zaubentrucker/muele-marlin
1
0
Fork 0
Code Issues Pull requests Actions Packages Projects Releases Wiki Activity

Allow Zero Endstops (e.g., for CNC) (#21120)

Browse source 
Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
This commit is contained in:
deirdreobyrne 2021-02-25 10:49:34 +00:00 committed by Scott Lahteine
parent 19c38f1a8a
commit e6bf89e82b
11 changed files with 778 additions and 739 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

4
Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
View file

@ -1118,8 +1118,8 @@ bool unified_bed_leveling::g29_parameter_parsing() {
}
// If X or Y are not valid, use center of the bed values
if (!WITHIN(sx, X_MIN_BED, X_MAX_BED)) sx = X_CENTER;
if (!WITHIN(sy, Y_MIN_BED, Y_MAX_BED)) sy = Y_CENTER;
if (!COORDINATE_OKAY(sx, X_MIN_BED, X_MAX_BED)) sx = X_CENTER;
if (!COORDINATE_OKAY(sy, Y_MIN_BED, Y_MAX_BED)) sy = Y_CENTER;
if (err_flag) return UBL_ERR;

22
Marlin/src/gcode/bedlevel/G26.cpp
View file

@ -319,9 +319,13 @@ inline bool look_for_lines_to_connect() {
s.x = _GET_MESH_X( i ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // right edge
e.x = _GET_MESH_X(i + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // left edge
LIMIT(s.x, X_MIN_POS + 1, X_MAX_POS - 1);
s.y = e.y = constrain(_GET_MESH_Y(j), Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(e.x, X_MIN_POS + 1, X_MAX_POS - 1);
#if HAS_ENDSTOPS
LIMIT(s.x, X_MIN_POS + 1, X_MAX_POS - 1);
s.y = e.y = constrain(_GET_MESH_Y(j), Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(e.x, X_MIN_POS + 1, X_MAX_POS - 1);
#else
s.y = e.y = _GET_MESH_Y(j);
#endif
if (position_is_reachable(s.x, s.y) && position_is_reachable(e.x, e.y))
print_line_from_here_to_there(s, e);
@ -339,9 +343,13 @@ inline bool look_for_lines_to_connect() {
s.y = _GET_MESH_Y( j ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // top edge
e.y = _GET_MESH_Y(j + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // bottom edge
s.x = e.x = constrain(_GET_MESH_X(i), X_MIN_POS + 1, X_MAX_POS - 1);
LIMIT(s.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(e.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
#if HAS_ENDSTOPS
s.x = e.x = constrain(_GET_MESH_X(i), X_MIN_POS + 1, X_MAX_POS - 1);
LIMIT(s.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(e.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
#else
s.x = e.x = _GET_MESH_X(i);
#endif
if (position_is_reachable(s.x, s.y) && position_is_reachable(e.x, e.y))
print_line_from_here_to_there(s, e);
@ -826,7 +834,7 @@ void GcodeSuite::G26() {
#if IS_KINEMATIC
// Check to make sure this segment is entirely on the bed, skip if not.
if (!position_is_reachable(p) || !position_is_reachable(q)) continue;
#else
#elif HAS_ENDSTOPS
LIMIT(p.x, X_MIN_POS + 1, X_MAX_POS - 1); // Prevent hitting the endstops
LIMIT(p.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(q.x, X_MIN_POS + 1, X_MAX_POS - 1);

2
Marlin/src/gcode/calibrate/M48.cpp
View file

@ -202,7 +202,7 @@ void GcodeSuite::M48() {
if (verbose_level > 3)
SERIAL_ECHOLNPAIR_P(PSTR("Moving inward: X"), next_pos.x, SP_Y_STR, next_pos.y);
}
#else
#elif HAS_ENDSTOPS
// For a rectangular bed just keep the probe in bounds
LIMIT(next_pos.x, X_MIN_POS, X_MAX_POS);
LIMIT(next_pos.y, Y_MIN_POS, Y_MAX_POS);

7
Marlin/src/inc/Conditionals_LCD.h
View file

@ -1195,3 +1195,10 @@
#define TOUCH_ORIENTATION TOUCH_LANDSCAPE
#endif
#endif
#if ANY(USE_XMIN_PLUG, USE_YMIN_PLUG, USE_ZMIN_PLUG, USE_XMAX_PLUG, USE_YMAX_PLUG, USE_ZMAX_PLUG)
#define HAS_ENDSTOPS 1
#define COORDINATE_OKAY(N,L,H) WITHIN(N,L,H)
#else
#define COORDINATE_OKAY(N,L,H) true
#endif

