Merge pull request #12313 from thinkyhead/bf2_scara_home_offset
Revive SCARA home offset (not fully implemented)
This commit is contained in:
commit
8696f882a9
13 changed files with 211 additions and 164 deletions
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@ -66,32 +66,43 @@
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* S[segments-per-second] - Segments-per-second
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* S[segments-per-second] - Segments-per-second
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* P[theta-psi-offset] - Theta-Psi offset, added to the shoulder (A/X) angle
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* P[theta-psi-offset] - Theta-Psi offset, added to the shoulder (A/X) angle
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* T[theta-offset] - Theta offset, added to the elbow (B/Y) angle
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* T[theta-offset] - Theta offset, added to the elbow (B/Y) angle
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* Z[z-offset] - Z offset, added to Z
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*
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*
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* A, P, and X are all aliases for the shoulder angle
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* A, P, and X are all aliases for the shoulder angle
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* B, T, and Y are all aliases for the elbow angle
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* B, T, and Y are all aliases for the elbow angle
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*/
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*/
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void GcodeSuite::M665() {
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void GcodeSuite::M665() {
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if (parser.seen('S')) delta_segments_per_second = parser.value_float();
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if (parser.seenval('S')) delta_segments_per_second = parser.value_float();
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const bool hasA = parser.seen('A'), hasP = parser.seen('P'), hasX = parser.seen('X');
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#if HAS_SCARA_OFFSET
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const uint8_t sumAPX = hasA + hasP + hasX;
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if (sumAPX == 1)
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home_offset[A_AXIS] = parser.value_float();
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else if (sumAPX > 1) {
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SERIAL_ERROR_START();
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SERIAL_ERRORLNPGM("Only one of A, P, or X is allowed.");
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return;
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}
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const bool hasB = parser.seen('B'), hasT = parser.seen('T'), hasY = parser.seen('Y');
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if (parser.seenval('Z')) scara_home_offset[Z_AXIS] = parser.value_linear_units();
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const uint8_t sumBTY = hasB + hasT + hasY;
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if (sumBTY == 1)
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const bool hasA = parser.seenval('A'), hasP = parser.seenval('P'), hasX = parser.seenval('X');
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home_offset[B_AXIS] = parser.value_float();
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const uint8_t sumAPX = hasA + hasP + hasX;
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else if (sumBTY > 1) {
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if (sumAPX) {
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SERIAL_ERROR_START();
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if (sumAPX == 1)
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SERIAL_ERRORLNPGM("Only one of B, T, or Y is allowed.");
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scara_home_offset[A_AXIS] = parser.value_float();
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return;
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else {
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}
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SERIAL_ERROR_START();
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SERIAL_ERRORLNPGM("Only one of A, P, or X is allowed.");
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return;
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}
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}
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const bool hasB = parser.seenval('B'), hasT = parser.seenval('T'), hasY = parser.seenval('Y');
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const uint8_t sumBTY = hasB + hasT + hasY;
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if (sumBTY) {
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if (sumBTY == 1)
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scara_home_offset[B_AXIS] = parser.value_float();
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else {
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SERIAL_ERROR_START();
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SERIAL_ERRORLNPGM("Only one of B, T, or Y is allowed.");
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return;
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}
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}
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#endif // HAS_SCARA_OFFSET
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}
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}
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#endif
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#endif
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@ -20,6 +20,10 @@
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*
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*
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*/
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*/
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#include "../../inc/MarlinConfigPre.h"
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#if HAS_SOFTWARE_ENDSTOPS
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#include "../gcode.h"
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#include "../gcode.h"
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#include "../../module/motion.h"
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#include "../../module/motion.h"
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@ -46,3 +50,5 @@ void GcodeSuite::M211() {
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SERIAL_ECHOPAIR(" " MSG_Y, LOGICAL_Y_POSITION(soft_endstop_max[Y_AXIS]));
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SERIAL_ECHOPAIR(" " MSG_Y, LOGICAL_Y_POSITION(soft_endstop_max[Y_AXIS]));
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SERIAL_ECHOLNPAIR(" " MSG_Z, LOGICAL_Z_POSITION(soft_endstop_max[Z_AXIS]));
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SERIAL_ECHOLNPAIR(" " MSG_Z, LOGICAL_Z_POSITION(soft_endstop_max[Z_AXIS]));
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}
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}
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#endif
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@ -483,7 +483,9 @@ void GcodeSuite::process_parsed_command(
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#endif
