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Implement CNC_COORDINATE_SYSTEMS

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This commit is contained in:
Scott Lahteine 2017-11-04 16:36:41 -05:00
parent 1b42fba39b
commit 1b40e9c464
10 changed files with 242 additions and 33 deletions
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15
.travis.yml
View file

@ -59,18 +59,14 @@ script:
- opt_set TEMP_SENSOR_0 -2
- opt_set TEMP_SENSOR_1 1
- opt_set TEMP_SENSOR_BED 1
- opt_enable PIDTEMPBED Z_SAFE_HOMING ARC_P_CIRCLES CNC_WORKSPACE_PLANES
- opt_enable PIDTEMPBED FIX_MOUNTED_PROBE Z_SAFE_HOMING ARC_P_CIRCLES CNC_WORKSPACE_PLANES CNC_COORDINATE_SYSTEMS
- opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER SDSUPPORT EEPROM_SETTINGS
- opt_enable BLINKM PCA9632 RGB_LED NEOPIXEL_LED
- build_marlin_pio ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}
#
# ...with AUTO_BED_LEVELING_LINEAR, Z_MIN_PROBE_REPEATABILITY_TEST, and DEBUG_LEVELING_FEATURE
#
- opt_enable AUTO_BED_LEVELING_LINEAR BLTOUCH Z_MIN_PROBE_REPEATABILITY_TEST DEBUG_LEVELING_FEATURE
- opt_enable AUTO_BED_LEVELING_LINEAR Z_MIN_PROBE_REPEATABILITY_TEST DEBUG_LEVELING_FEATURE
- opt_enable_adv FWRETRACT MAX7219_DEBUG
- opt_set ABL_GRID_POINTS_X 16
- opt_set ABL_GRID_POINTS_Y 16
- opt_set_adv FANMUX0_PIN 53
- build_marlin_pio ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}
#
# Test a probeless build of AUTO_BED_LEVELING_UBL
@ -80,10 +76,9 @@ script:
- opt_enable_adv CUSTOM_USER_MENUS I2C_POSITION_ENCODERS BABYSTEPPING
- build_marlin_pio ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}
#
# ...and with a probe
# And with a probe...
#
- opt_enable BLTOUCH
- opt_enable_adv BABYSTEP_ZPROBE_OFFSET
- opt_enable FIX_MOUNTED_PROBE
- build_marlin_pio ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}
#
# Test a Sled Z Probe

45
Marlin/src/gcode/gcode.cpp
View file

@ -56,6 +56,11 @@ bool GcodeSuite::axis_relative_modes[] = AXIS_RELATIVE_MODES;
GcodeSuite::WorkspacePlane GcodeSuite::workspace_plane = PLANE_XY;
#endif
#if ENABLED(CNC_COORDINATE_SYSTEMS)
int8_t GcodeSuite::active_coordinate_system = -1; // machine space
float GcodeSuite::coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
#endif
/**
* Set target_extruder from the T parameter or the active_extruder
*
@ -125,26 +130,11 @@ void GcodeSuite::dwell(millis_t time) {
#endif
/**
* Process a single command and dispatch it to its handler
* This is called from the main loop()
* Process the parsed command and dispatch it to its handler
*/
void GcodeSuite::process_next_command() {
char * const current_command = command_queue[cmd_queue_index_r];
if (DEBUGGING(ECHO)) {
SERIAL_ECHO_START();
SERIAL_ECHOLN(current_command);
#if ENABLED(M100_FREE_MEMORY_WATCHER)
SERIAL_ECHOPAIR("slot:", cmd_queue_index_r);
M100_dump_routine(" Command Queue:", (const char*)command_queue, (const char*)(command_queue + sizeof(command_queue)));
#endif
}
void GcodeSuite::process_parsed_command() {
KEEPALIVE_STATE(IN_HANDLER);
// Parse the next command in the queue
parser.parse(current_command);
// Handle a known G, M, or T
switch (parser.command_letter) {
case 'G': switch (parser.codenum) {
@ -711,6 +701,27 @@ void GcodeSuite::process_next_command() {
ok_to_send();
}
/**
* Process a single command and dispatch it to its handler
* This is called from the main loop()
*/
void GcodeSuite::process_next_command() {
char * const current_command = command_queue[cmd_queue_index_r];
if (DEBUGGING(ECHO)) {
SERIAL_ECHO_START();
SERIAL_ECHOLN(current_command);
#if ENABLED(M100_FREE_MEMORY_WATCHER)
SERIAL_ECHOPAIR("slot:", cmd_queue_index_r);
M100_dump_routine(" Command Queue:", (const char*)command_queue, (const char*)(command_queue + sizeof(command_queue)));
#endif
}
// Parse the next command in the queue
parser.parse(current_command);
process_parsed_command();
}
#if ENABLED(HOST_KEEPALIVE_FEATURE)
/**

