Implement CNC_COORDINATE_SYSTEMS

Marlin/src/gcode/geometry/G53-G59.cpp

@@ -0,0 +1,93 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program 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.
+ *
+ * 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../gcode.h"
+#include "../../module/motion.h"
+//#include "../../module/stepper.h"
+
+#if ENABLED(CNC_COORDINATE_SYSTEMS)
+
+  /**
+   * Select a coordinate system and update the current position.
+   * System index -1 is used to specify machine-native.
+   */
+  bool GCodeSuite::select_coordinate_system(const int8_t _new) {
+    if (active_coordinate_system == _new) return false;
+    stepper.synchronize();
+    float old_offset[XYZ] = { 0 }, new_offset[XYZ] = { 0 };
+    if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
+      COPY(old_offset, coordinate_system[active_coordinate_system]);
+    if (WITHIN(_new, 0, MAX_COORDINATE_SYSTEMS - 1))
+      COPY(new_offset, coordinate_system[_new]);
+    active_coordinate_system = _new;
+    bool didXYZ = false;
+    LOOP_XYZ(i) {
+      const float diff = new_offset[i] - old_offset[i];
+      if (diff) {
+        position_shift[i] += diff;
+        update_software_endstops((AxisEnum)i);
+        didXYZ = true;
+      }
+    }
+    if (didXYZ) SYNC_PLAN_POSITION_KINEMATIC();
+    return true;
+  }
+
+  /**
+   * In CNC G-code G53 is like a modifier
+   * It precedes a movement command (or other modifiers) on the same line.
+   * This is the first command to use parser.chain() to make this possible.
+   */
+  void GCodeSuite::G53() {
+    // If this command has more following...
+    if (parser.chain()) {
+      const int8_t _system = active_coordinate_system;
+      active_coordinate_system = -1;
+      process_parsed_command();
+      active_coordinate_system = _system;
+    }
+  }
+
+  /**
+   * G54-G59.3: Select a new workspace
+   *
+   * A workspace is an XYZ offset to the machine native space.
+   * All workspaces default to 0,0,0 at start, or with EEPROM
+   * support they may be restored from a previous session.
+   *
+   * G92 is used to set the current workspace's offset.
+   */
+  void G54_59(uint8_t subcode=0) {
+    const int8_t _space = parser.codenum - 54 + subcode;
+    if (gcode.select_coordinate_system(_space)) {
+      SERIAL_PROTOCOLLNPAIR("Select workspace ", _space);
+      report_current_position();
+    }
+  }
+  void GCodeSuite::G54() { G54_59(); }
+  void GCodeSuite::G55() { G54_59(); }
+  void GCodeSuite::G56() { G54_59(); }
+  void GCodeSuite::G57() { G54_59(); }
+  void GCodeSuite::G58() { G54_59(); }
+  void GCodeSuite::G59() { G54_59(parser.subcode); }
+
+#endif // CNC_COORDINATE_SYSTEMS

Marlin/src/gcode/geometry/G92.cpp

@@ -37,7 +37,30 @@ void GcodeSuite::G92() {
 
   if (!didE) stepper.synchronize();
 
-  LOOP_XYZE(i) {
+  #if ENABLED(CNC_COORDINATE_SYSTEMS)
+    switch (parser.subcode) {
+      case 1:
+        // Zero the G92 values and restore current position
+        #if !IS_SCARA
+          LOOP_XYZ(i) {
+            const float v = position_shift[i];
+            if (v) {
+              position_shift[i] = 0;
+              update_software_endstops((AxisEnum)i);
+            }
+          }
+        #endif // Not SCARA
+        return;
+    }
+  #endif
+
+  #if ENABLED(CNC_COORDINATE_SYSTEMS)
+    #define IS_G92_0 (parser.subcode == 0)
+  #else
+    #define IS_G92_0 true
+  #endif
+
+  if (IS_G92_0) LOOP_XYZE(i) {
     if (parser.seenval(axis_codes[i])) {
       #if IS_SCARA
         current_position[i] = parser.value_axis_units((AxisEnum)i);
@@ -60,6 +83,13 @@ void GcodeSuite::G92() {
       #endif
     }
   }
+
+  #if ENABLED(CNC_COORDINATE_SYSTEMS)
+    // Apply workspace offset to the active coordinate system
+    if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
+      COPY(coordinate_system[active_coordinate_system], position_shift);
+  #endif
+
   if (didXYZ)
     SYNC_PLAN_POSITION_KINEMATIC();
   else if (didE)