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Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION

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- On `DELTA` the `M665 H` option supplants `M206`
- On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior
- Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS`
- Optimize coordinate space conversion for `DELTA` workspace
- To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
This commit is contained in:
Scott Lahteine 2017-04-14 21:41:21 -05:00
parent 40dfafbe89
commit 24882adfbf
6 changed files with 109 additions and 71 deletions
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9
Marlin/Conditionals_post.h
View file

@ -805,6 +805,15 @@
#define HAS_FOLDER_SORTING (FOLDER_SORTING || ENABLED(SDSORT_GCODE))
#endif
// Updated G92 behavior shifts the workspace
#define HAS_POSITION_SHIFT DISABLED(NO_WORKSPACE_OFFSETS)
// The home offset also shifts the coordinate space
#define HAS_HOME_OFFSET (DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DELTA))
// Either offset yields extra calculations on all moves
#define HAS_WORKSPACE_OFFSET (HAS_POSITION_SHIFT || HAS_HOME_OFFSET)
// M206 doesn't apply to DELTA
#define HAS_M206_COMMAND (HAS_HOME_OFFSET && DISABLED(DELTA))
// LCD timeout to status screen default is 15s
#ifndef LCD_TIMEOUT_TO_STATUS
#define LCD_TIMEOUT_TO_STATUS 15000

58
Marlin/Marlin.h
View file

@ -228,32 +228,52 @@ extern volatile bool wait_for_heatup;
extern float current_position[NUM_AXIS];
// Workspace offsets
#if DISABLED(NO_WORKSPACE_OFFSETS)
extern float position_shift[XYZ],
home_offset[XYZ],
workspace_offset[XYZ];
#define LOGICAL_POSITION(POS, AXIS) ((POS) + workspace_offset[AXIS])
#define RAW_POSITION(POS, AXIS) ((POS) - workspace_offset[AXIS])
#else
#define LOGICAL_POSITION(POS, AXIS) (POS)
#define RAW_POSITION(POS, AXIS) (POS)
#if HAS_WORKSPACE_OFFSET
#if HAS_HOME_OFFSET
extern float home_offset[XYZ];
#endif
#if HAS_POSITION_SHIFT
extern float position_shift[XYZ];
#endif
#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)
#define RAW_X_POSITION(POS) RAW_POSITION(POS, X_AXIS)
#define RAW_Y_POSITION(POS) RAW_POSITION(POS, Y_AXIS)
#define RAW_Z_POSITION(POS) RAW_POSITION(POS, Z_AXIS)
#define RAW_CURRENT_POSITION(AXIS) RAW_POSITION(current_position[AXIS], AXIS)
#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
extern float workspace_offset[XYZ];
#define WORKSPACE_OFFSET(AXIS) workspace_offset[AXIS]
#elif HAS_HOME_OFFSET
#define WORKSPACE_OFFSET(AXIS) home_offset[AXIS]
#elif HAS_POSITION_SHIFT
#define WORKSPACE_OFFSET(AXIS) position_shift[AXIS]
#else
#define WORKSPACE_OFFSET(AXIS) 0
#endif
#define LOGICAL_POSITION(POS, AXIS) ((POS) + WORKSPACE_OFFSET(AXIS))
#define RAW_POSITION(POS, AXIS) ((POS) - WORKSPACE_OFFSET(AXIS))
#if HAS_POSITION_SHIFT || DISABLED(DELTA)
#define LOGICAL_X_POSITION(POS) LOGICAL_POSITION(POS, X_AXIS)
#define LOGICAL_Y_POSITION(POS) LOGICAL_POSITION(POS, Y_AXIS)
#define RAW_X_POSITION(POS) RAW_POSITION(POS, X_AXIS)
#define RAW_Y_POSITION(POS) RAW_POSITION(POS, Y_AXIS)
#else
#define LOGICAL_X_POSITION(POS) (POS)
#define LOGICAL_Y_POSITION(POS) (POS)
#define RAW_X_POSITION(POS) (POS)
#define RAW_Y_POSITION(POS) (POS)
#endif
#define LOGICAL_Z_POSITION(POS) LOGICAL_POSITION(POS, Z_AXIS)
#define RAW_Z_POSITION(POS) RAW_POSITION(POS, Z_AXIS)
#define RAW_CURRENT_POSITION(A) RAW_##A##_POSITION(current_position[A##_AXIS])
// Hotend Offsets
#if HOTENDS > 1
extern float hotend_offset[XYZ][HOTENDS];
#endif
// Software Endstops
extern float soft_endstop_min[XYZ];
extern float soft_endstop_max[XYZ];
extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ];
#if HAS_SOFTWARE_ENDSTOPS
extern bool soft_endstops_enabled;
@ -263,7 +283,7 @@ extern float soft_endstop_max[XYZ];
#define clamp_to_software_endstops(x) NOOP
#endif
#if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
void update_software_endstops(const AxisEnum axis);
#endif