64
Marlin/src/inc/SanityCheck.h
View file

@ -2016,39 +2016,41 @@ static_assert(hbm[Z_AXIS] >= 0, "HOMING_BUMP_MM.Z must be greater than or equal
&& !(ENABLED(A##_MULTI_ENDSTOPS) && WITHIN(A##2_USE_ENDSTOP, _##P##MAX_, _##P##MIN_)) )
#define _AXIS_PLUG_UNUSED_TEST(A) (_PLUG_UNUSED_TEST(A,X) && _PLUG_UNUSED_TEST(A,Y) && _PLUG_UNUSED_TEST(A,Z))
// At least 3 endstop plugs must be used
#if _AXIS_PLUG_UNUSED_TEST(X)
#error "You must enable USE_XMIN_PLUG or USE_XMAX_PLUG."
#endif
#if _AXIS_PLUG_UNUSED_TEST(Y)
#error "You must enable USE_YMIN_PLUG or USE_YMAX_PLUG."
#endif
#if _AXIS_PLUG_UNUSED_TEST(Z)
#error "You must enable USE_ZMIN_PLUG or USE_ZMAX_PLUG."
#endif
// Delta and Cartesian use 3 homing endstops
#if NONE(IS_SCARA, SPI_ENDSTOPS)
#if X_HOME_DIR < 0 && DISABLED(USE_XMIN_PLUG)
#error "Enable USE_XMIN_PLUG when homing X to MIN."
#elif X_HOME_DIR > 0 && DISABLED(USE_XMAX_PLUG)
#error "Enable USE_XMAX_PLUG when homing X to MAX."
#elif Y_HOME_DIR < 0 && DISABLED(USE_YMIN_PLUG)
#error "Enable USE_YMIN_PLUG when homing Y to MIN."
#elif Y_HOME_DIR > 0 && DISABLED(USE_YMAX_PLUG)
#error "Enable USE_YMAX_PLUG when homing Y to MAX."
// A machine with endstops must have a minimum of 3
#if HAS_ENDSTOPS
#if _AXIS_PLUG_UNUSED_TEST(X)
#error "You must enable USE_XMIN_PLUG or USE_XMAX_PLUG."
#endif
#if _AXIS_PLUG_UNUSED_TEST(Y)
#error "You must enable USE_YMIN_PLUG or USE_YMAX_PLUG."
#endif
#if _AXIS_PLUG_UNUSED_TEST(Z)
#error "You must enable USE_ZMIN_PLUG or USE_ZMAX_PLUG."
#endif
#endif
// Z homing direction and plug usage flags
#if Z_HOME_DIR < 0 && NONE(USE_ZMIN_PLUG, HOMING_Z_WITH_PROBE)
#error "Enable USE_ZMIN_PLUG when homing Z to MIN."
#elif Z_HOME_DIR > 0 && ENABLED(USE_PROBE_FOR_Z_HOMING)
#error "Z_HOME_DIR must be -1 when homing Z with the probe."
#elif BOTH(HOMING_Z_WITH_PROBE, Z_MULTI_ENDSTOPS)
#error "Z_MULTI_ENDSTOPS is incompatible with USE_PROBE_FOR_Z_HOMING."
#elif Z_HOME_DIR > 0 && DISABLED(USE_ZMAX_PLUG)
#error "Enable USE_ZMAX_PLUG when homing Z to MAX."
// Delta and Cartesian use 3 homing endstops
#if NONE(IS_SCARA, SPI_ENDSTOPS)
#if X_HOME_DIR < 0 && DISABLED(USE_XMIN_PLUG)
#error "Enable USE_XMIN_PLUG when homing X to MIN."
#elif X_HOME_DIR > 0 && DISABLED(USE_XMAX_PLUG)
#error "Enable USE_XMAX_PLUG when homing X to MAX."
#elif Y_HOME_DIR < 0 && DISABLED(USE_YMIN_PLUG)
#error "Enable USE_YMIN_PLUG when homing Y to MIN."
#elif Y_HOME_DIR > 0 && DISABLED(USE_YMAX_PLUG)
#error "Enable USE_YMAX_PLUG when homing Y to MAX."
#endif
#endif
// Z homing direction and plug usage flags
#if Z_HOME_DIR < 0 && NONE(USE_ZMIN_PLUG, HOMING_Z_WITH_PROBE)
#error "Enable USE_ZMIN_PLUG when homing Z to MIN."
#elif Z_HOME_DIR > 0 && ENABLED(USE_PROBE_FOR_Z_HOMING)
#error "Z_HOME_DIR must be -1 when homing Z with the probe."
#elif BOTH(HOMING_Z_WITH_PROBE, Z_MULTI_ENDSTOPS)
#error "Z_MULTI_ENDSTOPS is incompatible with USE_PROBE_FOR_Z_HOMING."
#elif Z_HOME_DIR > 0 && DISABLED(USE_ZMAX_PLUG)
#error "Enable USE_ZMAX_PLUG when homing Z to MAX."
#endif
#endif
#if BOTH(HOME_Z_FIRST, USE_PROBE_FOR_Z_HOMING)

