|
|
|
@ -129,29 +129,30 @@ const float homing_feedrate_mm_s[4] PROGMEM = { |
|
|
|
// Cartesian conversion result goes here:
|
|
|
|
float cartes[XYZ]; |
|
|
|
|
|
|
|
// Until kinematics.cpp is created, create this here
|
|
|
|
#if IS_KINEMATIC |
|
|
|
float delta[ABC]; |
|
|
|
#endif |
|
|
|
|
|
|
|
#if HAS_SCARA_OFFSET |
|
|
|
float scara_home_offset[ABC]; |
|
|
|
#endif |
|
|
|
|
|
|
|
/**
|
|
|
|
* The workspace can be offset by some commands, or |
|
|
|
* these offsets may be omitted to save on computation. |
|
|
|
*/ |
|
|
|
#if HAS_WORKSPACE_OFFSET |
|
|
|
#if HAS_POSITION_SHIFT |
|
|
|
// The distance that XYZ has been offset by G92. Reset by G28.
|
|
|
|
float position_shift[XYZ] = { 0 }; |
|
|
|
#endif |
|
|
|
#if HAS_HOME_OFFSET |
|
|
|
// This offset is added to the configured home position.
|
|
|
|
// Set by M206, M428, or menu item. Saved to EEPROM.
|
|
|
|
float home_offset[XYZ] = { 0 }; |
|
|
|
#endif |
|
|
|
#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT |
|
|
|
// The above two are combined to save on computes
|
|
|
|
float workspace_offset[XYZ] = { 0 }; |
|
|
|
#endif |
|
|
|
#if HAS_POSITION_SHIFT |
|
|
|
// The distance that XYZ has been offset by G92. Reset by G28.
|
|
|
|
float position_shift[XYZ] = { 0 }; |
|
|
|
#endif |
|
|
|
#if HAS_HOME_OFFSET |
|
|
|
// This offset is added to the configured home position.
|
|
|
|
// Set by M206, M428, or menu item. Saved to EEPROM.
|
|
|
|
float home_offset[XYZ] = { 0 }; |
|
|
|
#endif |
|
|
|
#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT |
|
|
|
// The above two are combined to save on computes
|
|
|
|
float workspace_offset[XYZ] = { 0 }; |
|
|
|
#endif |
|
|
|
|
|
|
|
#if OLDSCHOOL_ABL |
|
|
|
@ -454,15 +455,14 @@ void bracket_probe_move(const bool before) { |
|
|
|
void setup_for_endstop_or_probe_move() { bracket_probe_move(true); } |
|
|
|
void clean_up_after_endstop_or_probe_move() { bracket_probe_move(false); } |
|
|
|
|
|
|
|
// Software Endstops are based on the configured limits.
|
|
|
|
float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS }, |
|
|
|
soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS }; |
|
|
|
|
|
|
|
#if HAS_SOFTWARE_ENDSTOPS |
|
|
|
|
|
|
|
// Software Endstops are based on the configured limits.
|
|
|
|
bool soft_endstops_enabled = true; |
|
|
|
|
|
|
|
// Software Endstops are based on the configured limits.