85
Marlin/Marlin_main.cpp
View file

@ -147,7 +147,7 @@
S<print> T<travel> minimum speeds
B<minimum segment time>
X<max X jerk>, Y<max Y jerk>, Z<max Z jerk>, E<max E jerk>
* M206 - Set additional homing offset.
* M206 - Set additional homing offset. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
* M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>. (Requires FWRETRACT)
* M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>. (Requires FWRETRACT)
* M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT)
@ -180,7 +180,7 @@
* M410 - Quickstop. Abort all planned moves.
* M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL)
* M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units> (Requires MESH_BED_LEVELING or AUTO_BED_LEVELING_UBL)
* M428 - Set the home_offset based on the current_position. Nearest edge applies.
* M428 - Set the home_offset based on the current_position. Nearest edge applies. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
* M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS)
* M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS)
* M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! **
@ -409,18 +409,20 @@ 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 };
// This offset is added to the configured home position.
// Set by M206, M428, or menu item. Saved to EEPROM.
float home_offset[XYZ] = { 0 };
// The above two are combined to save on computes
float workspace_offset[XYZ] = { 0 };
#if HAS_WORKSPACE_OFFSET
#if HAS_POSITION_SHIFT
// The distance that XYZ has been offset by G92. Reset by G28.
float position_shift[XYZ] = { 0 };
#endif
#if HAS_HOME_OFFSET
// This offset is added to the configured home position.
// Set by M206, M428, or menu item. Saved to EEPROM.
float home_offset[XYZ] = { 0 };
#endif
#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
// The above two are combined to save on computes
float workspace_offset[XYZ] = { 0 };
#endif
#endif
// Software Endstops are based on the configured limits.
@ -1382,7 +1384,7 @@ bool get_target_extruder_from_command(int code) {
#endif // DUAL_X_CARRIAGE
#if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
/**
* Software endstops can be used to monitor the open end of
@ -1394,7 +1396,18 @@ bool get_target_extruder_from_command(int code) {
* at the same positions relative to the machine.
*/
void update_software_endstops(const AxisEnum axis) {
const float offs = workspace_offset[axis] = home_offset[axis] + position_shift[axis];
const float offs = 0.0
#if HAS_HOME_OFFSET
+ home_offset[axis]
#endif
#if HAS_POSITION_SHIFT
+ position_shift[axis]
#endif
;
#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
workspace_offset[axis] = offs;
#endif
#if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS) {
@ -1427,8 +1440,10 @@ bool get_target_extruder_from_command(int code) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("For ", axis_codes[axis]);
#if DISABLED(NO_WORKSPACE_OFFSETS)
#if HAS_HOME_OFFSET
SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[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]);
@ -1442,9 +1457,9 @@ bool get_target_extruder_from_command(int code) {
#endif
}
#endif // NO_WORKSPACE_OFFSETS
#endif // HAS_WORKSPACE_OFFSET || DUAL_X_CARRIAGE
#if DISABLED(NO_WORKSPACE_OFFSETS) && DISABLED(DELTA)
#if HAS_M206_COMMAND
/**
* Change the home offset for an axis, update the current
* position and the software endstops to retain the same
