Merge pull request #8200 from thinkyhead/bf1_asterisk_not_special
[1.1.x] CNC_COORDINATE_SYSTEMS
This commit is contained in:
commit
95296191a2
@ -86,7 +86,7 @@ script:
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- opt_set TEMP_SENSOR_0 -2
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- opt_set TEMP_SENSOR_1 1
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- opt_set TEMP_SENSOR_BED 1
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- opt_enable PIDTEMPBED FIX_MOUNTED_PROBE Z_SAFE_HOMING ARC_P_CIRCLES CNC_WORKSPACE_PLANES
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- opt_enable PIDTEMPBED FIX_MOUNTED_PROBE Z_SAFE_HOMING ARC_P_CIRCLES CNC_WORKSPACE_PLANES CNC_COORDINATE_SYSTEMS
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- opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER SDSUPPORT EEPROM_SETTINGS
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- opt_enable BLINKM PCA9632 RGB_LED NEOPIXEL_LED
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- opt_enable AUTO_BED_LEVELING_LINEAR Z_MIN_PROBE_REPEATABILITY_TEST DEBUG_LEVELING_FEATURE
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@ -1036,7 +1036,7 @@
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#define GRID_MAX_POINTS ((GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y))
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// Add commands that need sub-codes to this list
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#define USE_GCODE_SUBCODES ENABLED(G38_PROBE_TARGET)
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#define USE_GCODE_SUBCODES ENABLED(G38_PROBE_TARGET) || ENABLED(CNC_COORDINATE_SYSTEMS)
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// MESH_BED_LEVELING overrides PROBE_MANUALLY
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#if ENABLED(MESH_BED_LEVELING)
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@ -1267,6 +1267,14 @@
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//#define SPEED_POWER_MAX 100 // 0-100%
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#endif
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/**
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* CNC Coordinate Systems
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*
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* Enables G53 and G54-G59.3 commands to select coordinate systems
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* and G92.1 to reset the workspace to native machine space.
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*/
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//#define CNC_COORDINATE_SYSTEMS
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/**
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* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
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*/
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@ -127,10 +127,7 @@
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invert = false,
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ec = true;
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float axisOffset = 0;
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int32_t axisOffsetTicks = 0,
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zeroOffset = 0,
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int32_t zeroOffset = 0,
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lastPosition = 0,
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position;
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@ -168,7 +165,7 @@
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}
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FORCE_INLINE float get_position_mm() { return mm_from_count(get_position()); }
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FORCE_INLINE int32_t get_position() { return get_raw_count() - zeroOffset - axisOffsetTicks; }
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FORCE_INLINE int32_t get_position() { return get_raw_count() - zeroOffset; }
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int32_t get_axis_error_steps(const bool report);
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float get_axis_error_mm(const bool report);
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@ -219,16 +216,6 @@
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FORCE_INLINE int get_stepper_ticks() { return stepperTicks; }
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FORCE_INLINE void set_stepper_ticks(const int ticks) { stepperTicks = ticks; }
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FORCE_INLINE float get_axis_offset() { return axisOffset; }
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FORCE_INLINE void set_axis_offset(const float newOffset) {
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axisOffset = newOffset;
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axisOffsetTicks = int32_t(axisOffset * get_encoder_ticks_mm());
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}
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FORCE_INLINE void set_current_position(const float newPositionMm) {
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set_axis_offset(get_position_mm() - newPositionMm + axisOffset);
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}
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};
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class I2CPositionEncodersMgr {
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@ -290,6 +290,14 @@ extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ];
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void update_software_endstops(const AxisEnum axis);
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#endif
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#if ENABLED(CNC_COORDINATE_SYSTEMS)
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#define MAX_COORDINATE_SYSTEMS 9
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extern float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
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bool select_coordinate_system(const int8_t _new);
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#endif
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void report_current_position();
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#if IS_KINEMATIC
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extern float delta[ABC];
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void inverse_kinematics(const float raw[XYZ]);
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@ -364,6 +364,11 @@
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#define LED_WHITE 0, 0, 0, 255
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#endif
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#if ENABLED(CNC_COORDINATE_SYSTEMS)
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int8_t active_coordinate_system = -1; // machine space
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float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
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#endif
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bool Running = true;
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uint8_t marlin_debug_flags = DEBUG_NONE;
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@ -745,6 +750,7 @@ void stop();
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void get_available_commands();
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void process_next_command();
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void process_parsed_command();
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void prepare_move_to_destination();
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void get_cartesian_from_steppers();
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@ -3672,6 +3678,73 @@ inline void gcode_G4() {
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#endif // CNC_WORKSPACE_PLANES
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#if ENABLED(CNC_COORDINATE_SYSTEMS)
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/**
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* Select a coordinate system and update the current position.