12
Marlin/src/libs/L64XX/L64XX_Marlin.cpp
View file

@ -446,10 +446,8 @@ uint8_t L64XX_Marlin::get_user_input(uint8_t &driver_count, L64XX_axis_t axis_in
position_max = X_center + displacement;
echo_min_max('X', position_min, position_max);
if (false
#ifdef X_MIN_POS
#if HAS_ENDSTOPS
|| position_min < (X_MIN_POS)
#endif
#ifdef X_MAX_POS
|| position_max > (X_MAX_POS)
#endif
) {
@ -463,10 +461,8 @@ uint8_t L64XX_Marlin::get_user_input(uint8_t &driver_count, L64XX_axis_t axis_in
position_max = Y_center + displacement;
echo_min_max('Y', position_min, position_max);
if (false
#ifdef Y_MIN_POS
#if HAS_ENDSTOPS
|| position_min < (Y_MIN_POS)
#endif
#ifdef Y_MAX_POS
|| position_max > (Y_MAX_POS)
#endif
) {
@ -480,10 +476,8 @@ uint8_t L64XX_Marlin::get_user_input(uint8_t &driver_count, L64XX_axis_t axis_in
position_max = Z_center + displacement;
echo_min_max('Z', position_min, position_max);
if (false
#ifdef Z_MIN_POS
#if HAS_ENDSTOPS
|| position_min < (Z_MIN_POS)
#endif
#ifdef Z_MAX_POS
|| position_max > (Z_MAX_POS)
#endif
) {

