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Merge pull request #8200 from thinkyhead/bf1_asterisk_not_special

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[1.1.x] CNC_COORDINATE_SYSTEMS
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Scott Lahteine 2017-11-04 22:49:02 -05:00 committed by GitHub
commit 95296191a2
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40 changed files with 549 additions and 103 deletions
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2
.travis.yml
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@ -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
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@ -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/Configuration_adv.h
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@ -1267,6 +1267,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

17
Marlin/I2CPositionEncoder.h
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@ -127,10 +127,7 @@
invert = false,
ec = true;
float axisOffset = 0;
int32_t axisOffsetTicks = 0,
zeroOffset = 0,
int32_t zeroOffset = 0,
lastPosition = 0,
position;
@ -168,7 +165,7 @@
}
FORCE_INLINE float get_position_mm() { return mm_from_count(get_position()); }
FORCE_INLINE int32_t get_position() { return get_raw_count() - zeroOffset - axisOffsetTicks; }
FORCE_INLINE int32_t get_position() { return get_raw_count() - zeroOffset; }
int32_t get_axis_error_steps(const bool report);
float get_axis_error_mm(const bool report);
@ -219,16 +216,6 @@
FORCE_INLINE int get_stepper_ticks() { return stepperTicks; }
FORCE_INLINE void set_stepper_ticks(const int ticks) { stepperTicks = ticks; }
FORCE_INLINE float get_axis_offset() { return axisOffset; }
FORCE_INLINE void set_axis_offset(const float newOffset) {
axisOffset = newOffset;
axisOffsetTicks = int32_t(axisOffset * get_encoder_ticks_mm());
}
FORCE_INLINE void set_current_position(const float newPositionMm) {
set_axis_offset(get_position_mm() - newPositionMm + axisOffset);
}
};
class I2CPositionEncodersMgr {

8
Marlin/Marlin.h
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@ -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]);

190
Marlin/Marlin_main.cpp
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@ -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
#define NO_FETCH false // fetch the previous toolhead
#else
true
#define NO_FETCH true
#endif
);
tool_change(old_tool_index, 0, NO_FETCH);
#endif
lcd_refresh();
@ -5503,11 +5575,13 @@ void home_all_axes() { gcode_G28(true); }
if (!_0p_calibration) {
if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
z_at_pt[CEN] +=
#if ENABLED(PROBE_MANUALLY)
z_at_pt[CEN] += lcd_probe_pt(0, 0);
lcd_probe_pt(0, 0)
#else
z_at_pt[CEN] += probe_pt(dx, dy, stow_after_each, 1, false);
probe_pt(dx, dy, stow_after_each, 1, false)
#endif
;
}
if (_7p_calibration) { // probe extra center points
@ -5516,11 +5590,13 @@ void home_all_axes() { gcode_G28(true); }
I_LOOP_CAL_PT(axis, start, steps) {
const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
r = delta_calibration_radius * 0.1;
z_at_pt[CEN] +=
#if ENABLED(PROBE_MANUALLY)
z_at_pt[CEN] += lcd_probe_pt(cos(a) * r, sin(a) * r);
lcd_probe_pt(cos(a) * r, sin(a) * r)
#else
z_at_pt[CEN] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1)
#endif
;
}
z_at_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
}
@ -5543,30 +5619,23 @@ void home_all_axes() { gcode_G28(true); }
const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
r = delta_calibration_radius * (1 + 0.1 * (zig_zag ? circle : - circle)),
interpol = fmod(axis, 1);
const float z_temp =
#if ENABLED(PROBE_MANUALLY)
float z_temp = lcd_probe_pt(cos(a) * r, sin(a) * r);
lcd_probe_pt(cos(a) * r, sin(a) * r)
#else
float z_temp = probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1)
#endif
;
// split probe point to neighbouring calibration points
z_at_pt[round(axis - interpol + NPP - 1) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
z_at_pt[round(axis - interpol) % NPP + 1] += z_temp * sq(sin(RADIANS(interpol * 90)));
z_at_pt[uint8_t(round(axis - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
z_at_pt[uint8_t(round(axis - interpol )) % NPP + 1] += z_temp * sq(sin(RADIANS(interpol * 90)));
}
zig_zag = !zig_zag;
}
if (_7p_intermed_points)
LOOP_CAL_RAD(axis) {
/*
// average intermediate points to towers and opposites - only required with _7P_STEP >= 2
for (int8_t i = 1; i < _7P_STEP; i++) {
const float interpol = i * (1.0 / _7P_STEP);
z_at_pt[axis] += (z_at_pt[(axis + NPP - i - 1) % NPP + 1]
+ z_at_pt[axis + i]) * sq(cos(RADIANS(interpol * 90)));
}
*/
LOOP_CAL_RAD(axis)
z_at_pt[axis] /= _7P_STEP / steps;
}
}
float S1 = z_at_pt[CEN],
@ -6204,7 +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;
@ -6219,16 +6311,18 @@ inline void gcode_G92() {
#if HAS_POSITION_SHIFT
position_shift[i] += v - p; // Offset the coordinate space
update_software_endstops((AxisEnum)i);
#endif
}
#endif
}
}
#if ENABLED(I2C_POSITION_ENCODERS)
I2CPEM.encoders[I2CPEM.idx_from_axis((AxisEnum)i)].set_axis_offset(position_shift[i]);
#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
#endif
}
#endif
}
}
if (didXYZ)
SYNC_PLAN_POSITION_KINEMATIC();
else if (didE)
@ -11202,26 +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) {
@ -12061,6 +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
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@ -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

