPH_MAX_BELT_LEN) + 1
|
|
&& (a + b) > _MIN(X_BED_SIZE, Y_BED_SIZE);
|
|
|
|
#elif ENABLED(AXEL_TPARA)
|
|
|
|
const float R2 = HYPOT2(rx - TPARA_OFFSET_X, ry - TPARA_OFFSET_Y);
|
|
return (
|
|
R2 <= sq(L1 + L2) - inset
|
|
#if MIDDLE_DEAD_ZONE_R > 0
|
|
&& R2 >= sq(float(MIDDLE_DEAD_ZONE_R))
|
|
#endif
|
|
);
|
|
|
|
#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_t rx, const_float_t ry) {
|
|
if (!COORDINATE_OKAY(ry, Y_MIN_POS - fslop, Y_MAX_POS + fslop)) return false;
|
|
#if ENABLED(DUAL_X_CARRIAGE)
|
|
if (active_extruder)
|
|
return COORDINATE_OKAY(rx, X2_MIN_POS - fslop, X2_MAX_POS + fslop);
|
|
else
|
|
return COORDINATE_OKAY(rx, X1_MIN_POS - fslop, X1_MAX_POS + fslop);
|
|
#else
|
|
return COORDINATE_OKAY(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
|
|
#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
|
|
|