1313
Marlin/src/module/motion.cpp
View file

File diff suppressed because it is too large Load diff

69
Marlin/src/module/motion.h
View file

@ -284,27 +284,51 @@ void do_z_clearance(const float &zclear, const bool z_trusted=true, const bool r
* Homing and Trusted Axes
*/
constexpr uint8_t xyz_bits = _BV(X_AXIS) | _BV(Y_AXIS) | _BV(Z_AXIS);
extern uint8_t axis_homed, axis_trusted;
void homeaxis(const AxisEnum axis);
void set_axis_is_at_home(const AxisEnum axis);
void set_axis_never_homed(const AxisEnum axis);
uint8_t axes_should_home(uint8_t axis_bits=0x07);
bool homing_needed_error(uint8_t axis_bits=0x07);
FORCE_INLINE bool axis_was_homed(const AxisEnum axis) { return TEST(axis_homed, axis); }
FORCE_INLINE bool axis_is_trusted(const AxisEnum axis) { return TEST(axis_trusted, axis); }
FORCE_INLINE bool axis_should_home(const AxisEnum axis) { return (axes_should_home() & _BV(axis)) != 0; }
FORCE_INLINE bool no_axes_homed() { return !axis_homed; }
FORCE_INLINE bool all_axes_homed() { return xyz_bits == (axis_homed & xyz_bits); }
FORCE_INLINE bool homing_needed() { return !all_axes_homed(); }
FORCE_INLINE bool all_axes_trusted() { return xyz_bits == (axis_trusted & xyz_bits); }
FORCE_INLINE void set_axis_homed(const AxisEnum axis) { SBI(axis_homed, axis); }
FORCE_INLINE void set_axis_unhomed(const AxisEnum axis) { CBI(axis_homed, axis); }
FORCE_INLINE void set_axis_trusted(const AxisEnum axis) { SBI(axis_trusted, axis); }
FORCE_INLINE void set_axis_untrusted(const AxisEnum axis) { CBI(axis_trusted, axis); }
FORCE_INLINE void set_all_homed() { axis_homed = axis_trusted = xyz_bits; }
FORCE_INLINE void set_all_unhomed() { axis_homed = axis_trusted = 0; }
#if HAS_ENDSTOPS
/**
* axis_homed
* Flags that each linear axis was homed.
* XYZ on cartesian, ABC on delta, ABZ on SCARA.
*
* axis_trusted
* Flags that the position is trusted in each linear axis. Set when homed.
* Cleared whenever a stepper powers off, potentially losing its position.
*/
extern uint8_t axis_homed, axis_trusted;
void homeaxis(const AxisEnum axis);
void set_axis_never_homed(const AxisEnum axis);
uint8_t axes_should_home(uint8_t axis_bits=0x07);
bool homing_needed_error(uint8_t axis_bits=0x07);
FORCE_INLINE void set_axis_unhomed(const AxisEnum axis) { CBI(axis_homed, axis); }
FORCE_INLINE void set_axis_untrusted(const AxisEnum axis) { CBI(axis_trusted, axis); }
FORCE_INLINE void set_all_unhomed() { axis_homed = axis_trusted = 0; }
FORCE_INLINE void set_axis_homed(const AxisEnum axis) { SBI(axis_homed, axis); }
FORCE_INLINE void set_axis_trusted(const AxisEnum axis) { SBI(axis_trusted, axis); }
FORCE_INLINE void set_all_homed() { axis_homed = axis_trusted = xyz_bits; }
#else
constexpr uint8_t axis_homed = xyz_bits, axis_trusted = xyz_bits; // Zero-endstop machines are always homed and trusted
FORCE_INLINE void homeaxis(const AxisEnum axis) {}
FORCE_INLINE void set_axis_never_homed(const AxisEnum) {}
FORCE_INLINE uint8_t axes_should_home(uint8_t=0x07) { return false; }
FORCE_INLINE bool homing_needed_error(uint8_t=0x07) { return false; }
FORCE_INLINE void set_axis_unhomed(const AxisEnum axis) {}
FORCE_INLINE void set_axis_untrusted(const AxisEnum axis) {}
FORCE_INLINE void set_all_unhomed() {}
FORCE_INLINE void set_axis_homed(const AxisEnum axis) {}
FORCE_INLINE void set_axis_trusted(const AxisEnum axis) {}
FORCE_INLINE void set_all_homed() {}
#endif
FORCE_INLINE bool axis_was_homed(const AxisEnum axis) { return TEST(axis_homed, axis); }
FORCE_INLINE bool axis_is_trusted(const AxisEnum axis) { return TEST(axis_trusted, axis); }
FORCE_INLINE bool axis_should_home(const AxisEnum axis) { return (axes_should_home() & _BV(axis)) != 0; }
FORCE_INLINE bool no_axes_homed() { return !axis_homed; }
FORCE_INLINE bool all_axes_homed() { return xyz_bits == (axis_homed & xyz_bits); }
FORCE_INLINE bool homing_needed() { return !all_axes_homed(); }
FORCE_INLINE bool all_axes_trusted() { return xyz_bits == (axis_trusted & xyz_bits); }
#if ENABLED(NO_MOTION_BEFORE_HOMING)
#define MOTION_CONDITIONS (IsRunning() && !homing_needed_error())
@ -360,7 +384,6 @@ FORCE_INLINE void set_all_unhomed() { axis_homed = axis_tr
/**
* position_is_reachable family of functions
*/
#if IS_KINEMATIC // (DELTA or SCARA)
#if HAS_SCARA_OFFSET
@ -390,14 +413,14 @@ FORCE_INLINE void set_all_unhomed() { axis_homed = axis_tr
// Return true if the given position is within the machine bounds.
inline bool position_is_reachable(const float &rx, const float &ry) {
if (!WITHIN(ry, Y_MIN_POS - fslop, Y_MAX_POS + fslop)) return false;
if (!COORDINATE_OKAY(ry, Y_MIN_POS - fslop, Y_MAX_POS + fslop)) return false;
#if ENABLED(DUAL_X_CARRIAGE)
if (active_extruder)
return WITHIN(rx, X2_MIN_POS - fslop, X2_MAX_POS + fslop);
return COORDINATE_OKAY(rx, X2_MIN_POS - fslop, X2_MAX_POS + fslop);
else
return WITHIN(rx, X1_MIN_POS - fslop, X1_MAX_POS + fslop);
return COORDINATE_OKAY(rx, X1_MIN_POS - fslop, X1_MAX_POS + fslop);
#else
return WITHIN(rx, X_MIN_POS - fslop, X_MAX_POS + fslop);
return COORDINATE_OKAY(rx, X_MIN_POS - fslop, X_MAX_POS + fslop);
#endif
}
inline bool position_is_reachable(const xy_pos_t &pos) { return position_is_reachable(pos.x, pos.y); }