@ -1458,7 +1473,7 @@ bool get_target_extruder_from_command(int code) {
home_offset[axis] = v;
update_software_endstops(axis);
}
#endif // !NO_WORKSPACE_OFFSETS && !DELTA
#endif // HAS_M206_COMMAND
/**
* Set an axis' current position to its home position (after homing).
@ -1489,7 +1504,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
axis_known_position[axis] = axis_homed[axis] = true;
#if DISABLED(NO_WORKSPACE_OFFSETS)
#if HAS_POSITION_SHIFT
position_shift[axis] = 0;
update_software_endstops(axis);
#endif
@ -1565,7 +1580,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
#if DISABLED(NO_WORKSPACE_OFFSETS)
#if HAS_HOME_OFFSET
SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
#endif
@ -5366,7 +5381,7 @@ inline void gcode_G92() {
current_position[i] = code_value_axis_units(i);
if (i != E_AXIS) didXYZ = true;
#else
#if DISABLED(NO_WORKSPACE_OFFSETS)
#if HAS_POSITION_SHIFT
float p = current_position[i];
#endif
float v = code_value_axis_units(i);
@ -5375,7 +5390,7 @@ inline void gcode_G92() {
if (i != E_AXIS) {
didXYZ = true;
#if DISABLED(NO_WORKSPACE_OFFSETS)
#if HAS_POSITION_SHIFT
position_shift[i] += v - p; // Offset the coordinate space
update_software_endstops((AxisEnum)i);
#endif
@ -7382,7 +7397,7 @@ inline void gcode_M205() {
if (code_seen('E')) planner.max_jerk[E_AXIS] = code_value_axis_units(E_AXIS);
}
#if DISABLED(NO_WORKSPACE_OFFSETS) && DISABLED(DELTA)
#if HAS_M206_COMMAND
/**
* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
@ -7401,7 +7416,7 @@ inline void gcode_M205() {
report_current_position();
}
#endif // NO_WORKSPACE_OFFSETS
#endif // HAS_M206_COMMAND
#if ENABLED(DELTA)
/**
@ -8280,7 +8295,7 @@ void quickstop_stepper() {
#endif
#if DISABLED(NO_WORKSPACE_OFFSETS) && DISABLED(DELTA)
#if HAS_M206_COMMAND
/**
* M428: Set home_offset based on the distance between the
@ -8322,7 +8337,7 @@ void quickstop_stepper() {
}
}
#endif // NO_WORKSPACE_OFFSETS
#endif // HAS_M206_COMMAND
/**
* M500: Store settings in EEPROM
@ -9301,9 +9316,9 @@ 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)
#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
#if DISABLED(NO_WORKSPACE_OFFSETS)
#if HAS_POSITION_SHIFT
position_shift[i] += xydiff[i];
#endif
update_software_endstops((AxisEnum)i);
@ -9895,7 +9910,7 @@ void process_next_command() {
gcode_M205();
break;
#if DISABLED(NO_WORKSPACE_OFFSETS) && DISABLED(DELTA)
#if HAS_M206_COMMAND
case 206: // M206: Set home offsets
gcode_M206();
break;
@ -10063,7 +10078,7 @@ void process_next_command() {
break;
#endif
#if DISABLED(NO_WORKSPACE_OFFSETS) && DISABLED(DELTA)
#if HAS_M206_COMMAND
case 428: // M428: Apply current_position to home_offset
gcode_M428();
break;
@ -10584,8 +10599,8 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
* splitting the move where it crosses mesh borders.
*/
void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X_AXIS)),
cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y_AXIS)),
int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X)),
cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y)),
cx2 = mbl.cell_index_x(RAW_X_POSITION(destination[X_AXIS])),
cy2 = mbl.cell_index_y(RAW_Y_POSITION(destination[Y_AXIS]));
NOMORE(cx1, GRID_MAX_POINTS_X - 2);
@ -11799,7 +11814,7 @@ void setup() {
// This also updates variables in the planner, elsewhere
(void)settings.load();
#if DISABLED(NO_WORKSPACE_OFFSETS)
#if HAS_M206_COMMAND
// Initialize current position based on home_offset
COPY(current_position, home_offset);
#else

