705 lines
25 KiB
C++
705 lines
25 KiB
C++
/*
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This file is part of Repetier-Firmware.
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Repetier-Firmware 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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Repetier-Firmware 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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You should have received a copy of the GNU General Public License
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along with Repetier-Firmware. If not, see <http://www.gnu.org/licenses/>.
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This firmware is a nearly complete rewrite of the sprinter firmware
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by kliment (https://github.com/kliment/Sprinter)
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which based on Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
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#
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Functions in this file are used to communicate using ascii or repetier protocol.
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*/
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#ifndef MOTION_H_INCLUDED
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#define MOTION_H_INCLUDED
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/** Marks the first step of a new move */
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#define FLAG_WARMUP 1
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#define FLAG_NOMINAL 2
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#define FLAG_DECELERATING 4
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#define FLAG_ACCELERATION_ENABLED 8 // unused
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#define FLAG_CHECK_ENDSTOPS 16
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#define FLAG_ALL_E_MOTORS 32 // For mixed extruder move all motors instead of selected motor
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#define FLAG_SKIP_DEACCELERATING 64 // unused
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#define FLAG_BLOCKED 128
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/** Are the step parameter computed */
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#define FLAG_JOIN_STEPPARAMS_COMPUTED 1
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/** The right speed is fixed. Don't check this block or any block to the left. */
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#define FLAG_JOIN_END_FIXED 2
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/** The left speed is fixed. Don't check left block. */
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#define FLAG_JOIN_START_FIXED 4
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/** Start filament retraction at move start */
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#define FLAG_JOIN_START_RETRACT 8
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/** Wait for filament push back, before ending move */
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#define FLAG_JOIN_END_RETRACT 16
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/** Disable retract for this line */
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#define FLAG_JOIN_NO_RETRACT 32
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/** Wait for the extruder to finish it's up movement */
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#define FLAG_JOIN_WAIT_EXTRUDER_UP 64
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/** Wait for the extruder to finish it's down movement */
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#define FLAG_JOIN_WAIT_EXTRUDER_DOWN 128
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// Printing related data
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#if NONLINEAR_SYSTEM || defined(DOXYGEN)
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// Allow the delta cache to store segments for every line in line cache. Beware this gets big ... fast.
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class PrintLine;
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typedef struct {
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flag8_t dir; ///< Direction of delta movement.
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uint16_t deltaSteps[TOWER_ARRAY]; ///< Number of steps in move.
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inline bool checkEndstops(PrintLine *cur, bool checkall);
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inline void setXMoveFinished() {
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dir &= ~XSTEP;
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}
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inline void setYMoveFinished() {
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dir &= ~YSTEP;
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}
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inline void setZMoveFinished() {
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dir &= ~ZSTEP;
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}
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inline void setXYMoveFinished() {
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dir &= ~XY_STEP;
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}
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inline bool isXPositiveMove() {
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return (dir & X_STEP_DIRPOS) == X_STEP_DIRPOS;
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}
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inline bool isXNegativeMove() {
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return (dir & X_STEP_DIRPOS) == XSTEP;
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}
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inline bool isYPositiveMove() {
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return (dir & Y_STEP_DIRPOS) == Y_STEP_DIRPOS;
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}
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inline bool isYNegativeMove() {
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return (dir & Y_STEP_DIRPOS) == YSTEP;
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}
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inline bool isZPositiveMove() {
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return (dir & Z_STEP_DIRPOS) == Z_STEP_DIRPOS;
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}
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inline bool isZNegativeMove() {
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return (dir & Z_STEP_DIRPOS) == ZSTEP;
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}
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inline bool isEPositiveMove() {
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return (dir & E_STEP_DIRPOS) == E_STEP_DIRPOS;
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}
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inline bool isENegativeMove() {
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return (dir & E_STEP_DIRPOS) == ESTEP;
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}
