mirror of
https://github.com/MarlinFirmware/Marlin.git
synced 2024-11-25 04:48:31 +00:00
8282d732c1
Example Configuration.h files are not updated yet. You need to cross your settings over to the default Configuration.h file in the \Marlin directory. (UBL_G26_MESH_VALIDATION enablement has moved to a new location in the file.)
516 lines
16 KiB
C++
516 lines
16 KiB
C++
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|
*
|
|
* Based on Sprinter and grbl.
|
|
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
|
*
|
|
* This program is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*
|
|
*/
|
|
#ifndef MARLIN_H
|
|
#define MARLIN_H
|
|
|
|
#include <math.h>
|
|
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <string.h>
|
|
#include <inttypes.h>
|
|
|
|
#include <util/delay.h>
|
|
#include <avr/pgmspace.h>
|
|
#include <avr/eeprom.h>
|
|
#include <avr/interrupt.h>
|
|
|
|
#include "MarlinConfig.h"
|
|
|
|
#ifdef DEBUG_GCODE_PARSER
|
|
#include "gcode.h"
|
|
#endif
|
|
|
|
#include "enum.h"
|
|
#include "types.h"
|
|
#include "fastio.h"
|
|
#include "utility.h"
|
|
#include "serial.h"
|
|
|
|
#if ENABLED(PRINTCOUNTER)
|
|
#include "printcounter.h"
|
|
#else
|
|
#include "stopwatch.h"
|
|
#endif
|
|
|
|
void idle(
|
|
#if ENABLED(ADVANCED_PAUSE_FEATURE)
|
|
bool no_stepper_sleep = false // pass true to keep steppers from disabling on timeout
|
|
#endif
|
|
);
|
|
|
|
void manage_inactivity(bool ignore_stepper_queue = false);
|
|
|
|
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
|
|
extern bool extruder_duplication_enabled;
|
|
#endif
|
|
|
|
#if HAS_X2_ENABLE
|
|
#define enable_X() do{ X_ENABLE_WRITE( X_ENABLE_ON); X2_ENABLE_WRITE( X_ENABLE_ON); }while(0)
|
|
#define disable_X() do{ X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
|
|
#elif HAS_X_ENABLE
|
|
#define enable_X() X_ENABLE_WRITE( X_ENABLE_ON)
|
|
#define disable_X() do{ X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
|
|
#else
|
|
#define enable_X() NOOP
|
|
#define disable_X() NOOP
|
|
#endif
|
|
|
|
#if HAS_Y2_ENABLE
|
|
#define enable_Y() do{ Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }while(0)
|
|
#define disable_Y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
|
|
#elif HAS_Y_ENABLE
|
|
#define enable_Y() Y_ENABLE_WRITE( Y_ENABLE_ON)
|
|
#define disable_Y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
|
|
#else
|
|
#define enable_Y() NOOP
|
|
#define disable_Y() NOOP
|
|
#endif
|
|
|
|
#if HAS_Z2_ENABLE
|
|
#define enable_Z() do{ Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }while(0)
|
|
#define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
|
|
#elif HAS_Z_ENABLE
|
|
#define enable_Z() Z_ENABLE_WRITE( Z_ENABLE_ON)
|
|
#define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
|
|
#else
|
|
#define enable_Z() NOOP
|
|
#define disable_Z() NOOP
|
|
#endif
|
|
|
|
#if ENABLED(MIXING_EXTRUDER)
|
|
|
|
/**
|
|
* Mixing steppers synchronize their enable (and direction) together
|
|
*/
|
|
#if MIXING_STEPPERS > 3
|
|
#define enable_E0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); E2_ENABLE_WRITE( E_ENABLE_ON); E3_ENABLE_WRITE( E_ENABLE_ON); }
|
|
