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Mister-Green/Repetier-Firmware 1.0.3/Repetier/motion.h

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Beginn mit der Erstellung der Firmware-Config
2019-08-07 01:22:58 +02:00
/*
This file is part of Repetier-Firmware.
Repetier-Firmware 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.
Repetier-Firmware 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 Repetier-Firmware. If not, see <http://www.gnu.org/licenses/>.
This firmware is a nearly complete rewrite of the sprinter firmware
by kliment (https://github.com/kliment/Sprinter)
which based on Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
#
Functions in this file are used to communicate using ascii or repetier protocol.
*/
#ifndef MOTION_H_INCLUDED
#define MOTION_H_INCLUDED
/** Marks the first step of a new move */
#define FLAG_WARMUP 1
#define FLAG_NOMINAL 2
#define FLAG_DECELERATING 4
#define FLAG_ACCELERATION_ENABLED 8 // unused
#define FLAG_CHECK_ENDSTOPS 16
#define FLAG_ALL_E_MOTORS 32 // For mixed extruder move all motors instead of selected motor
#define FLAG_SKIP_DEACCELERATING 64 // unused
#define FLAG_BLOCKED 128
/** Are the step parameter computed */
#define FLAG_JOIN_STEPPARAMS_COMPUTED 1
/** The right speed is fixed. Don't check this block or any block to the left. */
#define FLAG_JOIN_END_FIXED 2
/** The left speed is fixed. Don't check left block. */
#define FLAG_JOIN_START_FIXED 4
/** Start filament retraction at move start */
#define FLAG_JOIN_START_RETRACT 8
/** Wait for filament push back, before ending move */
#define FLAG_JOIN_END_RETRACT 16
/** Disable retract for this line */
#define FLAG_JOIN_NO_RETRACT 32
/** Wait for the extruder to finish it's up movement */
#define FLAG_JOIN_WAIT_EXTRUDER_UP 64
/** Wait for the extruder to finish it's down movement */
#define FLAG_JOIN_WAIT_EXTRUDER_DOWN 128
// Printing related data
#if NONLINEAR_SYSTEM || defined(DOXYGEN)
// Allow the delta cache to store segments for every line in line cache. Beware this gets big ... fast.
class PrintLine;
typedef struct {
flag8_t dir; ///< Direction of delta movement.
uint16_t deltaSteps[TOWER_ARRAY]; ///< Number of steps in move.
inline bool checkEndstops(PrintLine *cur, bool checkall);
inline void setXMoveFinished() {
dir &= ~XSTEP;
}
inline void setYMoveFinished() {
dir &= ~YSTEP;
}
inline void setZMoveFinished() {
dir &= ~ZSTEP;
}
inline void setXYMoveFinished() {
dir &= ~XY_STEP;
}
inline bool isXPositiveMove() {
return (dir & X_STEP_DIRPOS) == X_STEP_DIRPOS;
}
inline bool isXNegativeMove() {
return (dir & X_STEP_DIRPOS) == XSTEP;
}
inline bool isYPositiveMove() {
return (dir & Y_STEP_DIRPOS) == Y_STEP_DIRPOS;
}
inline bool isYNegativeMove() {
return (dir & Y_STEP_DIRPOS) == YSTEP;
}
inline bool isZPositiveMove() {
return (dir & Z_STEP_DIRPOS) == Z_STEP_DIRPOS;
}
inline bool isZNegativeMove() {
return (dir & Z_STEP_DIRPOS) == ZSTEP;
}
inline bool isEPositiveMove() {
return (dir & E_STEP_DIRPOS) == E_STEP_DIRPOS;
}
inline bool isENegativeMove() {
return (dir & E_STEP_DIRPOS) == ESTEP;
}
inline bool isXMove() {
return (dir & XSTEP);
}
inline bool isYMove() {
return (dir & YSTEP);
}
inline bool isXOrYMove() {
return dir & XY_STEP;
}
inline bool isZMove() {
return (dir & ZSTEP);
}
inline bool isEMove() {
return (dir & ESTEP);
}
inline bool isEOnlyMove() {
return (dir & XYZE_STEP) == ESTEP;
}
inline bool isNoMove() {
return (dir & XYZE_STEP) == 0;
}
inline bool isXYZMove() {
return dir & XYZ_STEP;
}
inline bool isMoveOfAxis(uint8_t axis) {
return (dir & (XSTEP << axis));
}
inline void setMoveOfAxis(uint8_t axis) {
dir |= XSTEP << axis;
}
inline void setPositiveMoveOfAxis(uint8_t axis) {
dir |= X_STEP_DIRPOS << axis;
}
inline void setPositiveDirectionForAxis(uint8_t axis) {
dir |= X_DIRPOS << axis;
}
} NonlinearSegment;
extern uint8_t lastMoveID;
#endif
class UIDisplay;
class PrintLine { // RAM usage: 24*4+15 = 113 Byte
friend class UIDisplay;
#if CPU_ARCH == ARCH_ARM
static volatile bool nlFlag;
#endif
public:
static ufast8_t linesPos; // Position for executing line movement
static PrintLine lines[];
static ufast8_t linesWritePos; // Position where we write the next cached line move
ufast8_t joinFlags;
volatile ufast8_t flags;
secondspeed_t secondSpeed; // for laser intensity or fan control
private:
fast8_t primaryAxis;
ufast8_t dir; ///< Direction of movement. 1 = X+, 2 = Y+, 4= Z+, values can be combined.