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#endif
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#endif
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#endif
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case 211: M211(); break; // M211: Enable, Disable, and/or Report software endstops
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#if HAS_SOFTWARE_ENDSTOPS
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case 211: M211(); break; // M211: Enable, Disable, and/or Report software endstops
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#endif
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#if EXTRUDERS > 1
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#if EXTRUDERS > 1
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case 217: M217(); break; // M217: Set filament swap parameters
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case 217: M217(); break; // M217: Set filament swap parameters
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@ -44,7 +44,7 @@ bool GcodeSuite::select_coordinate_system(const int8_t _new) {
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const float diff = new_offset[i] - old_offset[i];
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const float diff = new_offset[i] - old_offset[i];
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if (diff) {
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if (diff) {
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position_shift[i] += diff;
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position_shift[i] += diff;
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update_software_endstops((AxisEnum)i);
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update_workspace_offset((AxisEnum)i);
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}
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}
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}
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}
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return true;
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return true;
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@ -42,7 +42,7 @@ void GcodeSuite::G92() {
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const float v = position_shift[i];
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const float v = position_shift[i];
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if (v) {
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if (v) {
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position_shift[i] = 0;
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position_shift[i] = 0;
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update_software_endstops((AxisEnum)i);
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update_workspace_offset((AxisEnum)i);
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}
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}
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}
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}
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#endif // Not SCARA
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#endif // Not SCARA
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@ -79,7 +79,7 @@ void GcodeSuite::G92() {
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}
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}
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else {
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else {
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position_shift[i] += d; // Other axes simply offset the coordinate space
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position_shift[i] += d; // Other axes simply offset the coordinate space
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update_software_endstops((AxisEnum)i);
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update_workspace_offset((AxisEnum)i);
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}
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}
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#endif
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#endif
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}
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}
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@ -1527,11 +1527,13 @@
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// Updated G92 behavior shifts the workspace
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// Updated G92 behavior shifts the workspace
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#define HAS_POSITION_SHIFT DISABLED(NO_WORKSPACE_OFFSETS)
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#define HAS_POSITION_SHIFT DISABLED(NO_WORKSPACE_OFFSETS)
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// The home offset also shifts the coordinate space
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// The home offset also shifts the coordinate space
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#define HAS_HOME_OFFSET (DISABLED(NO_WORKSPACE_OFFSETS) && DISABLED(DELTA))
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#define HAS_HOME_OFFSET (DISABLED(NO_WORKSPACE_OFFSETS) && IS_CARTESIAN)
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// Either offset yields extra calculations on all moves
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// The SCARA home offset applies only on G28
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#define HAS_WORKSPACE_OFFSET (HAS_POSITION_SHIFT || HAS_HOME_OFFSET)
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#define HAS_SCARA_OFFSET (DISABLED(NO_WORKSPACE_OFFSETS) && IS_SCARA)
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// M206 doesn't apply to DELTA
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// Cumulative offset to workspace to save some calculation
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#define HAS_M206_COMMAND (HAS_HOME_OFFSET && DISABLED(DELTA))
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#define HAS_WORKSPACE_OFFSET (HAS_POSITION_SHIFT && HAS_HOME_OFFSET)
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// M206 sets the home offset for Cartesian machines
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#define HAS_M206_COMMAND (HAS_HOME_OFFSET && !IS_SCARA)
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// LCD timeout to status screen default is 15s
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// LCD timeout to status screen default is 15s
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#ifndef LCD_TIMEOUT_TO_STATUS
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#ifndef LCD_TIMEOUT_TO_STATUS
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@ -200,7 +200,7 @@ namespace UI {
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max = current_position[axis] + 1000;
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max = current_position[axis] + 1000;
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// Limit to software endstops, if enabled
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// Limit to software endstops, if enabled
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#if ENABLED(MIN_SOFTWARE_ENDSTOPS) || ENABLED(MAX_SOFTWARE_ENDSTOPS)
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#if HAS_SOFTWARE_ENDSTOPS
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if (soft_endstops_enabled) switch (axis) {
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if (soft_endstops_enabled) switch (axis) {
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case X_AXIS:
