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/*
* RawMove.h
*
* Created on: 18 Apr 2019
* Author: David
*/
#ifndef SRC_GCODES_RAWMOVE_H_
#define SRC_GCODES_RAWMOVE_H_
#include "RepRapFirmware.h"
// Details of a move that are passed from GCodes to Move
struct RawMove
{
float coords[MaxAxesPlusExtruders]; // new positions for the axes, amount of movement for the extruders
float initialUserC0, initialUserC1; // if this is a segment of an arc move, the user XYZ coordinates at the start
float feedRate; // feed rate of this move
float virtualExtruderPosition; // the virtual extruder position at the start of this move, for normal moves
FilePosition filePos; // offset in the file being printed at the start of reading this move
float proportionDone; // what proportion of the entire move has been done when this segment is complete
float cosXyAngle; // the cosine of the change in XY angle between the previous move and this move
const Tool *tool; // which tool (if any) is being used
uint16_t moveType : 3, // the H parameter from the G0 or G1 command, 0 for a normal move
applyM220M221 : 1, // true if this move is affected by M220 and M221 (this could be moved to ExtendedRawMove)
usePressureAdvance : 1, // true if we want to us extruder pressure advance, if there is any extrusion
canPauseAfter : 1, // true if we can pause just after this move and successfully restart
hasPositiveExtrusion : 1, // true if the move includes extrusion; only valid if the move was set up by SetupMove
isCoordinated : 1, // true if this is a coordinated move
usingStandardFeedrate : 1, // true if this move uses the standard feed rate
checkEndstops : 1, // true if any endstops or the Z probe can terminate the move
reduceAcceleration : 1, // true if Z probing so we should limit the Z acceleration
linearAxesMentioned : 1, // true if any linear axes were mentioned in the movement command
rotationalAxesMentioned: 1; // true if any rotational axes were mentioned in the movement command
#if SUPPORT_LASER || SUPPORT_IOBITS
LaserPwmOrIoBits laserPwmOrIoBits; // the laser PWM or port bit settings required
#else
uint16_t padding;
#endif
// If adding any more fields, keep the total size a multiple of 4 bytes so that we can use our optimised assignment operator
void SetDefaults(size_t firstDriveToZero) noexcept; // set up default values
// GCC normally calls memcpy to assign objects of this class. We can do better because we know they must be 32-bit aligned.
RawMove& operator=(const RawMove& arg) noexcept
{
memcpyu32(reinterpret_cast<uint32_t*>(this), reinterpret_cast<const uint32_t*>(&arg), sizeof(*this)/4);
return *this;
}
};
enum class SegmentedMoveState : uint8_t
{
inactive = 0,
active,
aborted
};
// Details of a move that are needed only by GCodes
// CAUTION: segmentsLeft should ONLY be changed from 0 to not 0 by calling NewMoveAvailable()!
struct MovementState : public RawMove
{
// The current user position now holds the requested user position after applying workplace coordinate offsets.
// So we must subtract the workplace coordinate offsets when we want to display them.
// We have chosen this approach because it allows us to switch workplace coordinates systems or turn off applying workplace offsets without having to update currentUserPosition.
float currentUserPosition[MaxAxes]; // The current position of the axes as commanded by the input gcode, after accounting for workplace offset,
// before accounting for tool offset and Z hop
float currentZHop; // The amount of Z hop that is currently applied
float initialCoords[MaxAxes]; // the initial positions of the axes
float previousX, previousY; // the initial X and Y coordinates in user space of the previous move
float previousXYDistance; // the XY length of that previous move
unsigned int currentCoordinateSystem; // This is zero-based, where as the P parameter in the G10 command is 1-based
unsigned int segmentsLeft; // the number of segments left to do in the current move, or 0 if no move available
unsigned int totalSegments; // the total number of segments left in the complete move
unsigned int arcAxis0, arcAxis1; // the axis numbers of the arc before we apply axis mapping
float arcCentre[MaxAxes]; // the arc centres coordinates of those axes that are moving in arcs
float arcRadius; // the arc radius before we apply scaling factors
float arcCurrentAngle; // the current angle of the arc relative to the +arcAxis0 direction
float currentAngleSine, currentAngleCosine; // the sine and cosine of the current angle
float arcAngleIncrement; // the amount by which we increment the arc angle in each segment
float angleIncrementSine, angleIncrementCosine; // the sine and cosine of the increment
unsigned int segmentsTillNextFullCalc; // how may more segments we can do before we need to do the full calculation instead of the quicker one
bool doingArcMove; // true if we are doing an arc move
bool xyPlane; // true if the G17/G18/G19 selected plane of the arc move is XY in the original user coordinates
SegmentedMoveState segMoveState;
float GetProportionDone() const noexcept; // get the proportion of this whole move that has been completed, based on segmentsLeft and totalSegments
};
#if SUPPORT_ASYNC_MOVES
struct AsyncMove
{
float movements[MaxAxesPlusExtruders];
float startSpeed, endSpeed, requestedSpeed;
float acceleration, deceleration;
void SetDefaults() noexcept;
};
#endif
#endif /* SRC_GCODES_RAWMOVE_H_ */
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