int32_t timeInTicks;
int32_t delta[E_AXIS_ARRAY]; ///< Steps we want to move.
int32_t error[E_AXIS_ARRAY]; ///< Error calculation for Bresenham algorithm
float speedX; ///< Speed in x direction at fullInterval in mm/s
float speedY; ///< Speed in y direction at fullInterval in mm/s
float speedZ; ///< Speed in z direction at fullInterval in mm/s
float speedE; ///< Speed in E direction at fullInterval in mm/s
float fullSpeed; ///< Desired speed mm/s
float invFullSpeed; ///< 1.0/fullSpeed for faster computation
float accelerationDistance2; ///< Real 2.0*distance*acceleration mm²/s²
float maxJunctionSpeed; ///< Max. junction speed between this and next segment
float startSpeed; ///< Starting speed in mm/s
float endSpeed; ///< Exit speed in mm/s
float minSpeed;
float distance;
#if NONLINEAR_SYSTEM || defined(DOXYGEN)
uint8_t numNonlinearSegments; ///< Number of delta segments left in line. Decremented by stepper timer.
uint8_t moveID; ///< ID used to identify moves which are all part of the same line
int32_t numPrimaryStepPerSegment; ///< Number of primary Bresenham axis steps in each delta segment
NonlinearSegment segments[DELTASEGMENTS_PER_PRINTLINE];
#endif
ticks_t fullInterval; ///< interval at full speed in ticks/step.
uint32_t accelSteps; ///< How much steps does it take, to reach the plateau.
uint32_t decelSteps; ///< How much steps does it take, to reach the end speed.
uint32_t accelerationPrim; ///< Acceleration along primary axis
uint32_t fAcceleration; ///< accelerationPrim*262144/F_CPU
speed_t vMax; ///< Maximum reached speed in steps/s.
speed_t vStart; ///< Starting speed in steps/s.
speed_t vEnd; ///< End speed in steps/s
#if USE_ADVANCE
#if ENABLE_QUADRATIC_ADVANCE
int32_t advanceRate; ///< Advance steps at full speed
int32_t advanceFull; ///< Maximum advance at fullInterval [steps*65536]
int32_t advanceStart;
int32_t advanceEnd;
#endif
uint16_t advanceL; ///< Recomputed L value
#endif
#ifdef DEBUG_STEPCOUNT
int32_t totalStepsRemaining;
#endif
public:
int32_t stepsRemaining; ///< Remaining steps, until move is finished
static PrintLine *cur;
static volatile ufast8_t linesCount; // Number of lines cached 0 = nothing to do
inline bool areParameterUpToDate() {
return joinFlags & FLAG_JOIN_STEPPARAMS_COMPUTED;
}
inline void invalidateParameter() {
joinFlags &= ~FLAG_JOIN_STEPPARAMS_COMPUTED;
}
inline void setParameterUpToDate() {
joinFlags |= FLAG_JOIN_STEPPARAMS_COMPUTED;
}
inline bool isStartSpeedFixed() {
return joinFlags & FLAG_JOIN_START_FIXED;
}
inline void setStartSpeedFixed(bool newState) {
joinFlags = (newState ? joinFlags | FLAG_JOIN_START_FIXED : joinFlags & ~FLAG_JOIN_START_FIXED);
}
inline void fixStartAndEndSpeed() {
joinFlags |= FLAG_JOIN_END_FIXED | FLAG_JOIN_START_FIXED;
}
inline bool isEndSpeedFixed() {
return joinFlags & FLAG_JOIN_END_FIXED;
}
inline void setEndSpeedFixed(bool newState) {
joinFlags = (newState ? joinFlags | FLAG_JOIN_END_FIXED : joinFlags & ~FLAG_JOIN_END_FIXED);
}
inline bool isWarmUp() {
return flags & FLAG_WARMUP;
