From ea65e10dc7bf3ba5a6bd966bcebf3238eaec7ca1 Mon Sep 17 00:00:00 2001 From: "Earle F. Philhower, III" Date: Mon, 12 Oct 2020 14:48:04 -0700 Subject: [PATCH] Add loose soft endstop state, apply to UBL fine-tune (#19681) Co-authored-by: Scott Lahteine --- Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp | 4 ++ Marlin/src/gcode/bedlevel/abl/G29.cpp | 16 +++--- Marlin/src/gcode/bedlevel/mbl/G29.cpp | 16 ++---- Marlin/src/gcode/calibrate/G28.cpp | 5 +- Marlin/src/gcode/calibrate/G34.cpp | 4 +- Marlin/src/gcode/calibrate/G425.cpp | 9 ++-- Marlin/src/gcode/control/M211.cpp | 4 +- Marlin/src/gcode/feature/clean/G12.cpp | 4 +- Marlin/src/lcd/extui/ui_api.cpp | 28 ++-------- Marlin/src/lcd/menu/menu_motion.cpp | 27 ++-------- Marlin/src/lcd/menu/menu_probe_offset.cpp | 8 +-- Marlin/src/lcd/tft/ui_480x320.cpp | 24 ++------- Marlin/src/libs/nozzle.cpp | 2 +- Marlin/src/module/motion.cpp | 21 ++++---- Marlin/src/module/motion.h | 59 ++++++++++++++++----- Marlin/src/module/tool_change.cpp | 8 +-- 16 files changed, 106 insertions(+), 133 deletions(-) diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp index dc91b7d6b..e41af9f3c 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp +++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp @@ -1009,6 +1009,8 @@ lcd_mesh_edit_setup(new_z); + SET_SOFT_ENDSTOP_LOOSE(true); + do { idle(); new_z = lcd_mesh_edit(); @@ -1016,6 +1018,8 @@ SERIAL_FLUSH(); // Prevent host M105 buffer overrun. } while (!ui.button_pressed()); + SET_SOFT_ENDSTOP_LOOSE(false); + if (!lcd_map_control) ui.return_to_status(); // Just editing a single point? Return to status if (click_and_hold(abort_fine_tune)) break; // Button held down? Abort editing diff --git a/Marlin/src/gcode/bedlevel/abl/G29.cpp b/Marlin/src/gcode/bedlevel/abl/G29.cpp index e9b6e0e3a..f7de6c8ce 100644 --- a/Marlin/src/gcode/bedlevel/abl/G29.cpp +++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp @@ -201,10 +201,6 @@ G29_TYPE GcodeSuite::G29() { ABL_VAR int abl_probe_index; #endif - #if BOTH(HAS_SOFTWARE_ENDSTOPS, PROBE_MANUALLY) - ABL_VAR bool saved_soft_endstops_state = true; - #endif - #if ABL_GRID #if ENABLED(PROBE_MANUALLY) @@ -461,7 +457,7 @@ G29_TYPE GcodeSuite::G29() { // Abort current G29 procedure, go back to idle state if (seenA && g29_in_progress) { SERIAL_ECHOLNPGM("Manual G29 aborted"); - TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = saved_soft_endstops_state); + SET_SOFT_ENDSTOP_LOOSE(false); set_bed_leveling_enabled(abl_should_enable); g29_in_progress = false; TERN_(LCD_BED_LEVELING, ui.wait_for_move = false); @@ -482,7 +478,7 @@ G29_TYPE GcodeSuite::G29() { if (abl_probe_index == 0) { // For the initial G29 S2 save software endstop state - TERN_(HAS_SOFTWARE_ENDSTOPS, saved_soft_endstops_state = soft_endstops_enabled); + SET_SOFT_ENDSTOP_LOOSE(true); // Move close to the bed before the first point do_blocking_move_to_z(0); } @@ -552,14 +548,14 @@ G29_TYPE GcodeSuite::G29() { _manual_goto_xy(probePos); // Can be used here too! // Disable software endstops to allow manual adjustment // If G29 is not completed, they will not be re-enabled - TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = false); + SET_SOFT_ENDSTOP_LOOSE(true); G29_RETURN(false); } else { // Leveling done! Fall through to G29 finishing code below SERIAL_ECHOLNPGM("Grid