merge followup

MarlinFirmware · Jul 11, 2022 · 55928d8 · 55928d8
1 parent 5b853a2
commit 55928d8
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Showing 7 changed files with 86 additions and 66 deletions.
diff --git a/Marlin/src/gcode/bedlevel/G26.cpp b/Marlin/src/gcode/bedlevel/G26.cpp
@@ -306,7 +306,7 @@ typedef struct {
         LIMIT(e.x, X_MIN_POS + 1, X_MAX_POS - 1);
       #endif
 
-      if (position_is_reachable(s.x, s.y) && position_is_reachable(e.x, e.y))
+      if (position_is_reachable(s) && position_is_reachable(e))
         print_line_from_here_to_there(s, e);
     }
   }

diff --git a/Marlin/src/gcode/calibrate/M665.cpp b/Marlin/src/gcode/calibrate/M665.cpp
@@ -174,12 +174,12 @@
   void GcodeSuite::M665_report(const bool forReplay/*=true*/) {
     report_heading_etc(forReplay, F(STR_POLARGRAPH_SETTINGS));
     SERIAL_ECHOLNPGM_P(
-        PSTR("  M665 S"), LINEAR_UNIT(segments_per_second),
-        PSTR(" L"), LINEAR_UNIT(draw_area_min.x),
-        PSTR(" R"), LINEAR_UNIT(draw_area_max.x),
-        SP_T_STR, LINEAR_UNIT(draw_area_max.y),
-        SP_B_STR, LINEAR_UNIT(draw_area_min.y),
-        PSTR(" H"), LINEAR_UNIT(polargraph_max_belt_len)
+      PSTR("  M665 S"), LINEAR_UNIT(segments_per_second),
+      PSTR(" L"), LINEAR_UNIT(draw_area_min.x),
+      PSTR(" R"), LINEAR_UNIT(draw_area_max.x),
+      SP_T_STR, LINEAR_UNIT(draw_area_max.y),
+      SP_B_STR, LINEAR_UNIT(draw_area_min.y),
+      PSTR(" H"), LINEAR_UNIT(polargraph_max_belt_len)
     );
   }
 

diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp
@@ -933,7 +933,7 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
       #endif
 
       #if IS_KINEMATIC
-        case 665: M665(); break;                                  // M665: Set Delta/SCARA/Polargraph parameters
+        case 665: M665(); break;                                  // M665: Set Kinematics parameters
       #endif
 
       #if ENABLED(DELTA) || HAS_EXTRA_ENDSTOPS

diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
@@ -300,15 +300,72 @@ void report_current_position_projected() {
 
 #endif
 
-#if ENABLED(POLARGRAPH)
-bool position_is_reachable(const_float_t rx, const_float_t ry, const float inset/*=0*/) {
-  const float x1 = rx - (draw_area_min.x), x2 = (draw_area_max.x) - rx, y = ry - (draw_area_max.y),
-                a = HYPOT(x1, y), b = HYPOT(x2, y);
-    return a < (polargraph_max_belt_len) + 1
-        && b < (polargraph_max_belt_len) + 1
-        && (a + b) > _MIN(draw_area_size.x, draw_area_size.y);
-}
-#endif
+#if IS_KINEMATIC
+
+  bool position_is_reachable(const_float_t rx, const_float_t ry, const float inset/*=0*/) {
+
+    bool can_reach;
+
+    #if ENABLED(DELTA)
+
+      can_reach = HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset + fslop);
+
+    #elif ENABLED(AXEL_TPARA)
+
+      const float R2 = HYPOT2(rx - TPARA_OFFSET_X, ry - TPARA_OFFSET_Y);
+      can_reach = (
+        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);
+      can_reach = (
+        R2 <= sq(L1 + L2) - inset
+        #if MIDDLE_DEAD_ZONE_R > 0
+          && R2 >= sq(float(MIDDLE_DEAD_ZONE_R))
+        #endif
+      );
+
+    #elif ENABLED(POLARGRAPH)
+
+      const float d1 = rx - (draw_area_min.x),
+                  d2 = (draw_area_max.x) - rx,
+                   y = ry - (draw_area_max.y),
+                   a = HYPOT(d1, y),
+                   b = HYPOT(d2, y);
+
+      can_reach = (
+           a < polargraph_max_belt_len + 1
+        && b < polargraph_max_belt_len + 1
+        && (a + b) > _MIN(draw_area_size.x, draw_area_size.y)
+      );
+
+    #endif
+
+    return can_reach;
+  }
+
+#else // CARTESIAN
+
+  // Return true if the given position is within the machine bounds.
+  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
+  }
+
+#endif // CARTESIAN
+
 
 void home_if_needed(const bool keeplev/*=false*/) {
   if (!all_axes_trusted()) gcode.home_all_axes(keeplev);

diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
@@ -548,61 +548,22 @@ void home_if_needed(const bool keeplev=false);
     extern abc_pos_t scara_home_offset; // A and B angular offsets, Z mm offset
   #endif
 
-  #if ENABLED(POLARGRAPH)
-    bool position_is_reachable(const_float_t rx, const_float_t ry, const float inset=0);
-  #else
-
   // 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(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
-      );
+  bool position_is_reachable(const_float_t rx, const_float_t ry, const float inset=0);
 
-    #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
+#else
 
   // 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
+  bool position_is_reachable(const_float_t rx, const_float_t ry);
+  inline bool position_is_reachable(const xy_pos_t &pos) {
+    return position_is_reachable(pos.x, pos.y);
   }
-  inline bool position_is_reachable(const xy_pos_t &pos) { return position_is_reachable(pos.x, pos.y); }
 
-#endif // CARTESIAN
+#endif
 
 /**
  * Duplication mode

diff --git a/Marlin/src/module/polargraph.cpp b/Marlin/src/module/polargraph.cpp
@@ -38,9 +38,12 @@
 #include "../MarlinCore.h"
 
 float segments_per_second; // Initialized by settings.load()
-xy_pos_t draw_area_min = { X_MIN_POS, Y_MIN_POS };
-xy_pos_t draw_area_max = { X_MAX_POS, Y_MAX_POS };
+
+xy_pos_t draw_area_min = { X_MIN_POS, Y_MIN_POS },
+         draw_area_max = { X_MAX_POS, Y_MAX_POS };
+
 xy_float_t draw_area_size = { X_MAX_POS - X_MIN_POS, Y_MAX_POS - Y_MIN_POS };
+
 float polargraph_max_belt_len = HYPOT(draw_area_size.x, draw_area_size.y);
 
 void inverse_kinematics(const xyz_pos_t &raw) {

diff --git a/Marlin/src/module/polargraph.h b/Marlin/src/module/polargraph.h
@@ -29,8 +29,7 @@
 #include "../core/macros.h"
 
 extern float segments_per_second;
-extern xy_pos_t draw_area_min;
-extern xy_pos_t draw_area_max;
+extern xy_pos_t draw_area_min, draw_area_max;
 extern xy_float_t draw_area_size;
 extern float polargraph_max_belt_len;