}
inline uint8_t getWaitForXLinesFilled() {
return primaryAxis;
}
inline void setWaitForXLinesFilled(uint8_t b) {
primaryAxis = b;
}
inline bool isExtruderForwardMove() {
return (dir & E_STEP_DIRPOS) == E_STEP_DIRPOS;
}
inline void block() {
flags |= FLAG_BLOCKED;
}
inline void unblock() {
flags &= ~FLAG_BLOCKED;
}
inline bool isBlocked() {
return flags & FLAG_BLOCKED;
}
inline bool isAllEMotors() {
return flags & FLAG_ALL_E_MOTORS;
}
inline bool isCheckEndstops() {
return flags & FLAG_CHECK_ENDSTOPS;
}
inline bool isNominalMove() {
return flags & FLAG_NOMINAL;
}
inline void setNominalMove() {
flags |= FLAG_NOMINAL;
}
inline void checkEndstops() {
if(isCheckEndstops()) {
Endstops::update();
if(Endstops::anyEndstopHit()) {
#if MULTI_XENDSTOP_HOMING
{
if(Printer::isHoming()) {
if(isXNegativeMove()) {
if(Endstops::xMin())
Printer::multiXHomeFlags &= ~1;
if(Endstops::x2Min())
Printer::multiXHomeFlags &= ~2;
if(Printer::multiXHomeFlags == 0)
setXMoveFinished();
} else if(isXPositiveMove()) {
if(Endstops::xMax())
Printer::multiXHomeFlags &= ~1;
if(Endstops::x2Max())
Printer::multiXHomeFlags &= ~2;
if(Printer::multiXHomeFlags == 0) {
setXMoveFinished();
}
}
} else {
if(isXNegativeMove() && Endstops::xMin()) {
setXMoveFinished();
} else if(isXPositiveMove() && Endstops::xMax()) {
setXMoveFinished();
}
}
}
#else // Multi endstop homing
if(isXNegativeMove() && Endstops::xMin())
setXMoveFinished();
else if(isXPositiveMove() && Endstops::xMax())
setXMoveFinished();
#endif
#if MULTI_YENDSTOP_HOMING
{
if(Printer::isHoming()) {
if(isYNegativeMove()) {
if(Endstops::yMin())
Printer::multiYHomeFlags &= ~1;
if(Endstops::y2Min())
Printer::multiYHomeFlags &= ~2;
if(Printer::multiYHomeFlags == 0)
setYMoveFinished();
} else if(isYPositiveMove()) {
if(Endstops::yMax())
Printer::multiYHomeFlags &= ~1;
if(Endstops::y2Max())
Printer::multiYHomeFlags &= ~2;
if(Printer::multiYHomeFlags == 0) {
setYMoveFinished();
}
}
} else {
if(isYNegativeMove() && Endstops::yMin()) {
setYMoveFinished();
} else if(isYPositiveMove() && Endstops::yMax()) {
setYMoveFinished();
}
}
}
#else // Multi endstop homing
if(isYNegativeMove() && Endstops::yMin())
setYMoveFinished();
else if(isYPositiveMove() && Endstops::yMax())
setYMoveFinished();
#endif
#if FEATURE_Z_PROBE
if(Printer::isZProbingActive() && isZNegativeMove() && Endstops::zProbe()) {
setZMoveFinished();
Printer::stepsRemainingAtZHit = stepsRemaining;
} else
#endif
#if MULTI_ZENDSTOP_HOMING
{
if(Printer::isHoming()) {
if(isZNegativeMove()) {
if(Endstops::zMin())
Printer::multiZHomeFlags &= ~1;
if(Endstops::z2MinMax())
Printer::multiZHomeFlags &= ~2;
if(Printer::multiZHomeFlags == 0)
setZMoveFinished();
} else if(isZPositiveMove()) {
if(Endstops::zMax())
Printer::multiZHomeFlags &= ~1;
if(Endstops::z2MinMax())
Printer::multiZHomeFlags &= ~2;
if(Printer::multiZHomeFlags == 0) {
#if MAX_HARDWARE_ENDSTOP_Z
Printer::stepsRemainingAtZHit = stepsRemaining;
#endif
setZMoveFinished();
}
}
} else {
#if !(Z_MIN_PIN == Z_PROBE_PIN && FEATURE_Z_PROBE)
