From 5f7e85398b898f7fab51f487c44995b4fa247df4 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sat, 4 Mar 2017 18:01:33 -0600 Subject: [PATCH] Implement NO_WORKSPACE_OFFSETS --- Marlin/Marlin.h | 45 +++-- Marlin/Marlin_main.cpp | 306 ++++++++++++++++++--------------- Marlin/configuration_store.cpp | 35 ++-- 3 files changed, 224 insertions(+), 162 deletions(-) diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index 97af92c583..7d759553cc 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -275,27 +275,18 @@ extern volatile bool wait_for_heatup; #endif extern float current_position[NUM_AXIS]; -extern float position_shift[XYZ]; -extern float home_offset[XYZ]; -#if HOTENDS > 1 - extern float hotend_offset[XYZ][HOTENDS]; -#endif - -// Software Endstops -void update_software_endstops(AxisEnum axis); -#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops) - extern bool soft_endstops_enabled; - void clamp_to_software_endstops(float target[XYZ]); +// Workspace offsets +#if DISABLED(NO_WORKSPACE_OFFSETS) + extern float position_shift[XYZ]; + extern float home_offset[XYZ]; + #define LOGICAL_POSITION(POS, AXIS) ((POS) + home_offset[AXIS] + position_shift[AXIS]) + #define RAW_POSITION(POS, AXIS) ((POS) - home_offset[AXIS] - position_shift[AXIS]) #else - #define soft_endstops_enabled false - #define clamp_to_software_endstops(x) NOOP + #define LOGICAL_POSITION(POS, AXIS) (POS) + #define RAW_POSITION(POS, AXIS) (POS) #endif -extern float soft_endstop_min[XYZ]; -extern float soft_endstop_max[XYZ]; -#define LOGICAL_POSITION(POS, AXIS) ((POS) + home_offset[AXIS] + position_shift[AXIS]) -#define RAW_POSITION(POS, AXIS) ((POS) - home_offset[AXIS] - position_shift[AXIS]) #define LOGICAL_X_POSITION(POS) LOGICAL_POSITION(POS, X_AXIS) #define LOGICAL_Y_POSITION(POS) LOGICAL_POSITION(POS, Y_AXIS) #define LOGICAL_Z_POSITION(POS) LOGICAL_POSITION(POS, Z_AXIS) @@ -304,6 +295,26 @@ extern float soft_endstop_max[XYZ]; #define RAW_Z_POSITION(POS) RAW_POSITION(POS, Z_AXIS) #define RAW_CURRENT_POSITION(AXIS) RAW_POSITION(current_position[AXIS], AXIS) +#if HOTENDS > 1 + extern float hotend_offset[XYZ][HOTENDS]; +#endif + +// Software Endstops +extern float soft_endstop_min[XYZ]; +extern float soft_endstop_max[XYZ]; + +#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops) + extern bool soft_endstops_enabled; + void clamp_to_software_endstops(float target[XYZ]); +#else + #define soft_endstops_enabled false + #define clamp_to_software_endstops(x) NOOP +#endif + +#if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA) + void update_software_endstops(const AxisEnum axis); +#endif + // GCode support for external objects bool code_seen(char); int code_value_int(); diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index c57c2e296f..3c6ef8bd5e 100755 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -396,12 +396,16 @@ bool axis_relative_modes[] = AXIS_RELATIVE_MODES, float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA), volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0); -// The distance that XYZ has been offset by G92. Reset by G28. -float position_shift[XYZ] = { 0 }; +#if DISABLED(NO_WORKSPACE_OFFSETS) -// This offset is added to the configured home position. -// Set by M206, M428, or menu item. Saved to EEPROM. -float home_offset[XYZ] = { 0 }; + // The distance that XYZ has been offset by G92. Reset by G28. + float position_shift[XYZ] = { 0 }; + + // This offset is added to the configured home position. + // Set by M206, M428, or menu item. Saved to EEPROM. + float home_offset[XYZ] = { 0 }; + +#endif // Software Endstops are based on the configured limits. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops) @@ -1333,76 +1337,83 @@ bool get_target_extruder_from_command(int code) { #endif // DUAL_X_CARRIAGE -/** - * Software endstops can be used to monitor the open end of - * an axis that has a hardware endstop on the other end. Or - * they can prevent axes from moving past endstops and grinding. - * - * To keep doing their job as the coordinate system changes, - * the software endstop positions must be refreshed to remain - * at the same positions relative to the machine. - */ -void update_software_endstops(AxisEnum axis) { - float offs = LOGICAL_POSITION(0, axis); +#if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA) - #if ENABLED(DUAL_X_CARRIAGE) - if (axis == X_AXIS) { + /** + * Software endstops can be used