From 2c9586be0cb55fc821b50413287735ff83f0d321 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sat, 3 Nov 2018 03:39:15 -0500 Subject: [PATCH 1/2] Clear up HAS_WORKSPACE_OFFSET meaning --- Marlin/src/inc/Conditionals_post.h | 10 +++++----- Marlin/src/module/motion.cpp | 28 +++++++++++++--------------- Marlin/src/module/motion.h | 8 ++------ 3 files changed, 20 insertions(+), 26 deletions(-) diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h index 9c9ad8faef..764a342869 100644 --- a/Marlin/src/inc/Conditionals_post.h +++ b/Marlin/src/inc/Conditionals_post.h @@ -1527,11 +1527,11 @@ // Updated G92 behavior shifts the workspace #define HAS_POSITION_SHIFT DISABLED(NO_WORKSPACE_OFFSETS) // The home offset also shifts the coordinate space -#define HAS_HOME_OFFSET (DISABLED(NO_WORKSPACE_OFFSETS) && DISABLED(DELTA)) -// Either offset yields extra calculations on all moves -#define HAS_WORKSPACE_OFFSET (HAS_POSITION_SHIFT || HAS_HOME_OFFSET) -// M206 doesn't apply to DELTA -#define HAS_M206_COMMAND (HAS_HOME_OFFSET && DISABLED(DELTA)) +#define HAS_HOME_OFFSET (DISABLED(NO_WORKSPACE_OFFSETS) && (IS_SCARA || IS_CARTESIAN)) +// Cumulative offset to workspace to save some calculation +#define HAS_WORKSPACE_OFFSET (HAS_POSITION_SHIFT && HAS_HOME_OFFSET) +// M206 sets the home offset for Cartesian machines +#define HAS_M206_COMMAND (HAS_HOME_OFFSET && !IS_SCARA) // LCD timeout to status screen default is 15s #ifndef LCD_TIMEOUT_TO_STATUS diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index 95c5522a08..9463f11129 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -138,20 +138,18 @@ float cartes[XYZ]; * The workspace can be offset by some commands, or * these offsets may be omitted to save on computation. */ -#if HAS_WORKSPACE_OFFSET - #if HAS_POSITION_SHIFT - // The distance that XYZ has been offset by G92. Reset by G28. - float position_shift[XYZ] = { 0 }; - #endif - #if HAS_HOME_OFFSET - // 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 - #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT - // The above two are combined to save on computes - float workspace_offset[XYZ] = { 0 }; - #endif +#if HAS_POSITION_SHIFT + // The distance that XYZ has been offset by G92. Reset by G28. + float position_shift[XYZ] = { 0 }; +#endif +#if HAS_HOME_OFFSET + // 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 +#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT + // The above two are combined to save on computes + float workspace_offset[XYZ] = { 0 }; #endif #if OLDSCHOOL_ABL @@ -1518,7 +1516,7 @@ void homeaxis(const AxisEnum axis) { * at the same positions relative to the machine. */ void update_software_endstops(const AxisEnum axis) { - #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT + #if HAS_HOME_OFFSET workspace_offset[axis] = home_offset[axis] + position_shift[axis]; #endif diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h index 69981b8141..299e0ae814 100644 --- a/Marlin/src/module/motion.h +++ b/Marlin/src/module/motion.h @@ -211,14 +211,10 @@ void homeaxis(const AxisEnum axis); void sensorless_homing_per_axis(const AxisEnum axis, const bool enable=true); #endif -// -// Macros -// - /** * Workspace offsets */ -#if HAS_WORKSPACE_OFFSET +#if HAS_HOME_OFFSET || HAS_POSITION_SHIFT #if HAS_HOME_OFFSET extern float