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inline bool isXMove() {
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return (dir & XSTEP);
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}
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inline bool isYMove() {
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return (dir & YSTEP);
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}
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inline bool isXOrYMove() {
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return dir & XY_STEP;
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}
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inline bool isZMove() {
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return (dir & ZSTEP);
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}
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inline bool isEMove() {
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return (dir & ESTEP);
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}
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inline bool isEOnlyMove() {
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return (dir & XYZE_STEP) == ESTEP;
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}
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inline bool isNoMove() {
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return (dir & XYZE_STEP) == 0;
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}
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inline bool isXYZMove() {
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return dir & XYZ_STEP;
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}
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inline bool isMoveOfAxis(uint8_t axis) {
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return (dir & (XSTEP << axis));
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}
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inline void setMoveOfAxis(uint8_t axis) {
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dir |= XSTEP << axis;
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}
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inline void setPositiveMoveOfAxis(uint8_t axis) {
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dir |= X_STEP_DIRPOS << axis;
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}
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inline void setPositiveDirectionForAxis(uint8_t axis) {
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dir |= X_DIRPOS << axis;
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}
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} NonlinearSegment;
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extern uint8_t lastMoveID;
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#endif
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class UIDisplay;
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class PrintLine { // RAM usage: 24*4+15 = 113 Byte
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friend class UIDisplay;
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#if CPU_ARCH == ARCH_ARM
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static volatile bool nlFlag;
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#endif
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public:
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static ufast8_t linesPos; // Position for executing line movement
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static PrintLine lines[];
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static ufast8_t linesWritePos; // Position where we write the next cached line move
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ufast8_t joinFlags;
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volatile ufast8_t flags;
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secondspeed_t secondSpeed; // for laser intensity or fan control
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private:
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fast8_t primaryAxis;
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ufast8_t dir; ///< Direction of movement. 1 = X+, 2 = Y+, 4= Z+, values can be combined.
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int32_t timeInTicks;
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int32_t delta[E_AXIS_ARRAY]; ///< Steps we want to move.
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int32_t error[E_AXIS_ARRAY]; ///< Error calculation for Bresenham algorithm
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float speedX; ///< Speed in x direction at fullInterval in mm/s
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float speedY; ///< Speed in y direction at fullInterval in mm/s
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float speedZ; ///< Speed in z direction at fullInterval in mm/s
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float speedE; ///< Speed in E direction at fullInterval in mm/s
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float fullSpeed; ///< Desired speed mm/s
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float invFullSpeed; ///< 1.0/fullSpeed for faster computation
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float accelerationDistance2; ///< Real 2.0*distance*acceleration mm²/s²
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float maxJunctionSpeed; ///< Max. junction speed between this and next segment
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float startSpeed; ///< Starting speed in mm/s
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float endSpeed; ///< Exit speed in mm/s
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float minSpeed;
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float distance;
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#if NONLINEAR_SYSTEM || defined(DOXYGEN)
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uint8_t numNonlinearSegments; ///< Number of delta segments left in line. Decremented by stepper timer.
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uint8_t moveID; ///< ID used to identify moves which are all part of the same line
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int32_t numPrimaryStepPerSegment; ///< Number of primary Bresenham axis steps in each delta segment
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NonlinearSegment segments[DELTASEGMENTS_PER_PRINTLINE];
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#endif
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ticks_t fullInterval; ///< interval at full speed in ticks/step.
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uint32_t accelSteps; ///< How much steps does it take, to reach the plateau.
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uint32_t decelSteps; ///< How much steps does it take, to reach the end speed.
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uint32_t accelerationPrim; ///< Acceleration along primary axis
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uint32_t fAcceleration; ///< accelerationPrim*262144/F_CPU
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speed_t vMax; ///< Maximum reached speed in steps/s.
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speed_t vStart; ///< Starting speed in steps/s.
