motion.h

/*
    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
// 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;
    uint8_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
    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.
    uint16_t accelSteps;        ///< How much steps does it take, to reach the plateau.
    uint16_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(isXNegativeMove() && Endstops::xMin())
                setXMoveFinished();
            else if(isXPositiveMove() && Endstops::xMax())
                setXMoveFinished();
            if(isYNegativeMove() && Endstops::yMin())
                setYMoveFinished();
            else if(isYPositiveMove() && Endstops::yMax())
                setYMoveFinished();
#if FEATURE_Z_PROBE
            if(Printer::isZProbingActive() && isZNegativeMove() && Endstops::zProbe())
            {
                setZMoveFinished();
                Printer::stepsRemainingAtZHit = stepsRemaining;
            }
            else
#endif
                if(isZNegativeMove() && Endstops::zMin())
                {
                    setZMoveFinished();
                }
                else if(isZPositiveMove() && Endstops::zMax())
                {
#if MAX_HARDWARE_ENDSTOP_Z
                    Printer::stepsRemainingAtZHit = stepsRemaining;
#endif
                    setZMoveFinished();
                }
        }
#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 | YSTEP);
    }
    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, false);
    }
    // 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 <= 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()
    {
        linesPos++;
        if(linesPos >= PRINTLINE_CACHE_SIZE) linesPos = 0;
        cur = NULL;
#if CPU_ARCH == ARCH_ARM
        nlFlag = false;
#endif
        HAL::forbidInterrupts();
        --linesCount;
        if(!linesCount)
            Printer::setMenuMode(MENU_MODE_PRINTING, false);
    }
    static INLINE void pushLine()
    {
        linesWritePos++;
        if(linesWritePos >= PRINTLINE_CACHE_SIZE) linesWritePos = 0;
        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);
#if !NONLINEAR_SYSTEM
    static void queueCartesianMove(uint8_t check_endstops,uint8_t pathOptimize);
#if DISTORTION_CORRECTION
	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
    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
    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
    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