108
Marlin/configuration_store.cpp
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@ -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;
@ -723,12 +744,16 @@ void MarlinSettings::postprocess() {
float dummy = 0;
bool dummyb;
working_crc = 0; //clear before reading first "real data"
working_crc = 0; // Init to 0. Accumulated by EEPROM_READ
// Number of esteppers may change
uint8_t esteppers;
EEPROM_READ(esteppers);
//
// Planner Motion
//
// Get only the number of E stepper parameters previously stored
// Any steppers added later are set to their defaults
const float def1[] = DEFAULT_AXIS_STEPS_PER_UNIT, def2[] = DEFAULT_MAX_FEEDRATE;
@ -752,6 +777,10 @@ void MarlinSettings::postprocess() {
EEPROM_READ(planner.min_segment_time_us);
EEPROM_READ(planner.max_jerk);
//
// Home Offset (M206)
//
#if !HAS_HOME_OFFSET
float home_offset[XYZ];
#endif
@ -763,6 +792,10 @@ void MarlinSettings::postprocess() {
home_offset[Z_AXIS] -= DELTA_HEIGHT;
#endif
//
// Hotend Offsets, if any
//
#if HOTENDS > 1
// Skip hotend 0 which must be 0
for (uint8_t e = 1; e < HOTENDS; e++)
@ -846,6 +879,10 @@ void MarlinSettings::postprocess() {
for (uint16_t q = grid_max_x * grid_max_y; q--;) EEPROM_READ(dummy);
}
//
// Unified Bed Leveling active state
//
#if ENABLED(AUTO_BED_LEVELING_UBL)
EEPROM_READ(planner.leveling_active);
EEPROM_READ(ubl.storage_slot);
@ -855,6 +892,10 @@ void MarlinSettings::postprocess() {
EEPROM_READ(dummyui8);
#endif // AUTO_BED_LEVELING_UBL
//
// DELTA Geometry or Dual Endstops offsets
//
#if ENABLED(DELTA)
EEPROM_READ(delta_endstop_adj); // 3 floats
EEPROM_READ(delta_radius); // 1 float
@ -891,19 +932,26 @@ void MarlinSettings::postprocess() {
#endif
//
// LCD Preheat settings
//
#if DISABLED(ULTIPANEL)
int lcd_preheat_hotend_temp[2], lcd_preheat_bed_temp[2], lcd_preheat_fan_speed[2];
#endif
EEPROM_READ(lcd_preheat_hotend_temp);
EEPROM_READ(lcd_preheat_bed_temp);
EEPROM_READ(lcd_preheat_fan_speed);
EEPROM_READ(lcd_preheat_hotend_temp); // 2 floats