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* System index -1 is used to specify machine-native.
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*/
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bool select_coordinate_system(const int8_t _new) {
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if (active_coordinate_system == _new) return false;
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float old_offset[XYZ] = { 0 }, new_offset[XYZ] = { 0 };
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if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
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COPY(old_offset, coordinate_system[active_coordinate_system]);
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if (WITHIN(_new, 0, MAX_COORDINATE_SYSTEMS - 1))
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COPY(new_offset, coordinate_system[_new]);
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active_coordinate_system = _new;
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bool didXYZ = false;
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LOOP_XYZ(i) {
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const float diff = new_offset[i] - old_offset[i];
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if (diff) {
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position_shift[i] += diff;
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update_software_endstops((AxisEnum)i);
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didXYZ = true;
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}
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}
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if (didXYZ) SYNC_PLAN_POSITION_KINEMATIC();
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return true;
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}
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/**
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* In CNC G-code G53 is like a modifier
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* It precedes a movement command (or other modifiers) on the same line.
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* This is the first command to use parser.chain() to make this possible.
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*/
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inline void gcode_G53() {
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// If this command has more following...
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if (parser.chain()) {
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const int8_t _system = active_coordinate_system;
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active_coordinate_system = -1;
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process_parsed_command();
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active_coordinate_system = _system;
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}
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}
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/**
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* G54-G59.3: Select a new workspace
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*
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* A workspace is an XYZ offset to the machine native space.
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* All workspaces default to 0,0,0 at start, or with EEPROM
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* support they may be restored from a previous session.
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*
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* G92 is used to set the current workspace's offset.
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*/
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inline void gcode_G54_59(uint8_t subcode=0) {
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const int8_t _space = parser.codenum - 54 + subcode;
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if (select_coordinate_system(_space)) {
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SERIAL_PROTOCOLLNPAIR("Select workspace ", _space);
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report_current_position();
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}
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}
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FORCE_INLINE void gcode_G54() { gcode_G54_59(); }
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FORCE_INLINE void gcode_G55() { gcode_G54_59(); }
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FORCE_INLINE void gcode_G56() { gcode_G54_59(); }
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FORCE_INLINE void gcode_G57() { gcode_G54_59(); }
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FORCE_INLINE void gcode_G58() { gcode_G54_59(); }
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FORCE_INLINE void gcode_G59() { gcode_G54_59(parser.subcode); }
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#endif
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#if ENABLED(INCH_MODE_SUPPORT)
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/**
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* G20: Set input mode to inches
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@ -4153,13 +4226,12 @@ inline void gcode_G28(const bool always_home_all) {
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// Restore the active tool after homing
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#if HOTENDS > 1
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tool_change(old_tool_index, 0,
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#if ENABLED(PARKING_EXTRUDER)
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false // fetch the previous toolhead
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#else
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true
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#endif
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);
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#if ENABLED(PARKING_EXTRUDER)
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#define NO_FETCH false // fetch the previous toolhead
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#else
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#define NO_FETCH true
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#endif
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tool_change(old_tool_index, 0, NO_FETCH);
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#endif
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lcd_refresh();
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@ -5498,16 +5570,18 @@ void home_all_axes() { gcode_G28(true); }
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dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
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#endif
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LOOP_CAL_ALL(axis) z_at_pt[axis] = 0.0;
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LOOP_CAL_ALL(axis) z_at_pt[axis] = 0.0;
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if (!_0p_calibration) {
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if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
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#if ENABLED(PROBE_MANUALLY)
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z_at_pt[CEN] += lcd_probe_pt(0, 0);
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#else
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z_at_pt[CEN] += probe_pt(dx, dy, stow_after_each, 1, false);
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#endif
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z_at_pt[CEN] +=