probing done."); // Re-enable software endstops, if needed - TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = saved_soft_endstops_state); + SET_SOFT_ENDSTOP_LOOSE(false); } #elif ENABLED(AUTO_BED_LEVELING_3POINT) @@ -570,7 +566,7 @@ G29_TYPE GcodeSuite::G29() { _manual_goto_xy(probePos); // Disable software endstops to allow manual adjustment // If G29 is not completed, they will not be re-enabled - TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = false); + SET_SOFT_ENDSTOP_LOOSE(true); G29_RETURN(false); } else { @@ -578,7 +574,7 @@ G29_TYPE GcodeSuite::G29() { SERIAL_ECHOLNPGM("3-point probing done."); // Re-enable software endstops, if needed - TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = saved_soft_endstops_state); + SET_SOFT_ENDSTOP_LOOSE(false); if (!dryrun) { vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal(); diff --git a/Marlin/src/gcode/bedlevel/mbl/G29.cpp b/Marlin/src/gcode/bedlevel/mbl/G29.cpp index 5da99386a..d94c16052 100644 --- a/Marlin/src/gcode/bedlevel/mbl/G29.cpp +++ b/Marlin/src/gcode/bedlevel/mbl/G29.cpp @@ -61,7 +61,6 @@ inline void echo_not_entered(const char c) { SERIAL_CHAR(c); SERIAL_ECHOLNPGM(" void GcodeSuite::G29() { static int mbl_probe_index = -1; - TERN_(HAS_SOFTWARE_ENDSTOPS, static bool saved_soft_endstops_state); MeshLevelingState state = (MeshLevelingState)parser.byteval('S', (int8_t)MeshReport); if (!WITHIN(state, 0, 5)) { @@ -98,26 +97,19 @@ void GcodeSuite::G29() { } // For each G29 S2... if (mbl_probe_index == 0) { - #if HAS_SOFTWARE_ENDSTOPS - // For the initial G29 S2 save software endstop state - saved_soft_endstops_state = soft_endstops_enabled; - #endif // Move close to the bed before the first point do_blocking_move_to_z(0); } else { // Save Z for the previous mesh position mbl.set_zigzag_z(mbl_probe_index - 1, current_position.z); - TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = saved_soft_endstops_state); + SET_SOFT_ENDSTOP_LOOSE(false); } // If there's another point to sample, move there with optional lift. if (mbl_probe_index < GRID_MAX_POINTS) { - #if HAS_SOFTWARE_ENDSTOPS - // Disable software endstops to allow manual adjustment - // If G29 is not completed, they will not be re-enabled - soft_endstops_enabled = false; - #endif - + // Disable software endstops to allow manual adjustment + // If G29 is left hanging without completion they won't be re-enabled! + SET_SOFT_ENDSTOP_LOOSE(true); mbl.zigzag(mbl_probe_index++, ix, iy); _manual_goto_xy({ mbl.index_to_xpos[ix], mbl.index_to_ypos[iy] }); } diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp index 7bc40b212..342095680 100644 --- a/Marlin/src/gcode/calibrate/G28.cpp +++ b/Marlin/src/gcode/calibrate/G28.cpp @@ -222,8 +222,9 @@ void GcodeSuite::G28() { return; } - // Wait for planner moves to finish! - planner.synchronize(); + planner.synchronize(); // Wait for planner moves to finish! + + SET_SOFT_ENDSTOP_LOOSE(false); // Reset a leftover 'loose' motion state // Disable the leveling matrix before homing #if HAS_LEVELING diff --git a/Marlin/src/gcode/calibrate/G34.cpp b/Marlin/src/gcode/calibrate/G34.cpp index eb1d32f90..fd876d3fe 100644 --- a/Marlin/src/gcode/calibrate/G34.cpp +++ b/Marlin/src/gcode/calibrate/G34.cpp @@ -40,7 +40,7 @@ void GcodeSuite::G34() { if (homing_needed()) return; - TEMPORARY_SOFT_ENDSTOP_STATE(false); + SET_SOFT_ENDSTOP_LOOSE(true); TEMPORARY_BED_LEVELING_STATE(false); TemporaryGlobalEndstopsState unlock_z(false); @@ -148,6 +148,8 @@ void GcodeSuite::G34() { if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Running Post Commands"); gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_POST)); #endif + + SET_SOFT_ENDSTOP_LOOSE(false); } #endif // MECHANICAL_GANTRY_CALIBRATION diff --git a/Marlin/src/gcode/calibrate/G425.cpp b/Marlin/src/gcode/calibrate/G425.cpp index 746cb1087..8968f7899 100644 --- a/Marlin/src/gcode/calibrate/G425.cpp +++ b/Marlin/src/gcode/calibrate/G425.cpp @@ -581,13 +581,12 @@ void GcodeSuite::G425() { GcodeSuite::process_subcommands_now_P(PSTR(CALIBRATION_SCRIPT_PRE)); #endif - TEMPORARY_SOFT_ENDSTOP_STATE(false); - TEMPORARY_BED_LEVELING_STATE(false); - if (homing_needed_error()) return; - measurements_t m; + TEMPORARY_BED_LEVELING_STATE(false); + SET_SOFT_ENDSTOP_LOOSE(true); + measurements_t m; float uncertainty = parser.seenval('U') ? parser.value_float() : CALIBRATION_MEASUREMENT_UNCERTAIN; if (parser.seen('B')) @@ -612,6 +611,8 @@ void GcodeSuite::G425() { else calibrate_all(); + SET_SOFT_ENDSTOP_LOOSE(false); + #ifdef CALIBRATION_SCRIPT_POST GcodeSuite::process_subcommands_now_P(PSTR(CALIBRATION_SCRIPT_POST)); #endif diff --git a/Marlin/src/gcode/control/M211.cpp b/Marlin/src/gcode/control/M211.cpp index ffad722f3..2049f1eb6 100644 --- a/Marlin/src/gcode/control/M211.cpp +++ b/Marlin/src/gcode/control/M211.cpp @@ -37,8 +37,8 @@ void GcodeSuite::M211() { l_soft_max = soft_endstop.max.asLogical(); SERIAL_ECHO_START(); SERIAL_ECHOPGM(STR_SOFT_ENDSTOPS); - if (parser.seen('S')) soft_endstops_enabled = parser.value_bool(); - serialprint_onoff(soft_endstops_enabled); + if (parser.seen('S')) soft_endstop._enabled = parser.value_bool(); + serialprint_onoff(soft_endstop._enabled); print_xyz(l_soft_min, PSTR(STR_SOFT_MIN), PSTR(" ")); print_xyz(l_soft_max, PSTR(STR_SOFT_MAX)); } diff --git a/Marlin/src/gcode/feature/clean/G12.cpp b/Marlin/src/gcode/feature/clean/G12.cpp index f91db3970..216db5bae 100644 --- a/Marlin/src/gcode/feature/clean/G12.cpp +++ b/Marlin/src/gcode/feature/clean/G12.cpp @@ -70,9 +70,11 @@ void GcodeSuite::G12() { TEMPORARY_BED_LEVELING_STATE(!TEST(cleans, Z_AXIS) && planner.leveling_active); #endif - TEMPORARY_SOFT_ENDSTOP_STATE(parser.boolval('E')); + SET_SOFT_ENDSTOP_LOOSE(!parser.boolval('E')); nozzle.clean(pattern, strokes, radius, objects, cleans); + + SET_SOFT_ENDSTOP_LOOSE(false); } #endif // NOZZLE_CLEAN_FEATURE diff --git a/Marlin/src/lcd/extui/ui_api.cpp b/Marlin/src/lcd/extui/ui_api.cpp index 0acfc9c02..30cf696f3 100644 --- a/Marlin/src/lcd/extui/ui_api.cpp +++ b/Marlin/src/lcd/extui/ui_api.cpp @@ -305,27 +305,9 @@ namespace ExtUI { } void setAxisPosition_mm(const float position, const axis_t axis, const feedRate_t feedrate/*=0*/) { - // Start with no limits to movement - float min = current_position[axis] - 1000, - max = current_position[axis] + 1000; - - // Limit to software endstops, if enabled - #if HAS_SOFTWARE_ENDSTOPS - if (soft_endstops_enabled) switch (axis) { - case X_AXIS: - TERN_(MIN_SOFTWARE_ENDSTOP_X, min = soft_endstop.min.x); - TERN_(MAX_SOFTWARE_ENDSTOP_X, max = soft_endstop.max.x); - break; - case Y_AXIS: - TERN_(MIN_SOFTWARE_ENDSTOP_Y, min = soft_endstop.min.y); - TERN_(MAX_SOFTWARE_ENDSTOP_Y, max = soft_endstop.max.y); - break; - case Z_AXIS: - TERN_(MIN_SOFTWARE_ENDSTOP_Z, min = soft_endstop.min.z); - TERN_(MAX_SOFTWARE_ENDSTOP_Z, max = soft_endstop.max.z); - default: break; - } - #endif // HAS_SOFTWARE_ENDSTOPS + // Get motion limit from software endstops, if any + float min, max; + soft_endstop.get_manual_axis_limits((AxisEnum)axis, min, max); // Delta limits XY based on the current offset from center // This assumes the center is 0,0 @@ -389,8 +371,8 @@ namespace ExtUI { } #if HAS_SOFTWARE_ENDSTOPS - bool getSoftEndstopState() { return soft_endstops_enabled; } - void setSoftEndstopState(const bool value) { soft_endstops_enabled = value; } + bool getSoftEndstopState() { return soft_endstop._enabled; } + void setSoftEndstopState(const bool value) { soft_endstop._enabled = value; } #endif #if HAS_TRINAMIC_CONFIG diff --git a/Marlin/src/lcd/menu/menu_motion.cpp b/Marlin/src/lcd/menu/menu_motion.cpp index 676ba46ea..2972920f3 100644 --- a/Marlin/src/lcd/menu/menu_motion.cpp +++ b/Marlin/src/lcd/menu/menu_motion.cpp @@ -57,28 +57,9 @@ static void _lcd_move_xyz(PGM_P const name, const AxisEnum axis) { if (ui.use_click()) return ui.goto_previous_screen_no_defer(); if (ui.encoderPosition && !ui.manual_move.processing) { - - // Start with no limits to movement - float min = current_position[axis] - 1000, - max = current_position[axis] + 1000; - - // Limit to software endstops, if enabled - #if HAS_SOFTWARE_ENDSTOPS - if (soft_endstops_enabled) switch (axis) { - case X_AXIS: - TERN_(MIN_SOFTWARE_ENDSTOP_X, min = soft_endstop.min.x); - TERN_(MAX_SOFTWARE_ENDSTOP_X, max = soft_endstop.max.x); - break; - case Y_AXIS: - TERN_(MIN_SOFTWARE_ENDSTOP_Y, min = soft_endstop.min.y); - TERN_(MAX_SOFTWARE_ENDSTOP_Y, max = soft_endstop.max.y); - break; - case Z_AXIS: - TERN_(MIN_SOFTWARE_ENDSTOP_Z, min = soft_endstop.min.z); - TERN_(MAX_SOFTWARE_ENDSTOP_Z, max = soft_endstop.max.z); - default: break; - } - #endif // HAS_SOFTWARE_ENDSTOPS + // Get motion limit from software endstops, if any + float min, max; + soft_endstop.get_manual_axis_limits(axis, min, max); // Delta limits XY based on the current offset from center // This assumes the center is 0,0 @@ -238,7 +219,7 @@ void menu_move() { BACK_ITEM(MSG_MOTION); #if BOTH(HAS_SOFTWARE_ENDSTOPS, SOFT_ENDSTOPS_MENU_ITEM) - EDIT_ITEM(bool, MSG_LCD_SOFT_ENDSTOPS, &soft_endstops_enabled); + EDIT_ITEM(bool, MSG_LCD_SOFT_ENDSTOPS, &soft_endstop._enabled); #endif if (NONE(IS_KINEMATIC, NO_MOTION_BEFORE_HOMING) || all_axes_homed()) { diff --git a/Marlin/src/lcd/menu/menu_probe_offset.cpp b/Marlin/src/lcd/menu/menu_probe_offset.cpp index 87957e620..6b7830b85 100644 --- a/Marlin/src/lcd/menu/menu_probe_offset.cpp +++ b/Marlin/src/lcd/menu/menu_probe_offset.cpp @@ -48,16 +48,12 @@ float z_offset_backup, calculated_z_offset; TERN_(HAS_LEVELING, bool leveling_was_active); -TERN_(HAS_SOFTWARE_ENDSTOPS, bool store_soft_endstops_enabled); void prepare_for_calibration() { z_offset_backup = probe.offset.z; // Disable soft endstops for free Z movement - #if HAS_SOFTWARE_ENDSTOPS - store_soft_endstops_enabled = soft_endstops_enabled; - soft_endstops_enabled = false; - #endif + SET_SOFT_ENDSTOP_LOOSE(true); // Disable leveling for raw planner motion #if HAS_LEVELING @@ -68,7 +64,7 @@ void