EEPROM_READ(lcd_preheat_bed_temp); // 2 floats
EEPROM_READ(lcd_preheat_fan_speed); // 2 floats
//EEPROM_ASSERT(
// WITHIN(lcd_preheat_fan_speed, 0, 255),
// "lcd_preheat_fan_speed out of range"
//);
//
// Hotend PID
//
#if ENABLED(PIDTEMP)
for (uint8_t e = 0; e < MAX_EXTRUDERS; e++) {
EEPROM_READ(dummy); // Kp
@ -927,11 +975,19 @@ void MarlinSettings::postprocess() {
for (uint8_t q = MAX_EXTRUDERS * 4; q--;) EEPROM_READ(dummy); // Kp, Ki, Kd, Kc
#endif // !PIDTEMP
//
// PID Extrusion Scaling
//
#if DISABLED(PID_EXTRUSION_SCALING)
int lpq_len;
#endif
EEPROM_READ(lpq_len);
//
// Heated Bed PID
//
#if ENABLED(PIDTEMPBED)
EEPROM_READ(dummy); // bedKp
if (dummy != DUMMY_PID_VALUE) {
@ -943,11 +999,19 @@ void MarlinSettings::postprocess() {
for (uint8_t q=3; q--;) EEPROM_READ(dummy); // bedKp, bedKi, bedKd
#endif
//
// LCD Contrast
//
#if !HAS_LCD_CONTRAST
uint16_t lcd_contrast;
#endif
EEPROM_READ(lcd_contrast);
//
// Firmware Retraction
//
#if ENABLED(FWRETRACT)
EEPROM_READ(autoretract_enabled);
EEPROM_READ(retract_length);
@ -963,13 +1027,20 @@ void MarlinSettings::postprocess() {
for (uint8_t q=8; q--;) EEPROM_READ(dummy);
#endif
EEPROM_READ(volumetric_enabled);
//
// Volumetric & Filament Size
//
EEPROM_READ(volumetric_enabled);
for (uint8_t q = 0; q < MAX_EXTRUDERS; q++) {
EEPROM_READ(dummy);
if (q < COUNT(filament_size)) filament_size[q] = dummy;
}
//
// TMC2130 Stepper Current
//
uint16_t val;
#if ENABLED(HAVE_TMC2130)
EEPROM_READ(val);
@ -1017,7 +1088,7 @@ void MarlinSettings::postprocess() {
stepperE4.setCurrent(val, R_SENSE, HOLD_MULTIPLIER);
#endif
#else
for (uint8_t q = 0; q < 11; q++) EEPROM_READ(val);
for (uint8_t q = 11; --q;) EEPROM_READ(val);
#endif
//
@ -1032,6 +1103,10 @@ void MarlinSettings::postprocess() {
EEPROM_READ(dummy);
#endif
//
// Motor Current PWM
//
#if HAS_MOTOR_CURRENT_PWM
for (uint8_t q = 3; q--;) EEPROM_READ(stepper.motor_current_setting[q]);
#else
@ -1039,6 +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)