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#if ENABLED(PROBE_MANUALLY)
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lcd_probe_pt(0, 0)
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#else
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probe_pt(dx, dy, stow_after_each, 1, false)
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#endif
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;
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}
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if (_7p_calibration) { // probe extra center points
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@ -5516,11 +5590,13 @@ void home_all_axes() { gcode_G28(true); }
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I_LOOP_CAL_PT(axis, start, steps) {
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const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
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r = delta_calibration_radius * 0.1;
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#if ENABLED(PROBE_MANUALLY)
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z_at_pt[CEN] += lcd_probe_pt(cos(a) * r, sin(a) * r);
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#else
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z_at_pt[CEN] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
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#endif
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z_at_pt[CEN] +=
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#if ENABLED(PROBE_MANUALLY)
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lcd_probe_pt(cos(a) * r, sin(a) * r)
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#else
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probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1)
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#endif
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;
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}
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z_at_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
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}
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@ -5543,29 +5619,22 @@ void home_all_axes() { gcode_G28(true); }
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const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
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r = delta_calibration_radius * (1 + 0.1 * (zig_zag ? circle : - circle)),
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interpol = fmod(axis, 1);
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#if ENABLED(PROBE_MANUALLY)
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float z_temp = lcd_probe_pt(cos(a) * r, sin(a) * r);
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#else
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float z_temp = probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
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#endif
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const float z_temp =
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#if ENABLED(PROBE_MANUALLY)
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lcd_probe_pt(cos(a) * r, sin(a) * r)
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#else
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probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1)
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#endif
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;
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// split probe point to neighbouring calibration points
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z_at_pt[round(axis - interpol + NPP - 1) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
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z_at_pt[round(axis - interpol) % NPP + 1] += z_temp * sq(sin(RADIANS(interpol * 90)));
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z_at_pt[uint8_t(round(axis - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
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z_at_pt[uint8_t(round(axis - interpol )) % NPP + 1] += z_temp * sq(sin(RADIANS(interpol * 90)));
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}
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zig_zag = !zig_zag;
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}
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if (_7p_intermed_points)
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LOOP_CAL_RAD(axis) {
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/*
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// average intermediate points to towers and opposites - only required with _7P_STEP >= 2
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for (int8_t i = 1; i < _7P_STEP; i++) {
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const float interpol = i * (1.0 / _7P_STEP);
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z_at_pt[axis] += (z_at_pt[(axis + NPP - i - 1) % NPP + 1]
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+ z_at_pt[axis + i]) * sq(cos(RADIANS(interpol * 90)));
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}
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*/
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LOOP_CAL_RAD(axis)
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z_at_pt[axis] /= _7P_STEP / steps;
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}
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}
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@ -6204,7 +6273,30 @@ inline void gcode_G92() {
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if (!didE) stepper.synchronize();
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LOOP_XYZE(i) {
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#if ENABLED(CNC_COORDINATE_SYSTEMS)
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switch (parser.subcode) {
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case 1:
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// Zero the G92 values and restore current position
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#if !IS_SCARA
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LOOP_XYZ(i) {
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const float v = position_shift[i];
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if (v) {
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position_shift[i] = 0;
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update_software_endstops((AxisEnum)i);
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}
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}
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#endif // Not SCARA
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return;
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}
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#endif
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#if ENABLED(CNC_COORDINATE_SYSTEMS)
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#define IS_G92_0 (parser.subcode == 0)
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#else
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#define IS_G92_0 true
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#endif
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if (IS_G92_0) LOOP_XYZE(i) {
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if (parser.seenval(axis_codes[i])) {
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#if IS_SCARA
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if (i != E_AXIS) didXYZ = true;
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@ -6219,16 +6311,18 @@ inline void gcode_G92() {
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#if HAS_POSITION_SHIFT