#define disable_E0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); E2_ENABLE_WRITE(!E_ENABLE_ON); E3_ENABLE_WRITE(!E_ENABLE_ON); }
|
|
#elif MIXING_STEPPERS > 2
|
|
#define enable_E0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); E2_ENABLE_WRITE( E_ENABLE_ON); }
|
|
#define disable_E0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); E2_ENABLE_WRITE(!E_ENABLE_ON); }
|
|
#else
|
|
#define enable_E0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); }
|
|
#define disable_E0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); }
|
|
#endif
|
|
#define enable_E1() NOOP
|
|
#define disable_E1() NOOP
|
|
#define enable_E2() NOOP
|
|
#define disable_E2() NOOP
|
|
#define enable_E3() NOOP
|
|
#define disable_E3() NOOP
|
|
#define enable_E4() NOOP
|
|
#define disable_E4() NOOP
|
|
|
|
#else // !MIXING_EXTRUDER
|
|
|
|
#if HAS_E0_ENABLE
|
|
#define enable_E0() E0_ENABLE_WRITE( E_ENABLE_ON)
|
|
#define disable_E0() E0_ENABLE_WRITE(!E_ENABLE_ON)
|
|
#else
|
|
#define enable_E0() NOOP
|
|
#define disable_E0() NOOP
|
|
#endif
|
|
|
|
#if E_STEPPERS > 1 && HAS_E1_ENABLE
|
|
#define enable_E1() E1_ENABLE_WRITE( E_ENABLE_ON)
|
|
#define disable_E1() E1_ENABLE_WRITE(!E_ENABLE_ON)
|
|
#else
|
|
#define enable_E1() NOOP
|
|
#define disable_E1() NOOP
|
|
#endif
|
|
|
|
#if E_STEPPERS > 2 && HAS_E2_ENABLE
|
|
#define enable_E2() E2_ENABLE_WRITE( E_ENABLE_ON)
|
|
#define disable_E2() E2_ENABLE_WRITE(!E_ENABLE_ON)
|
|
#else
|
|
#define enable_E2() NOOP
|
|
#define disable_E2() NOOP
|
|
#endif
|
|
|
|
#if E_STEPPERS > 3 && HAS_E3_ENABLE
|
|
#define enable_E3() E3_ENABLE_WRITE( E_ENABLE_ON)
|
|
#define disable_E3() E3_ENABLE_WRITE(!E_ENABLE_ON)
|
|
#else
|
|
#define enable_E3() NOOP
|
|
#define disable_E3() NOOP
|
|
#endif
|
|
|
|
#if E_STEPPERS > 4 && HAS_E4_ENABLE
|
|
#define enable_E4() E4_ENABLE_WRITE( E_ENABLE_ON)
|
|
#define disable_E4() E4_ENABLE_WRITE(!E_ENABLE_ON)
|
|
#else
|
|
#define enable_E4() NOOP
|
|
#define disable_E4() NOOP
|
|
#endif
|
|
|
|
#endif // !MIXING_EXTRUDER
|
|
|
|
#if ENABLED(G38_PROBE_TARGET)
|
|
extern bool G38_move, // flag to tell the interrupt handler that a G38 command is being run
|
|
G38_endstop_hit; // flag from the interrupt handler to indicate if the endstop went active
|
|
#endif
|
|
|
|
/**
|
|
* The axis order in all axis related arrays is X, Y, Z, E
|
|
*/
|
|
#define _AXIS(AXIS) AXIS ##_AXIS
|
|
|
|
void enable_all_steppers();
|
|
void disable_e_steppers();
|
|
void disable_all_steppers();
|
|
|
|
void FlushSerialRequestResend();
|
|
void ok_to_send();
|
|
|
|
void kill(const char*);
|
|
|
|
void quickstop_stepper();
|
|
|
|
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
|
|
void handle_filament_runout();
|
|
#endif
|
|
|
|
extern uint8_t marlin_debug_flags;
|
|
#define DEBUGGING(F) (marlin_debug_flags & (DEBUG_## F))
|
|
|
|
extern bool Running;
|
|
inline bool IsRunning() { return Running; }
|
|
inline bool IsStopped() { return !Running; }
|
|
|
|
bool enqueue_and_echo_command(const char* cmd, bool say_ok=false); // Add a single command to the end of the buffer. Return false on failure.
|
|
void enqueue_and_echo_commands_P(const char * const cmd); // Set one or more commands to be prioritized over the next Serial/SD command.
