Implement NO_WORKSPACE_OFFSETS

8 years ago · 5f7e85398b
3 changed files with 221 additions and 159 deletions
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@ -275,15 +275,34 @@ extern volatile bool wait_for_heatup;
 #endif

 extern float current_position[NUM_AXIS];
+
+// Workspace offsets
+#if DISABLED(NO_WORKSPACE_OFFSETS)
  extern float position_shift[XYZ];
  extern float home_offset[XYZ];
+  #define LOGICAL_POSITION(POS, AXIS) ((POS) + home_offset[AXIS] + position_shift[AXIS])
+  #define RAW_POSITION(POS, AXIS)     ((POS) - home_offset[AXIS] - position_shift[AXIS])
+#else
+  #define LOGICAL_POSITION(POS, AXIS) (POS)
+  #define RAW_POSITION(POS, AXIS)     (POS)
+#endif
+
+#define LOGICAL_X_POSITION(POS)     LOGICAL_POSITION(POS, X_AXIS)
+#define LOGICAL_Y_POSITION(POS)     LOGICAL_POSITION(POS, Y_AXIS)
+#define LOGICAL_Z_POSITION(POS)     LOGICAL_POSITION(POS, Z_AXIS)
+#define RAW_X_POSITION(POS)         RAW_POSITION(POS, X_AXIS)
+#define RAW_Y_POSITION(POS)         RAW_POSITION(POS, Y_AXIS)
+#define RAW_Z_POSITION(POS)         RAW_POSITION(POS, Z_AXIS)
+#define RAW_CURRENT_POSITION(AXIS)  RAW_POSITION(current_position[AXIS], AXIS)

 #if HOTENDS > 1
  extern float hotend_offset[XYZ][HOTENDS];
 #endif

 // Software Endstops
-void update_software_endstops(AxisEnum axis);
+extern float soft_endstop_min[XYZ];
+extern float soft_endstop_max[XYZ];
+
 #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  extern bool soft_endstops_enabled;
  void clamp_to_software_endstops(float target[XYZ]);
@ -291,18 +310,10 @@ void update_software_endstops(AxisEnum axis);
  #define soft_endstops_enabled false
  #define clamp_to_software_endstops(x) NOOP
 #endif
-extern float soft_endstop_min[XYZ];
-extern float soft_endstop_max[XYZ];

-#define LOGICAL_POSITION(POS, AXIS) ((POS) + home_offset[AXIS] + position_shift[AXIS])
-#define RAW_POSITION(POS, AXIS)     ((POS) - home_offset[AXIS] - position_shift[AXIS])
-#define LOGICAL_X_POSITION(POS)     LOGICAL_POSITION(POS, X_AXIS)
-#define LOGICAL_Y_POSITION(POS)     LOGICAL_POSITION(POS, Y_AXIS)
-#define LOGICAL_Z_POSITION(POS)     LOGICAL_POSITION(POS, Z_AXIS)
-#define RAW_X_POSITION(POS)         RAW_POSITION(POS, X_AXIS)
-#define RAW_Y_POSITION(POS)         RAW_POSITION(POS, Y_AXIS)
-#define RAW_Z_POSITION(POS)         RAW_POSITION(POS, Z_AXIS)
-#define RAW_CURRENT_POSITION(AXIS)  RAW_POSITION(current_position[AXIS], AXIS)
+#if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
+  void update_software_endstops(const AxisEnum axis);
+#endif

 // GCode support for external objects
 bool code_seen(char);
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@ -396,6 +396,8 @@ bool axis_relative_modes[] = AXIS_RELATIVE_MODES,
 float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA),
      volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);

+#if DISABLED(NO_WORKSPACE_OFFSETS)
+
  // The distance that XYZ has been offset by G92. Reset by G28.
  float position_shift[XYZ] = { 0 };

@ -403,6 +405,8 @@ float position_shift[XYZ] = { 0 };
  // Set by M206, M428, or menu item. Saved to EEPROM.
  float home_offset[XYZ] = { 0 };

+#endif
+
 // Software Endstops are based on the configured limits.
 #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  bool soft_endstops_enabled = true;
@ -1333,6 +1337,8 @@ bool get_target_extruder_from_command(int code) {