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position_shift[i] += v - p; // Offset the coordinate space
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update_software_endstops((AxisEnum)i);
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#if ENABLED(I2C_POSITION_ENCODERS)
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I2CPEM.encoders[I2CPEM.idx_from_axis((AxisEnum)i)].set_axis_offset(position_shift[i]);
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#endif
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#endif
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}
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#endif
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}
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}
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#if ENABLED(CNC_COORDINATE_SYSTEMS)
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// Apply workspace offset to the active coordinate system
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if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
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COPY(coordinate_system[active_coordinate_system], position_shift);
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#endif
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if (didXYZ)
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SYNC_PLAN_POSITION_KINEMATIC();
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else if (didE)
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@ -10713,7 +10807,7 @@ inline void invalid_extruder_error(const uint8_t e) {
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#endif
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}
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FORCE_INLINE void fanmux_init(void){
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FORCE_INLINE void fanmux_init(void) {
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SET_OUTPUT(FANMUX0_PIN);
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#if PIN_EXISTS(FANMUX1)
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SET_OUTPUT(FANMUX1_PIN);
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@ -11202,26 +11296,11 @@ inline void gcode_T(const uint8_t tmp_extruder) {
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}
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/**
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* Process a single command and dispatch it to its handler
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* This is called from the main loop()
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* Process the parsed command and dispatch it to its handler
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*/
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void process_next_command() {
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char * const current_command = command_queue[cmd_queue_index_r];
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if (DEBUGGING(ECHO)) {
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SERIAL_ECHO_START();
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SERIAL_ECHOLN(current_command);
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#if ENABLED(M100_FREE_MEMORY_WATCHER)
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SERIAL_ECHOPAIR("slot:", cmd_queue_index_r);
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M100_dump_routine(" Command Queue:", (const char*)command_queue, (const char*)(command_queue + sizeof(command_queue)));
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#endif
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}
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void process_parsed_command() {
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KEEPALIVE_STATE(IN_HANDLER);
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// Parse the next command in the queue
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parser.parse(current_command);
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// Handle a known G, M, or T
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switch (parser.command_letter) {
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case 'G': switch (parser.codenum) {
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@ -12061,6 +12140,23 @@ void process_next_command() {
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ok_to_send();
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}
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void process_next_command() {
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char * const current_command = command_queue[cmd_queue_index_r];
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if (DEBUGGING(ECHO)) {
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SERIAL_ECHO_START();
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SERIAL_ECHOLN(current_command);
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#if ENABLED(M100_FREE_MEMORY_WATCHER)
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SERIAL_ECHOPAIR("slot:", cmd_queue_index_r);
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M100_dump_routine(" Command Queue:", (const char*)command_queue, (const char*)(command_queue + sizeof(command_queue)));
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#endif
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}
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// Parse the next command in the queue
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parser.parse(current_command);
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process_parsed_command();
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}
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/**
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* Send a "Resend: nnn" message to the host to
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* indicate that a command needs to be re-sent.
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|
@ -1483,3 +1483,7 @@ static_assert(COUNT(sanity_arr_3) <= XYZE_N, "DEFAULT_MAX_ACCELERATION has too m
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#endif
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#endif
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#endif // SPINDLE_LASER_ENABLE
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#if ENABLED(CNC_COORDINATE_SYSTEMS) && ENABLED(NO_WORKSPACE_OFFSETS)
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#error "CNC_COORDINATE_SYSTEMS is incompatible with NO_WORKSPACE_OFFSETS."
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#endif
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|
@ -36,13 +36,13 @@
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*
|
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*/
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#define EEPROM_VERSION "V43"
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#define EEPROM_VERSION "V44"
|
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|
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// Change EEPROM version if these are changed:
|
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#define EEPROM_OFFSET 100
|
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/**
|
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* V43 EEPROM Layout:
|
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* 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)
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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
|
||||
*/
|
||||
|
@ -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);
|
||||
|
@ -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; }
|
||||
|
||||
|
@ -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;
|
||||
|
Loading…
Reference in New Issue
Block a user