Implement NO_WORKSPACE_OFFSETS
This commit is contained in:
Scott Lahteine
parent
05abe853f9
commit
5f7e85398b
3 changed files with 224 additions and 162 deletions
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@ -275,27 +275,18 @@ extern volatile bool wait_for_heatup;
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#endif
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extern float current_position[NUM_AXIS];
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extern float position_shift[XYZ];
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extern float home_offset[XYZ];
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#if HOTENDS > 1
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extern float hotend_offset[XYZ][HOTENDS];
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#endif
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// Software Endstops
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void update_software_endstops(AxisEnum axis);
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#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
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extern bool soft_endstops_enabled;
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void clamp_to_software_endstops(float target[XYZ]);
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// Workspace offsets
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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extern float position_shift[XYZ];
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extern float home_offset[XYZ];
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#define LOGICAL_POSITION(POS, AXIS) ((POS) + home_offset[AXIS] + position_shift[AXIS])
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#define RAW_POSITION(POS, AXIS) ((POS) - home_offset[AXIS] - position_shift[AXIS])
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#else
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#define soft_endstops_enabled false
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#define clamp_to_software_endstops(x) NOOP
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#define LOGICAL_POSITION(POS, AXIS) (POS)
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#define RAW_POSITION(POS, AXIS) (POS)
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#endif
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extern float soft_endstop_min[XYZ];
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extern float soft_endstop_max[XYZ];
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#define LOGICAL_POSITION(POS, AXIS) ((POS) + home_offset[AXIS] + position_shift[AXIS])
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#define RAW_POSITION(POS, AXIS) ((POS) - home_offset[AXIS] - position_shift[AXIS])
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#define LOGICAL_X_POSITION(POS) LOGICAL_POSITION(POS, X_AXIS)
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#define LOGICAL_Y_POSITION(POS) LOGICAL_POSITION(POS, Y_AXIS)
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#define LOGICAL_Z_POSITION(POS) LOGICAL_POSITION(POS, Z_AXIS)
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@ -304,6 +295,26 @@ extern float soft_endstop_max[XYZ];
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#define RAW_Z_POSITION(POS) RAW_POSITION(POS, Z_AXIS)
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#define RAW_CURRENT_POSITION(AXIS) RAW_POSITION(current_position[AXIS], AXIS)
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#if HOTENDS > 1
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extern float hotend_offset[XYZ][HOTENDS];
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#endif
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// Software Endstops
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extern float soft_endstop_min[XYZ];
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extern float soft_endstop_max[XYZ];
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#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
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extern bool soft_endstops_enabled;
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void clamp_to_software_endstops(float target[XYZ]);
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#else
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#define soft_endstops_enabled false
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#define clamp_to_software_endstops(x) NOOP
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#endif
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#if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
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void update_software_endstops(const AxisEnum axis);
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#endif
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// GCode support for external objects
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bool code_seen(char);
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int code_value_int();
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@ -396,12 +396,16 @@ bool axis_relative_modes[] = AXIS_RELATIVE_MODES,
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float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA),
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volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
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// The distance that XYZ has been offset by G92. Reset by G28.
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float position_shift[XYZ] = { 0 };
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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// This offset is added to the configured home position.
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// Set by M206, M428, or menu item. Saved to EEPROM.
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float home_offset[XYZ] = { 0 };
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// The distance that XYZ has been offset by G92. Reset by G28.
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float position_shift[XYZ] = { 0 };
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// This offset is added to the configured home position.
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// Set by M206, M428, or menu item. Saved to EEPROM.
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float home_offset[XYZ] = { 0 };
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#endif
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// Software Endstops are based on the configured limits.
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#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
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@ -1333,76 +1337,83 @@ bool get_target_extruder_from_command(int code) {
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#endif // DUAL_X_CARRIAGE
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/**
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* Software endstops can be used to monitor the open end of
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* an axis that has a hardware endstop on the other end. Or
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* they can prevent axes from moving past endstops and grinding.
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*
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* To keep doing their job as the coordinate system changes,
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* the software endstop positions must be refreshed to remain
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* at the same positions relative to the machine.
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*/
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void update_software_endstops(AxisEnum axis) {
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float offs = LOGICAL_POSITION(0, axis);
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#if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
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#if ENABLED(DUAL_X_CARRIAGE)
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if (axis == X_AXIS) {
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/**
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* Software endstops can be used to monitor the open end of
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* an axis that has a hardware endstop on the other end. Or
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* they can prevent axes from moving past endstops and grinding.
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*
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* To keep doing their job as the coordinate system changes,
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* the software endstop positions must be refreshed to remain
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* at the same positions relative to the machine.