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speed_t vEnd; ///< End speed in steps/s
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#if USE_ADVANCE
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#if ENABLE_QUADRATIC_ADVANCE
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int32_t advanceRate; ///< Advance steps at full speed
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int32_t advanceFull; ///< Maximum advance at fullInterval [steps*65536]
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int32_t advanceStart;
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int32_t advanceEnd;
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#endif
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uint16_t advanceL; ///< Recomputed L value
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#endif
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#ifdef DEBUG_STEPCOUNT
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int32_t totalStepsRemaining;
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#endif
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public:
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int32_t stepsRemaining; ///< Remaining steps, until move is finished
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static PrintLine *cur;
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static volatile ufast8_t linesCount; // Number of lines cached 0 = nothing to do
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inline bool areParameterUpToDate() {
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return joinFlags & FLAG_JOIN_STEPPARAMS_COMPUTED;
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}
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inline void invalidateParameter() {
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joinFlags &= ~FLAG_JOIN_STEPPARAMS_COMPUTED;
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}
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inline void setParameterUpToDate() {
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joinFlags |= FLAG_JOIN_STEPPARAMS_COMPUTED;
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}
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inline bool isStartSpeedFixed() {
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return joinFlags & FLAG_JOIN_START_FIXED;
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}
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inline void setStartSpeedFixed(bool newState) {
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joinFlags = (newState ? joinFlags | FLAG_JOIN_START_FIXED : joinFlags & ~FLAG_JOIN_START_FIXED);
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}
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inline void fixStartAndEndSpeed() {
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joinFlags |= FLAG_JOIN_END_FIXED | FLAG_JOIN_START_FIXED;
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}
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inline bool isEndSpeedFixed() {
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return joinFlags & FLAG_JOIN_END_FIXED;
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}
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inline void setEndSpeedFixed(bool newState) {
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joinFlags = (newState ? joinFlags | FLAG_JOIN_END_FIXED : joinFlags & ~FLAG_JOIN_END_FIXED);
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}
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inline bool isWarmUp() {
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return flags & FLAG_WARMUP;
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}
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inline uint8_t getWaitForXLinesFilled() {
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return primaryAxis;
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}
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inline void setWaitForXLinesFilled(uint8_t b) {
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primaryAxis = b;
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}
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inline bool isExtruderForwardMove() {
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return (dir & E_STEP_DIRPOS) == E_STEP_DIRPOS;
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}
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inline void block() {
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flags |= FLAG_BLOCKED;
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}
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inline void unblock() {
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flags &= ~FLAG_BLOCKED;
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}
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inline bool isBlocked() {
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return flags & FLAG_BLOCKED;
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}
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inline bool isAllEMotors() {
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return flags & FLAG_ALL_E_MOTORS;
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}
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inline bool isCheckEndstops() {
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return flags & FLAG_CHECK_ENDSTOPS;
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}
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inline bool isNominalMove() {
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return flags & FLAG_NOMINAL;
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}
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inline void setNominalMove() {
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flags |= FLAG_NOMINAL;
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}
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inline void checkEndstops() {
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if(isCheckEndstops()) {
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Endstops::update();