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case X_AXIS:
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#if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
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#if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
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@ -227,7 +227,7 @@ namespace UI {
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#endif
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#endif
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default: break;
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default: break;
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}
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}
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#endif // MIN_SOFTWARE_ENDSTOPS || MAX_SOFTWARE_ENDSTOPS
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#endif // HAS_SOFTWARE_ENDSTOPS
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// Delta limits XY based on the current offset from center
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// Delta limits XY based on the current offset from center
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// This assumes the center is 0,0
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// This assumes the center is 0,0
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@ -88,7 +88,7 @@ static void _lcd_move_xyz(PGM_P name, AxisEnum axis) {
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max = current_position[axis] + 1000;
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max = current_position[axis] + 1000;
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// Limit to software endstops, if enabled
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// Limit to software endstops, if enabled
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#if ENABLED(MIN_SOFTWARE_ENDSTOPS) || ENABLED(MAX_SOFTWARE_ENDSTOPS)
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#if HAS_SOFTWARE_ENDSTOPS
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if (soft_endstops_enabled) switch (axis) {
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if (soft_endstops_enabled) switch (axis) {
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case X_AXIS:
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case X_AXIS:
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#if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
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#if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
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@ -115,7 +115,7 @@ static void _lcd_move_xyz(PGM_P name, AxisEnum axis) {
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#endif
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#endif
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default: break;
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default: break;
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}
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}
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#endif // MIN_SOFTWARE_ENDSTOPS || MAX_SOFTWARE_ENDSTOPS
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#endif // HAS_SOFTWARE_ENDSTOPS
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// Delta limits XY based on the current offset from center
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// Delta limits XY based on the current offset from center
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// This assumes the center is 0,0
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// This assumes the center is 0,0
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@ -124,7 +124,7 @@ typedef struct SettingsDataStruct {
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float planner_max_jerk[XYZE], // M205 XYZE planner.max_jerk[XYZE]
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float planner_max_jerk[XYZE], // M205 XYZE planner.max_jerk[XYZE]
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planner_junction_deviation_mm; // M205 J planner.junction_deviation_mm
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planner_junction_deviation_mm; // M205 J planner.junction_deviation_mm
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float home_offset[XYZ]; // M206 XYZ
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float home_offset[XYZ]; // M206 XYZ / M665 TPZ
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#if HAS_HOTEND_OFFSET
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#if HAS_HOTEND_OFFSET
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float hotend_offset[XYZ][HOTENDS - 1]; // M218 XYZ
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float hotend_offset[XYZ][HOTENDS - 1]; // M218 XYZ
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@ -309,10 +309,11 @@ void MarlinSettings::postprocess() {
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planner.refresh_e_factor(i);
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planner.refresh_e_factor(i);
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#endif
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#endif
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#if HAS_HOME_OFFSET || ENABLED(DUAL_X_CARRIAGE)
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// Software endstops depend on home_offset
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// Software endstops depend on home_offset
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LOOP_XYZ(i) {
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LOOP_XYZ(i) update_software_endstops((AxisEnum)i);
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update_workspace_offset((AxisEnum)i);
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#endif
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update_software_endstops((AxisEnum)i);
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}
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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set_z_fade_height(new_z_fade_height, false); // false = no report
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set_z_fade_height(new_z_fade_height, false); // false = no report
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@ -453,10 +454,14 @@ void MarlinSettings::postprocess() {
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_FIELD_TEST(home_offset);
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_FIELD_TEST(home_offset);
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#if !HAS_HOME_OFFSET
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#if HAS_SCARA_OFFSET
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const float home_offset[XYZ] = { 0 };
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EEPROM_WRITE(scara_home_offset);
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#else
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#if !HAS_HOME_OFFSET
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const float home_offset[XYZ] = { 0 };
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#endif
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EEPROM_WRITE(home_offset);
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#endif
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#endif
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EEPROM_WRITE(home_offset);
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#if HAS_HOTEND_OFFSET
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#if HAS_HOTEND_OFFSET
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// Skip hotend 0 which must be 0
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// Skip hotend 0 which must be 0