home_offset[XYZ]; #endif @@ -230,7 +226,7 @@ void homeaxis(const AxisEnum axis); #define WORKSPACE_OFFSET(AXIS) workspace_offset[AXIS] #elif HAS_HOME_OFFSET #define WORKSPACE_OFFSET(AXIS) home_offset[AXIS] - #elif HAS_POSITION_SHIFT + #else #define WORKSPACE_OFFSET(AXIS) position_shift[AXIS] #endif #define NATIVE_TO_LOGICAL(POS, AXIS) ((POS) + WORKSPACE_OFFSET(AXIS)) From d1ff22b9830bbb94efea52f4233b2f11ad0a0c4a Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sat, 3 Nov 2018 03:56:33 -0500 Subject: [PATCH 2/2] Revive SCARA's home offset (unimplemented) --- Marlin/src/gcode/calibrate/M665.cpp | 49 +++--- Marlin/src/gcode/control/M211.cpp | 6 + Marlin/src/gcode/gcode.cpp | 4 +- Marlin/src/gcode/geometry/G53-G59.cpp | 2 +- Marlin/src/gcode/geometry/G92.cpp | 4 +- Marlin/src/inc/Conditionals_post.h | 4 +- Marlin/src/lcd/extensible_ui/ui_api.cpp | 4 +- Marlin/src/lcd/menu/menu_motion.cpp | 4 +- Marlin/src/module/configuration_store.cpp | 52 +++++-- Marlin/src/module/motion.cpp | 174 +++++++++++----------- Marlin/src/module/motion.h | 21 ++- Marlin/src/module/scara.cpp | 7 +- Marlin/src/module/tool_change.cpp | 2 +- 13 files changed, 193 insertions(+), 140 deletions(-) diff --git a/Marlin/src/gcode/calibrate/M665.cpp b/Marlin/src/gcode/calibrate/M665.cpp index 75d01b849a..d0514ba598 100644 --- a/Marlin/src/gcode/calibrate/M665.cpp +++ b/Marlin/src/gcode/calibrate/M665.cpp @@ -66,32 +66,43 @@ * S[segments-per-second] - Segments-per-second * P[theta-psi-offset] - Theta-Psi offset, added to the shoulder (A/X) angle * T[theta-offset] - Theta offset, added to the elbow (B/Y) angle + * Z[z-offset] - Z offset, added to Z * * A, P, and X are all aliases for the shoulder angle * B, T, and Y are all aliases for the elbow angle */ void GcodeSuite::M665() { - if (parser.seen('S')) delta_segments_per_second = parser.value_float(); + if (parser.seenval('S')) delta_segments_per_second = parser.value_float(); - const bool hasA = parser.seen('A'), hasP = parser.seen('P'), hasX = parser.seen('X'); - const uint8_t sumAPX = hasA + hasP + hasX; - if (sumAPX == 1) - home_offset[A_AXIS] = parser.value_float(); - else if (sumAPX > 1) { - SERIAL_ERROR_START(); - SERIAL_ERRORLNPGM("Only one of A, P, or X is allowed."); - return; - } + #if HAS_SCARA_OFFSET - const bool hasB = parser.seen('B'), hasT = parser.seen('T'), hasY = parser.seen('Y'); - const uint8_t sumBTY = hasB + hasT + hasY; - if (sumBTY == 1) - home_offset[B_AXIS] = parser.value_float(); - else if (sumBTY > 1) { - SERIAL_ERROR_START(); - SERIAL_ERRORLNPGM("Only one of B, T, or Y is allowed."); - return; - } + if (parser.seenval('Z')) scara_home_offset[Z_AXIS] = parser.value_linear_units(); + + const bool hasA = parser.seenval('A'), hasP = parser.seenval('P'), hasX = parser.seenval('X'); + const uint8_t sumAPX = hasA + hasP + hasX; + if (sumAPX) { + if (sumAPX == 1) + scara_home_offset[A_AXIS] = parser.value_float(); + else { + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM("Only one of A, P, or X is allowed."); + return; + } + } + + const bool hasB = parser.seenval('B'), hasT = parser.seenval('T'), hasY = parser.seenval('Y'); + const uint8_t sumBTY = hasB + hasT + hasY; + if (sumBTY) { + if (sumBTY == 1) + scara_home_offset[B_AXIS] = parser.value_float(); + else { + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM("Only