19
Marlin/src/gcode/gcode.h
View file

@ -266,11 +266,19 @@ public:
static WorkspacePlane workspace_plane;
#endif
#if ENABLED(CNC_COORDINATE_SYSTEMS)
#define MAX_COORDINATE_SYSTEMS 9
static int8_t active_coordinate_system;
static float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
static bool select_coordinate_system(const int8_t _new);
#endif
static millis_t previous_cmd_ms;
FORCE_INLINE static void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
static bool get_target_extruder_from_command();
static void get_destination_from_command();
static void process_parsed_command();
static void process_next_command();
static FORCE_INLINE void home_all_axes() { G28(true); }
@ -383,6 +391,17 @@ private:
static void G42();
#endif
#if ENABLED(CNC_COORDINATE_SYSTEMS)
bool select_coordinate_system(const int8_t _new);
static void G53();
static void G54();
static void G55();
static void G56();
static void G57();
static void G58();
static void G59();
#endif
static void G92();
#if HAS_RESUME_CONTINUE

93
Marlin/src/gcode/geometry/G53-G59.cpp Normal file
View file

@ -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

32
Marlin/src/gcode/geometry/G92.cpp
View file

@ -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)

20
Marlin/src/gcode/parser.cpp
View file

@ -233,6 +233,26 @@ void GCodeParser::parse(char *p) {
}
}
#if ENABLED(CNC_COORDINATE_SYSTEMS)
// Parse the next parameter as a new command
bool GCodeParser::chain() {
#if ENABLED(FASTER_GCODE_PARSER)
char *next_command = command_ptr;
if (next_command) {
while (*next_command && *next_command != ' ') ++next_command;
while (*next_command == ' ') ++next_command;
if (!*next_command) next_command = NULL;
}
#else
const char *next_command = command_args;
#endif
if (next_command) parse(next_command);
return !!next_command;
}
#endif // CNC_COORDINATE_SYSTEMS
void GCodeParser::unknown_command_error() {
SERIAL_ECHO_START();
SERIAL_ECHOPAIR(MSG_UNKNOWN_COMMAND, command_ptr);

5
Marlin/src/gcode/parser.h
View file

@ -156,6 +156,11 @@ public:
// This uses 54 bytes of SRAM to speed up seen/value
static void parse(char * p);
#if ENABLED(CNC_COORDINATE_SYSTEMS)
// Parse the next parameter as a new command
static bool chain();
#endif
// The code value pointer was set
FORCE_INLINE static bool has_value() { return value_ptr != NULL; }

2
Marlin/src/inc/Conditionals_post.h
View file

@ -1112,7 +1112,7 @@
#define GRID_MAX_POINTS ((GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y))
// Add commands that need sub-codes to this list
#define USE_GCODE_SUBCODES ENABLED(G38_PROBE_TARGET)
#define USE_GCODE_SUBCODES ENABLED(G38_PROBE_TARGET) || ENABLED(CNC_COORDINATE_SYSTEMS)
// MESH_BED_LEVELING overrides PROBE_MANUALLY
#if ENABLED(MESH_BED_LEVELING)