8
Marlin/src/module/planner.h
View file

@ -564,10 +564,10 @@ class Planner {
#if ENABLED(SKEW_CORRECTION)
FORCE_INLINE static void skew(float &cx, float &cy, const float &cz) {
if (WITHIN(cx, X_MIN_POS + 1, X_MAX_POS) && WITHIN(cy, Y_MIN_POS + 1, Y_MAX_POS)) {
if (COORDINATE_OKAY(cx, X_MIN_POS + 1, X_MAX_POS) && COORDINATE_OKAY(cy, Y_MIN_POS + 1, Y_MAX_POS)) {
const float sx = cx - cy * skew_factor.xy - cz * (skew_factor.xz - (skew_factor.xy * skew_factor.yz)),
sy = cy - cz * skew_factor.yz;
if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
if (COORDINATE_OKAY(sx, X_MIN_POS, X_MAX_POS) && COORDINATE_OKAY(sy, Y_MIN_POS, Y_MAX_POS)) {
cx = sx; cy = sy;
}
}
@ -575,10 +575,10 @@ class Planner {
FORCE_INLINE static void skew(xyz_pos_t &raw) { skew(raw.x, raw.y, raw.z); }
FORCE_INLINE static void unskew(float &cx, float &cy, const float &cz) {
if (WITHIN(cx, X_MIN_POS, X_MAX_POS) && WITHIN(cy, Y_MIN_POS, Y_MAX_POS)) {
if (COORDINATE_OKAY(cx, X_MIN_POS, X_MAX_POS) && COORDINATE_OKAY(cy, Y_MIN_POS, Y_MAX_POS)) {
const float sx = cx + cy * skew_factor.xy + cz * skew_factor.xz,
sy = cy + cz * skew_factor.yz;
if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
if (COORDINATE_OKAY(sx, X_MIN_POS, X_MAX_POS) && COORDINATE_OKAY(sy, Y_MIN_POS, Y_MAX_POS)) {
cx = sx; cy = sy;
}
}

8
Marlin/src/module/probe.h
View file

@ -92,8 +92,8 @@ public:
*/
static bool can_reach(const float &rx, const float &ry) {
return position_is_reachable(rx - offset_xy.x, ry - offset_xy.y)
&& WITHIN(rx, min_x() - fslop, max_x() + fslop)
&& WITHIN(ry, min_y() - fslop, max_y() + fslop);
&& COORDINATE_OKAY(rx, min_x() - fslop, max_x() + fslop)
&& COORDINATE_OKAY(ry, min_y() - fslop, max_y() + fslop);
}
#endif
@ -206,8 +206,8 @@ public:
#if IS_KINEMATIC
return HYPOT2(x, y) <= sq(probe_radius(default_probe_xy_offset));
#else
return WITHIN(x, _min_x(default_probe_xy_offset) - fslop, _max_x(default_probe_xy_offset) + fslop)
&& WITHIN(y, _min_y(default_probe_xy_offset) - fslop, _max_y(default_probe_xy_offset) + fslop);
return COORDINATE_OKAY(x, _min_x(default_probe_xy_offset) - fslop, _max_x(default_probe_xy_offset) + fslop)
&& COORDINATE_OKAY(y, _min_y(default_probe_xy_offset) - fslop, _max_y(default_probe_xy_offset) + fslop);
#endif
}

8
buildroot/tests/teensy31-tests
View file

@ -10,6 +10,14 @@ restore_configs
opt_set MOTHERBOARD BOARD_TEENSY31_32
exec_test $1 $2 "Teensy3.1 with default config" "$3"
#
# Zero endstops, as with a CNC
#
restore_configs
opt_set MOTHERBOARD BOARD_TEENSY31_32
opt_disable USE_XMIN_PLUG USE_YMIN_PLUG USE_ZMIN_PLUG
exec_test $1 $2 "Teensy3.1 with Zero Endstops" "$3"
#
# Test many features together
#