one of B, T, or Y is allowed."); + return; + } + } + + #endif // HAS_SCARA_OFFSET } #endif diff --git a/Marlin/src/gcode/control/M211.cpp b/Marlin/src/gcode/control/M211.cpp index 1f3be868a7..4b06ce9fbe 100644 --- a/Marlin/src/gcode/control/M211.cpp +++ b/Marlin/src/gcode/control/M211.cpp @@ -20,6 +20,10 @@ * */ +#include "../../inc/MarlinConfigPre.h" + +#if HAS_SOFTWARE_ENDSTOPS + #include "../gcode.h" #include "../../module/motion.h" @@ -46,3 +50,5 @@ void GcodeSuite::M211() { SERIAL_ECHOPAIR(" " MSG_Y, LOGICAL_Y_POSITION(soft_endstop_max[Y_AXIS])); SERIAL_ECHOLNPAIR(" " MSG_Z, LOGICAL_Z_POSITION(soft_endstop_max[Z_AXIS])); } + +#endif diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp index 66457666fd..c80e55b2ff 100644 --- a/Marlin/src/gcode/gcode.cpp +++ b/Marlin/src/gcode/gcode.cpp @@ -483,7 +483,9 @@ void GcodeSuite::process_parsed_command( #endif #endif - case 211: M211(); break; // M211: Enable, Disable, and/or Report software endstops + #if HAS_SOFTWARE_ENDSTOPS + case 211: M211(); break; // M211: Enable, Disable, and/or Report software endstops + #endif #if EXTRUDERS > 1 case 217: M217(); break; // M217: Set filament swap parameters diff --git a/Marlin/src/gcode/geometry/G53-G59.cpp b/Marlin/src/gcode/geometry/G53-G59.cpp index 09708c03ea..f1e9ff27d0 100644 --- a/Marlin/src/gcode/geometry/G53-G59.cpp +++ b/Marlin/src/gcode/geometry/G53-G59.cpp @@ -44,7 +44,7 @@ bool GcodeSuite::select_coordinate_system(const int8_t _new) { const float diff = new_offset[i] - old_offset[i]; if (diff) { position_shift[i] += diff; - update_software_endstops((AxisEnum)i); + update_workspace_offset((AxisEnum)i); } } return true; diff --git a/Marlin/src/gcode/geometry/G92.cpp b/Marlin/src/gcode/geometry/G92.cpp index 721c8b73c3..8e0b341316 100644 --- a/Marlin/src/gcode/geometry/G92.cpp +++ b/Marlin/src/gcode/geometry/G92.cpp @@ -42,7 +42,7 @@ void GcodeSuite::G92() { const float v = position_shift[i]; if (v) { position_shift[i] = 0; - update_software_endstops((AxisEnum)i); + update_workspace_offset((AxisEnum)i); } } #endif // Not SCARA @@ -79,7 +79,7 @@ void GcodeSuite::G92() { } else { position_shift[i] += d; // Other axes simply offset the coordinate space - update_software_endstops((AxisEnum)i); + update_workspace_offset((AxisEnum)i); } #endif } diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h index 764a342869..c7b09e0c48 100644 --- a/Marlin/src/inc/Conditionals_post.h +++ b/Marlin/src/inc/Conditionals_post.h @@ -1527,7 +1527,9 @@ // Updated G92 behavior shifts the workspace #define HAS_POSITION_SHIFT DISABLED(NO_WORKSPACE_OFFSETS) // The home offset also shifts the coordinate space -#define HAS_HOME_OFFSET (DISABLED(NO_WORKSPACE_OFFSETS) && (IS_SCARA || IS_CARTESIAN)) +#define HAS_HOME_OFFSET (DISABLED(NO_WORKSPACE_OFFSETS) && IS_CARTESIAN) +// The SCARA home offset applies only on G28 +#define HAS_SCARA_OFFSET (DISABLED(NO_WORKSPACE_OFFSETS) && IS_SCARA) // Cumulative offset to workspace to save some calculation #define HAS_WORKSPACE_OFFSET (HAS_POSITION_SHIFT && HAS_HOME_OFFSET) // M206 sets the home offset for Cartesian machines diff --git a/Marlin/src/lcd/extensible_ui/ui_api.cpp b/Marlin/src/lcd/extensible_ui/ui_api.cpp index 6250d9312a..a93b226faf 100644 --- a/Marlin/src/lcd/extensible_ui/ui_api.cpp +++ b/Marlin/src/lcd/extensible_ui/ui_api.cpp @@ -200,7 +200,7 @@ namespace UI { max = current_position[axis] + 1000; // Limit to software endstops, if enabled - #if ENABLED(MIN_SOFTWARE_ENDSTOPS) || ENABLED(MAX_SOFTWARE_ENDSTOPS) + #if HAS_SOFTWARE_ENDSTOPS if (soft_endstops_enabled) switch (axis) { case X_AXIS: #if ENABLED(MIN_SOFTWARE_ENDSTOP_X) @@ -227,7 +227,7 @@ namespace UI { #endif default: break; } - #endif // MIN_SOFTWARE_ENDSTOPS || MAX_SOFTWARE_ENDSTOPS + #endif // HAS_SOFTWARE_ENDSTOPS // Delta limits XY based on the current offset from center // This assumes the center is 0,0 diff --git a/Marlin/src/lcd/menu/menu_motion.cpp b/Marlin/src/lcd/menu/menu_motion.cpp index c06549d8b7..749a84242f 100644 --- a/Marlin/src/lcd/menu/menu_motion.cpp +++ b/Marlin/src/lcd/menu/menu_motion.cpp @@ -88,7 +88,7 @@ static void _lcd_move_xyz(PGM_P name, AxisEnum axis) { max = current_position[axis] + 1000; // Limit to software endstops, if enabled - #if ENABLED(MIN_SOFTWARE_ENDSTOPS) || ENABLED(MAX_SOFTWARE_ENDSTOPS) + #if HAS_SOFTWARE_ENDSTOPS if (soft_endstops_enabled) switch (axis) { case X_AXIS: #if ENABLED(MIN_SOFTWARE_ENDSTOP_X) @@ -115,7 +115,7 @@ static void _lcd_move_xyz(PGM_P name, AxisEnum axis) { #endif default: break; } - #endif // MIN_SOFTWARE_ENDSTOPS || MAX_SOFTWARE_ENDSTOPS + #endif // HAS_SOFTWARE_ENDSTOPS // Delta limits XY based on the current offset from center // This assumes the center is 0,0 diff --git a/Marlin/src/module/configuration_store.cpp b/Marlin/src/module/configuration_store.cpp index 9b96de163f..0a0d35fca9 100644 --- a/Marlin/src/module/configuration_store.cpp +++ b/Marlin/src/module/configuration_store.cpp @@ -124,7 +124,7 @@ typedef struct SettingsDataStruct { float planner_max_jerk[XYZE], // M205 XYZE planner.max_jerk[XYZE] planner_junction_deviation_mm; // M205 J planner.junction_deviation_mm - float home_offset[XYZ]; // M206 XYZ + float home_offset[XYZ]; // M206 XYZ / M665 TPZ #if HAS_HOTEND_OFFSET float hotend_offset[XYZ][HOTENDS - 1]; // M218 XYZ @@ -309,10 +309,11 @@ void MarlinSettings::postprocess() { planner.refresh_e_factor(i); #endif - #if HAS_HOME_OFFSET || ENABLED(DUAL_X_CARRIAGE) - // Software endstops depend on home_offset - LOOP_XYZ(i) update_software_endstops((AxisEnum)i); - #endif + // Software endstops depend on home_offset + LOOP_XYZ(i) { + update_workspace_offset((AxisEnum)i); + update_software_endstops((AxisEnum)i); + } #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) set_z_fade_height(new_z_fade_height, false); // false = no report @@ -453,10 +454,14 @@ void MarlinSettings::postprocess() { _FIELD_TEST(home_offset); - #if !HAS_HOME_OFFSET - const float home_offset[XYZ] = { 0 }; + #if HAS_SCARA_OFFSET + EEPROM_WRITE(scara_home_offset); + #else + #if !HAS_HOME_OFFSET + const float home_offset[XYZ] = { 0 }; + #endif + EEPROM_WRITE(home_offset); #endif - EEPROM_WRITE(home_offset); #if HAS_HOTEND_OFFSET // Skip hotend 0 which must be 0 @@ -1062,15 +1067,19 @@ void MarlinSettings::postprocess() { } // - // Home Offset (M206) + // Home Offset (M206 / M665) // { _FIELD_TEST(home_offset); - #if !HAS_HOME_OFFSET - float home_offset[XYZ]; + #if HAS_SCARA_OFFSET + EEPROM_READ(scara_home_offset); + #else + #if !HAS_HOME_OFFSET + float home_offset[XYZ]; + #endif + EEPROM_READ(home_offset); #endif - EEPROM_READ(home_offset); } // @@ -1826,7 +1835,9 @@ void MarlinSettings::reset(PORTARG_SOLO) { planner.junction_deviation_mm = float(JUNCTION_DEVIATION_MM); #endif - #if HAS_HOME_OFFSET + #if HAS_SCARA_OFFSET + ZERO(scara_home_offset); + #elif HAS_HOME_OFFSET ZERO(home_offset); #endif @@ -2430,7 +2441,20 @@ void MarlinSettings::reset(PORTARG_SOLO) { #endif // HAS_SERVOS && EDITABLE_SERVO_ANGLES - #if ENABLED(DELTA) + #if HAS_SCARA_OFFSET + + if (!forReplay) { + CONFIG_ECHO_START; + SERIAL_ECHOLNPGM_P(port, "SCARA settings: S P T"); + } + CONFIG_ECHO_START; + SERIAL_ECHOPAIR_P(port, " M665 S", delta_segments_per_second); + SERIAL_ECHOPAIR_P(port, " P", scara_home_offset[A_AXIS]); + SERIAL_ECHOPAIR_P(port, " T", scara_home_offset[B_AXIS]); + SERIAL_ECHOPAIR_P(port, " Z", LINEAR_UNIT(scara_home_offset[Z_AXIS])); + SERIAL_EOL_P(port); + + #elif ENABLED(DELTA) if (!forReplay) { CONFIG_ECHO_START; diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index 9463f11129..cd16ea6a9c 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -129,11 +129,14 @@ const float homing_feedrate_mm_s[4] PROGMEM = { // Cartesian conversion result goes here: float cartes[XYZ]; -// Until kinematics.cpp is created, create this here #if IS_KINEMATIC float delta[ABC]; #endif +#if HAS_SCARA_OFFSET + float scara_home_offset[ABC]; +#endif + /** * The workspace can be offset by some commands, or * these offsets may be omitted to save on computation. @@ -452,15 +455,14 @@ void bracket_probe_move(const bool before) { void setup_for_endstop_or_probe_move() { bracket_probe_move(true); } void clean_up_after_endstop_or_probe_move() { bracket_probe_move(false); } -// Software Endstops are based on the configured limits. -float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS }, - soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS }; - #if HAS_SOFTWARE_ENDSTOPS - // Software Endstops are based on the configured limits. bool soft_endstops_enabled = true; + // Software Endstops are based on the configured limits. + float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS }, + soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS }; + #if IS_KINEMATIC float soft_endstop_radius, soft_endstop_radius_2; #endif @@ -502,6 +504,79 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS }, #endif } + /** + * 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) { + + #if ENABLED(DUAL_X_CARRIAGE) + + if (axis == X_AXIS) { + + // In Dual X mode hotend_offset[X] is T1's home position + const 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; + soft_endstop_max[X_AXIS] = dual_max_x; + } + else if (dxc_is_duplicating()) { + // In Duplication Mode, T0 can move as far left as X1_MIN_POS + // but not so far to the right that T1 would move past the end + soft_endstop_min[X_AXIS] = X1_MIN_POS; + soft_endstop_max[X_AXIS] = MIN(X1_MAX_POS, dual_max_x - duplicate_extruder_x_offset); + } + else { + // In other modes, T0 can move from X1_MIN_POS to X1_MAX_POS + soft_endstop_min[X_AXIS] = X1_MIN_POS; + soft_endstop_max[X_AXIS] = X1_MAX_POS; + } + } + + #elif ENABLED(DELTA) + + soft_endstop_min[axis] = base_min_pos(axis); + soft_endstop_max[axis] = (axis == Z_AXIS ? delta_height + #if HAS_BED_PROBE + - zprobe_zoffset + Z_PROBE_OFFSET_FROM_EXTRUDER + #endif + : base_max_pos(axis)); + + switch (axis) { + case