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Implement CNC_COORDINATE_SYSTEMS

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This commit is contained in:
Scott Lahteine 2017-11-01 13:08:46 -05:00
parent bb111b928b
commit 8ab368559a
8 changed files with 204 additions and 31 deletions
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2
.travis.yml
View file

@ -86,7 +86,7 @@ script:
- opt_set TEMP_SENSOR_0 -2
- opt_set TEMP_SENSOR_1 1
- opt_set TEMP_SENSOR_BED 1
- opt_enable PIDTEMPBED FIX_MOUNTED_PROBE Z_SAFE_HOMING ARC_P_CIRCLES CNC_WORKSPACE_PLANES
- opt_enable PIDTEMPBED FIX_MOUNTED_PROBE Z_SAFE_HOMING ARC_P_CIRCLES CNC_WORKSPACE_PLANES CNC_COORDINATE_SYSTEMS
- opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER SDSUPPORT EEPROM_SETTINGS
- opt_enable BLINKM PCA9632 RGB_LED NEOPIXEL_LED
- opt_enable AUTO_BED_LEVELING_LINEAR Z_MIN_PROBE_REPEATABILITY_TEST DEBUG_LEVELING_FEATURE

2
Marlin/Conditionals_post.h
View file

@ -1036,7 +1036,7 @@
#define GRID_MAX_POINTS ((GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y))
// Add commands that need sub-codes to this list
#define USE_GCODE_SUBCODES ENABLED(G38_PROBE_TARGET)
#define USE_GCODE_SUBCODES ENABLED(G38_PROBE_TARGET) || ENABLED(CNC_COORDINATE_SYSTEMS)
// MESH_BED_LEVELING overrides PROBE_MANUALLY
#if ENABLED(MESH_BED_LEVELING)

8
Marlin/Marlin.h
View file

@ -290,6 +290,14 @@ extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ];
void update_software_endstops(const AxisEnum axis);
#endif
#if ENABLED(CNC_COORDINATE_SYSTEMS)
#define MAX_COORDINATE_SYSTEMS 9
extern float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
bool select_coordinate_system(const int8_t _new);
#endif
void report_current_position();
#if IS_KINEMATIC
extern float delta[ABC];
void inverse_kinematics(const float raw[XYZ]);

