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Diffstat (limited to 'ArcWelderInverseProcessor/marlin_2.h')
| -rw-r--r-- | ArcWelderInverseProcessor/marlin_2.h | 107 |
1 files changed, 107 insertions, 0 deletions
diff --git a/ArcWelderInverseProcessor/marlin_2.h b/ArcWelderInverseProcessor/marlin_2.h new file mode 100644 index 0000000..f9735ec --- /dev/null +++ b/ArcWelderInverseProcessor/marlin_2.h @@ -0,0 +1,107 @@ +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Arc Welder: Marlin 2 arc interpolation simulator. Please see the copyright notices in the function definitions +// starting with plan_arc_ for the original license. +// +// Converts G2/G3(arc) commands back to G0/G1 commands. Intended to test firmware changes to improve arc support. +// This reduces file size and the number of gcodes per second. +// +// Built using the 'Arc Welder: Anti Stutter' library +// +// Copyright(C) 2021 - Brad Hochgesang +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// This program is free software : you can redistribute it and/or modify +// it under the terms of the GNU Affero 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 Affero General Public License for more details. +// +// +// You can contact the author at the following email address: +// FormerLurker@pm.me +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +#pragma once +#include "firmware.h" + + +#define MARLIN_2_XYZE 4 + +class marlin_2 : + public firmware +{ +public: + enum class marlin_2_firmware_versions { V2_0_9_1 = 0, V2_0_9_2 = 1}; + /// <summary> + /// Types and enums taken from https://github.com/MarlinFirmware/Marlin/blob/cce585f6ca2235d0a534e8f3043d6d502b3bd93b/Marlin/src/core/types.h + /// </summary> + // This enum was simplified + enum AxisEnum : uint8_t { + X_AXIS=0, + Y_AXIS=1, + Z_AXIS=2, + E_AXIS=3, + }; + + marlin_2(firmware_arguments args); + virtual ~marlin_2(); + virtual std::string interpolate_arc(firmware_position& target, double i, double j, double r, bool is_clockwise) override; + virtual firmware_arguments get_default_arguments_for_current_version() const override; + virtual void apply_arguments() override; +private: + marlin_2_firmware_versions marlin_2_version_; + std::string gcodes_; + float* current_position; + float feedrate_mm_s; + /// <summary> + /// A struct representing the prusa configuration store. Note: I didn't add the trailing underscore so this variable name will match the original source algorithm name. + /// </summary> + typedef void(marlin_2::* plan_arc_func)( + const float(&cart)[MARLIN_2_XYZE], // Destination position + const float(&offset)[2], // Center of rotation relative to current_position + const bool clockwise, // Clockwise? + const uint8_t circles // Take the scenic route + ); + + void plan_arc_2_0_9_1( + const float (&cart)[MARLIN_2_XYZE], // Destination position + const float (&offset)[2], // Center of rotation relative to current_position + const bool clockwise, // Clockwise? + const uint8_t circles // Take the scenic route + ); + void plan_arc_2_0_9_2( + const float(&cart)[MARLIN_2_XYZE], // Destination position + const float(&offset)[2], // Center of rotation relative to current_position + const bool clockwise, // Clockwise? + const uint8_t circles // Take the scenic route + ); + + bool buffer_line(const float(&cart)[MARLIN_2_XYZE], double fr_mm_s, int active_extruder); + void apply_motion_limits(float (&pos)[MARLIN_2_XYZE]); + plan_arc_func plan_arc_; + + // Marlin Function Defs + float HYPOT(float x, float y); + float ATAN2(float x, float y); + float RADIANS(float x); + float COS(float x); + float SIN(float s); + float ABS(float x); + float FLOOR(float x); + float NOLESS(uint16_t x, uint16_t y); + float sq(float x); + float MMS_SCALED(float x); + bool NEAR_ZERO(float x); + bool NEAR(float x, float y); + bool WITHIN(float N, float L, float H); + float CEIL(float x); + float constrain(float value, float arg_min, float arg_max); + float _MAX(float x, float y); + float _MIN(float x, float y); + float RECIPROCAL(float x); + void COPY(float target[MARLIN_2_XYZE], const float(&source)[MARLIN_2_XYZE]); +}; + |