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@ -1062,15 +1067,19 @@ void MarlinSettings::postprocess() {
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}
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}
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//
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//
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// Home Offset (M206)
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// Home Offset (M206 / M665)
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//
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//
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{
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{
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_FIELD_TEST(home_offset);
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_FIELD_TEST(home_offset);
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#if !HAS_HOME_OFFSET
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#if HAS_SCARA_OFFSET
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float home_offset[XYZ];
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EEPROM_READ(scara_home_offset);
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#else
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#if !HAS_HOME_OFFSET
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float home_offset[XYZ];
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#endif
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EEPROM_READ(home_offset);
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#endif
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#endif
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EEPROM_READ(home_offset);
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}
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}
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//
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//
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@ -1826,7 +1835,9 @@ void MarlinSettings::reset(PORTARG_SOLO) {
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planner.junction_deviation_mm = float(JUNCTION_DEVIATION_MM);
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planner.junction_deviation_mm = float(JUNCTION_DEVIATION_MM);
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#endif
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#endif
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#if HAS_HOME_OFFSET
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#if HAS_SCARA_OFFSET
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ZERO(scara_home_offset);
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#elif HAS_HOME_OFFSET
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ZERO(home_offset);
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ZERO(home_offset);
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#endif
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#endif
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@ -2430,7 +2441,20 @@ void MarlinSettings::reset(PORTARG_SOLO) {
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#endif // HAS_SERVOS && EDITABLE_SERVO_ANGLES
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#endif // HAS_SERVOS && EDITABLE_SERVO_ANGLES
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#if ENABLED(DELTA)
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#if HAS_SCARA_OFFSET
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if (!forReplay) {
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CONFIG_ECHO_START;
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SERIAL_ECHOLNPGM_P(port, "SCARA settings: S<seg-per-sec> P<theta-psi-offset> T<theta-offset>");
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}
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CONFIG_ECHO_START;
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SERIAL_ECHOPAIR_P(port, " M665 S", delta_segments_per_second);
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SERIAL_ECHOPAIR_P(port, " P", scara_home_offset[A_AXIS]);
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SERIAL_ECHOPAIR_P(port, " T", scara_home_offset[B_AXIS]);
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SERIAL_ECHOPAIR_P(port, " Z", LINEAR_UNIT(scara_home_offset[Z_AXIS]));
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SERIAL_EOL_P(port);
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#elif ENABLED(DELTA)
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if (!forReplay) {
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if (!forReplay) {
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CONFIG_ECHO_START;
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CONFIG_ECHO_START;
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@ -129,29 +129,30 @@ const float homing_feedrate_mm_s[4] PROGMEM = {
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// Cartesian conversion result goes here:
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// Cartesian conversion result goes here:
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float cartes[XYZ];
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float cartes[XYZ];
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// Until kinematics.cpp is created, create this here
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#if IS_KINEMATIC
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#if IS_KINEMATIC
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float delta[ABC];
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float delta[ABC];
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#endif
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#endif
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#if HAS_SCARA_OFFSET
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float scara_home_offset[ABC];
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#endif
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/**
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/**
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* The workspace can be offset by some commands, or
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* The workspace can be offset by some commands, or
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* these offsets may be omitted to save on computation.
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* these offsets may be omitted to save on computation.
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*/
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*/
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#if HAS_WORKSPACE_OFFSET
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#if HAS_POSITION_SHIFT
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#if HAS_POSITION_SHIFT
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// The distance that XYZ has been offset by G92. Reset by G28.
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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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float position_shift[XYZ] = { 0 };
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#endif
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#endif
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#if HAS_HOME_OFFSET
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#if HAS_HOME_OFFSET
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// This offset is added to the configured home position.
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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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// Set by M206, M428, or menu item. Saved to EEPROM.