|
|
void clear_command_queue();
|
|
|
|
extern millis_t previous_cmd_ms;
|
|
inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
|
|
|
|
#if ENABLED(FAST_PWM_FAN)
|
|
void setPwmFrequency(uint8_t pin, int val);
|
|
#endif
|
|
|
|
/**
|
|
* Feedrate scaling and conversion
|
|
*/
|
|
extern int16_t feedrate_percentage;
|
|
|
|
#define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01)
|
|
|
|
extern bool axis_relative_modes[];
|
|
extern bool axis_known_position[XYZ];
|
|
extern bool axis_homed[XYZ];
|
|
extern volatile bool wait_for_heatup;
|
|
|
|
#if HAS_RESUME_CONTINUE
|
|
extern volatile bool wait_for_user;
|
|
#endif
|
|
|
|
extern float current_position[NUM_AXIS];
|
|
|
|
// Workspace offsets
|
|
#if HAS_WORKSPACE_OFFSET
|
|
#if HAS_HOME_OFFSET
|
|
extern float home_offset[XYZ];
|
|
#endif
|
|
#if HAS_POSITION_SHIFT
|
|
extern float position_shift[XYZ];
|
|
#endif
|
|
#endif
|
|
|
|
#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
|
|
extern float workspace_offset[XYZ];
|
|
#define WORKSPACE_OFFSET(AXIS) workspace_offset[AXIS]
|
|
#elif HAS_HOME_OFFSET
|
|
#define WORKSPACE_OFFSET(AXIS) home_offset[AXIS]
|
|
#elif HAS_POSITION_SHIFT
|
|
#define WORKSPACE_OFFSET(AXIS) position_shift[AXIS]
|
|
#else
|
|
#define WORKSPACE_OFFSET(AXIS) 0
|
|
#endif
|
|
|
|
#define NATIVE_TO_LOGICAL(POS, AXIS) ((POS) + WORKSPACE_OFFSET(AXIS))
|
|
#define LOGICAL_TO_NATIVE(POS, AXIS) ((POS) - WORKSPACE_OFFSET(AXIS))
|
|
|
|
#if HAS_POSITION_SHIFT || DISABLED(DELTA)
|
|
#define LOGICAL_X_POSITION(POS) NATIVE_TO_LOGICAL(POS, X_AXIS)
|
|
#define LOGICAL_Y_POSITION(POS) NATIVE_TO_LOGICAL(POS, Y_AXIS)
|
|
#define RAW_X_POSITION(POS) LOGICAL_TO_NATIVE(POS, X_AXIS)
|
|
#define RAW_Y_POSITION(POS) LOGICAL_TO_NATIVE(POS, Y_AXIS)
|
|
#else
|
|
#define LOGICAL_X_POSITION(POS) (POS)
|
|
#define LOGICAL_Y_POSITION(POS) (POS)
|
|
#define RAW_X_POSITION(POS) (POS)
|
|
#define RAW_Y_POSITION(POS) (POS)
|
|
#endif
|
|
|
|
#define LOGICAL_Z_POSITION(POS) NATIVE_TO_LOGICAL(POS, Z_AXIS)
|
|
#define RAW_Z_POSITION(POS) LOGICAL_TO_NATIVE(POS, Z_AXIS)
|
|
|
|
// Hotend Offsets
|
|
#if HOTENDS > 1
|
|
extern float hotend_offset[XYZ][HOTENDS];
|
|
#endif
|
|
|
|
// Software Endstops
|
|
extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ];
|
|
|
|
#if HAS_SOFTWARE_ENDSTOPS
|
|
extern bool soft_endstops_enabled;
|
|
void clamp_to_software_endstops(float target[XYZ]);
|
|
#else
|
|
#define soft_endstops_enabled false
|
|
#define clamp_to_software_endstops(x) NOOP
|
|
#endif
|
|
|
|
#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
|
|
void update_software_endstops(const AxisEnum axis);
|
|
#endif
|
|
|
|
#if ENABLED(CNC_COORDINATE_SYSTEMS)
|
|
#define MAX_COORDINATE_SYSTEMS 9
|
|
extern float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
|
|
bool select_coordinate_system(const int8_t _new);
|
|
#endif
|
|
|
|
void report_current_position();
|
|
|
|
#if IS_KINEMATIC
|
|
extern float delta[ABC];
|
|
void inverse_kinematics(const float raw[XYZ]);
|
|
#endif
|
|
|
|
#if ENABLED(DELTA)
|
|
extern float delta_height,
|
|
delta_endstop_adj[ABC],
|
|
delta_radius,
|
|
delta_diagonal_rod,
|
|
delta_calibration_radius,
|
|
delta_segments_per_second,
|
|
delta_tower_angle_trim[ABC],
|
|
delta_clip_start_height;
|
|
void recalc_delta_settings();
|
|
#elif IS_SCARA
|
|
void forward_kinematics_SCARA(const float &a, const float &b);
|
|
#endif
|
|
|
|
#if ENABLED(G26_MESH_VALIDATION)
