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Implement NO_WORKSPACE_OFFSETS

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This commit is contained in:
Scott Lahteine 2017-03-04 18:01:33 -06:00
parent 05abe853f9
commit 5f7e85398b
3 changed files with 224 additions and 162 deletions
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45
Marlin/Marlin.h
View File

@ -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();

74
Marlin/Marlin_main.cpp
View File

@ -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)
@ -1333,7 +1337,9 @@ bool get_target_extruder_from_command(int code) {
#endif // DUAL_X_CARRIAGE
/**
#if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
/**
* 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.
@ -1342,8 +1348,8 @@ bool get_target_extruder_from_command(int code) {
* 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);
void update_software_endstops(const AxisEnum axis) {
const float offs = LOGICAL_POSITION(0, axis);
#if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS) {
@ -1376,8 +1382,10 @@ void update_software_endstops(AxisEnum axis) {
#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]);
}
@ -1387,10 +1395,12 @@ void update_software_endstops(AxisEnum axis) {
if (axis == Z_AXIS)
delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
#endif
}
}
#endif // NO_WORKSPACE_OFFSETS
/**
#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.
@ -1398,11 +1408,12 @@ void update_software_endstops(AxisEnum axis) {
* Since this changes the current_position, code should
* call sync_plan_position soon after this.
*/
static void set_home_offset(AxisEnum axis, float v) {
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;
#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)) {
#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;
#if DISABLED(NO_WORKSPACE_OFFSETS)
position_shift[i] += v - p; // Offset the coordinate space
update_software_endstops((AxisEnum)i);
#endif
}
#endif
}
@ -6334,10 +6351,12 @@ inline void gcode_M205() {
if (code_seen('E')) planner.max_jerk[E_AXIS] = code_value_axis_units(E_AXIS);
}
/**
#if DISABLED(NO_WORKSPACE_OFFSETS)
/**
* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
*/
inline void gcode_M206() {
inline void gcode_M206() {
LOOP_XYZ(i)
if (code_seen(axis_codes[i]))
set_home_offset((AxisEnum)i, code_value_axis_units(i));
@ -6349,7 +6368,9 @@ inline void gcode_M206() {
SYNC_PLAN_POSITION_KINEMATIC();
report_current_position();
}
}
#endif // NO_WORKSPACE_OFFSETS
#if ENABLED(DELTA)
/**
@ -7173,7 +7194,9 @@ void quickstop_stepper() {
#endif
/**
#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
@ -7184,7 +7207,7 @@ void quickstop_stepper() {
*
* Use M206 to set these values directly.
*/
inline void gcode_M428() {
inline void gcode_M428() {
bool err = false;
LOOP_XYZ(i) {
if (axis_homed[i]) {
@ -7211,7 +7234,9 @@ inline void gcode_M428() {
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];
#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;
#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
#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();
#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();

15
Marlin/configuration_store.cpp
View File

@ -171,8 +171,10 @@ void Config_Postprocess() {
calculate_volumetric_multipliers();
#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] = {
@ -937,6 +948,7 @@ void Config_ResetDefault() {
SERIAL_ECHOPAIR(" E", planner.max_jerk[E_AXIS]);
SERIAL_EOL;
#if DISABLED(NO_WORKSPACE_OFFSETS)
CONFIG_ECHO_START;
if (!forReplay) {
SERIAL_ECHOLNPGM("Home offset (mm)");
@ -946,6 +958,7 @@ void Config_ResetDefault() {
SERIAL_ECHOPAIR(" Y", home_offset[Y_AXIS]);
SERIAL_ECHOPAIR(" Z", home_offset[Z_AXIS]);
SERIAL_EOL;
#endif
#if HOTENDS > 1
CONFIG_ECHO_START;