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float home_offset[XYZ] = { 0 };
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float home_offset[XYZ] = { 0 };
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#endif
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#endif
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#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
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#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
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// The above two are combined to save on computes
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// The above two are combined to save on computes
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float workspace_offset[XYZ] = { 0 };
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float workspace_offset[XYZ] = { 0 };
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#endif
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#endif
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#endif
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#if OLDSCHOOL_ABL
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#if OLDSCHOOL_ABL
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@ -454,15 +455,14 @@ void bracket_probe_move(const bool before) {
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void setup_for_endstop_or_probe_move() { bracket_probe_move(true); }
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void setup_for_endstop_or_probe_move() { bracket_probe_move(true); }
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void clean_up_after_endstop_or_probe_move() { bracket_probe_move(false); }
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void clean_up_after_endstop_or_probe_move() { bracket_probe_move(false); }
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// Software Endstops are based on the configured limits.
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float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
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|
||||||
soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS };
|
|
||||||
|
|
||||||
#if HAS_SOFTWARE_ENDSTOPS
|
#if HAS_SOFTWARE_ENDSTOPS
|
||||||
|
|
||||||
// Software Endstops are based on the configured limits.
|
|
||||||
bool soft_endstops_enabled = true;
|
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
|
#if IS_KINEMATIC
|
||||||
float soft_endstop_radius, soft_endstop_radius_2;
|
float soft_endstop_radius, soft_endstop_radius_2;
|
||||||
#endif
|
#endif
|
||||||
|
@ -504,6 +504,79 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
|
||||||
#endif
|
#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
|
#endif
|
||||||
|
|
||||||
#if !UBL_SEGMENTED
|
#if !UBL_SEGMENTED
|
||||||
|
@ -1156,7 +1229,7 @@ void set_axis_is_at_home(const AxisEnum axis) {
|
||||||
|
|
||||||
#if HAS_POSITION_SHIFT
|
#if HAS_POSITION_SHIFT
|
||||||
position_shift[axis] = 0;
|
position_shift[axis] = 0;
|
||||||
update_software_endstops(axis);
|
update_workspace_offset(axis);
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
#if ENABLED(DUAL_X_CARRIAGE)
|
#if ENABLED(DUAL_X_CARRIAGE)
|
||||||
|
@ -1506,89 +1579,18 @@ void homeaxis(const AxisEnum axis) {
|
||||||
#endif
|
#endif
|
||||||
} // homeaxis()
|
} // homeaxis()
|
||||||
|
|
||||||
#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
|
#if HAS_WORKSPACE_OFFSET
|
||||||
|
void update_workspace_offset(const AxisEnum axis) {
|
||||||
/**
|
workspace_offset[axis] = home_offset[axis] + position_shift[axis];
|
||||||
* 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 && HAS_POSITION_SHIFT
|
|
||||||
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 ENABLED(DEBUG_LEVELING_FEATURE)
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||||
if (DEBUGGING(LEVELING)) {
|
if (DEBUGGING(LEVELING)) {
|
||||||
SERIAL_ECHOPAIR("For ", axis_codes[axis]);
|
SERIAL_ECHOPAIR("For ", axis_codes[axis]);
|
||||||
#if HAS_HOME_OFFSET
|
SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
|
||||||
SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
|
SERIAL_ECHOLNPAIR("\n position_shift = ", position_shift[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;
|
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
}
|
}
|
||||||
|
#endif
|
||||||
#endif // HAS_WORKSPACE_OFFSET || DUAL_X_CARRIAGE || DELTA
|
|
||||||
|
|
||||||
#if HAS_M206_COMMAND
