Implement NO_WORKSPACE_OFFSETS
This commit is contained in:
Scott Lahteine
parent
05abe853f9
commit
5f7e85398b
3 changed files with 224 additions and 162 deletions
|
|
@ -275,27 +275,18 @@ extern volatile bool wait_for_heatup;
|
|||
#endif
|
||||
|
||||
extern float current_position[NUM_AXIS];
|
||||
|
||||
// Workspace offsets
|
||||
#if DISABLED(NO_WORKSPACE_OFFSETS)
|
||||
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]);
|
||||
#else
|
||||
#define soft_endstops_enabled false
|
||||
#define clamp_to_software_endstops(x) NOOP
|
||||
#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])
|
||||
#else
|
||||
#define LOGICAL_POSITION(POS, AXIS) (POS)
|
||||
#define RAW_POSITION(POS, AXIS) (POS)
|
||||
#endif
|
||||
|
||||
#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();
|
||||
|
|
|
|||
|
|
@ -396,6 +396,8 @@ 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);
|
||||
|
||||
#if DISABLED(NO_WORKSPACE_OFFSETS)
|
||||
|
||||
// The distance that XYZ has been offset by G92. Reset by G28.
|
||||
float position_shift[XYZ] = { 0 };
|
||||
|
||||
|
|
@ -403,6 +405,8 @@ float position_shift[XYZ] = { 0 };
|
|||
// 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)
|
||||
bool soft_endstops_enabled = true;
|
||||
|
|
@ -1333,6 +1337,8 @@ 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
|
||||
|
|
@ -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]);
|
||||
}
|
||||
|
|
@ -1387,9 +1395,11 @@ 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
|
||||
|
|
@ -1403,6 +1413,7 @@ static void set_home_offset(AxisEnum axis, float v) {
|
|||
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
|
||||
}
|
||||
|
|
@ -6334,6 +6351,8 @@ 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
|
||||
*/
|
||||
|
|
@ -6351,6 +6370,8 @@ inline void gcode_M206() {
|
|||
report_current_position();
|
||||
}
|
||||
|
||||
#endif // NO_WORKSPACE_OFFSETS
|
||||
|
||||
#if ENABLED(DELTA)
|
||||
/**
|
||||
* M665: Set delta configurations
|
||||
|
|
@ -7173,6 +7194,8 @@ 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."
|
||||
|
|
@ -7213,6 +7236,8 @@ inline void gcode_M428() {
|
|||
}
|
||||
}
|
||||
|
||||
#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();
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
|
|
|
|||
Reference in a new issue