 #endif // DUAL_X_CARRIAGE

+#if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
+
  /**
   * Software endstops can be used to monitor the open end of
   * an axis that has a hardware endstop on the other end. Or
@ -1342,8 +1348,8 @@ bool get_target_extruder_from_command(int code) {
   * the software endstop positions must be refreshed to remain
   * at the same positions relative to the machine.
   */
-void update_software_endstops(AxisEnum axis) {
-  float offs = LOGICAL_POSITION(0, axis);
+  void update_software_endstops(const AxisEnum axis) {
+    const float offs = LOGICAL_POSITION(0, axis);

    #if ENABLED(DUAL_X_CARRIAGE)
      if (axis == X_AXIS) {
@ -1376,8 +1382,10 @@ void update_software_endstops(AxisEnum axis) {
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) {
        SERIAL_ECHOPAIR("For ", axis_codes[axis]);
+        #if DISABLED(NO_WORKSPACE_OFFSETS)
          SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
          SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
+        #endif
        SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
        SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
      }
@ -1387,9 +1395,11 @@ void update_software_endstops(AxisEnum axis) {
      if (axis == Z_AXIS)
        delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
    #endif
-
  }

+#endif // NO_WORKSPACE_OFFSETS
+
+#if DISABLED(NO_WORKSPACE_OFFSETS)
  /**
   * Change the home offset for an axis, update the current
   * position and the software endstops to retain the same
@ -1403,6 +1413,7 @@ static void set_home_offset(AxisEnum axis, float v) {
    home_offset[axis] = v;
    update_software_endstops(axis);
  }
+#endif // NO_WORKSPACE_OFFSETS

 /**
 * Set an axis' current position to its home position (after homing).
@ -1433,8 +1444,10 @@ static void set_axis_is_at_home(AxisEnum axis) {

  axis_known_position[axis] = axis_homed[axis] = true;

+  #if DISABLED(NO_WORKSPACE_OFFSETS)
    position_shift[axis] = 0;
    update_software_endstops(axis);
+  #endif

  #if ENABLED(DUAL_X_CARRIAGE)
    if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
@ -1507,8 +1520,10 @@ static void set_axis_is_at_home(AxisEnum axis) {

  #if ENABLED(DEBUG_LEVELING_FEATURE)
    if (DEBUGGING(LEVELING)) {
+      #if DISABLED(NO_WORKSPACE_OFFSETS)
        SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
        SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
+      #endif
      DEBUG_POS("", current_position);
      SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
      SERIAL_CHAR(')');
@ -4603,8 +4618,10 @@ inline void gcode_G92() {

        if (i != E_AXIS) {
          didXYZ = true;
+          #if DISABLED(NO_WORKSPACE_OFFSETS)
            position_shift[i] += v - p; // Offset the coordinate space
            update_software_endstops((AxisEnum)i);
+          #endif
        }
      #endif
    }
@ -6334,6 +6351,8 @@ inline void gcode_M205() {
  if (code_seen('E')) planner.max_jerk[E_AXIS] = code_value_axis_units(E_AXIS);
 }

+#if DISABLED(NO_WORKSPACE_OFFSETS)
+
  /**
   * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
   */
@ -6351,6 +6370,8 @@ inline void gcode_M206() {
    report_current_position();
  }

+#endif // NO_WORKSPACE_OFFSETS
+
 #if ENABLED(DELTA)
  /**
   * M665: Set delta configurations
@ -7173,6 +7194,8 @@ void quickstop_stepper() {

 #endif

+#if DISABLED(NO_WORKSPACE_OFFSETS)
+
  /**
   * M428: Set home_offset based on the distance between the
   *       current_position and the nearest "reference point."
@ -7213,6 +7236,8 @@ inline void gcode_M428() {
    }
  }

+#endif // NO_WORKSPACE_OFFSETS
+
 /**
 * M500: Store settings in EEPROM
 */
@ -8081,10 +8106,14 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
          // The newly-selected extruder XY is actually at...
          current_position[X_AXIS] += xydiff[X_AXIS];
          current_position[Y_AXIS] += xydiff[Y_AXIS];
+          #if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE)
            for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
+              #if DISABLED(NO_WORKSPACE_OFFSETS)
                position_shift[i] += xydiff[i];
+              #endif
              update_software_endstops((AxisEnum)i);
            }
+          #endif

