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✨ Support for up to 9 axes (#23112, #24036, #24231)

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This commit is contained in:
Scott Lahteine
2022-04-29 15:21:15 -05:00
parent 369542db3b
commit fd13a928c1
103 changed files with 4553 additions and 799 deletions
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2
Marlin/src/gcode/geometry/G53-G59.cpp
View File

@@ -39,7 +39,7 @@ bool GcodeSuite::select_coordinate_system(const int8_t _new) {
xyz_float_t new_offset{0};
if (WITHIN(_new, 0, MAX_COORDINATE_SYSTEMS - 1))
new_offset = coordinate_system[_new];
LOOP_LINEAR_AXES(i) {
LOOP_NUM_AXES(i) {
if (position_shift[i] != new_offset[i]) {
position_shift[i] = new_offset[i];
update_workspace_offset((AxisEnum)i);

10
Marlin/src/gcode/geometry/G92.cpp
View File

@@ -29,7 +29,7 @@
#endif
/**
* G92: Set the Current Position to the given X [Y [Z [A [B [C [E]]]]]] values.
* G92: Set the Current Position to the given X [Y [Z [A [B [C [U [V [W ]]]]]]]] [E] values.
*
* Behind the scenes the G92 command may modify the Current Position
* or the Position Shift depending on settings and sub-commands.
@@ -37,14 +37,14 @@
* Since E has no Workspace Offset, it is always set directly.
*
* Without Workspace Offsets (e.g., with NO_WORKSPACE_OFFSETS):
* G92 : Set NATIVE Current Position to the given X [Y [Z [A [B [C [E]]]]]].
* G92 : Set NATIVE Current Position to the given X [Y [Z [A [B [C [U [V [W ]]]]]]]] [E].
*
* Using Workspace Offsets (default Marlin behavior):
* G92 : Modify Workspace Offsets so the reported position shows the given X [Y [Z [A [B [C [E]]]]]].
* G92 : Modify Workspace Offsets so the reported position shows the given X [Y [Z [A [B [C [U [V [W ]]]]]]]] [E].
* G92.1 : Zero XYZ Workspace Offsets (so the reported position = the native position).
*
* With POWER_LOSS_RECOVERY:
* G92.9 : Set NATIVE Current Position to the given X [Y [Z [A [B [C [E]]]]]].
* G92.9 : Set NATIVE Current Position to the given X [Y [Z [A [B [C [U [V [W ]]]]]]]] [E].
*/
void GcodeSuite::G92() {
@@ -64,7 +64,7 @@ void GcodeSuite::G92() {
#if ENABLED(CNC_COORDINATE_SYSTEMS) && !IS_SCARA
case 1: // G92.1 - Zero the Workspace Offset
LOOP_LINEAR_AXES(i) if (position_shift[i]) {
LOOP_NUM_AXES(i) if (position_shift[i]) {
position_shift[i] = 0;
update_workspace_offset((AxisEnum)i);
}

31
Marlin/src/gcode/geometry/M206_M428.cpp
View File

@@ -39,11 +39,17 @@
*/
void GcodeSuite::M206() {
if (!parser.seen_any()) return M206_report();
LOOP_LINEAR_AXES(i)
if (parser.seen(AXIS_CHAR(i)))
set_home_offset((AxisEnum)i, parser.value_linear_units());
NUM_AXIS_CODE(
if (parser.seen('X')) set_home_offset(X_AXIS, parser.value_linear_units()),
if (parser.seen('Y')) set_home_offset(Y_AXIS, parser.value_linear_units()),
if (parser.seen('Z')) set_home_offset(Z_AXIS, parser.value_linear_units()),
if (parser.seen(AXIS4_NAME)) set_home_offset(I_AXIS, parser.TERN(AXIS4_ROTATES, value_float, value_linear_units)()),
if (parser.seen(AXIS5_NAME)) set_home_offset(J_AXIS, parser.TERN(AXIS5_ROTATES, value_float, value_linear_units)()),
if (parser.seen(AXIS6_NAME)) set_home_offset(K_AXIS, parser.TERN(AXIS6_ROTATES, value_float, value_linear_units)()),
if (parser.seen(AXIS7_NAME)) set_home_offset(U_AXIS, parser.TERN(AXIS7_ROTATES, value_float, value_linear_units)()),
if (parser.seen(AXIS8_NAME)) set_home_offset(V_AXIS, parser.TERN(AXIS8_ROTATES, value_float, value_linear_units)()),
if (parser.seen(AXIS9_NAME)) set_home_offset(W_AXIS, parser.TERN(AXIS9_ROTATES, value_float, value_linear_units)())
);
#if ENABLED(MORGAN_SCARA)
if (parser.seen('T')) set_home_offset(A_AXIS, parser.value_float()); // Theta
if (parser.seen('P')) set_home_offset(B_AXIS, parser.value_float()); // Psi
@@ -56,13 +62,16 @@ void GcodeSuite::M206_report(const bool forReplay/*=true*/) {
report_heading_etc(forReplay, F(STR_HOME_OFFSET));
SERIAL_ECHOLNPGM_P(
#if IS_CARTESIAN
LIST_N(DOUBLE(LINEAR_AXES),
LIST_N(DOUBLE(NUM_AXES),
PSTR(" M206 X"), LINEAR_UNIT(home_offset.x),
SP_Y_STR, LINEAR_UNIT(home_offset.y),
SP_Z_STR, LINEAR_UNIT(home_offset.z),
SP_I_STR, LINEAR_UNIT(home_offset.i),
SP_J_STR, LINEAR_UNIT(home_offset.j),
SP_K_STR, LINEAR_UNIT(home_offset.k)
SP_I_STR, I_AXIS_UNIT(home_offset.i),
SP_J_STR, J_AXIS_UNIT(home_offset.j),
SP_K_STR, K_AXIS_UNIT(home_offset.k),
SP_U_STR, U_AXIS_UNIT(home_offset.u),
SP_V_STR, V_AXIS_UNIT(home_offset.v),
SP_W_STR, W_AXIS_UNIT(home_offset.w)
)
#else
PSTR(" M206 Z"), LINEAR_UNIT(home_offset.z)
@@ -85,7 +94,7 @@ void GcodeSuite::M428() {
if (homing_needed_error()) return;
xyz_float_t diff;
LOOP_LINEAR_AXES(i) {
LOOP_NUM_AXES(i) {
diff[i] = base_home_pos((AxisEnum)i) - current_position[i];
if (!WITHIN(diff[i], -20, 20) && home_dir((AxisEnum)i) > 0)
diff[i] = -current_position[i];
@@ -97,7 +106,7 @@ void GcodeSuite::M428() {
}
}
LOOP_LINEAR_AXES(i) set_home_offset((AxisEnum)i, diff[i]);
LOOP_NUM_AXES(i) set_home_offset((AxisEnum)i, diff[i]);
report_current_position();
LCD_MESSAGE(MSG_HOME_OFFSETS_APPLIED);
OKAY_BUZZ();