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if(Endstops::anyEndstopHit()) {
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#if MULTI_XENDSTOP_HOMING
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{
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if(Printer::isHoming()) {
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if(isXNegativeMove()) {
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if(Endstops::xMin())
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Printer::multiXHomeFlags &= ~1;
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if(Endstops::x2Min())
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Printer::multiXHomeFlags &= ~2;
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if(Printer::multiXHomeFlags == 0)
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setXMoveFinished();
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} else if(isXPositiveMove()) {
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if(Endstops::xMax())
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Printer::multiXHomeFlags &= ~1;
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if(Endstops::x2Max())
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Printer::multiXHomeFlags &= ~2;
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if(Printer::multiXHomeFlags == 0) {
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setXMoveFinished();
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}
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}
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} else {
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if(isXNegativeMove() && Endstops::xMin()) {
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setXMoveFinished();
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} else if(isXPositiveMove() && Endstops::xMax()) {
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setXMoveFinished();
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}
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}
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}
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#else // Multi endstop homing
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if(isXNegativeMove() && Endstops::xMin())
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setXMoveFinished();
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else if(isXPositiveMove() && Endstops::xMax())
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setXMoveFinished();
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#endif
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#if MULTI_YENDSTOP_HOMING
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{
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if(Printer::isHoming()) {
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if(isYNegativeMove()) {
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if(Endstops::yMin())
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Printer::multiYHomeFlags &= ~1;
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if(Endstops::y2Min())
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Printer::multiYHomeFlags &= ~2;
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if(Printer::multiYHomeFlags == 0)
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setYMoveFinished();
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} else if(isYPositiveMove()) {
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if(Endstops::yMax())
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Printer::multiYHomeFlags &= ~1;
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if(Endstops::y2Max())
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Printer::multiYHomeFlags &= ~2;
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if(Printer::multiYHomeFlags == 0) {
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setYMoveFinished();
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}
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}
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} else {
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if(isYNegativeMove() && Endstops::yMin()) {
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setYMoveFinished();
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} else if(isYPositiveMove() && Endstops::yMax()) {
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setYMoveFinished();
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}
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}
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}
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#else // Multi endstop homing
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if(isYNegativeMove() && Endstops::yMin())
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setYMoveFinished();
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else if(isYPositiveMove() && Endstops::yMax())
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setYMoveFinished();
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#endif
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#if FEATURE_Z_PROBE
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if(Printer::isZProbingActive() && isZNegativeMove() && Endstops::zProbe()) {
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setZMoveFinished();
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Printer::stepsRemainingAtZHit = stepsRemaining;
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} else
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#endif
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#if MULTI_ZENDSTOP_HOMING
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{
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if(Printer::isHoming()) {
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if(isZNegativeMove()) {
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if(Endstops::zMin())
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Printer::multiZHomeFlags &= ~1;
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if(Endstops::z2MinMax())
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Printer::multiZHomeFlags &= ~2;
