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Merge pull request #3227 from thinkyhead/rc_home_offsets_and_limits

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Relating current_position, min_pos, max_pos, and home_offset
This commit is contained in:
Scott Lahteine 2016-04-14 18:50:43 -07:00
commit 88367a37f7
1 changed files with 58 additions and 23 deletions
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81
Marlin/Marlin_main.cpp
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@ -283,6 +283,8 @@ int extruder_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
bool volumetric_enabled = false; bool volumetric_enabled = false;
float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA); float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA);
float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0); float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
float position_shift[3] = { 0 };
float home_offset[3] = { 0 }; float home_offset[3] = { 0 };
float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS }; float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS }; float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
@ -1190,6 +1192,45 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
#endif //DUAL_X_CARRIAGE #endif //DUAL_X_CARRIAGE
/**
* Software endstops can be used to monitor the open end of
* an axis that has a hardware endstop on the other end. Or
* they can prevent axes from moving past endstops and grinding.
*
* To keep doing their job as the coordinate system changes,
* the software endstop positions must be refreshed to remain
* at the same positions relative to the machine.
*/
static void update_software_endstops(AxisEnum axis) {
float offs = home_offset[axis] + position_shift[axis];
#if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS) {
float dual_max_x = max(extruder_offset[X_AXIS][1], X2_MAX_POS);
if (active_extruder != 0) {
min_pos[X_AXIS] = X2_MIN_POS + offs;
max_pos[X_AXIS] = dual_max_x + offs;
return;
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
min_pos[X_AXIS] = base_min_pos(X_AXIS) + offs;
max_pos[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
return;
}
}
else
#endif
{
min_pos[axis] = base_min_pos(axis) + offs;
max_pos[axis] = base_max_pos(axis) + offs;
}
}
static void set_home_offset(AxisEnum axis, float v) {
current_position[axis] += v - home_offset[axis];
home_offset[axis] = v;
update_software_endstops(axis);
}
static void set_axis_is_at_home(AxisEnum axis) { static void set_axis_is_at_home(AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
@ -1198,21 +1239,16 @@ static void set_axis_is_at_home(AxisEnum axis) {
} }
#endif #endif
position_shift[axis] = 0;
#if ENABLED(DUAL_X_CARRIAGE) #if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS) { if (axis == X_AXIS && (active_extruder != 0 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
if (active_extruder != 0) { if (active_extruder != 0)
current_position[X_AXIS] = x_home_pos(active_extruder); current_position[X_AXIS] = x_home_pos(active_extruder);
min_pos[X_AXIS] = X2_MIN_POS; else
max_pos[X_AXIS] = max(extruder_offset[X_AXIS][1], X2_MAX_POS); current_position[X_AXIS] = base_home_pos(X_AXIS) + home_offset[X_AXIS];
return; update_software_endstops(X_AXIS);
} return;
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
float xoff = home_offset[X_AXIS];
current_position[X_AXIS] = base_home_pos(X_AXIS) + xoff;
min_pos[X_AXIS] = base_min_pos(X_AXIS) + xoff;
max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + xoff, max(extruder_offset[X_AXIS][1], X2_MAX_POS) - duplicate_extruder_x_offset);
return;
}
} }
#endif #endif
@ -1260,8 +1296,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
#endif #endif
{ {
current_position[axis] = base_home_pos(axis) + home_offset[axis]; current_position[axis] = base_home_pos(axis) + home_offset[axis];
min_pos[axis] = base_min_pos(axis) + home_offset[axis]; update_software_endstops(axis);
max_pos[axis] = base_max_pos(axis) + home_offset[axis];
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && Z_HOME_DIR < 0 #if ENABLED(AUTO_BED_LEVELING_FEATURE) && Z_HOME_DIR < 0
if (axis == Z_AXIS) { if (axis == Z_AXIS) {
@ -3548,7 +3583,14 @@ inline void gcode_G92() {
bool didXYZ = false; bool didXYZ = false;
for (int i = 0; i < NUM_AXIS; i++) { for (int i = 0; i < NUM_AXIS; i++) {
if (code_seen(axis_codes[i])) { if (code_seen(axis_codes[i])) {
float v = current_position[i] = code_value(); float p = current_position[i],
v = code_value();
current_position[i] = v;
position_shift[i] += v - p; // Offset the coordinate space
update_software_endstops((AxisEnum)i);
if (i == E_AXIS) if (i == E_AXIS)
plan_set_e_position(v); plan_set_e_position(v);
else else
@ -5037,13 +5079,6 @@ inline void gcode_M205() {
if (code_seen('E')) max_e_jerk = code_value(); if (code_seen('E')) max_e_jerk = code_value();
} }
static void set_home_offset(AxisEnum axis, float v) {
min_pos[axis] = base_min_pos(axis) + v;
max_pos[axis] = base_max_pos(axis) + v;
current_position[axis] += v - home_offset[axis];
home_offset[axis] = v;
}
/** /**
* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
*/ */