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Split the software endstop capability by axis.

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Based on #7975 and #7979
This commit is contained in:
Scott Lahteine 2017-10-14 17:14:08 -05:00
parent 1c3d06876e
commit 060d16d26b
4 changed files with 89 additions and 29 deletions
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24
Marlin/Configuration.h
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@ -785,10 +785,30 @@
#define Y_MAX_POS Y_BED_SIZE #define Y_MAX_POS Y_BED_SIZE
#define Z_MAX_POS 200 #define Z_MAX_POS 200
// If enabled, axes won't move below MIN_POS in response to movement commands. /**
* Software Endstops
*
* - Prevent moves outside the set machine bounds.
* - Individual axes can be disabled, if desired.
* - X and Y only apply to Cartesian robots.
* - Use 'M211' to set software endstops on/off or report current state
*/
// Min software endstops curtail movement below minimum coordinate bounds
#define MIN_SOFTWARE_ENDSTOPS #define MIN_SOFTWARE_ENDSTOPS
// If enabled, axes won't move above MAX_POS in response to movement commands. #if ENABLED(MIN_SOFTWARE_ENDSTOPS)
#define MIN_SOFTWARE_ENDSTOP_X
#define MIN_SOFTWARE_ENDSTOP_Y
#define MIN_SOFTWARE_ENDSTOP_Z
#endif
// Max software endstops curtail movement above maximum coordinate bounds
#define MAX_SOFTWARE_ENDSTOPS #define MAX_SOFTWARE_ENDSTOPS
#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
#define MAX_SOFTWARE_ENDSTOP_X
#define MAX_SOFTWARE_ENDSTOP_Y
#define MAX_SOFTWARE_ENDSTOP_Z
#endif
/** /**
* Filament Runout Sensor * Filament Runout Sensor

37
Marlin/Marlin_main.cpp
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@ -11719,27 +11719,30 @@ void ok_to_send() {
* Constrain the given coordinates to the software endstops. * Constrain the given coordinates to the software endstops.
*/ */
// NOTE: This makes no sense for delta beds other than Z-axis. /**
// For delta the X/Y would need to be clamped at * Constrain the given coordinates to the software endstops.
// DELTA_PRINTABLE_RADIUS from center of bed, but delta *
// now enforces is_position_reachable for X/Y regardless * NOTE: This will only apply to Z on DELTA and SCARA. XY is
// of HAS_SOFTWARE_ENDSTOPS, so that enforcement would be * constrained to a circle on these kinematic systems.
// redundant here. */
void clamp_to_software_endstops(float target[XYZ]) { void clamp_to_software_endstops(float target[XYZ]) {
if (!soft_endstops_enabled) return; if (!soft_endstops_enabled) return;
#if ENABLED(MIN_SOFTWARE_ENDSTOPS) #if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
#if DISABLED(DELTA) NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]); #endif
NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]); #if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
#endif NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
#endif
#if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]); NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
#endif #endif
#if ENABLED(MAX_SOFTWARE_ENDSTOPS) #if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
#if DISABLED(DELTA) NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]); #endif
NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]); #if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
#endif NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
#endif
#if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]); NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
#endif #endif
} }

19
Marlin/SanityCheck.h
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@ -254,6 +254,25 @@
static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE, static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
"Movement bounds ([XY]_MIN_POS, [XY]_MAX_POS) are too narrow to contain [XY]_BED_SIZE."); "Movement bounds ([XY]_MIN_POS, [XY]_MAX_POS) are too narrow to contain [XY]_BED_SIZE.");
/**
* Granular software endstops (Marlin >= 1.1.7)
*/
#if ENABLED(MIN_SOFTWARE_ENDSTOPS) && DISABLED(MIN_SOFTWARE_ENDSTOP_Z)
#if IS_KINEMATIC
#error "MIN_SOFTWARE_ENDSTOPS on DELTA/SCARA also requires MIN_SOFTWARE_ENDSTOP_Z."
#elif DISABLED(MIN_SOFTWARE_ENDSTOP_X) && DISABLED(MIN_SOFTWARE_ENDSTOP_Y)
#error "MIN_SOFTWARE_ENDSTOPS requires at least one of the MIN_SOFTWARE_ENDSTOP_[XYZ] options."
#endif
#endif
#if ENABLED(MAX_SOFTWARE_ENDSTOPS) && DISABLED(MAX_SOFTWARE_ENDSTOP_Z)
#if IS_KINEMATIC
#error "MAX_SOFTWARE_ENDSTOPS on DELTA/SCARA also requires MAX_SOFTWARE_ENDSTOP_Z."
#elif DISABLED(MAX_SOFTWARE_ENDSTOP_X) && DISABLED(MAX_SOFTWARE_ENDSTOP_Y)
#error "MAX_SOFTWARE_ENDSTOPS requires at least one of the MAX_SOFTWARE_ENDSTOP_[XYZ] options."
#endif
#endif
/** /**
* Progress Bar * Progress Bar
*/ */

38
Marlin/ultralcd.cpp
View File

@ -2845,17 +2845,35 @@ void kill_screen(const char* lcd_msg) {
float min = current_position[axis] - 1000, float min = current_position[axis] - 1000,
max = current_position[axis] + 1000; max = current_position[axis] + 1000;
#if HAS_SOFTWARE_ENDSTOPS // Limit to software endstops, if enabled
// Limit to software endstops, if enabled #if ENABLED(MIN_SOFTWARE_ENDSTOPS) || ENABLED(MAX_SOFTWARE_ENDSTOPS)
if (soft_endstops_enabled) { if (soft_endstops_enabled) switch (axis) {
#if ENABLED(MIN_SOFTWARE_ENDSTOPS) case X_AXIS:
min = soft_endstop_min[axis]; #if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
#endif min = soft_endstop_min[X_AXIS];
#if ENABLED(MAX_SOFTWARE_ENDSTOPS) #endif
max = soft_endstop_max[axis]; #if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
#endif max = soft_endstop_max[X_AXIS];
#endif
break;
case Y_AXIS:
#if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
min = soft_endstop_min[Y_AXIS];
#endif
#if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
max = soft_endstop_max[Y_AXIS];
#endif
break;
case Z_AXIS:
#if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
min = soft_endstop_min[Z_AXIS];
#endif
#if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
max = soft_endstop_max[Z_AXIS];
#endif
break;
} }
#endif #endif // MIN_SOFTWARE_ENDSTOPS || MAX_SOFTWARE_ENDSTOPS
// Delta limits XY based on the current offset from center // Delta limits XY based on the current offset from center
// This assumes the center is 0,0 // This assumes the center is 0,0