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if(Printer::multiZHomeFlags == 0)
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setZMoveFinished();
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} else if(isZPositiveMove()) {
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if(Endstops::zMax())
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Printer::multiZHomeFlags &= ~1;
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if(Endstops::z2MinMax())
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Printer::multiZHomeFlags &= ~2;
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if(Printer::multiZHomeFlags == 0) {
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#if MAX_HARDWARE_ENDSTOP_Z
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Printer::stepsRemainingAtZHit = stepsRemaining;
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#endif
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setZMoveFinished();
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}
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}
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} else {
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#if !(Z_MIN_PIN == Z_PROBE_PIN && FEATURE_Z_PROBE)
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if(isZNegativeMove() && Endstops::zMin()) {
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setZMoveFinished();
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} else
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#endif
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if(isZPositiveMove() && Endstops::zMax()) {
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#if MAX_HARDWARE_ENDSTOP_Z
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Printer::stepsRemainingAtZHit = stepsRemaining;
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#endif
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setZMoveFinished();
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}
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}
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}
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#else // Multi endstop homing
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if(isZNegativeMove() && Endstops::zMin()
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#if Z_MIN_PIN == Z_PROBE_PIN && FEATURE_Z_PROBE
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&& Printer::isHoming()
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#endif
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) {
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setZMoveFinished();
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} else if(isZPositiveMove() && Endstops::zMax()) {
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#if MAX_HARDWARE_ENDSTOP_Z
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Printer::stepsRemainingAtZHit = stepsRemaining;
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#endif
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setZMoveFinished();
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}
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#endif
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}
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#if FEATURE_Z_PROBE
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else if(Printer::isZProbingActive() && isZNegativeMove()) {
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Endstops::update();
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if(Endstops::zProbe()) {
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setZMoveFinished();
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Printer::stepsRemainingAtZHit = stepsRemaining;
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}
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}
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#endif
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}
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}
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inline void setXMoveFinished() {
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#if DRIVE_SYSTEM==XY_GANTRY || DRIVE_SYSTEM==YX_GANTRY
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dir &= ~48;
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#elif DRIVE_SYSTEM==XZ_GANTRY || DRIVE_SYSTEM==ZX_GANTRY
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dir &= ~80;
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#else
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dir &= ~16;
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#endif
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}
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inline void setYMoveFinished() {
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#if DRIVE_SYSTEM==XY_GANTRY || DRIVE_SYSTEM==YX_GANTRY
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dir &= ~48;
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#else
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dir &= ~32;
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#endif
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}
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inline void setZMoveFinished() {
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#if DRIVE_SYSTEM==XZ_GANTRY || DRIVE_SYSTEM==ZX_GANTRY
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dir &= ~80;
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#else
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dir &= ~64;
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#endif
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}
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inline void setXYMoveFinished() {
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dir &= ~48;
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}
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inline bool isXPositiveMove() {
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return (dir & X_STEP_DIRPOS) == X_STEP_DIRPOS;
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}