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*/
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void update_software_endstops(const AxisEnum axis) {
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const float offs = LOGICAL_POSITION(0, axis);
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// In Dual X mode hotend_offset[X] is T1's home position
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float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
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#if ENABLED(DUAL_X_CARRIAGE)
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if (axis == X_AXIS) {
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if (active_extruder != 0) {
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// T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
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soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
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soft_endstop_max[X_AXIS] = dual_max_x + offs;
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// In Dual X mode hotend_offset[X] is T1's home position
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float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
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if (active_extruder != 0) {
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// T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
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soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
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soft_endstop_max[X_AXIS] = dual_max_x + offs;
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}
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else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
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// In Duplication Mode, T0 can move as far left as X_MIN_POS
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// but not so far to the right that T1 would move past the end
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soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
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soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
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}
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else {
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// In other modes, T0 can move from X_MIN_POS to X_MAX_POS
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soft_endstop_min[axis] = base_min_pos(axis) + offs;
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soft_endstop_max[axis] = base_max_pos(axis) + offs;
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}
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}
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else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
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// In Duplication Mode, T0 can move as far left as X_MIN_POS
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// but not so far to the right that T1 would move past the end
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soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
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soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
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#else
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soft_endstop_min[axis] = base_min_pos(axis) + offs;
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soft_endstop_max[axis] = base_max_pos(axis) + offs;
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("For ", axis_codes[axis]);
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
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SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
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#endif
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SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
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SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
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}
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else {
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// In other modes, T0 can move from X_MIN_POS to X_MAX_POS
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soft_endstop_min[axis] = base_min_pos(axis) + offs;
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soft_endstop_max[axis] = base_max_pos(axis) + offs;
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}
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}
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#else
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soft_endstop_min[axis] = base_min_pos(axis) + offs;
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soft_endstop_max[axis] = base_max_pos(axis) + offs;
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#endif
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("For ", axis_codes[axis]);
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SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
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SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
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SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
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SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
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}
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#endif
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#if ENABLED(DELTA)
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if (axis == Z_AXIS)
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delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
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#endif
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}
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#if ENABLED(DELTA)
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if (axis == Z_AXIS)
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delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
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#endif
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#endif // NO_WORKSPACE_OFFSETS
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}
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/**
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* Change the home offset for an axis, update the current
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* position and the software endstops to retain the same
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* relative distance to the new home.
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*
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* Since this changes the current_position, code should
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* call sync_plan_position soon after this.
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*/
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static void set_home_offset(AxisEnum axis, float v) {
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current_position[axis] += v - home_offset[axis];
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home_offset[axis] = v;
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update_software_endstops(axis);
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}
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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/**
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* Change the home offset for an axis, update the current
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* position and the software endstops to retain the same
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* relative distance to the new home.
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*
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* Since this changes the current_position, code should
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* call sync_plan_position soon after this.
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*/
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static void set_home_offset(AxisEnum axis, float v) {
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current_position[axis] += v - home_offset[axis];
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home_offset[axis] = v;
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update_software_endstops(axis);
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}
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#endif // NO_WORKSPACE_OFFSETS
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/**
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* Set an axis' current position to its home position (after homing).
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@ -1433,8 +1444,10 @@ static void set_axis_is_at_home(AxisEnum axis) {
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axis_known_position[axis] = axis_homed[axis] = true;
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position_shift[axis] = 0;
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update_software_endstops(axis);
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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position_shift[axis] = 0;
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update_software_endstops(axis);
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#endif
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#if ENABLED(DUAL_X_CARRIAGE)
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if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
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@ -1507,8 +1520,10 @@ static void set_axis_is_at_home(AxisEnum axis) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
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SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
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SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
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#endif
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DEBUG_POS("", current_position);
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SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
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SERIAL_CHAR(')');
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@ -4603,8 +4618,10 @@ inline void gcode_G92() {
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if (i != E_AXIS) {
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didXYZ = true;
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position_shift[i] += v - p; // Offset the coordinate space
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update_software_endstops((AxisEnum)i);
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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position_shift[i] += v - p; // Offset the coordinate space
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update_software_endstops((AxisEnum)i);
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#endif
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}
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#endif
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}
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@ -6334,22 +6351,26 @@ inline void gcode_M205() {
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if (code_seen('E')) planner.max_jerk[E_AXIS] = code_value_axis_units(E_AXIS);
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}
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/**
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* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
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*/
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inline void gcode_M206() {
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LOOP_XYZ(i)
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if (code_seen(axis_codes[i]))
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set_home_offset((AxisEnum)i, code_value_axis_units(i));
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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#if ENABLED(MORGAN_SCARA)
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if (code_seen('T')) set_home_offset(A_AXIS, code_value_axis_units(A_AXIS)); // Theta
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if (code_seen('P')) set_home_offset(B_AXIS, code_value_axis_units(B_AXIS)); // Psi
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#endif
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/**
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* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
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*/
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inline void gcode_M206() {
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LOOP_XYZ(i)
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if (code_seen(axis_codes[i]))
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set_home_offset((AxisEnum)i, code_value_axis_units(i));
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SYNC_PLAN_POSITION_KINEMATIC();
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report_current_position();
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}
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#if ENABLED(MORGAN_SCARA)
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if (code_seen('T')) set_home_offset(A_AXIS, code_value_axis_units(A_AXIS)); // Theta
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if (code_seen('P')) set_home_offset(B_AXIS, code_value_axis_units(B_AXIS)); // Psi
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#endif
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SYNC_PLAN_POSITION_KINEMATIC();
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report_current_position();
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}
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#endif // NO_WORKSPACE_OFFSETS
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#if ENABLED(DELTA)
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/**
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@ -7173,45 +7194,49 @@ void quickstop_stepper() {
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#endif
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/**
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* M428: Set home_offset based on the distance between the
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* current_position and the nearest "reference point."