to monitor the open end of + * an axis that has a hardware endstop on the other end. Or + * they can prevent axes from moving past endstops and grinding. + * + * To keep doing their job as the coordinate system changes, + * the software endstop positions must be refreshed to remain + * at the same positions relative to the machine. + */ + void update_software_endstops(const AxisEnum axis) { + const float offs = LOGICAL_POSITION(0, axis); - // In Dual X mode hotend_offset[X] is T1's home position - float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS); + #if ENABLED(DUAL_X_CARRIAGE) + if (axis == X_AXIS) { - if (active_extruder != 0) { - // T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger) - soft_endstop_min[X_AXIS] = X2_MIN_POS + offs; - soft_endstop_max[X_AXIS] = dual_max_x + offs; + // In Dual X mode hotend_offset[X] is T1's home position + float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS); + + if (active_extruder != 0) { + // T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger) + soft_endstop_min[X_AXIS] = X2_MIN_POS + offs; + soft_endstop_max[X_AXIS] = dual_max_x + offs; + } + else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) { + // In Duplication Mode, T0 can move as far left as X_MIN_POS + // but not so far to the right that T1 would move past the end + soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs; + soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs; + } + else { + // In other modes, T0 can move from X_MIN_POS to X_MAX_POS + soft_endstop_min[axis] = base_min_pos(axis) + offs; + soft_endstop_max[axis] = base_max_pos(axis) + offs; + } } - else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) { - // In Duplication Mode, T0 can move as far left as X_MIN_POS - // but not so far to the right that T1 would move past the end - soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs; - soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs; + #else + soft_endstop_min[axis] = base_min_pos(axis) + offs; + soft_endstop_max[axis] = base_max_pos(axis) + offs; + #endif + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOPAIR("For ", axis_codes[axis]); + #if DISABLED(NO_WORKSPACE_OFFSETS) + SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]); + SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]); + #endif + SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]); + SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]); } - else { - // In other modes, T0 can move from X_MIN_POS to X_MAX_POS - soft_endstop_min[axis] = base_min_pos(axis) + offs; - soft_endstop_max[axis] = base_max_pos(axis) + offs; - } - } - #else - soft_endstop_min[axis] = base_min_pos(axis) + offs; - soft_endstop_max[axis] = base_max_pos(axis) + offs; - #endif + #endif - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) { - SERIAL_ECHOPAIR("For ", axis_codes[axis]); - SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]); - SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]); - SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]); - SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]); - } - #endif + #if ENABLED(DELTA) + if (axis == Z_AXIS) + delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top(); + #endif + } - #if ENABLED(DELTA) - if (axis == Z_AXIS) - delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top(); - #endif +#endif // NO_WORKSPACE_OFFSETS -} - -/** - * Change the home offset for an axis, update the current - * position and the software endstops to retain the same - * relative distance to the new home. - * - * Since this changes the current_position, code should - * call sync_plan_position soon after this. - */ -static void set_home_offset(AxisEnum axis, float v) { - current_position[axis] += v - home_offset[axis]; - home_offset[axis] = v; - update_software_endstops(axis); -} +#if DISABLED(NO_WORKSPACE_OFFSETS) + /** + * Change the home offset for an axis, update the current + * position and the software endstops to retain the same + * relative distance to the new home. + * + * Since this changes the current_position, code should + * call sync_plan_position soon after this. + */ + static void set_home_offset(AxisEnum axis, float v) { + current_position[axis] += v - home_offset[axis]; + home_offset[axis] = v; + update_software_endstops(axis); + } +#endif // NO_WORKSPACE_OFFSETS /** * Set an axis' current position to its home position (after