|
|
|
|
float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS }, |
|
|
|
soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS }; |
|
|
|
|
|
|
|
#if IS_KINEMATIC |
|
|
|
float soft_endstop_radius, soft_endstop_radius_2; |
|
|
|
#endif |
|
|
|
@ -504,6 +504,79 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS }, |
|
|
|
#endif |
|
|
|
} |
|
|
|
|
|
|
|
/**
|
|
|
|
* 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. |
|
|
|
*/ |
|
|
|
void update_software_endstops(const AxisEnum axis) { |
|
|
|
|
|
|
|
#if ENABLED(DUAL_X_CARRIAGE) |
|
|
|
|
|
|
|
if (axis == X_AXIS) { |
|
|
|
|
|
|
|
// In Dual X mode hotend_offset[X] is T1's home position
|
|
|
|
const float dual_max_x = MAX(hotend_offset[X_AXIS][1], X2_MAX_POS); |
|
|
|
|
|
|
|
if (active_extruder != 0) { |
|
|
|
// T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
|
|
|
|
soft_endstop_min[X_AXIS] = X2_MIN_POS; |
|
|
|
soft_endstop_max[X_AXIS] = dual_max_x; |
|
|
|
} |
|
|
|
else if (dxc_is_duplicating()) { |
|
|
|
// In Duplication Mode, T0 can move as far left as X1_MIN_POS
|
|
|
|
// but not so far to the right that T1 would move past the end
|
|
|
|
soft_endstop_min[X_AXIS] = X1_MIN_POS; |
|
|
|
soft_endstop_max[X_AXIS] = MIN(X1_MAX_POS, dual_max_x - duplicate_extruder_x_offset); |
|
|
|
} |
|
|
|
else { |
|
|
|
// In other modes, T0 can move from X1_MIN_POS to X1_MAX_POS
|
|
|
|
soft_endstop_min[X_AXIS] = X1_MIN_POS; |
|
|
|
soft_endstop_max[X_AXIS] = X1_MAX_POS; |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
#elif ENABLED(DELTA) |
|
|
|
|
|
|
|
soft_endstop_min[axis] = base_min_pos(axis); |
|
|
|
soft_endstop_max[axis] = (axis == Z_AXIS ? delta_height |
|
|
|
#if HAS_BED_PROBE |
|
|
|
- zprobe_zoffset + Z_PROBE_OFFSET_FROM_EXTRUDER |
|
|
|
#endif |
|
|
|
: base_max_pos(axis)); |
|
|
|
|
|
|
|
switch (axis) { |
|
|
|
case X_AXIS: |
|
|
|
case Y_AXIS: |
|
|
|
// Get a minimum radius for clamping
|
|
|
|
soft_endstop_radius = MIN(ABS(MAX(soft_endstop_min[X_AXIS], soft_endstop_min[Y_AXIS])), soft_endstop_max[X_AXIS], soft_endstop_max[Y_AXIS]); |
|
|
|
soft_endstop_radius_2 = sq(soft_endstop_radius); |
|
|
|
break; |
|
|
|
case Z_AXIS: |
|
|
|
delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top(); |
|
|
|
default: break; |
|
|
|
} |
|
|
|
|
|
|
|
#else |
|
|
|
|
|
|
|
soft_endstop_min[axis] = base_min_pos(axis); |
|
|
|
soft_endstop_max[axis] = base_max_pos(axis); |
|
|
|
|
|
|
|
#endif |
|
|
|
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|
|
|
if (DEBUGGING(LEVELING)) { |
|
|
|
SERIAL_ECHOPAIR("For ", axis_codes[axis]); |
|
|
|
SERIAL_ECHOPAIR(" axis:\n soft_endstop_min = ", soft_endstop_min[axis]); |
|
|
|
SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]); |
|
|
|
} |
|
|
|
#endif |
|
|
|
} |
|
|
|
|
|
|
|
#endif |
|
|
|
|
|
|
|
#if !UBL_SEGMENTED |
|
|
|
@ -1156,7 +1229,7 @@ void set_axis_is_at_home(const AxisEnum axis) { |
|
|
|
|
|
|
|
#if HAS_POSITION_SHIFT |
|
|
|
position_shift[axis] = 0; |
|
|
|
update_software_endstops(axis); |
|
|
|
update_workspace_offset(axis); |
|
|
|
#endif |
|
|
|
|
|
|
|
#if ENABLED(DUAL_X_CARRIAGE) |
|
|
|
@ -1506,89 +1579,18 @@ void homeaxis(const AxisEnum axis) { |
|
|
|
#endif |
|
|
|
} // homeaxis()
|
|
|
|
|
|
|
|
#if HAS_WORKSPACE_OFFSET || 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 |
|
|
|
* 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. |
