From 27f9437d3141635e290b11109b5f6d0929962194 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Tue, 23 Feb 2021 16:08:00 -0600 Subject: [PATCH] G92, subcodes flag cleanup --- Marlin/src/gcode/geometry/G92.cpp | 79 +++++++++++++++++------------- Marlin/src/gcode/parser.cpp | 6 +-- Marlin/src/gcode/parser.h | 4 +- Marlin/src/inc/Conditionals_post.h | 2 +- 4 files changed, 52 insertions(+), 39 deletions(-) diff --git a/Marlin/src/gcode/geometry/G92.cpp b/Marlin/src/gcode/geometry/G92.cpp index 1a0382ed7..30620be6f 100644 --- a/Marlin/src/gcode/geometry/G92.cpp +++ b/Marlin/src/gcode/geometry/G92.cpp @@ -29,77 +29,90 @@ #endif /** - * G92: Set current position to given X Y Z E + * G92: Set the Current Position to the given X Y Z E values. + * + * Behind the scenes the G92 command may modify the Current Position + * or the Position Shift depending on settings and sub-commands. + * + * Since E has no Workspace Offset, it is always set directly. + * + * Without Workspace Offsets (e.g., with NO_WORKSPACE_OFFSETS): + * G92 : Set NATIVE Current Position to the given X Y Z E. + * + * Using Workspace Offsets (default Marlin behavior): + * G92 : Modify Workspace Offsets so the reported position shows the given X Y Z E. + * G92.1 : Zero XYZ Workspace Offsets (so the reported position = the native position). + * + * With POWER_LOSS_RECOVERY: + * G92.9 : Set NATIVE Current Position to the given X Y Z E. */ void GcodeSuite::G92() { - bool sync_E = false, sync_XYZ = false; + bool sync_E = false, sync_XYZE = false; - #if ENABLED(USE_GCODE_SUBCODES) + #if USE_GCODE_SUBCODES const uint8_t subcode_G92 = parser.subcode; #else constexpr uint8_t subcode_G92 = 0; #endif switch (subcode_G92) { - default: break; - #if ENABLED(CNC_COORDINATE_SYSTEMS) - case 1: { - // Zero the G92 values and restore current position - #if !IS_SCARA - LOOP_XYZ(i) if (position_shift[i]) { - position_shift[i] = 0; - update_workspace_offset((AxisEnum)i); - } - #endif // Not SCARA - } return; + default: return; // Ignore unknown G92.x + + #if ENABLED(CNC_COORDINATE_SYSTEMS) && !IS_SCARA + case 1: // G92.1 - Zero the Workspace Offset + LOOP_XYZ(i) if (position_shift[i]) { + position_shift[i] = 0; + update_workspace_offset((AxisEnum)i); + } + break; #endif + #if ENABLED(POWER_LOSS_RECOVERY) - case 9: { + case 9: // G92.9 - Set Current Position directly (like Marlin 1.0) LOOP_XYZE(i) { if (parser.seenval(axis_codes[i])) { + if (i == E_AXIS) sync_E = true; else sync_XYZE = true; current_position[i] = parser.value_axis_units((AxisEnum)i); - if (i == E_AXIS) sync_E = true; else sync_XYZ = true; } } - } break; + break; #endif - case 0: { + + case 0: LOOP_XYZE(i) { if (parser.seenval(axis_codes[i])) { - const float l = parser.value_axis_units((AxisEnum)i), - v = i == E_AXIS ? l : LOGICAL_TO_NATIVE(l, i), - d = v - current_position[i]; + const float l = parser.value_axis_units((AxisEnum)i), // Given axis coordinate value, converted to millimeters + v = i == E_AXIS ? l : LOGICAL_TO_NATIVE(l, i), // Axis position in NATIVE space (applying the existing offset) + d = v - current_position[i]; // How much is the current axis position altered by? if (!NEAR_ZERO(d)) { - #if