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inline bool isXNegativeMove() {
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return (dir & X_STEP_DIRPOS) == XSTEP;
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}
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inline bool isYPositiveMove() {
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return (dir & Y_STEP_DIRPOS) == Y_STEP_DIRPOS;
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}
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inline bool isYNegativeMove() {
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return (dir & Y_STEP_DIRPOS) == YSTEP;
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}
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inline bool isZPositiveMove() {
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return (dir & Z_STEP_DIRPOS) == Z_STEP_DIRPOS;
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}
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inline bool isZNegativeMove() {
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return (dir & Z_STEP_DIRPOS) == ZSTEP;
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}
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inline bool isEPositiveMove() {
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return (dir & E_STEP_DIRPOS) == E_STEP_DIRPOS;
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}
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inline bool isENegativeMove() {
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return (dir & E_STEP_DIRPOS) == ESTEP;
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}
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inline bool isXMove() {
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return (dir & XSTEP);
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}
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inline bool isYMove() {
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return (dir & YSTEP);
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}
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inline bool isXOrYMove() {
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return dir & XY_STEP;
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}
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inline bool isXOrZMove() {
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return dir & (XSTEP | ZSTEP);
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}
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inline bool isZMove() {
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return (dir & ZSTEP);
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}
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inline bool isEMove() {
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return (dir & ESTEP);
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}
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inline bool isEOnlyMove() {
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return (dir & XYZE_STEP) == ESTEP;
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}
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inline bool isNoMove() {
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return (dir & XYZE_STEP) == 0;
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}
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inline bool isXYZMove() {
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return dir & XYZ_STEP;
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}
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inline bool isMoveOfAxis(uint8_t axis) {
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return (dir & (XSTEP << axis));
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}
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inline void setMoveOfAxis(uint8_t axis) {
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dir |= XSTEP << axis;
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}
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inline void setPositiveDirectionForAxis(uint8_t axis) {
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dir |= X_DIRPOS << axis;
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}
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inline static void resetPathPlanner() {
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linesCount = 0;
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linesPos = linesWritePos;
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Printer::setMenuMode(MENU_MODE_PRINTING, Printer::isPrinting());
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}
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// Only called from bresenham -> inside interrupt handle
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inline void updateAdvanceSteps(speed_t v, uint8_t max_loops, bool accelerate) {
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#if USE_ADVANCE
|
|
if(!Printer::isAdvanceActivated()) return;
|
|
#if ENABLE_QUADRATIC_ADVANCE
|
|
long advanceTarget = Printer::advanceExecuted;
|
|
if(accelerate) {
|
|
for(uint8_t loop = 0; loop < max_loops; loop++) advanceTarget += advanceRate;
|
|
if(advanceTarget > advanceFull)
|
|
advanceTarget = advanceFull;
|
|
} else {
|
|
for(uint8_t loop = 0; loop < max_loops; loop++) advanceTarget -= advanceRate;
|
|
if(advanceTarget < advanceEnd)
|
|
advanceTarget = advanceEnd;
|
|
}
|
|
long h = HAL::mulu16xu16to32(v, advanceL);
|
|
int tred = ((advanceTarget + h) >> 16);
|
|
HAL::forbidInterrupts();
|
|
Printer::extruderStepsNeeded += tred - Printer::advanceStepsSet;
|
|
if(tred > 0 && Printer::advanceStepsSet <= 0)
|
|
Printer::extruderStepsNeeded += Extruder::current->advanceBacklash;
|
|
else if(tred < 0 && Printer::advanceStepsSet >= 0)
|
|
Printer::extruderStepsNeeded -= Extruder::current->advanceBacklash;
|
|
Printer::advanceStepsSet = tred;
|
|
HAL::allowInterrupts();
|
|
Printer::advanceExecuted = advanceTarget;
|
|
#else
|
|
int tred = HAL::mulu6xu16shift16(v, advanceL);
|
|
HAL::forbidInterrupts();
|
|
Printer::extruderStepsNeeded += tred - Printer::advanceStepsSet;
