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Add Setting for Axis Limitpos #606

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Add Setting for Axis Limitpos #606

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4 changes: 2 additions & 2 deletions config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@ specific needs, i.e. performance tuning or adjusting to non-typical machines.
If more than 3 axes are configured a compliant driver and board map file is needed.
*/
#ifndef N_AXIS
#define N_AXIS 3 // Number of axes
#define N_AXIS 4 // Number of axes
#endif

/*! \def AXIS_REMAP_ABC2UVW
Expand Down Expand Up @@ -498,7 +498,7 @@ by a driver or a plugin.
#endif

#if !defined ENABLE_BACKLASH_COMPENSATION || defined __DOXYGEN__
#define ENABLE_BACKLASH_COMPENSATION Off
#define ENABLE_BACKLASH_COMPENSATION On
#endif

#if COMPATIBILITY_LEVEL == 0 || defined __DOXYGEN__
Expand Down
15 changes: 10 additions & 5 deletions machine_limits.c
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Expand Up @@ -129,8 +129,10 @@ void limits_set_work_envelope (void)
sys.work_envelope.max.values[idx] = - (settings.axis[idx].max_travel + pulloff);
}
} else {
sys.work_envelope.min.values[idx] = settings.axis[idx].max_travel + pulloff;
sys.work_envelope.max.values[idx] = - pulloff;
sys.work_envelope.min.values[idx] = 0.0f;
sys.work_envelope.max.values[idx] = settings.axis[idx].limit_pos - pulloff;;
//sys.work_envelope.min.values[idx] = settings.axis[idx].max_travel + pulloff;
//sys.work_envelope.max.values[idx] = - pulloff;
}
} else
sys.work_envelope.min.values[idx] = sys.work_envelope.max.values[idx] = 0.0f;
Expand All @@ -155,9 +157,12 @@ void limits_set_machine_positions (axes_signals_t cycle, bool add_pulloff)
} while(idx);
} else do {
if (cycle.mask & bit(--idx)) {
sys.home_position[idx] = bit_istrue(settings.homing.dir_mask.value, bit(idx))
? settings.axis[idx].max_travel + pulloff
: - pulloff;