|
|
extern bool g26_debug_flag;
|
|
#elif ENABLED(AUTO_BED_LEVELING_UBL)
|
|
constexpr bool g26_debug_flag = false;
|
|
#endif
|
|
|
|
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
|
#define _GET_MESH_X(I) bilinear_start[X_AXIS] + I * bilinear_grid_spacing[X_AXIS]
|
|
#define _GET_MESH_Y(J) bilinear_start[Y_AXIS] + J * bilinear_grid_spacing[Y_AXIS]
|
|
#elif ENABLED(AUTO_BED_LEVELING_UBL)
|
|
#define _GET_MESH_X(I) ubl.mesh_index_to_xpos(I)
|
|
#define _GET_MESH_Y(J) ubl.mesh_index_to_ypos(J)
|
|
#elif ENABLED(MESH_BED_LEVELING)
|
|
#define _GET_MESH_X(I) mbl.index_to_xpos[I]
|
|
#define _GET_MESH_Y(J) mbl.index_to_ypos[J]
|
|
#endif
|
|
|
|
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
|
extern int bilinear_grid_spacing[2], bilinear_start[2];
|
|
extern float bilinear_grid_factor[2],
|
|
z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
|
|
float bilinear_z_offset(const float raw[XYZ]);
|
|
#endif
|
|
|
|
#if ENABLED(AUTO_BED_LEVELING_UBL)
|
|
typedef struct { double A, B, D; } linear_fit;
|
|
linear_fit* lsf_linear_fit(double x[], double y[], double z[], const int);
|
|
#endif
|
|
|
|
#if HAS_LEVELING
|
|
bool leveling_is_valid();
|
|
void set_bed_leveling_enabled(const bool enable=true);
|
|
void reset_bed_level();
|
|
#endif
|
|
|
|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
|
void set_z_fade_height(const float zfh);
|
|
#endif
|
|
|
|
#if ENABLED(X_DUAL_ENDSTOPS)
|
|
extern float x_endstop_adj;
|
|
#endif
|
|
#if ENABLED(Y_DUAL_ENDSTOPS)
|
|
extern float y_endstop_adj;
|
|
#endif
|
|
#if ENABLED(Z_DUAL_ENDSTOPS)
|
|
extern float z_endstop_adj;
|
|
#endif
|
|
|
|
#if HAS_BED_PROBE
|
|
extern float zprobe_zoffset;
|
|
#define DEPLOY_PROBE() set_probe_deployed(true)
|
|
#define STOW_PROBE() set_probe_deployed(false)
|
|
#else
|
|
#define DEPLOY_PROBE()
|
|
#define STOW_PROBE()
|
|
#endif
|
|
|
|
#if ENABLED(HOST_KEEPALIVE_FEATURE)
|
|
extern MarlinBusyState busy_state;
|
|
#define KEEPALIVE_STATE(n) do{ busy_state = n; }while(0)
|
|
#else
|
|
#define KEEPALIVE_STATE(n) NOOP
|
|
#endif
|
|
|
|
#if FAN_COUNT > 0
|
|
extern int16_t fanSpeeds[FAN_COUNT];
|
|
#if ENABLED(EXTRA_FAN_SPEED)
|
|
extern int16_t old_fanSpeeds[FAN_COUNT],
|
|
new_fanSpeeds[FAN_COUNT];
|
|
#endif
|
|
#if ENABLED(PROBING_FANS_OFF)
|
|
extern bool fans_paused;
|
|
extern int16_t paused_fanSpeeds[FAN_COUNT];
|
|
#endif
|
|
#endif
|
|
|
|
#if ENABLED(BARICUDA)
|
|
extern uint8_t baricuda_valve_pressure, baricuda_e_to_p_pressure;
|
|
#endif
|
|
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
extern bool filament_sensor; // Flag that filament sensor readings should control extrusion
|
|
extern float filament_width_nominal, // Theoretical filament diameter i.e., 3.00 or 1.75
|
|
filament_width_meas; // Measured filament diameter
|
|
extern uint8_t meas_delay_cm, // Delay distance
|
|
measurement_delay[]; // Ring buffer to delay measurement
|
|
extern int8_t filwidth_delay_index[2]; // Ring buffer indexes. Used by planner, temperature, and main code
|
|
#endif
|
|
|
|
#if ENABLED(ADVANCED_PAUSE_FEATURE)
|
|
extern AdvancedPauseMenuResponse advanced_pause_menu_response;
|
|
#endif
|
|
|
|
#if ENABLED(PID_EXTRUSION_SCALING)
|
|
extern int lpq_len;
|
|
#endif
|
|
|
|
#if ENABLED(FWRETRACT)
|
|
extern bool autoretract_enabled; // M209 S - Autoretract switch
|
|
extern float retract_length, // M207 S - G10 Retract length
|
|