154
Marlin/Marlin_main.cpp
View file

@ -364,6 +364,11 @@
#define LED_WHITE 0, 0, 0, 255
#endif
#if ENABLED(CNC_COORDINATE_SYSTEMS)
int8_t active_coordinate_system = -1; // machine space
float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
#endif
bool Running = true;
uint8_t marlin_debug_flags = DEBUG_NONE;
@ -745,6 +750,7 @@ void stop();
void get_available_commands();
void process_next_command();
void process_parsed_command();
void prepare_move_to_destination();
void get_cartesian_from_steppers();
@ -3672,6 +3678,73 @@ inline void gcode_G4() {
#endif // CNC_WORKSPACE_PLANES
#if ENABLED(CNC_COORDINATE_SYSTEMS)
/**
* Select a coordinate system and update the current position.
* System index -1 is used to specify machine-native.
*/
bool select_coordinate_system(const int8_t _new) {
if (active_coordinate_system == _new) return false;
float old_offset[XYZ] = { 0 }, new_offset[XYZ] = { 0 };
if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
COPY(old_offset, coordinate_system[active_coordinate_system]);
if (WITHIN(_new, 0, MAX_COORDINATE_SYSTEMS - 1))
COPY(new_offset, coordinate_system[_new]);
active_coordinate_system = _new;
bool didXYZ = false;
LOOP_XYZ(i) {
const float diff = new_offset[i] - old_offset[i];
if (diff) {
position_shift[i] += diff;
update_software_endstops((AxisEnum)i);
didXYZ = true;
}
}
if (didXYZ) SYNC_PLAN_POSITION_KINEMATIC();
return true;
}
/**
* In CNC G-code G53 is like a modifier
* It precedes a movement command (or other modifiers) on the same line.
* This is the first command to use parser.chain() to make this possible.
*/
inline void gcode_G53() {
// If this command has more following...
if (parser.chain()) {
const int8_t _system = active_coordinate_system;
active_coordinate_system = -1;
process_parsed_command();
active_coordinate_system = _system;
}
}
/**
* G54-G59.3: Select a new workspace
*
* A workspace is an XYZ offset to the machine native space.
* All workspaces default to 0,0,0 at start, or with EEPROM
* support they may be restored from a previous session.
*
* G92 is used to set the current workspace's offset.
*/
inline void gcode_G54_59(uint8_t subcode=0) {
const int8_t _space = parser.codenum - 54 + subcode;
if (select_coordinate_system(_space)) {
SERIAL_PROTOCOLLNPAIR("Select workspace ", _space);
report_current_position();
}
}
FORCE_INLINE void gcode_G54() { gcode_G54_59(); }
FORCE_INLINE void gcode_G55() { gcode_G54_59(); }
FORCE_INLINE void gcode_G56() { gcode_G54_59(); }
FORCE_INLINE void gcode_G57() { gcode_G54_59(); }
FORCE_INLINE void gcode_G58() { gcode_G54_59(); }
FORCE_INLINE void gcode_G59() { gcode_G54_59(parser.subcode); }
#endif
#if ENABLED(INCH_MODE_SUPPORT)
/**
* G20: Set input mode to inches
@ -4153,13 +4226,12 @@ inline void gcode_G28(const bool always_home_all) {
// Restore the active tool after homing
#if HOTENDS > 1
tool_change(old_tool_index, 0,
#if ENABLED(PARKING_EXTRUDER)
false // fetch the previous toolhead
#else
true
#endif
);
#if ENABLED(PARKING_EXTRUDER)
#define NO_FETCH false // fetch the previous toolhead
#else
#define NO_FETCH true
#endif
tool_change(old_tool_index, 0, NO_FETCH);
#endif
lcd_refresh();
@ -6201,7 +6273,30 @@ inline void gcode_G92() {
if (!didE) stepper.synchronize();
LOOP_XYZE(i) {
#if ENABLED(CNC_COORDINATE_SYSTEMS)
switch (parser.subcode) {
case 1:
// Zero the G92 values and restore current position
#if !IS_SCARA
LOOP_XYZ(i) {
const float v = position_shift[i];
if (v) {
position_shift[i] = 0;
update_software_endstops((AxisEnum)i);
}
}
#endif // Not SCARA
return;
}
#endif
#if ENABLED(CNC_COORDINATE_SYSTEMS)
#define IS_G92_0 (parser.subcode == 0)
#else
#define IS_G92_0 true
#endif
if (IS_G92_0) LOOP_XYZE(i) {
if (parser.seenval(axis_codes[i])) {
#if IS_SCARA
if (i != E_AXIS) didXYZ = true;
@ -6221,6 +6316,13 @@ inline void gcode_G92() {
#endif
}
}
#if ENABLED(CNC_COORDINATE_SYSTEMS)
// Apply workspace offset to the active coordinate system
if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
COPY(coordinate_system[active_coordinate_system], position_shift);
#endif
if (didXYZ)
SYNC_PLAN_POSITION_KINEMATIC();
else if (didE)
@ -11194,26 +11296,11 @@ inline void gcode_T(const uint8_t tmp_extruder) {
}
/**
* Process a single command and dispatch it to its handler
* This is called from the main loop()
* Process the parsed command and dispatch it to its handler
*/
void process_next_command() {
char * const current_command = command_queue[cmd_queue_index_r];
if (DEBUGGING(ECHO)) {
SERIAL_ECHO_START();
SERIAL_ECHOLN(current_command);
#if ENABLED(M100_FREE_MEMORY_WATCHER)
SERIAL_ECHOPAIR("slot:", cmd_queue_index_r);
M100_dump_routine(" Command Queue:", (const char*)command_queue, (const char*)(command_queue + sizeof(command_queue)));
#endif
}
void process_parsed_command() {
KEEPALIVE_STATE(IN_HANDLER);
// Parse the next command in the queue
parser.parse(current_command);
// Handle a known G, M, or T
switch (parser.command_letter) {
case 'G': switch (parser.codenum) {
@ -12053,6 +12140,23 @@ void process_next_command() {
ok_to_send();
}
void process_next_command() {
char * const current_command = command_queue[cmd_queue_index_r];
if (DEBUGGING(ECHO)) {
SERIAL_ECHO_START();
SERIAL_ECHOLN(current_command);
#if ENABLED(M100_FREE_MEMORY_WATCHER)
SERIAL_ECHOPAIR("slot:", cmd_queue_index_r);
M100_dump_routine(" Command Queue:", (const char*)command_queue, (const char*)(command_queue + sizeof(command_queue)));
#endif
}
// Parse the next command in the queue
parser.parse(current_command);
process_parsed_command();
}
/**
* Send a "Resend: nnn" message to the host to
* indicate that a command needs to be re-sent.