|
#if HAS_M206_COMMAND
|
||||||
/**
|
/**
|
||||||
|
@ -1597,6 +1599,6 @@ void homeaxis(const AxisEnum axis) {
|
||||||
*/
|
*/
|
||||||
void set_home_offset(const AxisEnum axis, const float v) {
|
void set_home_offset(const AxisEnum axis, const float v) {
|
||||||
home_offset[axis] = v;
|
home_offset[axis] = v;
|
||||||
update_software_endstops(axis);
|
update_workspace_offset(axis);
|
||||||
}
|
}
|
||||||
#endif // HAS_M206_COMMAND
|
#endif // HAS_M206_COMMAND
|
||||||
|
|
|
@ -93,8 +93,6 @@ extern int16_t feedrate_percentage;
|
||||||
extern float hotend_offset[XYZ][HOTENDS];
|
extern float hotend_offset[XYZ][HOTENDS];
|
||||||
#endif
|
#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 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); }
|
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(float, home_bump_mm, HOME_BUMP_MM);
|
||||||
XYZ_DEFS(signed char, home_dir, HOME_DIR);
|
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
|
#if HAS_SOFTWARE_ENDSTOPS
|
||||||
extern bool soft_endstops_enabled;
|
extern bool soft_endstops_enabled;
|
||||||
|
extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ];
|
||||||
void clamp_to_software_endstops(float target[XYZ]);
|
void clamp_to_software_endstops(float target[XYZ]);
|
||||||
|
void update_software_endstops(const AxisEnum axis);
|
||||||
#else
|
#else
|
||||||
constexpr bool soft_endstops_enabled = false;
|
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 clamp_to_software_endstops(x) NOOP
|
||||||
|
#define update_software_endstops(x) NOOP
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
void report_current_position();
|
void report_current_position();
|
||||||
|
@ -211,14 +220,10 @@ void homeaxis(const AxisEnum axis);
|
||||||
void sensorless_homing_per_axis(const AxisEnum axis, const bool enable=true);
|
void sensorless_homing_per_axis(const AxisEnum axis, const bool enable=true);
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
//
|
|
||||||
// Macros
|
|
||||||
//
|
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Workspace offsets
|
* Workspace offsets
|
||||||
*/
|
*/
|
||||||
#if HAS_WORKSPACE_OFFSET
|
#if HAS_HOME_OFFSET || HAS_POSITION_SHIFT
|
||||||
#if HAS_HOME_OFFSET
|
#if HAS_HOME_OFFSET
|
||||||
extern float home_offset[XYZ];
|
extern float home_offset[XYZ];
|
||||||
#endif
|
#endif
|
||||||
|
@ -230,7 +235,7 @@ void homeaxis(const AxisEnum axis);
|
||||||
#define WORKSPACE_OFFSET(AXIS) workspace_offset[AXIS]
|
#define WORKSPACE_OFFSET(AXIS) workspace_offset[AXIS]
|
||||||
#elif HAS_HOME_OFFSET
|
#elif HAS_HOME_OFFSET
|
||||||
#define WORKSPACE_OFFSET(AXIS) home_offset[AXIS]
|
#define WORKSPACE_OFFSET(AXIS) home_offset[AXIS]
|
||||||
#elif HAS_POSITION_SHIFT
|
#else
|
||||||
#define WORKSPACE_OFFSET(AXIS) position_shift[AXIS]
|
#define WORKSPACE_OFFSET(AXIS) position_shift[AXIS]
|
||||||
#endif
|
#endif
|
||||||
#define NATIVE_TO_LOGICAL(POS, AXIS) ((POS) + WORKSPACE_OFFSET(AXIS))
|
#define NATIVE_TO_LOGICAL(POS, AXIS) ((POS) + WORKSPACE_OFFSET(AXIS))
|
||||||
|
@ -256,6 +261,10 @@ void homeaxis(const AxisEnum axis);
|
||||||
extern const float L1, L2;
|
extern const float L1, L2;
|
||||||
#endif
|
#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
|
// 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) {
|
inline bool position_is_reachable(const float &rx, const float &ry, const float inset=0) {
|
||||||
#if ENABLED(DELTA)
|
#if ENABLED(DELTA)
|
||||||
|
@ -358,10 +367,6 @@ void homeaxis(const AxisEnum axis);
|
||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
|
|
||||||
void update_software_endstops(const AxisEnum axis);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#if HAS_M206_COMMAND
|
#if HAS_M206_COMMAND
|
||||||
void set_home_offset(const AxisEnum axis, const float v);
|
void set_home_offset(const AxisEnum axis, const float v);
|
||||||
#endif
|
#endif
|
||||||
|
|
|
@ -60,12 +60,7 @@ void scara_set_axis_is_at_home(const AxisEnum axis) {
|
||||||
|
|
||||||
current_position[axis] = cartes[axis];
|
current_position[axis] = cartes[axis];
|
||||||
|
|
||||||
/**
|
update_software_endstops(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));
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
|
@ -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;
|
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);
|
update_software_endstops(X_AXIS);
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
|
Reference in a new issue