IS_SCARA || !HAS_POSITION_SHIFT - if (i == E_AXIS) sync_E = true; else sync_XYZ = true; - current_position[i] = v; // Without workspaces revert to Marlin 1.0 behavior - #elif HAS_POSITION_SHIFT + #if HAS_POSITION_SHIFT && !IS_SCARA // When using workspaces... if (i == E_AXIS) { sync_E = true; - current_position.e = v; // When using coordinate spaces, only E is set directly + current_position.e = v; // ...E is still set directly } else { - position_shift[i] += d; // Other axes simply offset the coordinate space + position_shift[i] += d; // ...but other axes offset the workspace. update_workspace_offset((AxisEnum)i); } + #else // Without workspaces... + if (i == E_AXIS) sync_E = true; else sync_XYZE = true; + current_position[i] = v; // ...set Current Position directly (like Marlin 1.0) #endif } } } - } break; + break; } #if ENABLED(CNC_COORDINATE_SYSTEMS) - // Apply workspace offset to the active coordinate system + // Apply Workspace Offset to the active coordinate system if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1)) coordinate_system[active_coordinate_system] = position_shift; #endif - if (sync_XYZ) sync_plan_position(); + if (sync_XYZE) sync_plan_position(); else if (sync_E) sync_plan_position_e(); - #if DISABLED(DIRECT_STEPPING) - report_current_position(); - #endif + IF_DISABLED(DIRECT_STEPPING, report_current_position()); } diff --git a/Marlin/src/gcode/parser.cpp b/Marlin/src/gcode/parser.cpp index 6408b2ce2..ebe9d3b2c 100644 --- a/Marlin/src/gcode/parser.cpp +++ b/Marlin/src/gcode/parser.cpp @@ -47,13 +47,13 @@ char *GCodeParser::command_ptr, char GCodeParser::command_letter; uint16_t GCodeParser::codenum; -#if ENABLED(USE_GCODE_SUBCODES) +#if USE_GCODE_SUBCODES uint8_t GCodeParser::subcode; #endif #if ENABLED(GCODE_MOTION_MODES) int16_t GCodeParser::motion_mode_codenum = -1; - #if ENABLED(USE_GCODE_SUBCODES) + #if USE_GCODE_SUBCODES uint8_t GCodeParser::motion_mode_subcode; #endif #endif @@ -189,7 +189,7 @@ void GCodeParser::parse(char *p) { } // Allow for decimal point in command - #if ENABLED(USE_GCODE_SUBCODES) + #if USE_GCODE_SUBCODES if (*p == '.') { p++; while (NUMERIC(*p)) diff --git a/Marlin/src/gcode/parser.h b/Marlin/src/gcode/parser.h index d60b21a90..5a31a9943 100644 --- a/Marlin/src/gcode/parser.h +++ b/Marlin/src/gcode/parser.h @@ -85,13 +85,13 @@ public: *string_arg, // string of command line command_letter; // G, M, or T static uint16_t codenum; // 123 - #if ENABLED(USE_GCODE_SUBCODES) + #if USE_GCODE_SUBCODES static uint8_t subcode; // .1 #endif #if ENABLED(GCODE_MOTION_MODES) static int16_t motion_mode_codenum; - #if ENABLED(USE_GCODE_SUBCODES) + #if USE_GCODE_SUBCODES static uint8_t motion_mode_subcode; #endif FORCE_INLINE static void cancel_motion_mode() { motion_mode_codenum = -1; } diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h index 949885eab..f8360767d 100644 --- a/Marlin/src/inc/Conditionals_post.h +++ b/Marlin/src/inc/Conditionals_post.h @@ -2758,7 +2758,7 @@ // Add commands that need sub-codes to this list #if ANY(G38_PROBE_TARGET, CNC_COORDINATE_SYSTEMS, POWER_LOSS_RECOVERY) - #define USE_GCODE_SUBCODES + #define USE_GCODE_SUBCODES 1 #endif // Parking Extruder