// sys.position[idx] = settings.axis[idx].limit_pos - pulloff;
sys.home_position[idx] = settings.axis[idx].limit_pos - pulloff;
//sys.home_position[idx] = bit_istrue(settings.homing.dir_mask.value, bit(idx))
// ? settings.axis[idx].max_travel + pulloff
// : - pulloff;
sys.position[idx] = lroundf(sys.home_position[idx] * settings.axis[idx].steps_per_mm);
}
} while(idx);
Expand Down
21 changes: 18 additions & 3 deletions settings.c
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Expand Up @@ -210,6 +210,7 @@ PROGMEM const settings_t defaults = {
.axis[X_AXIS].acceleration = (DEFAULT_X_ACCELERATION * 60.0f * 60.0f),
.axis[X_AXIS].max_travel = (-DEFAULT_X_MAX_TRAVEL),
.axis[X_AXIS].dual_axis_offset = 0.0f,
.axis[X_AXIS].limit_pos = 0.0f,
#if ENABLE_BACKLASH_COMPENSATION
.axis[X_AXIS].backlash = 0.0f,
#endif
Expand All @@ -219,6 +220,7 @@ PROGMEM const settings_t defaults = {
.axis[Y_AXIS].max_travel = (-DEFAULT_Y_MAX_TRAVEL),
.axis[Y_AXIS].acceleration = (DEFAULT_Y_ACCELERATION * 60.0f * 60.0f),
.axis[Y_AXIS].dual_axis_offset = 0.0f,
.axis[Y_AXIS].limit_pos = 0.0f,
#if ENABLE_BACKLASH_COMPENSATION
.axis[Y_AXIS].backlash = 0.0f,
#endif
Expand All @@ -228,6 +230,7 @@ PROGMEM const settings_t defaults = {
.axis[Z_AXIS].acceleration = (DEFAULT_Z_ACCELERATION * 60.0f * 60.0f),
.axis[Z_AXIS].max_travel = (-DEFAULT_Z_MAX_TRAVEL),
.axis[Z_AXIS].dual_axis_offset = 0.0f,
.axis[Z_AXIS].limit_pos = 0.0f,
#if ENABLE_BACKLASH_COMPENSATION
.axis[Z_AXIS].backlash = 0.0f,
#endif
Expand All @@ -238,6 +241,7 @@ PROGMEM const settings_t defaults = {
.axis[A_AXIS].acceleration =(DEFAULT_A_ACCELERATION * 60.0f * 60.0f),
.axis[A_AXIS].max_travel = (-DEFAULT_A_MAX_TRAVEL),
.axis[A_AXIS].dual_axis_offset = 0.0f,
.axis[A_AXIS].limit_pos = 0.0f,
#if ENABLE_BACKLASH_COMPENSATION
.axis[A_AXIS].backlash = 0.0f,
#endif
Expand All @@ -250,6 +254,7 @@ PROGMEM const settings_t defaults = {
.axis[B_AXIS].acceleration = (DEFAULT_B_ACCELERATION * 60.0f * 60.0f),
.axis[B_AXIS].max_travel = (-DEFAULT_B_MAX_TRAVEL),
.axis[B_AXIS].dual_axis_offset = 0.0f,
.axis[B_AXIS].limit_pos = 0.0f,
#if ENABLE_BACKLASH_COMPENSATION
.axis[B_AXIS].backlash = 0.0f,
#endif
Expand All @@ -262,6 +267,7 @@ PROGMEM const settings_t defaults = {
.axis[C_AXIS].max_rate = DEFAULT_C_MAX_RATE,
.axis[C_AXIS].max_travel = (-DEFAULT_C_MAX_TRAVEL),
.axis[C_AXIS].dual_axis_offset = 0.0f,
.axis[C_AXIS].limit_pos = 0.0f,
#if ENABLE_BACKLASH_COMPENSATION
.axis[C_AXIS].backlash = 0.0f,
#endif
Expand All @@ -274,6 +280,7 @@ PROGMEM const settings_t defaults = {
.axis[U_AXIS].max_rate = DEFAULT_U_MAX_RATE,
.axis[U_AXIS].max_travel = (-DEFAULT_U_MAX_TRAVEL),
.axis[U_AXIS].dual_axis_offset = 0.0f,
.axis[U_AXIS].limit_pos = 0.0f,
#if ENABLE_BACKLASH_COMPENSATION
.axis[U_AXIS].backlash = 0.0f,
#endif
Expand All @@ -285,6 +292,7 @@ PROGMEM const settings_t defaults = {
.axis[V_AXIS].max_rate = DEFAULT_V_MAX_RATE,
.axis[V_AXIS].max_travel = (-DEFAULT_V_MAX_TRAVEL),
.axis[V_AXIS].dual_axis_offset = 0.0f,
.axis[V_AXIS].limit_pos = 0.0f,
#if ENABLE_BACKLASH_COMPENSATION
.axis[V_AXIS].backlash = 0.0f,
#endif
Expand Down Expand Up @@ -596,6 +604,7 @@ PROGMEM static const setting_detail_t setting_detail[] = {
{ Setting_AxisMaxRate, Group_Axis0, "-axis maximum rate", axis_rate, Format_Decimal, "#####0.000", NULL, NULL, Setting_IsLegacyFn, set_axis_setting, get_float, NULL, AXIS_OPTS },
{ Setting_AxisAcceleration, Group_Axis0, "-axis acceleration", axis_accel, Format_Decimal, "#####0.000", NULL, NULL, Setting_IsLegacyFn, set_axis_setting, get_float, NULL, AXIS_OPTS },
{ Setting_AxisMaxTravel, Group_Axis0, "-axis maximum travel", axis_dist, Format_Decimal, "#####0.000", NULL, NULL, Setting_IsLegacyFn, set_axis_setting, get_float, NULL, AXIS_OPTS },
{ Setting_AxisLimitPos, Group_Axis0, "-axis limit pos", axis_dist, Format_Decimal, "#####0.000", NULL, NULL, Setting_IsLegacyFn, set_axis_setting, get_float, NULL, AXIS_OPTS },
#if ENABLE_BACKLASH_COMPENSATION
{ Setting_AxisBacklash, Group_Axis0, "-axis backlash compensation", axis_dist, Format_Decimal, "#####0.000##", NULL, NULL, Setting_IsExtendedFn, set_axis_setting, get_float, NULL, AXIS_OPTS },
#endif
Expand Down Expand Up @@ -773,6 +782,7 @@ PROGMEM static const setting_descr_t setting_descr[] = {
{ Setting_AxisMaxRate, "Maximum rate. Used as G0 rapid rate." },
{ Setting_AxisAcceleration, "Acceleration. Used for motion planning to not exceed motor torque and lose steps." },
{ Setting_AxisMaxTravel, "Maximum axis travel distance from homing switch. Determines valid machine space for soft-limits and homing search distances." },
{ Setting_AxisLimitPos, "Limit Position" },
#if ENABLE_BACKLASH_COMPENSATION
{ Setting_AxisBacklash, "Backlash distance to compensate for." },
#endif
Expand Down Expand Up @@ -1394,7 +1404,7 @@ static const char *set_axis_setting_unit (setting_id_t setting_id, uint_fast8_t
unit = is_rotary ? "step/deg" : "step/mm";
break;

