🚸 Enable G92.9 with rotational axes (#26174)

- Supporting axes that can rotate forever.

Marlin/src/gcode/geometry/G92.cpp

@@ -42,7 +42,7 @@
  *   G92   : Modify Workspace Offsets so the reported position shows the given X [Y [Z [A [B [C [U [V [W ]]]]]]]] [E].
  *   G92.1 : Zero XYZ Workspace Offsets (so the reported position = the native position).
  *
- * With POWER_LOSS_RECOVERY:
+ * With POWER_LOSS_RECOVERY or with AXISn_ROTATES:
  *   G92.9 : Set NATIVE Current Position to the given X [Y [Z [A [B [C [U [V [W ]]]]]]]] [E].
  */
 void GcodeSuite::G92() {
@@ -67,7 +67,7 @@ void GcodeSuite::G92() {
         break;
     #endif
 
-    #if ENABLED(POWER_LOSS_RECOVERY)
+    #if ANY(POWER_LOSS_RECOVERY, HAS_ROTATIONAL_AXES)
       case 9:                                                         // G92.9 - Set Current Position directly (like Marlin 1.0)
         LOOP_LOGICAL_AXES(i) {
           if (parser.seenval(AXIS_CHAR(i))) {

Marlin/src/inc/Conditionals_post.h

@@ -3279,7 +3279,7 @@
 #endif
 
 // Add commands that need sub-codes to this list
-#if ANY(G38_PROBE_TARGET, CNC_COORDINATE_SYSTEMS, POWER_LOSS_RECOVERY)
+#if ANY(G38_PROBE_TARGET, CNC_COORDINATE_SYSTEMS, POWER_LOSS_RECOVERY, HAS_ROTATIONAL_AXES)
   #define USE_GCODE_SUBCODES 1
 #endif
 

Marlin/src/lcd/marlinui.cpp

@@ -23,6 +23,7 @@
 #include "../inc/MarlinConfig.h"
 
 #include "../MarlinCore.h" // for printingIsPaused
+#include "../gcode/parser.h" // for axis_is_rotational, using_inch_units
 
 #if LED_POWEROFF_TIMEOUT > 0 || ALL(HAS_WIRED_LCD, PRINTER_EVENT_LEDS) || (HAS_BACKLIGHT_TIMEOUT && defined(NEOPIXEL_BKGD_INDEX_FIRST))
   #include "../feature/leds/leds.h"
@@ -824,6 +825,13 @@ void MarlinUI::init() {
 
       const feedRate_t fr_mm_s = (axis < LOGICAL_AXES) ? manual_feedrate_mm_s[axis] : XY_PROBE_FEEDRATE_MM_S;
 
+      /**
+       * For a rotational axis apply the "inch" to "mm" conversion factor. This mimics behaviour of the G-code G1
+       * (see get_destination_from_command). For moves involving only rotational axes, the planner will convert
+       * back to the feedrate in degrees-per-time unit.
+       */
+      const feedRate_t fr = parser.axis_is_rotational(axis) && parser.using_inch_units() ? IN_TO_MM(fr_mm_s) : fr_mm_s;
+
       #if IS_KINEMATIC
 
         #if HAS_MULTI_EXTRUDER
@@ -850,13 +858,13 @@ void MarlinUI::init() {
         // previous invocation is being blocked. Modifications to offset shouldn't be made while
         // processing is true or the planner will get out of sync.
         processing = true;
-        prepare_internal_move_to_destination(fr_mm_s);  // will set current_position from destination
+        prepare_internal_move_to_destination(fr);  // will set current_position from destination
         processing = false;
 
       #else
 
         // For Cartesian / Core motion simply move to the current_position
-        planner.buffer_line(current_position, fr_mm_s,
+        planner.buffer_line(current_position, fr,
           TERN_(MULTI_E_MANUAL, axis == E_AXIS ? e_index :) active_extruder
         );
 

Marlin/src/lcd/menu/menu_motion.cpp

@@ -78,8 +78,8 @@ void lcd_move_axis(const AxisEnum axis) {
   if (ui.should_draw()) {
     MenuEditItemBase::itemIndex = axis;
     const float pos = ui.manual_move.axis_value(axis);
-    if (parser.using_inch_units()) {
+    if (parser.using_inch_units() && !parser.axis_is_rotational(axis)) {
-      const float imp_pos = LINEAR_UNIT(pos);
+      const float imp_pos = parser.per_axis_value(axis, pos);
       MenuEditItemBase::draw_edit_screen(GET_TEXT_F(MSG_MOVE_N), ftostr63(imp_pos));
     }
     else

Marlin/src/module/motion.cpp

@@ -1153,10 +1153,13 @@ float get_move_distance(const xyze_pos_t &diff OPTARG(HAS_ROTATIONAL_AXES, bool
 
       #if HAS_ROTATIONAL_AXES
         if (UNEAR_ZERO(distance_sqr)) {
-          // Move involves only rotational axes. Calculate angular distance in accordance with LinuxCNC
+          // Move involves no linear axes. Calculate angular distance in accordance with LinuxCNC
-          is_cartesian_move = false;
           distance_sqr = ROTATIONAL_AXIS_GANG(sq(diff.i), + sq(diff.j), + sq(diff.k), + sq(diff.u), + sq(diff.v), + sq(diff.w));
         }
+        if (!UNEAR_ZERO(distance_sqr)) {
+          // Move involves rotational axes, not just the extruder
+          is_cartesian_move = false;
+        }
       #endif
 
     #endif

Marlin/src/module/planner.cpp

@@ -2079,11 +2079,11 @@ bool Planner::_populate_block(
 
   /**
    * This part of the code calculates the total length of the movement.
-   * For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
+   * For cartesian bots, the distance along the X axis equals the X_AXIS joint displacement and same holds true for Y_AXIS.
-   * But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
+   * But for geometries like CORE_XY that is not true. For these machines we need to create 2 additional variables, named X_HEAD and Y_HEAD, to store the displacent of the head along the X and Y axes in a cartesian coordinate system.
-   * and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
+   * The displacement of the head along the axes of the cartesian coordinate system has to be calculated from "X_AXIS" and "Y_AXIS" (should be renamed to A_JOINT and B_JOINT)
-   * So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
+   * displacements in joints space using forward kinematics (A=X+Y and B=X-Y in the case of CORE_XY).
-   * Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
+   * Next we can calculate the total movement length and apply the desired speed.
    */
   struct DistanceMM : abce_float_t {
     #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
@@ -2308,6 +2308,10 @@ bool Planner::_populate_block(
   // Example 2: At 120°/s a 60° move involving only rotational axes takes 0.5s. So this will give 2.0.
   float inverse_secs = inverse_millimeters * (
     #if ALL(HAS_ROTATIONAL_AXES, INCH_MODE_SUPPORT)
+      /**
+       * Workaround for premature feedrate conversion
+       * from in/s to mm/s by get_distance_from_command.
+       */
       cartesian_move ? fr_mm_s : LINEAR_UNIT(fr_mm_s)
     #else
       fr_mm_s