4
Marlin/src/inc/SanityCheck.h
View file

@ -1450,6 +1450,10 @@ static_assert(COUNT(sanity_arr_1) <= XYZE_N, "DEFAULT_AXIS_STEPS_PER_UNIT has to
static_assert(COUNT(sanity_arr_2) <= XYZE_N, "DEFAULT_MAX_FEEDRATE has too many elements.");
static_assert(COUNT(sanity_arr_3) <= XYZE_N, "DEFAULT_MAX_ACCELERATION has too many elements.");
#if ENABLED(CNC_COORDINATE_SYSTEMS) && ENABLED(NO_WORKSPACE_OFFSETS)
#error "CNC_COORDINATE_SYSTEMS is incompatible with NO_WORKSPACE_OFFSETS."
#endif
#include "../HAL/HAL_SanityCheck.h" // get CPU specific checks
#endif // _SANITYCHECK_H_

40
Marlin/src/module/configuration_store.cpp
View file

@ -36,13 +36,13 @@
*
*/
#define EEPROM_VERSION "V43"
#define EEPROM_VERSION "V44"
// Change EEPROM version if these are changed:
#define EEPROM_OFFSET 100
/**
* V43 EEPROM Layout:
* V44 EEPROM Layout:
*
* 100 Version (char x4)
* 104 EEPROM CRC16 (uint16_t)
@ -162,8 +162,11 @@
* 588 M907 Z Stepper Z current (uint32_t)
* 592 M907 E Stepper E current (uint32_t)
*
* 596 Minimum end-point
* 1917 (596 + 36 + 9 + 288 + 988) Maximum end-point
* CNC_COORDINATE_SYSTEMS 108 bytes
* 596 G54-G59.3 coordinate_system (float x 27)
*
* 704 Minimum end-point
* 2025 (704 + 36 + 9 + 288 + 988) Maximum end-point
*
* ========================================================================
* meshes_begin (between max and min end-point, directly above)
@ -207,6 +210,10 @@ MarlinSettings settings;
float new_z_fade_height;
#endif
#if ENABLED(CNC_COORDINATE_SYSTEMS)
bool position_changed;
#endif
/**
* Post-process after Retrieve or Reset
*/
@ -255,6 +262,13 @@ void MarlinSettings::postprocess() {
#if ENABLED(FWRETRACT)
fwretract.refresh_autoretract();
#endif
#if ENABLED(CNC_COORDINATE_SYSTEMS)
if (position_changed) {
report_current_position();
position_changed = false;
}
#endif
}
#if ENABLED(EEPROM_SETTINGS)
@ -630,6 +644,13 @@ void MarlinSettings::postprocess() {
for (uint8_t q = 3; q--;) EEPROM_WRITE(dummyui32);
#endif
#if ENABLED(CNC_COORDINATE_SYSTEMS)
EEPROM_WRITE(coordinate_system); // 27 floats
#else
dummy = 0.0f;
for (uint8_t q = 27; q--;) EEPROM_WRITE(dummy);
#endif
if (!eeprom_error) {
#if ENABLED(EEPROM_CHITCHAT)
const int eeprom_size = eeprom_index;
@ -1064,6 +1085,17 @@ void MarlinSettings::postprocess() {
for (uint8_t q = 3; q--;) EEPROM_READ(dummyui32);
#endif
//
// CNC Coordinate System
//
#if ENABLED(CNC_COORDINATE_SYSTEMS)
position_changed = gcode.select_coordinate_system(-1); // Go back to machine space
EEPROM_READ(gcode.coordinate_system); // 27 floats
#else
for (uint8_t q = 27; q--;) EEPROM_READ(dummy);
#endif
if (working_crc == stored_crc) {
postprocess();
#if ENABLED(EEPROM_CHITCHAT)