prepare_for_calibration() { void set_offset_and_go_back(const float &z) { probe.offset.z = z; - TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = store_soft_endstops_enabled); + SET_SOFT_ENDSTOP_LOOSE(false); TERN_(HAS_LEVELING, set_bed_leveling_enabled(leveling_was_active)); ui.goto_previous_screen_no_defer(); } diff --git a/Marlin/src/lcd/tft/ui_480x320.cpp b/Marlin/src/lcd/tft/ui_480x320.cpp index 549cbc4d9..3dab9418f 100644 --- a/Marlin/src/lcd/tft/ui_480x320.cpp +++ b/Marlin/src/lcd/tft/ui_480x320.cpp @@ -813,27 +813,9 @@ static void moveAxis(AxisEnum axis, const int8_t direction) { } if (!ui.manual_move.processing) { - // Start with no limits to movement - float min = current_position[axis] - 1000, - max = current_position[axis] + 1000; - - // Limit to software endstops, if enabled - #if HAS_SOFTWARE_ENDSTOPS - if (soft_endstops_enabled) switch (axis) { - case X_AXIS: - TERN_(MIN_SOFTWARE_ENDSTOP_X, min = soft_endstop.min.x); - TERN_(MAX_SOFTWARE_ENDSTOP_X, max = soft_endstop.max.x); - break; - case Y_AXIS: - TERN_(MIN_SOFTWARE_ENDSTOP_Y, min = soft_endstop.min.y); - TERN_(MAX_SOFTWARE_ENDSTOP_Y, max = soft_endstop.max.y); - break; - case Z_AXIS: - TERN_(MIN_SOFTWARE_ENDSTOP_Z, min = soft_endstop.min.z); - TERN_(MAX_SOFTWARE_ENDSTOP_Z, max = soft_endstop.max.z); - default: break; - } - #endif // HAS_SOFTWARE_ENDSTOPS + // Get motion limit from software endstops, if any + float min, max; + soft_endstop.get_manual_axis_limits(axis, min, max); // Delta limits XY based on the current offset from center // This assumes the center is 0,0 diff --git a/Marlin/src/libs/nozzle.cpp b/Marlin/src/libs/nozzle.cpp index f93e55248..10021005e 100644 --- a/Marlin/src/libs/nozzle.cpp +++ b/Marlin/src/libs/nozzle.cpp @@ -161,7 +161,7 @@ Nozzle nozzle; LIMIT( end[arrPos].A, soft_endstop.min.A, soft_endstop.max.A); \ }while(0) - if (soft_endstops_enabled) { + if (soft_endstop.enabled()) { LIMIT_AXIS(x); LIMIT_AXIS(y); diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index da1cb173e..92712b0c2 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -534,12 +534,11 @@ void restore_feedrate_and_scaling() { #if HAS_SOFTWARE_ENDSTOPS - bool soft_endstops_enabled = true; - // Software Endstops are based on the configured limits. - axis_limits_t soft_endstop = { + soft_endstops_t soft_endstop = { { X_MIN_POS, Y_MIN_POS, Z_MIN_POS }, - { X_MAX_POS, Y_MAX_POS, Z_MAX_POS } + { X_MAX_POS, Y_MAX_POS, Z_MAX_POS }, + { true, false } }; /** @@ -624,9 +623,9 @@ void restore_feedrate_and_scaling() { #endif - if (DEBUGGING(LEVELING)) - SERIAL_ECHOLNPAIR("Axis ", XYZ_CHAR(axis), " min:", soft_endstop.min[axis], " max:", soft_endstop.max[axis]); -} + if (DEBUGGING(LEVELING)) + SERIAL_ECHOLNPAIR("Axis ", XYZ_CHAR(axis), " min:", soft_endstop.min[axis], " max:", soft_endstop.max[axis]); + } /** * Constrain the given coordinates to the software endstops. @@ -636,7 +635,7 @@ void restore_feedrate_and_scaling() { */ void apply_motion_limits(xyz_pos_t &target) { - if (!soft_endstops_enabled) return; + if (!soft_endstop._enabled) return; #if IS_KINEMATIC @@ -688,7 +687,11 @@ void restore_feedrate_and_scaling() { } } -#endif // HAS_SOFTWARE_ENDSTOPS +#else // !HAS_SOFTWARE_ENDSTOPS + + soft_endstops_t soft_endstop; + +#endif // !HAS_SOFTWARE_ENDSTOPS #if !UBL_SEGMENTED diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h index 2b108b053..338eb387c 100644 --- a/Marlin/src/module/motion.h +++ b/Marlin/src/module/motion.h @@ -148,26 +148,61 @@ inline float home_bump_mm(const AxisEnum axis) { constexpr xyz_pos_t hotend_offset[1] = { { 0 } }; #endif -typedef struct { xyz_pos_t min, max; } axis_limits_t; #if HAS_SOFTWARE_ENDSTOPS - extern bool soft_endstops_enabled; - extern axis_limits_t soft_endstop; + + typedef struct { + xyz_pos_t min, max; + struct { + bool _enabled:1; + bool _loose:1; + }; + bool enabled() { return _enabled && !_loose; } + void get_manual_axis_limits(const AxisEnum axis, float &amin, float &amax) { + amin = -100000; amax = 100000; // "No limits" + #if HAS_SOFTWARE_ENDSTOPS + if (enabled()) switch (axis) { + case X_AXIS: + TERN_(MIN_SOFTWARE_ENDSTOP_X, amin = min.x); + TERN_(MAX_SOFTWARE_ENDSTOP_X, amax = max.x); + break; + case Y_AXIS: + TERN_(MIN_SOFTWARE_ENDSTOP_Y, amin = min.y); + TERN_(MAX_SOFTWARE_ENDSTOP_Y, amax = max.y); + break; + case Z_AXIS: + TERN_(MIN_SOFTWARE_ENDSTOP_Z, amin = min.z); + TERN_(MAX_SOFTWARE_ENDSTOP_Z, amax = max.z); + default: break; + } + #endif + } + } soft_endstops_t; + + extern soft_endstops_t soft_endstop; void apply_motion_limits(xyz_pos_t &target); void update_software_endstops(const AxisEnum axis #if HAS_HOTEND_OFFSET , const uint8_t old_tool_index=0, const uint8_t new_tool_index=0 #endif ); - #define TEMPORARY_SOFT_ENDSTOP_STATE(enable) REMEMBER(tes, soft_endstops_enabled, enable); -#else - constexpr bool soft_endstops_enabled = false; - //constexpr axis_limits_t soft_endstop = { - // { X_MIN_POS, Y_MIN_POS, Z_MIN_POS }, - // { X_MAX_POS, Y_MAX_POS, Z_MAX_POS } }; - #define apply_motion_limits(V) NOOP + #define SET_SOFT_ENDSTOP_LOOSE(loose) (soft_endstop._loose = loose) + +#else // !HAS_SOFTWARE_ENDSTOPS + + typedef struct { + bool enabled() { return false; } + void get_manual_axis_limits(const AxisEnum axis, float &amin, float &amax) { + // No limits + amin = current_position[axis] - 1000; + amax = current_position[axis] + 1000; + } + } soft_endstops_t; + extern soft_endstops_t soft_endstop; + #define apply_motion_limits(V) NOOP #define update_software_endstops(...) NOOP - #define TEMPORARY_SOFT_ENDSTOP_STATE(...) NOOP -#endif + #define SET_SOFT_ENDSTOP_LOOSE() NOOP + +#endif // !HAS_SOFTWARE_ENDSTOPS void report_real_position(); void report_current_position(); diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp index 0f823cfbd..4ab818f41 100644 --- a/Marlin/src/module/tool_change.cpp +++ b/Marlin/src/module/tool_change.cpp @@ -1017,14 +1017,10 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) { // Raise by a configured distance to avoid workpiece, except with // SWITCHING_NOZZLE_TWO_SERVOS, as both nozzles will lift instead. if (!no_move) { - #if HAS_SOFTWARE_ENDSTOPS - const float maxz = _MIN(soft_endstop.max.z, Z_MAX_POS); - #else - constexpr float maxz = Z_MAX_POS; - #endif + const float newz = current_position.z + _MAX(-diff.z, 0.0); // Check if Z has space to compensate at least z_offset, and if not, just abort now - const float newz = current_position.z + _MAX(-diff.z, 0.0); + const float maxz = _MIN(TERN(HAS_SOFTWARE_ENDSTOPS, soft_endstop.max.z, Z_MAX_POS), Z_MAX_POS); if (newz > maxz) return; current_position.z = _MIN(newz + toolchange_settings.z_raise, maxz);