7
Marlin/SanityCheck.h
View file

@ -391,13 +391,6 @@
#error "To use BED_LIMIT_SWITCHING you must disable PIDTEMPBED."
#endif
/**
* Delta Auto calibration
*/
#if ENABLED(DELTA_AUTO_CALIBRATION) && ENABLED(NO_WORKSPACE_OFFSETS)
#error "DELTA_AUTO_CALIBRATION is incompatible with NO_WORKSPACE_OFFSETS."
#endif
/**
* Allow only one bed leveling option to be defined
*/

17
Marlin/configuration_store.cpp
View file

@ -202,7 +202,7 @@ void MarlinSettings::postprocess() {
calculate_volumetric_multipliers();
#if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
#if HAS_HOME_OFFSET || ENABLED(DUAL_X_CARRIAGE)
// Software endstops depend on home_offset
LOOP_XYZ(i) update_software_endstops((AxisEnum)i);
#endif
@ -299,7 +299,7 @@ void MarlinSettings::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)
#if !HAS_HOME_OFFSET
const float home_offset[XYZ] = { 0 };
#endif
#if ENABLED(DELTA)
@ -653,7 +653,7 @@ void MarlinSettings::postprocess() {
EEPROM_READ(planner.min_segment_time);
EEPROM_READ(planner.max_jerk);
#if ENABLED(NO_WORKSPACE_OFFSETS)
#if !HAS_HOME_OFFSET
float home_offset[XYZ];
#endif
EEPROM_READ(home_offset);
@ -999,7 +999,7 @@ void MarlinSettings::reset() {
planner.z_fade_height = 0.0;
#endif
#if DISABLED(NO_WORKSPACE_OFFSETS)
#if HAS_HOME_OFFSET
ZERO(home_offset);
#endif
@ -1039,10 +1039,10 @@ void MarlinSettings::reset() {
delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
COPY(delta_diagonal_rod_trim, drt);
COPY(delta_tower_angle_trim, dta);
#if ENABLED(DELTA)
home_offset[Z_AXIS] = 0;
#endif
home_offset[Z_AXIS] = 0;
#elif ENABLED(Z_DUAL_ENDSTOPS)
float z_endstop_adj =
#ifdef Z_DUAL_ENDSTOPS_ADJUSTMENT
Z_DUAL_ENDSTOPS_ADJUSTMENT
@ -1050,6 +1050,7 @@ void MarlinSettings::reset() {
0
#endif
;
#endif
#if ENABLED(ULTIPANEL)
@ -1254,7 +1255,7 @@ void MarlinSettings::reset() {
SERIAL_ECHOPAIR(" E", planner.max_jerk[E_AXIS]);
SERIAL_EOL;
#if DISABLED(NO_WORKSPACE_OFFSETS) && DISABLED(DELTA)
#if HAS_M206_COMMAND
CONFIG_ECHO_START;
if (!forReplay) {
SERIAL_ECHOLNPGM("Home offset (mm)");

4
Marlin/ultralcd.cpp
View file

@ -817,7 +817,7 @@ void kill_screen(const char* lcd_msg) {
*
*/
#if DISABLED(NO_WORKSPACE_OFFSETS) && DISABLED(DELTA)
#if HAS_M206_COMMAND
/**
* Set the home offset based on the current_position
*/
@ -1672,7 +1672,7 @@ void kill_screen(const char* lcd_msg) {
#endif
#if DISABLED(NO_WORKSPACE_OFFSETS) && DISABLED(DELTA)
#if HAS_M206_COMMAND
//
// Set Home Offsets
//