if(isZNegativeMove() && Endstops::zMin()) {
setZMoveFinished();
} else
#endif
if(isZPositiveMove() && Endstops::zMax()) {
#if MAX_HARDWARE_ENDSTOP_Z
Printer::stepsRemainingAtZHit = stepsRemaining;
#endif
setZMoveFinished();
}
}
}
#else // Multi endstop homing
if(isZNegativeMove() && Endstops::zMin()
#if Z_MIN_PIN == Z_PROBE_PIN && FEATURE_Z_PROBE
&& Printer::isHoming()
#endif
) {
setZMoveFinished();
} else if(isZPositiveMove() && Endstops::zMax()) {
#if MAX_HARDWARE_ENDSTOP_Z
Printer::stepsRemainingAtZHit = stepsRemaining;
#endif
setZMoveFinished();
}
#endif
}
#if FEATURE_Z_PROBE
else if(Printer::isZProbingActive() && isZNegativeMove()) {
Endstops::update();
if(Endstops::zProbe()) {
setZMoveFinished();
Printer::stepsRemainingAtZHit = stepsRemaining;
}
}
#endif
}
}
inline void setXMoveFinished() {
#if DRIVE_SYSTEM==XY_GANTRY || DRIVE_SYSTEM==YX_GANTRY
dir &= ~48;
#elif DRIVE_SYSTEM==XZ_GANTRY || DRIVE_SYSTEM==ZX_GANTRY
dir &= ~80;
#else
dir &= ~16;
#endif
}
inline void setYMoveFinished() {
#if DRIVE_SYSTEM==XY_GANTRY || DRIVE_SYSTEM==YX_GANTRY
dir &= ~48;
#else
dir &= ~32;
#endif
}
inline void setZMoveFinished() {
#if DRIVE_SYSTEM==XZ_GANTRY || DRIVE_SYSTEM==ZX_GANTRY
dir &= ~80;
#else
dir &= ~64;
#endif
}
inline void setXYMoveFinished() {
dir &= ~48;
}
inline bool isXPositiveMove() {
return (dir & X_STEP_DIRPOS) == X_STEP_DIRPOS;
}
inline bool isXNegativeMove() {
return (dir & X_STEP_DIRPOS) == XSTEP;
}
inline bool isYPositiveMove() {
return (dir & Y_STEP_DIRPOS) == Y_STEP_DIRPOS;
}
inline bool isYNegativeMove() {
return (dir & Y_STEP_DIRPOS) == YSTEP;
}
inline bool isZPositiveMove() {
return (dir & Z_STEP_DIRPOS) == Z_STEP_DIRPOS;
}
inline bool isZNegativeMove() {
return (dir & Z_STEP_DIRPOS) == ZSTEP;
}
inline bool isEPositiveMove() {
return (dir & E_STEP_DIRPOS) == E_STEP_DIRPOS;
}
inline bool isENegativeMove() {
return (dir & E_STEP_DIRPOS) == ESTEP;
}
inline bool isXMove() {
return (dir & XSTEP);
}
inline bool isYMove() {
return (dir & YSTEP);
}
inline bool isXOrYMove() {
return dir & XY_STEP;
}
inline bool isXOrZMove() {
return dir & (XSTEP | ZSTEP);
}
inline bool isZMove() {
return (dir & ZSTEP);
}
inline bool isEMove() {
return (dir & ESTEP);
}
inline bool isEOnlyMove() {
return (dir & XYZE_STEP) == ESTEP;
}
inline bool isNoMove() {
return (dir & XYZE_STEP) == 0;
}
inline bool isXYZMove() {
return dir & XYZ_STEP;
}
inline bool isMoveOfAxis(uint8_t axis) {
return (dir & (XSTEP << axis));
}
inline void setMoveOfAxis(uint8_t axis) {
dir |= XSTEP << axis;
}
inline void setPositiveDirectionForAxis(uint8_t axis) {
dir |= X_DIRPOS << axis;
}
inline static void resetPathPlanner() {
linesCount = 0;
linesPos = linesWritePos;
Printer::setMenuMode(MENU_MODE_PRINTING, Printer::isPrinting());
}
// Only called from bresenham -> inside interrupt handle
inline void updateAdvanceSteps(speed_t v, uint8_t max_loops, bool accelerate) {
#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
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