From 280534c06fae73b280379fba3c39ca7fd2705edd Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sat, 20 Aug 2016 20:07:42 -0500 Subject: [PATCH] Add M211: Enable/Disable Software Endstops --- Marlin/Marlin.h | 17 +++++--- Marlin/Marlin_main.cpp | 94 +++++++++++++++++++++++++++++------------- Marlin/language.h | 3 ++ Marlin/macros.h | 3 ++ 4 files changed, 84 insertions(+), 33 deletions(-) diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index e5bbdb7e9f..17c4f7f29d 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -245,8 +245,6 @@ void enqueue_and_echo_command_now(const char* cmd); // enqueue now, only return void enqueue_and_echo_commands_P(const char* cmd); //put one or many ASCII commands at the end of the current buffer, read from flash void clear_command_queue(); -void clamp_to_software_endstops(float target[3]); - extern millis_t previous_cmd_ms; inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); } @@ -275,8 +273,18 @@ extern volatile bool wait_for_heatup; extern float current_position[NUM_AXIS]; extern float position_shift[3]; extern float home_offset[3]; -extern float sw_endstop_min[3]; -extern float sw_endstop_max[3]; + +// Software Endstops +void update_software_endstops(AxisEnum axis); +#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops) + extern bool soft_endstops_enabled; + void clamp_to_software_endstops(float target[XYZ]); +#else + #define soft_endstops_enabled false + #define clamp_to_software_endstops(x) NOOP +#endif +extern float soft_endstop_min[XYZ]; +extern float soft_endstop_max[XYZ]; #define LOGICAL_POSITION(POS, AXIS) (POS + home_offset[AXIS] + position_shift[AXIS]) #define RAW_POSITION(POS, AXIS) (POS - home_offset[AXIS] - position_shift[AXIS]) @@ -379,7 +387,6 @@ extern uint8_t active_extruder; extern float mixing_factor[MIXING_STEPPERS]; #endif -void update_software_endstops(AxisEnum axis); void calculate_volumetric_multipliers(); // Buzzer diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index a0dc9386ca..45c229b346 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -205,6 +205,7 @@ * M208 - Set Recover (unretract) Additional (!) Length: S and Feedrate: F * M209 - Turn Automatic Retract Detection on/off: S (For slicers that don't support G10/11). Every normal extrude-only move will be classified as retract depending on the direction. + * M211 - Enable, Disable, and/or Report software endstops: [S] * M218 - Set a tool offset: T X Y * M220 - Set Feedrate Percentage: S ("FR" on your LCD) * M221 - Set Flow Percentage: S @@ -332,9 +333,12 @@ float position_shift[3] = { 0 }; // Set by M206, M428, or menu item. Saved to EEPROM. float home_offset[3] = { 0 }; -// Software Endstops. Default to configured limits. -float sw_endstop_min[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS }; -float sw_endstop_max[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS }; +// Software Endstops are based on the configured limits. +#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops) + bool soft_endstops_enabled = true; +#endif +float soft_endstop_min[XYZ] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS }, + soft_endstop_max[XYZ] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS }; #if FAN_COUNT > 0 int fanSpeeds[FAN_COUNT] = { 0 }; @@ -1477,21 +1481,21 @@ void update_software_endstops(AxisEnum axis) { if (axis == X_AXIS) { float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS); if (active_extruder != 0) { - sw_endstop_min[X_AXIS] = X2_MIN_POS + offs; - sw_endstop_max[X_AXIS] = dual_max_x + offs; + soft_endstop_min[X_AXIS] = X2_MIN_POS + offs; + soft_endstop_max[X_AXIS] = dual_max_x + offs; return; } else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) { - sw_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs; - sw_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs; + soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs; + soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs; return; } } else #endif { - sw_endstop_min[axis] = base_min_pos(axis) + offs; - sw_endstop_max[axis] = base_max_pos(axis) + offs; + soft_endstop_min[axis] = base_min_pos(axis) + offs; + soft_endstop_max[axis] = base_max_pos(axis) + offs; } #if ENABLED(DEBUG_LEVELING_FEATURE) @@ -1499,16 +1503,15 @@ void update_software_endstops(AxisEnum axis) { SERIAL_ECHOPAIR("For ", axis_codes[axis]); SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]); SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]); - SERIAL_ECHOPAIR("\n sw_endstop_min = ", sw_endstop_min[axis]); - SERIAL_ECHOPAIR("\n sw_endstop_max = ", sw_endstop_max[axis]); + SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]); + SERIAL_ECHOPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]); SERIAL_EOL; } #endif #if ENABLED(DELTA) - if (axis == Z_AXIS) { - delta_clip_start_height = sw_endstop_max[axis] - delta_safe_distance_from_top(); - } + if (axis == Z_AXIS) + delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top(); #endif } @@ -1574,8 +1577,8 @@ static void set_axis_is_at_home(AxisEnum axis) { * SCARA home positions are based on configuration since the actual * limits are determined by the inverse kinematic transform. */ - sw_endstop_min[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis)); - sw_endstop_max[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis)); + soft_endstop_min[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis)); + soft_endstop_max[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis)); } else #endif @@ -5572,6 +5575,33 @@ inline void gcode_M206() { #endif // FWRETRACT +/** + * M211: Enable, Disable, and/or Report software endstops + * + * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report + */ +inline void gcode_M211() { + SERIAL_ECHO_START; + #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops) + if (code_seen('S')) soft_endstops_enabled = code_value_bool(); + #endif + #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops) + SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS ": "); + serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF)); + #else + SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS ": " MSG_OFF); + #endif + SERIAL_ECHOPGM(" " MSG_SOFT_MIN ": "); + SERIAL_ECHOPAIR( MSG_X, soft_endstop_min[X_AXIS]); + SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_min[Y_AXIS]); + SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_min[Z_AXIS]); + SERIAL_ECHOPGM(" " MSG_SOFT_MAX ": "); + SERIAL_ECHOPAIR( MSG_X, soft_endstop_max[X_AXIS]); + SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]); + SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]); + SERIAL_EOL; +} + #if HOTENDS > 1 /** @@ -6175,7 +6205,7 @@ inline void gcode_M428() { bool err = false; LOOP_XYZ(i) { if (axis_homed[i]) { - float base = (current_position[i] > (sw_endstop_min[i] + sw_endstop_max[i]) * 0.5) ? base_home_pos(i) : 0, + float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos(i) : 0, diff = current_position[i] - LOGICAL_POSITION(base, i); if (diff > -20 && diff < 20) { set_home_offset((AxisEnum)i, home_offset[i] - diff); @@ -7495,6 +7525,10 @@ void process_next_command() { break; #endif // FWRETRACT + case 211: // M211 - Enable, Disable, and/or Report software endstops + gcode_M211(); + break; + #if HOTENDS > 1 case 218: // M218 - Set a tool offset: T X Y gcode_M218(); @@ -7749,18 +7783,22 @@ void ok_to_send() { SERIAL_EOL; } -void clamp_to_software_endstops(float target[3]) { - if (min_software_endstops) { - NOLESS(target[X_AXIS], sw_endstop_min[X_AXIS]); - NOLESS(target[Y_AXIS], sw_endstop_min[Y_AXIS]); - NOLESS(target[Z_AXIS], sw_endstop_min[Z_AXIS]); +#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops) + + void clamp_to_software_endstops(float target[XYZ]) { + #if ENABLED(min_software_endstops) + NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]); + NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]); + NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]); + #endif + #if ENABLED(max_software_endstops) + NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]); + NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]); + NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]); + #endif } - if (max_software_endstops) { - NOMORE(target[X_AXIS], sw_endstop_max[X_AXIS]); - NOMORE(target[Y_AXIS], sw_endstop_max[Y_AXIS]); - NOMORE(target[Z_AXIS], sw_endstop_max[Z_AXIS]); - } -} + +#endif #if ENABLED(DELTA) diff --git a/Marlin/language.h b/Marlin/language.h index 002e95778c..052cfe8568 100644 --- a/Marlin/language.h +++ b/Marlin/language.h @@ -157,6 +157,9 @@ #define MSG_ENDSTOP_OPEN "open" #define MSG_HOTEND_OFFSET "Hotend offsets:" #define MSG_DUPLICATION_MODE "Duplication mode: " +#define MSG_SOFT_ENDSTOPS "Soft endstops" +#define MSG_SOFT_MIN "Min" +#define MSG_SOFT_MAX "Max" #define MSG_SD_CANT_OPEN_SUBDIR "Cannot open subdir " #define MSG_SD_INIT_FAIL "SD init fail" diff --git a/Marlin/macros.h b/Marlin/macros.h index c070569549..351272804d 100644 --- a/Marlin/macros.h +++ b/Marlin/macros.h @@ -24,6 +24,9 @@ #define MACROS_H #define NUM_AXIS 4 +#define XYZE 4 +#define ABC 3 +#define XYZ 3 #define FORCE_INLINE __attribute__((always_inline)) inline