|
|
|
*/ |
|
|
|
void update_software_endstops(const AxisEnum axis) { |
|
|
|
#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT |
|
|
|
workspace_offset[axis] = home_offset[axis] + position_shift[axis]; |
|
|
|
#endif |
|
|
|
|
|
|
|
#if ENABLED(DUAL_X_CARRIAGE) |
|
|
|
if (axis == X_AXIS) { |
|
|
|
|
|
|
|
// In Dual X mode hotend_offset[X] is T1's home position
|
|
|
|
const float dual_max_x = MAX(hotend_offset[X_AXIS][1], X2_MAX_POS); |
|
|
|
|
|
|
|
if (active_extruder != 0) { |
|
|
|
// T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
|
|
|
|
soft_endstop_min[X_AXIS] = X2_MIN_POS; |
|
|
|
soft_endstop_max[X_AXIS] = dual_max_x; |
|
|
|
} |
|
|
|
else if (dxc_is_duplicating()) { |
|
|
|
// In Duplication Mode, T0 can move as far left as X1_MIN_POS
|
|
|
|
// but not so far to the right that T1 would move past the end
|
|
|
|
soft_endstop_min[X_AXIS] = X1_MIN_POS; |
|
|
|
soft_endstop_max[X_AXIS] = MIN(X1_MAX_POS, dual_max_x - duplicate_extruder_x_offset); |
|
|
|
} |
|
|
|
else { |
|
|
|
// In other modes, T0 can move from X1_MIN_POS to X1_MAX_POS
|
|
|
|
soft_endstop_min[X_AXIS] = X1_MIN_POS; |
|
|
|
soft_endstop_max[X_AXIS] = X1_MAX_POS; |
|
|
|
} |
|
|
|
} |
|
|
|
#elif ENABLED(DELTA) |
|
|
|
soft_endstop_min[axis] = base_min_pos(axis); |
|
|
|
soft_endstop_max[axis] = (axis == Z_AXIS ? delta_height |
|
|
|
#if HAS_BED_PROBE |
|
|
|
- zprobe_zoffset + Z_PROBE_OFFSET_FROM_EXTRUDER |
|
|
|
#endif |
|
|
|
: base_max_pos(axis)); |
|
|
|
#else |
|
|
|
soft_endstop_min[axis] = base_min_pos(axis); |
|
|
|
soft_endstop_max[axis] = base_max_pos(axis); |
|
|
|
#endif |
|
|
|
|
|
|
|
#if HAS_WORKSPACE_OFFSET |
|
|
|
void update_workspace_offset(const AxisEnum axis) { |
|
|
|
workspace_offset[axis] = home_offset[axis] + position_shift[axis]; |
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|
|
|
if (DEBUGGING(LEVELING)) { |
|
|
|
SERIAL_ECHOPAIR("For ", axis_codes[axis]); |
|
|
|
#if HAS_HOME_OFFSET |
|
|
|
SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]); |
|
|
|
#endif |
|
|
|
#if HAS_POSITION_SHIFT |
|
|
|
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]); |
|
|
|
} |
|
|
|
#endif |
|
|
|
|
|
|
|
#if ENABLED(DELTA) |
|
|
|
switch (axis) { |
|
|
|
#if HAS_SOFTWARE_ENDSTOPS |
|
|
|
case X_AXIS: |
|
|
|
case Y_AXIS: |
|
|
|
// Get a minimum radius for clamping
|
|
|
|
soft_endstop_radius = MIN(ABS(MAX(soft_endstop_min[X_AXIS], soft_endstop_min[Y_AXIS])), soft_endstop_max[X_AXIS], soft_endstop_max[Y_AXIS]); |
|
|
|
soft_endstop_radius_2 = sq(soft_endstop_radius); |
|
|
|
break; |
|
|
|
#endif |
|
|
|
case Z_AXIS: |
|
|
|
delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top(); |
|
|
|
default: break; |
|
|
|
SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]); |
|
|
|
SERIAL_ECHOLNPAIR("\n position_shift = ", position_shift[axis]); |
|
|
|
} |
|
|
|
#endif |
|
|
|
} |
|
|
|
|
|
|
|
#endif // HAS_WORKSPACE_OFFSET || DUAL_X_CARRIAGE || DELTA
|
|
|
|
#endif |
|
|
|
|
|
|
|
#if HAS_M206_COMMAND |
|
|
|
/**
|
|
|
|
@ -1597,6 +1599,6 @@ void homeaxis(const AxisEnum axis) { |
|
|
|
*/ |
|
|
|
void set_home_offset(const AxisEnum axis, const float v) { |
|
|
|
home_offset[axis] = v; |
|
|
|
update_software_endstops(axis); |
|
|
|
update_workspace_offset(axis); |
|
|
|
} |
|
|
|
#endif // HAS_M206_COMMAND
|
|
|
|
|
Scott Lahteine
6 years ago
GitHub