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Fix G53 as prefix, G28 with CNC_COORDINATE_SYSTEMS #15069

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merged 9 commits into from
Aug 28, 2019
Merged

Fix G53 as prefix, G28 with CNC_COORDINATE_SYSTEMS #15069

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c42b575
Fix - G53 was not using/switching to native space
shitcreek Aug 27, 2019
6744109
Update G53-G59.cpp
shitcreek Aug 27, 2019
f4198a4
Clean up spacing
thinkyhead Aug 28, 2019
58b7a40
G92 cosmetic tweak
thinkyhead Aug 28, 2019
c461fa3
Reduce code to minimum
thinkyhead Aug 28, 2019
5f60cb1
Adjust G28 ahead of queries
thinkyhead Aug 28, 2019
c09d624
Single axis home preserves workspace
thinkyhead Aug 28, 2019
5f4f144
Native workspace during G28
thinkyhead Aug 28, 2019
a42a0f6
G28 should be fine now
thinkyhead Aug 28, 2019
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1 change: 1 addition & 0 deletions Marlin/src/gcode/calibrate/G28.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -453,6 +453,7 @@ void GcodeSuite::G28(const bool always_home_all) {
ui.refresh();

report_current_position();

#if ENABLED(NANODLP_Z_SYNC)
#if ENABLED(NANODLP_ALL_AXIS)
#define _HOME_SYNC true // For any axis, output sync text.
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33 changes: 20 additions & 13 deletions Marlin/src/gcode/geometry/G53-G59.cpp
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Expand Up @@ -27,23 +27,21 @@

#include "../../module/stepper.h"

//#define DEBUG_M53

/**
* Select a coordinate system and update the workspace offset.
* System index -1 is used to specify machine-native.
*/
bool GcodeSuite::select_coordinate_system(const int8_t _new) {
if (active_coordinate_system == _new) return false;
planner.synchronize();
float old_offset[XYZ] = { 0 }, new_offset[XYZ] = { 0 };
if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
COPY(old_offset, coordinate_system[active_coordinate_system]);
active_coordinate_system = _new;
float new_offset[XYZ] = { 0 };
if (WITHIN(_new, 0, MAX_COORDINATE_SYSTEMS - 1))
COPY(new_offset, coordinate_system[_new]);
active_coordinate_system = _new;
LOOP_XYZ(i) {
const float diff = new_offset[i] - old_offset[i];
if (diff) {
position_shift[i] += diff;
if (position_shift[i] != new_offset[i]) {
position_shift[i] = new_offset[i];
update_workspace_offset((AxisEnum)i);
}
}
Expand All @@ -60,11 +58,20 @@ bool GcodeSuite::select_coordinate_system(const int8_t _new) {
* Marlin also uses G53 on a line by itself to go back to native space.
*/
void GcodeSuite::G53() {
const int8_t _system = active_coordinate_system;
active_coordinate_system = -1;
if (parser.chain()) { // If this command has more following...
process_parsed_command();
active_coordinate_system = _system;
const int8_t old_system = active_coordinate_system;
select_coordinate_system(-1); // Always remove workspace offsets
#ifdef DEBUG_M53
SERIAL_ECHOLNPGM("Go to native space");
report_current_position();
#endif

if (parser.chain()) { // Command to chain?
process_parsed_command(); // ...process the chained command
select_coordinate_system(old_system);
#ifdef DEBUG_M53
SERIAL_ECHOLNPAIR("Go back to workspace ", old_system);
report_current_position();
#endif
}
}

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9 changes: 3 additions & 6 deletions Marlin/src/gcode/geometry/G92.cpp
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Expand Up @@ -52,12 +52,9 @@ void GcodeSuite::G92() {
case 1: {
// Zero the G92 values and restore current position
#if !IS_SCARA
LOOP_XYZ(i) {
const float v = position_shift[i];
if (v) {
position_shift[i] = 0;
update_workspace_offset((AxisEnum)i);
}
LOOP_XYZ(i) if (position_shift[i]) {
position_shift[i] = 0;
update_workspace_offset((AxisEnum)i);
}
#endif // Not SCARA
} return;
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5 changes: 0 additions & 5 deletions Marlin/src/module/motion.cpp
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Expand Up @@ -1325,11 +1325,6 @@ void set_axis_is_at_home(const AxisEnum axis) {
SBI(axis_known_position, axis);
SBI(axis_homed, axis);

#if HAS_POSITION_SHIFT
position_shift[axis] = 0;
update_workspace_offset(axis);
#endif

#if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
current_position[X_AXIS] = x_home_pos(active_extruder);
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