          // Set the new active extruder
          active_extruder = tmp_extruder;
@ -8639,9 +8668,12 @@ void process_next_command() {
      case 205: //M205: Set advanced settings
        gcode_M205();
        break;
+
+      #if DISABLED(NO_WORKSPACE_OFFSETS)
        case 206: // M206: Set home offsets
          gcode_M206();
          break;
+      #endif

      #if ENABLED(DELTA)
        case 665: // M665: Set delta configurations
@ -8805,9 +8837,11 @@ void process_next_command() {
          break;
      #endif

+      #if DISABLED(NO_WORKSPACE_OFFSETS)
        case 428: // M428: Apply current_position to home_offset
          gcode_M428();
          break;
+      #endif

      case 500: // M500: Store settings in EEPROM
        gcode_M500();
@ -10488,8 +10522,12 @@ void setup() {
  // This also updates variables in the planner, elsewhere
  Config_RetrieveSettings();

+  #if DISABLED(NO_WORKSPACE_OFFSETS)
    // Initialize current position based on home_offset
    memcpy(current_position, home_offset, sizeof(home_offset));
+  #else
+    ZERO(current_position);
+  #endif

  // Vital to init stepper/planner equivalent for current_position
  SYNC_PLAN_POSITION_KINEMATIC();
--- a/Marlin/configuration_store.cpp
+++ b/Marlin/configuration_store.cpp
@ -171,8 +171,10 @@ void Config_Postprocess() {

  calculate_volumetric_multipliers();

+  #if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
    // Software endstops depend on home_offset
    LOOP_XYZ(i) update_software_endstops((AxisEnum)i);
+  #endif
 }

 #if ENABLED(EEPROM_SETTINGS)
@ -251,6 +253,9 @@ void Config_Postprocess() {
    EEPROM_WRITE(planner.min_travel_feedrate_mm_s);
    EEPROM_WRITE(planner.min_segment_time);
    EEPROM_WRITE(planner.max_jerk);
+    #if ENABLED(NO_WORKSPACE_OFFSETS)
+      float home_offset[XYZ] = { 0 };
+    #endif
    EEPROM_WRITE(home_offset);

    #if HOTENDS > 1
@ -498,6 +503,10 @@ void Config_Postprocess() {
      EEPROM_READ(planner.min_travel_feedrate_mm_s);
      EEPROM_READ(planner.min_segment_time);
      EEPROM_READ(planner.max_jerk);
+
+      #if ENABLED(NO_WORKSPACE_OFFSETS)
+        float home_offset[XYZ];
+      #endif
      EEPROM_READ(home_offset);

      #if HOTENDS > 1
@ -726,7 +735,9 @@ void Config_ResetDefault() {
  planner.max_jerk[Y_AXIS] = DEFAULT_YJERK;
  planner.max_jerk[Z_AXIS] = DEFAULT_ZJERK;
  planner.max_jerk[E_AXIS] = DEFAULT_EJERK;
-  home_offset[X_AXIS] = home_offset[Y_AXIS] = home_offset[Z_AXIS] = 0;
+  #if DISABLED(NO_WORKSPACE_OFFSETS)
+    ZERO(home_offset);
+  #endif

  #if HOTENDS > 1
    constexpr float tmp4[XYZ][HOTENDS] = {
@ -937,6 +948,7 @@ void Config_ResetDefault() {
    SERIAL_ECHOPAIR(" E", planner.max_jerk[E_AXIS]);
    SERIAL_EOL;

+    #if DISABLED(NO_WORKSPACE_OFFSETS)
      CONFIG_ECHO_START;
      if (!forReplay) {
        SERIAL_ECHOLNPGM("Home offset (mm)");
@ -946,6 +958,7 @@ void Config_ResetDefault() {
      SERIAL_ECHOPAIR(" Y", home_offset[Y_AXIS]);
      SERIAL_ECHOPAIR(" Z", home_offset[Z_AXIS]);
      SERIAL_EOL;
+    #endif

    #if HOTENDS > 1
      CONFIG_ECHO_START;