Split the software endstop capability by axis.
Based on #7975 and #7979
This commit is contained in:
Scott Lahteine
parent
1c3d06876e
commit
060d16d26b
@ -785,10 +785,30 @@
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#define Y_MAX_POS Y_BED_SIZE
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#define Z_MAX_POS 200
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// If enabled, axes won't move below MIN_POS in response to movement commands.
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/**
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* Software Endstops
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*
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* - Prevent moves outside the set machine bounds.
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* - Individual axes can be disabled, if desired.
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* - X and Y only apply to Cartesian robots.
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* - Use 'M211' to set software endstops on/off or report current state
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*/
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// Min software endstops curtail movement below minimum coordinate bounds
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#define MIN_SOFTWARE_ENDSTOPS
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// If enabled, axes won't move above MAX_POS in response to movement commands.
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#if ENABLED(MIN_SOFTWARE_ENDSTOPS)
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#define MIN_SOFTWARE_ENDSTOP_X
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#define MIN_SOFTWARE_ENDSTOP_Y
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#define MIN_SOFTWARE_ENDSTOP_Z
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#endif
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// Max software endstops curtail movement above maximum coordinate bounds
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#define MAX_SOFTWARE_ENDSTOPS
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#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
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#define MAX_SOFTWARE_ENDSTOP_X
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#define MAX_SOFTWARE_ENDSTOP_Y
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#define MAX_SOFTWARE_ENDSTOP_Z
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#endif
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/**
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* Filament Runout Sensor
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@ -11719,27 +11719,30 @@ void ok_to_send() {
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* Constrain the given coordinates to the software endstops.
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*/
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// NOTE: This makes no sense for delta beds other than Z-axis.
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// For delta the X/Y would need to be clamped at
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// DELTA_PRINTABLE_RADIUS from center of bed, but delta
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// now enforces is_position_reachable for X/Y regardless
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// of HAS_SOFTWARE_ENDSTOPS, so that enforcement would be
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// redundant here.
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/**
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* Constrain the given coordinates to the software endstops.
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*
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* NOTE: This will only apply to Z on DELTA and SCARA. XY is
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* constrained to a circle on these kinematic systems.
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*/
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void clamp_to_software_endstops(float target[XYZ]) {
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if (!soft_endstops_enabled) return;
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#if ENABLED(MIN_SOFTWARE_ENDSTOPS)
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#if DISABLED(DELTA)
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NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
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NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
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#endif
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#if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
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NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
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#endif
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#if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
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NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
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#endif
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#if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
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NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
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#endif
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#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
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#if DISABLED(DELTA)
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NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
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NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
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#endif
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#if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
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NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
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#endif
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#if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
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NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
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#endif
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#if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
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NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
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#endif
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}
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@ -254,6 +254,25 @@
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static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
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"Movement bounds ([XY]_MIN_POS, [XY]_MAX_POS) are too narrow to contain [XY]_BED_SIZE.");
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/**
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* Granular software endstops (Marlin >= 1.1.7)
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*/
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#if ENABLED(MIN_SOFTWARE_ENDSTOPS) && DISABLED(MIN_SOFTWARE_ENDSTOP_Z)
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#if IS_KINEMATIC
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#error "MIN_SOFTWARE_ENDSTOPS on DELTA/SCARA also requires MIN_SOFTWARE_ENDSTOP_Z."
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#elif DISABLED(MIN_SOFTWARE_ENDSTOP_X) && DISABLED(MIN_SOFTWARE_ENDSTOP_Y)
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#error "MIN_SOFTWARE_ENDSTOPS requires at least one of the MIN_SOFTWARE_ENDSTOP_[XYZ] options."
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#endif
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#endif
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#if ENABLED(MAX_SOFTWARE_ENDSTOPS) && DISABLED(MAX_SOFTWARE_ENDSTOP_Z)
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#if IS_KINEMATIC
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#error "MAX_SOFTWARE_ENDSTOPS on DELTA/SCARA also requires MAX_SOFTWARE_ENDSTOP_Z."
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#elif DISABLED(MAX_SOFTWARE_ENDSTOP_X) && DISABLED(MAX_SOFTWARE_ENDSTOP_Y)
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#error "MAX_SOFTWARE_ENDSTOPS requires at least one of the MAX_SOFTWARE_ENDSTOP_[XYZ] options."
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#endif
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#endif
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/**
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* Progress Bar
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*/
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@ -2845,17 +2845,35 @@ void kill_screen(const char* lcd_msg) {
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float min = current_position[axis] - 1000,
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max = current_position[axis] + 1000;
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#if HAS_SOFTWARE_ENDSTOPS
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// Limit to software endstops, if enabled
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if (soft_endstops_enabled) {
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#if ENABLED(MIN_SOFTWARE_ENDSTOPS)
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min = soft_endstop_min[axis];
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#endif
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#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
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max = soft_endstop_max[axis];
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#endif
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// Limit to software endstops, if enabled
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#if ENABLED(MIN_SOFTWARE_ENDSTOPS) || ENABLED(MAX_SOFTWARE_ENDSTOPS)
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if (soft_endstops_enabled) switch (axis) {
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case X_AXIS:
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#if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
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min = soft_endstop_min[X_AXIS];
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#endif
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#if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
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max = soft_endstop_max[X_AXIS];
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#endif
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break;
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case Y_AXIS:
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#if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
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min = soft_endstop_min[Y_AXIS];
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#endif
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#if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
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max = soft_endstop_max[Y_AXIS];
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#endif
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break;
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case Z_AXIS:
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#if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
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min = soft_endstop_min[Z_AXIS];
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#endif
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#if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
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max = soft_endstop_max[Z_AXIS];
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#endif
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break;
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}
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#endif
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#endif // MIN_SOFTWARE_ENDSTOPS || MAX_SOFTWARE_ENDSTOPS
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// Delta limits XY based on the current offset from center
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// This assumes the center is 0,0
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