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* If an axis is past center its endstop position
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* is the reference-point. Otherwise it uses 0. This allows
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* the Z offset to be set near the bed when using a max endstop.
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*
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* M428 can't be used more than 2cm away from 0 or an endstop.
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*
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* Use M206 to set these values directly.
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*/
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inline void gcode_M428() {
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bool err = false;
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LOOP_XYZ(i) {
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if (axis_homed[i]) {
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float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos((AxisEnum)i) : 0,
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diff = current_position[i] - LOGICAL_POSITION(base, i);
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if (diff > -20 && diff < 20) {
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set_home_offset((AxisEnum)i, home_offset[i] - diff);
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}
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else {
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
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LCD_ALERTMESSAGEPGM("Err: Too far!");
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BUZZ(200, 40);
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err = true;
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break;
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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/**
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* M428: Set home_offset based on the distance between the
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* current_position and the nearest "reference point."
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* If an axis is past center its endstop position
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* is the reference-point. Otherwise it uses 0. This allows
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* the Z offset to be set near the bed when using a max endstop.
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*
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* M428 can't be used more than 2cm away from 0 or an endstop.
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*
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* Use M206 to set these values directly.
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*/
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inline void gcode_M428() {
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bool err = false;
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LOOP_XYZ(i) {
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if (axis_homed[i]) {
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float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos((AxisEnum)i) : 0,
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diff = current_position[i] - LOGICAL_POSITION(base, i);
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if (diff > -20 && diff < 20) {
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set_home_offset((AxisEnum)i, home_offset[i] - diff);
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}
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else {
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
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LCD_ALERTMESSAGEPGM("Err: Too far!");
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BUZZ(200, 40);
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err = true;
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break;
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}
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}
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}
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if (!err) {
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SYNC_PLAN_POSITION_KINEMATIC();
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report_current_position();
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LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
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BUZZ(200, 659);
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BUZZ(200, 698);
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}
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}
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if (!err) {
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SYNC_PLAN_POSITION_KINEMATIC();
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report_current_position();
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LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
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BUZZ(200, 659);
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BUZZ(200, 698);
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}
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}
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#endif // NO_WORKSPACE_OFFSETS
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/**
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* M500: Store settings in EEPROM
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@ -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];
|
||||
for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
|
||||
position_shift[i] += xydiff[i];
|
||||
update_software_endstops((AxisEnum)i);
|
||||
}
|
||||
#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;
|
||||
case 206: // M206: Set home offsets
|
||||
gcode_M206();
|
||||
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
|
||||
|
||||
case 428: // M428: Apply current_position to home_offset
|
||||
gcode_M428();
|
||||
break;
|
||||
#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();
|
||||
|
||||
// Initialize current position based on home_offset
|
||||
memcpy(current_position, home_offset, sizeof(home_offset));
|
||||
#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();
|
||||
|
||||
// Software endstops depend on home_offset
|
||||
LOOP_XYZ(i) update_software_endstops((AxisEnum)i);
|
||||
#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] = {
|
||||
|
|
@ -937,15 +948,17 @@ void Config_ResetDefault() {
|
|||
SERIAL_ECHOPAIR(" E", planner.max_jerk[E_AXIS]);
|
||||
SERIAL_EOL;
|
||||
|
||||
CONFIG_ECHO_START;
|
||||
if (!forReplay) {
|
||||
SERIAL_ECHOLNPGM("Home offset (mm)");
|
||||
#if DISABLED(NO_WORKSPACE_OFFSETS)
|
||||
CONFIG_ECHO_START;
|
||||
}
|
||||
SERIAL_ECHOPAIR(" M206 X", home_offset[X_AXIS]);
|
||||
SERIAL_ECHOPAIR(" Y", home_offset[Y_AXIS]);
|
||||
SERIAL_ECHOPAIR(" Z", home_offset[Z_AXIS]);
|
||||
SERIAL_EOL;
|
||||
if (!forReplay) {
|
||||
SERIAL_ECHOLNPGM("Home offset (mm)");
|
||||
CONFIG_ECHO_START;
|
||||
}
|
||||
SERIAL_ECHOPAIR(" M206 X", home_offset[X_AXIS]);
|
||||
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