From 24882adfbf9996dfb502086ce1fc4193644da640 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Fri, 14 Apr 2017 21:41:21 -0500
Subject: [PATCH] Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION
- 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
---
Marlin/Conditionals_post.h | 9 ++++
Marlin/Marlin.h | 58 +++++++++++++++--------
Marlin/Marlin_main.cpp | 85 ++++++++++++++++++++--------------
Marlin/SanityCheck.h | 7 ---
Marlin/configuration_store.cpp | 17 +++----
Marlin/ultralcd.cpp | 4 +-
6 files changed, 109 insertions(+), 71 deletions(-)
diff --git a/Marlin/Conditionals_post.h b/Marlin/Conditionals_post.h
index 83e7759571..02a1eb0f6b 100644
--- a/Marlin/Conditionals_post.h
+++ b/Marlin/Conditionals_post.h
@@ -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
diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index e18741a384..cea3d7fd6c 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -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
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index f8edb87305..5626a2226f 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -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
diff --git a/Marlin/SanityCheck.h b/Marlin/SanityCheck.h
index 362681b332..8f4c295421 100644
--- a/Marlin/SanityCheck.h
+++ b/Marlin/SanityCheck.h
@@ -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
*/
diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp
index b85d7e152c..16775bbd11 100644
--- a/Marlin/configuration_store.cpp
+++ b/Marlin/configuration_store.cpp
@@ -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)");
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index 29f4622477..3702f6651b 100755
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -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
//