retract_feedrate_mm_s, // M207 F - G10 Retract feedrate
|
|
retract_zlift, // M207 Z - G10 Retract hop size
|
|
retract_recover_length, // M208 S - G11 Recover length
|
|
retract_recover_feedrate_mm_s, // M208 F - G11 Recover feedrate
|
|
swap_retract_length, // M207 W - G10 Swap Retract length
|
|
swap_retract_recover_length, // M208 W - G11 Swap Recover length
|
|
swap_retract_recover_feedrate_mm_s; // M208 R - G11 Swap Recover feedrate
|
|
#endif
|
|
|
|
// Print job timer
|
|
#if ENABLED(PRINTCOUNTER)
|
|
extern PrintCounter print_job_timer;
|
|
#else
|
|
extern Stopwatch print_job_timer;
|
|
#endif
|
|
|
|
// Handling multiple extruders pins
|
|
extern uint8_t active_extruder;
|
|
|
|
#if HAS_TEMP_HOTEND || HAS_TEMP_BED
|
|
void print_heaterstates();
|
|
#endif
|
|
|
|
#if ENABLED(MIXING_EXTRUDER)
|
|
extern float mixing_factor[MIXING_STEPPERS];
|
|
#endif
|
|
|
|
/**
|
|
* Blocking movement and shorthand functions
|
|
*/
|
|
void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s=0.0);
|
|
void do_blocking_move_to_x(const float &x, const float &fr_mm_s=0.0);
|
|
void do_blocking_move_to_z(const float &z, const float &fr_mm_s=0.0);
|
|
void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s=0.0);
|
|
|
|
#define HAS_AXIS_UNHOMED_ERR ( \
|
|
ENABLED(Z_PROBE_ALLEN_KEY) \
|
|
|| ENABLED(Z_PROBE_SLED) \
|
|
|| HAS_PROBING_PROCEDURE \
|
|
|| HOTENDS > 1 \
|
|
|| ENABLED(NOZZLE_CLEAN_FEATURE) \
|
|
|| ENABLED(NOZZLE_PARK_FEATURE) \
|
|
|| (ENABLED(ADVANCED_PAUSE_FEATURE) && ENABLED(HOME_BEFORE_FILAMENT_CHANGE)) \
|
|
|| HAS_M206_COMMAND \
|
|
) || ENABLED(NO_MOTION_BEFORE_HOMING)
|
|
|
|
#if HAS_AXIS_UNHOMED_ERR
|
|
bool axis_unhomed_error(const bool x=true, const bool y=true, const bool z=true);
|
|
#endif
|
|
|
|
/**
|
|
* position_is_reachable family of functions
|
|
*/
|
|
|
|
#if IS_KINEMATIC // (DELTA or SCARA)
|
|
|
|
#if IS_SCARA
|
|
extern const float L1, L2;
|
|
#endif
|
|
|
|
inline bool position_is_reachable(const float &rx, const float &ry) {
|
|
#if ENABLED(DELTA)
|
|
return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS);
|
|
#elif IS_SCARA
|
|
#if MIDDLE_DEAD_ZONE_R > 0
|
|
const float R2 = HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y);
|
|
return R2 >= sq(float(MIDDLE_DEAD_ZONE_R)) && R2 <= sq(L1 + L2);
|
|
#else
|
|
return HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y) <= sq(L1 + L2);
|
|
#endif
|
|
#else // CARTESIAN
|
|
// To be migrated from MakerArm branch in future
|
|
#endif
|
|
}
|
|
|
|
inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
|
|
|
|
// Both the nozzle and the probe must be able to reach the point.
|
|
// This won't work on SCARA since the probe offset rotates with the arm.
|
|
|
|
return position_is_reachable(rx, ry)
|
|
&& position_is_reachable(rx - (X_PROBE_OFFSET_FROM_EXTRUDER), ry - (Y_PROBE_OFFSET_FROM_EXTRUDER));
|
|
}
|
|
|
|
#else // CARTESIAN
|
|
|
|
inline bool position_is_reachable(const float &rx, const float &ry) {
|
|
// Add 0.001 margin to deal with float imprecision
|
|
return WITHIN(rx, X_MIN_POS - 0.001, X_MAX_POS + 0.001)
|
|
&& WITHIN(ry, Y_MIN_POS - 0.001, Y_MAX_POS + 0.001);
|
|
}
|
|
|
|
inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
|
|
// Add 0.001 margin to deal with float imprecision
|
|
return WITHIN(rx, MIN_PROBE_X - 0.001, MAX_PROBE_X + 0.001)
|
|
&& WITHIN(ry, MIN_PROBE_Y - 0.001, MAX_PROBE_Y + 0.001);
|
|
}
|
|
|
|
#endif // CARTESIAN
|
|
|
|
#endif // MARLIN_H
|