homing). @@ -1433,8 +1444,10 @@ static void set_axis_is_at_home(AxisEnum axis) { axis_known_position[axis] = axis_homed[axis] = true; - position_shift[axis] = 0; - update_software_endstops(axis); + #if DISABLED(NO_WORKSPACE_OFFSETS) + position_shift[axis] = 0; + update_software_endstops(axis); + #endif #if ENABLED(DUAL_X_CARRIAGE) if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) { @@ -1507,8 +1520,10 @@ static void set_axis_is_at_home(AxisEnum axis) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { - SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]); - SERIAL_ECHOLNPAIR("] = ", home_offset[axis]); + #if DISABLED(NO_WORKSPACE_OFFSETS) + SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]); + SERIAL_ECHOLNPAIR("] = ", home_offset[axis]); + #endif DEBUG_POS("", current_position); SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]); SERIAL_CHAR(')'); @@ -4603,8 +4618,10 @@ inline void gcode_G92() { if (i != E_AXIS) { didXYZ = true; - position_shift[i] += v - p; // Offset the coordinate space - update_software_endstops((AxisEnum)i); + #if DISABLED(NO_WORKSPACE_OFFSETS) + position_shift[i] += v - p; // Offset the coordinate space + update_software_endstops((AxisEnum)i); + #endif } #endif } @@ -6334,22 +6351,26 @@ inline void gcode_M205() { if (code_seen('E')) planner.max_jerk[E_AXIS] = code_value_axis_units(E_AXIS); } -/** - * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y - */ -inline void gcode_M206() { - LOOP_XYZ(i) - if (code_seen(axis_codes[i])) - set_home_offset((AxisEnum)i, code_value_axis_units(i)); +#if DISABLED(NO_WORKSPACE_OFFSETS) - #if ENABLED(MORGAN_SCARA) - if (code_seen('T')) set_home_offset(A_AXIS, code_value_axis_units(A_AXIS)); // Theta - if (code_seen('P')) set_home_offset(B_AXIS, code_value_axis_units(B_AXIS)); // Psi - #endif + /** + * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y + */ + inline void gcode_M206() { + LOOP_XYZ(i) + if (code_seen(axis_codes[i])) + set_home_offset((AxisEnum)i, code_value_axis_units(i)); - SYNC_PLAN_POSITION_KINEMATIC(); - report_current_position(); -} + #if ENABLED(MORGAN_SCARA) + if (code_seen('T')) set_home_offset(A_AXIS, code_value_axis_units(A_AXIS)); // Theta + if (code_seen('P')) set_home_offset(B_AXIS, code_value_axis_units(B_AXIS)); // Psi + #endif + + SYNC_PLAN_POSITION_KINEMATIC(); + report_current_position(); + } + +#endif // NO_WORKSPACE_OFFSETS #if ENABLED(DELTA) /** @@ -7173,45 +7194,49 @@ void quickstop_stepper() { #endif -/** - * M428: Set home_offset based on the distance between the - * current_position and the nearest "reference point." - * If an axis is past center its endstop position - * is the reference-point. Otherwise it uses 0. This allows - * the Z offset to be set near the bed when using a max endstop. - * - * M428 can't be used more than 2cm away from 0 or an endstop. - * - * Use M206 to set these values directly. - */ -inline void gcode_M428() { - bool err = false; - LOOP_XYZ(i) { - if (axis_homed[i]) { - float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos((AxisEnum)i) : 0, - diff = current_position[i] - LOGICAL_POSITION(base, i); - if (diff > -20 && diff < 20) { - set_home_offset((AxisEnum)i, home_offset[i] - diff); - } - else { - SERIAL_ERROR_START; - SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR); - LCD_ALERTMESSAGEPGM("Err: Too far!"); - BUZZ(200, 40); - err = true; - break; +#if DISABLED(NO_WORKSPACE_OFFSETS) + + /** + * M428: Set home_offset based on the distance between the + * current_position and the nearest "reference point." + * If an axis is past center its endstop position + * is the reference-point. Otherwise it uses 0. This allows + * the Z offset to be set near the bed when using a max endstop. + * + * M428 can't be used more than 2cm away from 0 or an endstop. + * + * Use M206 to set these values directly. + */ + inline void gcode_M428() { + bool err = false; + LOOP_XYZ(i) { + if (axis_homed[i]) { + float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos((AxisEnum)i) : 0, + diff = current_position[i] - LOGICAL_POSITION(base, i); + if (diff > -20 && diff < 20) { + set_home_offset((AxisEnum)i, home_offset[i] - diff); + } + else { + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR); + LCD_ALERTMESSAGEPGM("Err: Too far!"); + BUZZ(200, 40); + err = true; + break; + } } } + + if (!err) { + SYNC_PLAN_POSITION_KINEMATIC(); + report_current_position(); + LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED); + BUZZ(200, 