From 3cd91cb5c692cfe6a35a40f2bb40174cd8088977 Mon Sep 17 00:00:00 2001 From: Ian Jackson Date: Wed, 1 Aug 2012 21:12:14 +0100 Subject: [PATCH] M206: always use homing ("homeing") offsets Previously the parameters set in M206 would only be used if a G82 command was sent with specific axis home values. This limits its usefulness. Really, we should have a way to adjust the XYZ homing of a machine in the eeprom. So as the first stage of this, make M206 affect every home command. The values set using M206 are now added to the configuration variables [XYZ]_HOME_POS. This is achieved by replacing all uses of [XYZ]_HOME_POS in the code by [XYZ]_HOME_POS_A which is a macro which includes the adjustment. fixes #200 (in ErikZalm/Marlin). Signed-off-by: Ian Jackson minimums too FIXME FIXME FIXME --- Marlin/Marlin.h | 1 + Marlin/Marlin.pde | 23 ++++++++++++++++------- Marlin/motion_control.cpp | 6 +++--- README.md | 1 + 4 files changed, 21 insertions(+), 10 deletions(-) diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index 4123634..c8115af 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -183,6 +183,7 @@ extern float homing_feedrate[]; extern bool axis_relative_modes[]; extern float current_position[NUM_AXIS] ; extern float add_homeing[3]; +extern float min_pos[3]; extern unsigned char FanSpeed; // Handling multiple extruders pins diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde index f38920b..6158eec 100644 --- a/Marlin/Marlin.pde +++ b/Marlin/Marlin.pde @@ -143,6 +143,7 @@ volatile bool feedmultiplychanged=false; volatile int extrudemultiply=100; //100->1 200->2 float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 }; float add_homeing[3]={0,0,0}; +float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS }; uint8_t active_extruder = 0; unsigned char FanSpeed=0; @@ -543,6 +544,14 @@ bool code_seen(char code) return (strchr_pointer != NULL); //Return True if a character was found } +static const float base_min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS }; +static const float base_home_pos[3] = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS }; + +static void axis_is_at_home(int axis) { + current_position[axis] = base_home_pos[axis] + add_homeing[axis]; + min_pos[axis] = base_min_pos[axis] + add_homeing[axis]; +} + #define HOMEAXIS(LETTER) \ if ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))\ { \ @@ -564,8 +573,8 @@ bool code_seen(char code) plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \ st_synchronize();\ \ - current_position[LETTER##_AXIS] = LETTER##_HOME_POS;\ - destination[LETTER##_AXIS] = current_position[LETTER##_AXIS];\ + axis_is_at_home(LETTER##_AXIS); \ + destination[LETTER##_AXIS] = current_position[LETTER##_AXIS]; \ feedrate = 0.0;\ endstops_hit_on_purpose();\ } @@ -678,8 +687,8 @@ void process_commands() plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); st_synchronize(); - current_position[X_AXIS] = X_HOME_POS; - current_position[Y_AXIS] = Y_HOME_POS; + axis_is_at_home(X_AXIS); + axis_is_at_home(Y_AXIS); plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); destination[X_AXIS] = current_position[X_AXIS]; destination[Y_AXIS] = current_position[Y_AXIS]; @@ -1544,9 +1553,9 @@ void get_arc_coordinates() void prepare_move() { if (min_software_endstops) { - if (destination[X_AXIS] < X_MIN_POS) destination[X_AXIS] = X_MIN_POS; - if (destination[Y_AXIS] < Y_MIN_POS) destination[Y_AXIS] = Y_MIN_POS; - if (destination[Z_AXIS] < Z_MIN_POS) destination[Z_AXIS] = Z_MIN_POS; + if (destination[X_AXIS] < min_pos[0]) destination[X_AXIS] = min_pos[0]; + if (destination[Y_AXIS] < min_pos[1]) destination[Y_AXIS] = min_pos[1]; + if (destination[Z_AXIS] < min_pos[2]) destination[Z_AXIS] = min_pos[2]; } if (max_software_endstops) { diff --git a/Marlin/motion_control.cpp b/Marlin/motion_control.cpp index f11d8c8..450924a 100644 --- a/Marlin/motion_control.cpp +++ b/Marlin/motion_control.cpp @@ -126,9 +126,9 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8 arc_target[E_AXIS] += extruder_per_segment; if (min_software_endstops) { - if (arc_target[X_AXIS] < X_HOME_POS) arc_target[X_AXIS] = X_HOME_POS; - if (arc_target[Y_AXIS] < Y_HOME_POS) arc_target[Y_AXIS] = Y_HOME_POS; - if (arc_target[Z_AXIS] < Z_HOME_POS) arc_target[Z_AXIS] = Z_HOME_POS; + if (arc_target[X_AXIS] < min_pos[0]) arc_target[X_AXIS] = min_pos[0]; + if (arc_target[Y_AXIS] < min_pos[1]) arc_target[Y_AXIS] = min_pos[1]; + if (arc_target[Z_AXIS] < min_pos[2]) arc_target[Z_AXIS] = min_pos[2]; } if (max_software_endstops) { diff --git a/README.md b/README.md index 86dd93d..fb2c189 100644 --- a/README.md +++ b/README.md @@ -152,6 +152,7 @@ Movement variables: * M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!! * M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec * M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate +* M206 - set home offsets. This sets the X,Y,Z coordinates of the endstops (and is added to the {X,Y,Z}_HOME_POS configuration options (and is also added to the coordinates, if any, provided to G82, as with earlier firmware) * M220 - set build speed mulitplying S:factor in percent ; aka "realtime tuneing in the gcode". So you can slow down if you have islands in one height-range, and speed up otherwise. * M221 - set the extrude multiplying S:factor in percent * M400 - Finish all buffered moves. -- 2.30.2