4
Marlin/SanityCheck.h
View file

@ -1483,3 +1483,7 @@ static_assert(COUNT(sanity_arr_3) <= XYZE_N, "DEFAULT_MAX_ACCELERATION has too m
#endif
#endif
#endif // SPINDLE_LASER_ENABLE
#if ENABLED(CNC_COORDINATE_SYSTEMS) && ENABLED(NO_WORKSPACE_OFFSETS)
#error "CNC_COORDINATE_SYSTEMS is incompatible with NO_WORKSPACE_OFFSETS."
#endif

40
Marlin/configuration_store.cpp
View file

@ -36,13 +36,13 @@
*
*/
#define EEPROM_VERSION "V43"
#define EEPROM_VERSION "V44"
// Change EEPROM version if these are changed:
#define EEPROM_OFFSET 100
/**
* V43 EEPROM Layout:
* V44 EEPROM Layout:
*
* 100 Version (char x4)
* 104 EEPROM CRC16 (uint16_t)
@ -162,8 +162,11 @@
* 588 M907 Z Stepper Z current (uint32_t)
* 592 M907 E Stepper E current (uint32_t)
*
* 596 Minimum end-point
* 1917 (596 + 36 + 9 + 288 + 988) Maximum end-point
* CNC_COORDINATE_SYSTEMS 108 bytes
* 596 G54-G59.3 coordinate_system (float x 27)
*
* 704 Minimum end-point
* 2025 (704 + 36 + 9 + 288 + 988) Maximum end-point
*
* ========================================================================
* meshes_begin (between max and min end-point, directly above)
@ -209,6 +212,10 @@ MarlinSettings settings;
float new_z_fade_height;
#endif
#if ENABLED(CNC_COORDINATE_SYSTEMS)
bool position_changed;
#endif
/**
* Post-process after Retrieve or Reset
*/
@ -253,6 +260,13 @@ void MarlinSettings::postprocess() {
#if HAS_MOTOR_CURRENT_PWM
stepper.refresh_motor_power();
#endif
#if ENABLED(CNC_COORDINATE_SYSTEMS)
if (position_changed) {
report_current_position();
position_changed = false;
}
#endif
}
#if ENABLED(EEPROM_SETTINGS)
@ -663,6 +677,13 @@ void MarlinSettings::postprocess() {
for (uint8_t q = 3; q--;) EEPROM_WRITE(dummyui32);
#endif
#if ENABLED(CNC_COORDINATE_SYSTEMS)
EEPROM_WRITE(coordinate_system); // 27 floats
#else
dummy = 0.0f;
for (uint8_t q = 27; q--;) EEPROM_WRITE(dummy);
#endif
if (!eeprom_error) {
const int eeprom_size = eeprom_index;
@ -1093,6 +1114,17 @@ void MarlinSettings::postprocess() {
for (uint8_t q = 3; q--;) EEPROM_READ(dummyui32);
#endif
//
// CNC Coordinate System
//
#if ENABLED(CNC_COORDINATE_SYSTEMS)
position_changed = select_coordinate_system(-1); // Go back to machine space
EEPROM_READ(coordinate_system); // 27 floats
#else
for (uint8_t q = 27; q--;) EEPROM_READ(dummy);
#endif
if (working_crc == stored_crc) {
postprocess();
#if ENABLED(EEPROM_CHITCHAT)

20
Marlin/gcode.cpp
View file

@ -228,6 +228,26 @@ void GCodeParser::parse(char *p) {
}
}
#if ENABLED(CNC_COORDINATE_SYSTEMS)
// Parse the next parameter as a new command
bool GCodeParser::chain() {
#if ENABLED(FASTER_GCODE_PARSER)
char *next_command = command_ptr;
if (next_command) {
while (*next_command && *next_command != ' ') ++next_command;
while (*next_command == ' ') ++next_command;
if (!*next_command) next_command = NULL;
}
#else
const char *next_command = command_args;
#endif
if (next_command) parse(next_command);
return !!next_command;
}
#endif // CNC_COORDINATE_SYSTEMS
void GCodeParser::unknown_command_error() {
SERIAL_ECHO_START();
SERIAL_ECHOPAIR(MSG_UNKNOWN_COMMAND, command_ptr);

5
Marlin/gcode.h
View file

@ -169,6 +169,11 @@ public:
// This uses 54 bytes of SRAM to speed up seen/value
static void parse(char * p);
#if ENABLED(CNC_COORDINATE_SYSTEMS)
// Parse the next parameter as a new command
static bool chain();
#endif
// The code value pointer was set
FORCE_INLINE static bool has_value() { return value_ptr != NULL; }