659); + BUZZ(200, 698); + } } - if (!err) { - SYNC_PLAN_POSITION_KINEMATIC(); - report_current_position(); - LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED); - BUZZ(200, 659); - BUZZ(200, 698); - } -} +#endif // NO_WORKSPACE_OFFSETS /** * M500: Store settings in EEPROM @@ -8081,10 +8106,14 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n // The newly-selected extruder XY is actually at... current_position[X_AXIS] += xydiff[X_AXIS]; current_position[Y_AXIS] += xydiff[Y_AXIS]; - for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) { - position_shift[i] += xydiff[i]; - update_software_endstops((AxisEnum)i); - } + #if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) + for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) { + #if DISABLED(NO_WORKSPACE_OFFSETS) + position_shift[i] += xydiff[i]; + #endif + update_software_endstops((AxisEnum)i); + } + #endif // Set the new active extruder active_extruder = tmp_extruder; @@ -8639,9 +8668,12 @@ void process_next_command() { case 205: //M205: Set advanced settings gcode_M205(); break; - case 206: // M206: Set home offsets - gcode_M206(); - break; + + #if DISABLED(NO_WORKSPACE_OFFSETS) + case 206: // M206: Set home offsets + gcode_M206(); + break; + #endif #if ENABLED(DELTA) case 665: // M665: Set delta configurations @@ -8805,9 +8837,11 @@ void process_next_command() { break; #endif - case 428: // M428: Apply current_position to home_offset - gcode_M428(); - break; + #if DISABLED(NO_WORKSPACE_OFFSETS) + case 428: // M428: Apply current_position to home_offset + gcode_M428(); + break; + #endif case 500: // M500: Store settings in EEPROM gcode_M500(); @@ -10488,8 +10522,12 @@ void setup() { // This also updates variables in the planner, elsewhere Config_RetrieveSettings(); - // Initialize current position based on home_offset - memcpy(current_position, home_offset, sizeof(home_offset)); + #if DISABLED(NO_WORKSPACE_OFFSETS) + // Initialize current position based on home_offset + memcpy(current_position, home_offset, sizeof(home_offset)); + #else + ZERO(current_position); + #endif // Vital to init stepper/planner equivalent for current_position SYNC_PLAN_POSITION_KINEMATIC(); diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp index 360b3f2c25..68475f8604 100644 --- a/Marlin/configuration_store.cpp +++ b/Marlin/configuration_store.cpp @@ -171,8 +171,10 @@ void Config_Postprocess() { calculate_volumetric_multipliers(); - // Software endstops depend on home_offset - LOOP_XYZ(i) update_software_endstops((AxisEnum)i); + #if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA) + // Software endstops depend on home_offset + LOOP_XYZ(i) update_software_endstops((AxisEnum)i); + #endif } #if ENABLED(EEPROM_SETTINGS) @@ -251,6 +253,9 @@ void Config_Postprocess() { EEPROM_WRITE(planner.min_travel_feedrate_mm_s); EEPROM_WRITE(planner.min_segment_time); EEPROM_WRITE(planner.max_jerk); + #if ENABLED(NO_WORKSPACE_OFFSETS) + float home_offset[XYZ] = { 0 }; + #endif EEPROM_WRITE(home_offset); #if HOTENDS > 1 @@ -498,6 +503,10 @@ void Config_Postprocess() { EEPROM_READ(planner.min_travel_feedrate_mm_s); EEPROM_READ(planner.min_segment_time); EEPROM_READ(planner.max_jerk); + + #if ENABLED(NO_WORKSPACE_OFFSETS) + float home_offset[XYZ]; + #endif EEPROM_READ(home_offset); #if HOTENDS > 1 @@ -726,7 +735,9 @@ void Config_ResetDefault() { planner.max_jerk[Y_AXIS] = DEFAULT_YJERK; planner.max_jerk[Z_AXIS] = DEFAULT_ZJERK; planner.max_jerk[E_AXIS] = DEFAULT_EJERK; - home_offset[X_AXIS] = home_offset[Y_AXIS] = home_offset[Z_AXIS] = 0; + #if DISABLED(NO_WORKSPACE_OFFSETS) + ZERO(home_offset); + #endif #if HOTENDS > 1 constexpr float tmp4[XYZ][HOTENDS] = { @@ -937,15 +948,17 @@ void Config_ResetDefault() { SERIAL_ECHOPAIR(" E", planner.max_jerk[E_AXIS]); SERIAL_EOL; - CONFIG_ECHO_START; - if (!forReplay) { - SERIAL_ECHOLNPGM("Home offset (mm)"); + #if DISABLED(NO_WORKSPACE_OFFSETS) CONFIG_ECHO_START; - } - SERIAL_ECHOPAIR(" M206 X", home_offset[X_AXIS]); - SERIAL_ECHOPAIR(" Y", home_offset[Y_AXIS]); - SERIAL_ECHOPAIR(" Z", home_offset[Z_AXIS]); - SERIAL_EOL; + if (!forReplay) { + SERIAL_ECHOLNPGM("Home offset (mm)"); + CONFIG_ECHO_START; + } + SERIAL_ECHOPAIR(" M206 X", home_offset[X_AXIS]); + SERIAL_ECHOPAIR(" Y", home_offset[Y_AXIS]); + SERIAL_ECHOPAIR(" Z", home_offset[Z_AXIS]); + SERIAL_EOL; + #endif #if HOTENDS > 1 CONFIG_ECHO_START;