|
|
if(tred > 0 && Printer::advanceStepsSet <= 0)
|
|
Printer::extruderStepsNeeded += (Extruder::current->advanceBacklash << 1);
|
|
else if(tred < 0 && Printer::advanceStepsSet >= 0)
|
|
Printer::extruderStepsNeeded -= (Extruder::current->advanceBacklash << 1);
|
|
Printer::advanceStepsSet = tred;
|
|
HAL::allowInterrupts();
|
|
#endif
|
|
#endif
|
|
}
|
|
INLINE bool moveDecelerating() {
|
|
if(stepsRemaining <= static_cast<int32_t>(decelSteps)) {
|
|
if (!(flags & FLAG_DECELERATING)) {
|
|
Printer::timer = 0;
|
|
flags |= FLAG_DECELERATING;
|
|
}
|
|
return true;
|
|
} else return false;
|
|
}
|
|
INLINE bool moveAccelerating() {
|
|
return Printer::stepNumber <= accelSteps;
|
|
}
|
|
INLINE void startXStep() {
|
|
#if !(GANTRY) || defined(FAST_COREXYZ)
|
|
Printer::startXStep();
|
|
#else
|
|
#if DRIVE_SYSTEM == XY_GANTRY || DRIVE_SYSTEM == XZ_GANTRY
|
|
if(isXPositiveMove()) {
|
|
Printer::motorX++;
|
|
Printer::motorYorZ++;
|
|
} else {
|
|
Printer::motorX--;
|
|
Printer::motorYorZ--;
|
|
}
|
|
#endif
|
|
#if DRIVE_SYSTEM == YX_GANTRY || DRIVE_SYSTEM == ZX_GANTRY
|
|
if(isXPositiveMove()) {
|
|
Printer::motorX++;
|
|
Printer::motorYorZ--;
|
|
} else {
|
|
Printer::motorX--;
|
|
Printer::motorYorZ++;
|
|
}
|
|
#endif
|
|
#endif
|
|
#ifdef DEBUG_STEPCOUNT
|
|
totalStepsRemaining--;
|
|
#endif
|
|
}
|
|
INLINE void startYStep() {
|
|
#if !(GANTRY) || DRIVE_SYSTEM == ZX_GANTRY || DRIVE_SYSTEM == XZ_GANTRY || defined(FAST_COREXYZ)
|
|
Printer::startYStep();
|
|
#else
|
|
#if DRIVE_SYSTEM == XY_GANTRY
|
|
if(isYPositiveMove()) {
|
|
Printer::motorX++;
|
|
Printer::motorYorZ--;
|
|
} else {
|
|
Printer::motorX--;
|
|
Printer::motorYorZ++;
|
|
}
|
|
#endif
|
|
#if DRIVE_SYSTEM == YX_GANTRY
|
|
if(isYPositiveMove()) {
|
|
Printer::motorX++;
|
|
Printer::motorYorZ++;
|
|
} else {
|
|
Printer::motorX--;
|
|
Printer::motorYorZ--;
|
|
}
|
|
#endif
|
|
#endif // GANTRY
|
|
#ifdef DEBUG_STEPCOUNT
|
|
totalStepsRemaining--;
|
|
#endif
|
|
|
|
}
|
|
INLINE void startZStep() {
|
|
#if !(GANTRY) || DRIVE_SYSTEM == YX_GANTRY || DRIVE_SYSTEM == XY_GANTRY || defined(FAST_COREXYZ)
|
|
Printer::startZStep();
|
|
#else
|
|
#if DRIVE_SYSTEM == XZ_GANTRY
|
|
if(isZPositiveMove()) {
|
|
Printer::motorX++;
|
|
Printer::motorYorZ--;
|
|
} else {
|
|
Printer::motorX--;
|
|
Printer::motorYorZ++;
|
|
}
|
|
#endif
|
|
#if DRIVE_SYSTEM == ZX_GANTRY
|
|
if(isZPositiveMove()) {
|
|
Printer::motorX++;
|
|
Printer::motorYorZ++;
|
|
} else {
|
|
Printer::motorX--;
|
|
Printer::motorYorZ--;
|
|
}
|
|
#endif
|
|
#endif
|
|
#ifdef DEBUG_STEPCOUNT
|
|
totalStepsRemaining--;
|
|
#endif
|
|
}
|
|
void updateStepsParameter();
|
|
float safeSpeed(fast8_t drivingAxis);
|
|
void calculateMove(float axis_diff[], uint8_t pathOptimize, fast8_t distanceBase);
|
|
void logLine();
|
|
INLINE long getWaitTicks() {
|
|
return timeInTicks;
|
|
}
|
|
INLINE void setWaitTicks(long wait) {
|
|
timeInTicks = wait;
|
|
}
|
|
|
|
static INLINE bool hasLines() {
|
|
return linesCount;
|
|
}
|
|
static INLINE void setCurrentLine() {
|
|
cur = &lines[linesPos];
|
|
#if CPU_ARCH==ARCH_ARM
|
|
PrintLine::nlFlag = true;
|
|
#endif
|
|
}
|
|
// Only called from within interrupts
|
|
static INLINE void removeCurrentLineForbidInterrupt() {
|
|
nextPlannerIndex(linesPos);
|
|
cur = NULL;
|
|
#if CPU_ARCH == ARCH_ARM
|
|
nlFlag = false;
|
|
#endif
|
|
HAL::forbidInterrupts();
|
|
--linesCount;
|
|
if(!linesCount)
|
|
Printer::setMenuMode(MENU_MODE_PRINTING, Printer::isPrinting());
|
|
}
|
|
static INLINE void pushLine() {
|
|
nextPlannerIndex(linesWritePos);
|
|
Printer::setMenuMode(MENU_MODE_PRINTING, true);
|
|
InterruptProtectedBlock noInts;
|
|
linesCount++;
|
|
}
|
|
static uint8_t getLinesCount() {
|
|
InterruptProtectedBlock noInts;
|
|
return linesCount;
|
|
}
|
|
static PrintLine *getNextWriteLine() {
|
|
return &lines[linesWritePos];
|
|
}
|
|
static inline void computeMaxJunctionSpeed(PrintLine *previous, PrintLine *current);
|
|
static int32_t bresenhamStep();
|
|
static void waitForXFreeLines(uint8_t b = 1, bool allowMoves = false);
|
|
static inline void forwardPlanner(ufast8_t p);
|
|
static inline void backwardPlanner(ufast8_t p, ufast8_t last);
|
|
static void updateTrapezoids();
|
|
static uint8_t insertWaitMovesIfNeeded(uint8_t pathOptimize, uint8_t waitExtraLines);
|
|
static void LaserWarmUp(uint32_t wait);
|
|
#if !NONLINEAR_SYSTEM || defined(DOXYGEN)
|
|
static void queueCartesianMove(uint8_t check_endstops, uint8_t pathOptimize);
|
|
#if DISTORTION_CORRECTION || defined(DOXYGEN)
|
|
static void queueCartesianSegmentTo(uint8_t check_endstops, uint8_t pathOptimize);
|
|
#endif
|
|
#endif
|
|
static void moveRelativeDistanceInSteps(int32_t x, int32_t y, int32_t z, int32_t e, float feedrate, bool waitEnd, bool check_endstop, bool pathOptimize = true);
|
|
static void moveRelativeDistanceInStepsReal(int32_t x, int32_t y, int32_t z, int32_t e, float feedrate, bool waitEnd, bool pathOptimize = true);
|
|
#if ARC_SUPPORT || defined(DOXYGEN)
|
|
static void arc(float *position, float *target, float *offset, float radius, uint8_t isclockwise);
|
|
#endif
|
|
static INLINE void previousPlannerIndex(ufast8_t &p) {
|
|
p = (p ? p - 1 : PRINTLINE_CACHE_SIZE - 1);
|
|
}
|
|
static INLINE void nextPlannerIndex(ufast8_t& p) {
|
|
p = (p >= PRINTLINE_CACHE_SIZE - 1 ? 0 : p + 1);
|
|
}
|
|
#if NONLINEAR_SYSTEM || defined(DOXYGEN)
|
|
static uint8_t queueNonlinearMove(uint8_t check_endstops, uint8_t pathOptimize, uint8_t softEndstop);
|
|
static inline void queueEMove(int32_t e_diff, uint8_t check_endstops, uint8_t pathOptimize);
|
|
inline uint16_t calculateNonlinearSubSegments(uint8_t softEndstop);
|
|
static inline void calculateDirectionAndDelta(int32_t difference[], ufast8_t *dir, int32_t delta[]);
|
|
static inline uint8_t calculateDistance(float axis_diff[], uint8_t dir, float *distance);
|
|
#if (SOFTWARE_LEVELING && DRIVE_SYSTEM == DELTA) || defined(DOXYGEN)
|
|
static void calculatePlane(int32_t factors[], int32_t p1[], int32_t p2[], int32_t p3[]);
|
|
static float calcZOffset(int32_t factors[], int32_t pointX, int32_t pointY);
|
|
#endif
|
|
#endif
|
|
};
|
|
|
|
|
|
|
|
#endif // MOTION_H_INCLUDED
|