X_AXIS: + case Y_AXIS: + // Get a minimum radius for clamping + soft_endstop_radius = MIN(ABS(MAX(soft_endstop_min[X_AXIS], soft_endstop_min[Y_AXIS])), soft_endstop_max[X_AXIS], soft_endstop_max[Y_AXIS]); + soft_endstop_radius_2 = sq(soft_endstop_radius); + break; + case Z_AXIS: + delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top(); + default: break; + } + + #else + + soft_endstop_min[axis] = base_min_pos(axis); + soft_endstop_max[axis] = base_max_pos(axis); + + #endif + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOPAIR("For ", axis_codes[axis]); + SERIAL_ECHOPAIR(" axis:\n soft_endstop_min = ", soft_endstop_min[axis]); + SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]); + } + #endif + } + #endif #if !UBL_SEGMENTED @@ -1154,7 +1229,7 @@ void set_axis_is_at_home(const AxisEnum axis) { #if HAS_POSITION_SHIFT position_shift[axis] = 0; - update_software_endstops(axis); + update_workspace_offset(axis); #endif #if ENABLED(DUAL_X_CARRIAGE) @@ -1504,89 +1579,18 @@ void homeaxis(const AxisEnum axis) { #endif } // homeaxis() -#if HAS_WORKSPACE_OFFSET || 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. - * - * 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) { - #if HAS_HOME_OFFSET - workspace_offset[axis] = home_offset[axis] + position_shift[axis]; - #endif - - #if ENABLED(DUAL_X_CARRIAGE) - if (axis == X_AXIS) { - - // In Dual X mode hotend_offset[X] is T1's home position - const 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; - soft_endstop_max[X_AXIS] = dual_max_x; - } - else if (dxc_is_duplicating()) { - // In Duplication Mode, T0 can move as far left as X1_MIN_POS - // but not so far to the right that T1 would move past the end - soft_endstop_min[X_AXIS] = X1_MIN_POS; - soft_endstop_max[X_AXIS] = MIN(X1_MAX_POS, dual_max_x - duplicate_extruder_x_offset); - } - else { - // In other modes, T0 can move from X1_MIN_POS to X1_MAX_POS - soft_endstop_min[X_AXIS] = X1_MIN_POS; - soft_endstop_max[X_AXIS] = X1_MAX_POS; - } - } - #elif ENABLED(DELTA) - soft_endstop_min[axis] = base_min_pos(axis); - soft_endstop_max[axis] = (axis == Z_AXIS ? delta_height - #if HAS_BED_PROBE - - zprobe_zoffset + Z_PROBE_OFFSET_FROM_EXTRUDER - #endif - : base_max_pos(axis)); - #else - soft_endstop_min[axis] = base_min_pos(axis); - soft_endstop_max[axis] = base_max_pos(axis); - #endif - +#if HAS_WORKSPACE_OFFSET + void update_workspace_offset(const AxisEnum axis) { + workspace_offset[axis] = home_offset[axis] + position_shift[axis]; #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOPAIR("For ", axis_codes[axis]); - #if HAS_HOME_OFFSET - SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]); - #endif - #if HAS_POSITION_SHIFT - 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]); - } - #endif - - #if ENABLED(DELTA) - switch (axis) { - #if HAS_SOFTWARE_ENDSTOPS - case X_AXIS: - case Y_AXIS: - // Get a minimum radius for clamping - soft_endstop_radius = MIN(ABS(MAX(soft_endstop_min[X_AXIS], soft_endstop_min[Y_AXIS])), soft_endstop_max[X_AXIS], soft_endstop_max[Y_AXIS]); - soft_endstop_radius_2 = sq(soft_endstop_radius); - break; - #endif - case Z_AXIS: - delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top(); - default: break; + SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]); + SERIAL_ECHOLNPAIR("\n position_shift = ", position_shift[axis]); } #endif } - -#endif // HAS_WORKSPACE_OFFSET || DUAL_X_CARRIAGE || DELTA +#endif #if HAS_M206_COMMAND /** @@ -1595,6 +1599,6 @@ void homeaxis(const AxisEnum axis) { */ void set_home_offset(const AxisEnum axis, const float v) { home_offset[axis] = v; - update_software_endstops(axis); + update_workspace_offset(axis); } #endif // HAS_M206_COMMAND diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h index 299e0ae814..702df69aec 100644 --- a/Marlin/src/module/motion.h +++ b/Marlin/src/module/motion.h @@ -93,8 +93,6 @@ extern int16_t feedrate_percentage; extern float hotend_offset[XYZ][HOTENDS]; #endif -extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ]; - FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float(p); } FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte(p); } @@ -110,12 +108,23 @@ XYZ_DEFS(float, max_length, MAX_LENGTH); XYZ_DEFS(float, home_bump_mm, HOME_BUMP_MM); XYZ_DEFS(signed char, home_dir, HOME_DIR); +#if HAS_WORKSPACE_OFFSET + void update_workspace_offset(const AxisEnum axis); +#else + #define update_workspace_offset(x) NOOP +#endif + #if HAS_SOFTWARE_ENDSTOPS extern bool soft_endstops_enabled; + extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ]; void clamp_to_software_endstops(float target[XYZ]); + void update_software_endstops(const AxisEnum axis); #else constexpr bool soft_endstops_enabled = false; + constexpr float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS }, + soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS }; #define clamp_to_software_endstops(x) NOOP + #define update_software_endstops(x) NOOP #endif void report_current_position(); @@ -252,6 +261,10 @@ void homeaxis(const AxisEnum axis); extern const float L1, L2; #endif + #if HAS_SCARA_OFFSET + extern float scara_home_offset[ABC]; // A and B angular offsets, Z mm offset + #endif + // Return true if the given point is within the printable area inline bool position_is_reachable(const float &rx, const float &ry, const float inset=0) { #if ENABLED(DELTA) @@ -354,10 +367,6 @@ void homeaxis(const AxisEnum axis); #endif -#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA) - void update_software_endstops(const AxisEnum axis); -#endif - #if HAS_M206_COMMAND void set_home_offset(const AxisEnum axis, const float v); #endif diff --git a/Marlin/src/module/scara.cpp b/Marlin/src/module/scara.cpp index 225e4a25d8..8063c44443 100644 --- a/Marlin/src/module/scara.cpp +++ b/Marlin/src/module/scara.cpp @@ -60,12 +60,7 @@ void scara_set_axis_is_at_home(const AxisEnum axis) { current_position[axis] = cartes[axis]; - /** - * SCARA home positions are based on configuration since the actual - * limits are determined by the inverse kinematic transform. - */ - soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis)); - soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis)); + update_software_endstops(axis); } } diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp index b23414166f..6bfa5a127c 100644 --- a/Marlin/src/module/tool_change.cpp +++ b/Marlin/src/module/tool_change.cpp @@ -623,7 +623,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n feedrate_mm_s = old_feedrate_mm_s; - #if HAS_SOFTWARE_ENDSTOPS && ENABLED(DUAL_X_CARRIAGE) + #if ENABLED(DUAL_X_CARRIAGE) update_software_endstops(X_AXIS); #endif