8
Marlin/example_configurations/AlephObjects/TAZ4/Configuration_adv.h
View File

@ -1310,6 +1310,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/Anet/A6/Configuration_adv.h
View File

@ -1310,6 +1310,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/Anet/A8/Configuration_adv.h
View File

@ -1310,6 +1310,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/BQ/Hephestos/Configuration_adv.h
View File

@ -1310,6 +1310,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/BQ/Hephestos_2/Configuration_adv.h
View File

@ -1307,6 +1307,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/BQ/WITBOX/Configuration_adv.h
View File

@ -1310,6 +1310,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/Cartesio/Configuration_adv.h
View File

@ -1310,6 +1310,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/Creality/CR-10/Configuration_adv.h
View File

@ -1310,6 +1310,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/Felix/Configuration_adv.h
View File

@ -1310,6 +1310,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/FolgerTech/i3-2020/Configuration_adv.h
View File

@ -1310,6 +1310,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/Infitary/i3-M508/Configuration_adv.h
View File

@ -1310,6 +1310,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/Malyan/M150/Configuration_adv.h
View File

@ -1307,6 +1307,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/Micromake/C1/enhanced/Configuration_adv.h
View File

@ -1314,6 +1314,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/RigidBot/Configuration_adv.h
View File

@ -1310,6 +1310,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/SCARA/Configuration_adv.h
View File

@ -1310,6 +1310,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/Sanguinololu/Configuration_adv.h
View File

@ -1277,6 +1277,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/TinyBoy2/Configuration_adv.h
View File

@ -1310,6 +1310,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/Velleman/K8200/Configuration_adv.h
View File

@ -1318,6 +1318,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/Velleman/K8400/Configuration_adv.h
View File

@ -1310,6 +1310,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration_adv.h
View File

@ -1312,6 +1312,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration_adv.h
View File

@ -1312,6 +1312,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/delta/generic/Configuration_adv.h
View File

@ -1312,6 +1312,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
View File

@ -1312,6 +1312,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
View File

@ -1317,6 +1317,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
View File

@ -1312,6 +1312,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/gCreate/gMax1.5+/Configuration_adv.h
View File

@ -1310,6 +1310,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/makibox/Configuration_adv.h
View File

@ -1310,6 +1310,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
View File

@ -1310,6 +1310,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

8
Marlin/example_configurations/wt150/Configuration_adv.h
View File

@ -1297,6 +1297,14 @@
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/

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; }

32
Marlin/planner_bezier.cpp
View File

@ -107,10 +107,10 @@ inline static float dist1(float x1, float y1, float x2, float y2) { return FABS(
*/
void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS], const float offset[4], float fr_mm_s, uint8_t extruder) {
// Absolute first and second control points are recovered.
float first0 = position[X_AXIS] + offset[0];
float first1 = position[Y_AXIS] + offset[1];
float second0 = target[X_AXIS] + offset[2];
float second1 = target[Y_AXIS] + offset[3];
const float first0 = position[X_AXIS] + offset[0],
first1 = position[Y_AXIS] + offset[1],
second0 = target[X_AXIS] + offset[2],
second1 = target[Y_AXIS] + offset[3];
float t = 0.0;
float bez_target[4];
@ -134,15 +134,15 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
bool did_reduce = false;
float new_t = t + step;
NOMORE(new_t, 1.0);
float new_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], new_t);
float new_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], new_t);
float new_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], new_t),
new_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], new_t);
for (;;) {
if (new_t - t < (MIN_STEP)) break;
float candidate_t = 0.5 * (t + new_t);
float candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t);
float candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t);
float interp_pos0 = 0.5 * (bez_target[X_AXIS] + new_pos0);
float interp_pos1 = 0.5 * (bez_target[Y_AXIS] + new_pos1);
const float candidate_t = 0.5 * (t + new_t),
candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t),
candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t),
interp_pos0 = 0.5 * (bez_target[X_AXIS] + new_pos0),
interp_pos1 = 0.5 * (bez_target[Y_AXIS] + new_pos1);
if (dist1(candidate_pos0, candidate_pos1, interp_pos0, interp_pos1) <= (SIGMA)) break;
new_t = candidate_t;
new_pos0 = candidate_pos0;
@ -153,12 +153,12 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
// If we did not reduce the step, maybe we should enlarge it.
if (!did_reduce) for (;;) {
if (new_t - t > MAX_STEP) break;
float candidate_t = t + 2.0 * (new_t - t);
const float candidate_t = t + 2.0 * (new_t - t);
if (candidate_t >= 1.0) break;
float candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t);
float candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t);
float interp_pos0 = 0.5 * (bez_target[X_AXIS] + candidate_pos0);
float interp_pos1 = 0.5 * (bez_target[Y_AXIS] + candidate_pos1);
const float candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t),
candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t),
interp_pos0 = 0.5 * (bez_target[X_AXIS] + candidate_pos0),
interp_pos1 = 0.5 * (bez_target[Y_AXIS] + candidate_pos1);
if (dist1(new_pos0, new_pos1, interp_pos0, interp_pos1) > (SIGMA)) break;
new_t = candidate_t;
new_pos0 = candidate_pos0;