case Setting_AxisMaxRate:
case Setting_AxisMaxRate:
unit = is_rotary ? "deg/min" : "mm/min";
break;

Expand All @@ -1403,6 +1413,7 @@ static const char *set_axis_setting_unit (setting_id_t setting_id, uint_fast8_t
break;

case Setting_AxisMaxTravel:
case Setting_AxisLimitPos:
case Setting_AxisBacklash:
unit = is_rotary ? "deg" : "mm";
break;
Expand Down Expand Up @@ -1529,7 +1540,9 @@ static status_code_t set_axis_setting (setting_id_t setting, float value)
}
tmp_set_soft_limits();
break;

case Setting_AxisLimitPos:
settings.axis[idx].limit_pos = value;
break;
case Setting_AxisBacklash:
#if ENABLE_BACKLASH_COMPENSATION
if(settings.axis[idx].backlash != value) {
Expand Down Expand Up @@ -1583,7 +1596,9 @@ static float get_float (setting_id_t setting)
case Setting_AxisMaxTravel:
value = -settings.axis[idx].max_travel; // Store as negative for grbl internal use.
break;

case Setting_AxisLimitPos:
value = settings.axis[idx].limit_pos;
break;
#if ENABLE_BACKLASH_COMPENSATION
case Setting_AxisBacklash:
value = settings.axis[idx].backlash;
Expand Down
7 changes: 4 additions & 3 deletions settings.h
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Original file line number Diff line number Diff line change
Expand Up @@ -515,9 +515,9 @@ typedef enum {
Setting_AxisMicroSteps = Setting_AxisSettingsBase + 5 * AXIS_SETTINGS_INCREMENT,
Setting_AxisBacklash = Setting_AxisSettingsBase + 6 * AXIS_SETTINGS_INCREMENT,
Setting_AxisAutoSquareOffset = Setting_AxisSettingsBase + 7 * AXIS_SETTINGS_INCREMENT,
Setting_AxisHomingFeedRate = Setting_AxisSettingsBase + 8 * AXIS_SETTINGS_INCREMENT,
Setting_AxisHomingSeekRate = Setting_AxisSettingsBase + 9 * AXIS_SETTINGS_INCREMENT,

// Setting_AxisHomingFeedRate = Setting_AxisSettingsBase + 8 * AXIS_SETTINGS_INCREMENT,
// Setting_AxisHomingSeekRate = Setting_AxisSettingsBase + 9 * AXIS_SETTINGS_INCREMENT,
Setting_AxisLimitPos = Setting_AxisSettingsBase + 8 * AXIS_SETTINGS_INCREMENT,
// Calculated base values for driver/plugin stepper settings
Setting_AxisExtended0 = Setting_AxisSettingsBase2,
Setting_AxisExtended1 = Setting_AxisSettingsBase2 + AXIS_SETTINGS_INCREMENT,
Expand Down Expand Up @@ -716,6 +716,7 @@ typedef struct {
float acceleration;
float max_travel;
float dual_axis_offset;
float limit_pos;
#if ENABLE_BACKLASH_COMPENSATION
float backlash;
#endif
Expand Down
2 changes: 2 additions & 0 deletions stepper2.c
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Original file line number Diff line number Diff line change
Expand Up @@ -151,6 +151,7 @@ static const char *st2_set_axis_setting_unit (setting_id_t setting_id, uint_fast
break;

case Setting_AxisMaxTravel:
case Setting_AxisLimitPos:
case Setting_AxisBacklash:
unit = "--";
break;
Expand Down Expand Up @@ -192,6 +193,7 @@ static const char *st2_setting_get_description (setting_id_t id)
break;

case Setting_AxisBacklash:
case Setting_AxisLimitPos:
case Setting_AxisMaxTravel:
if(bit_istrue(spindle_motors, bit(axis_idx)))
descr = "This setting is ignored for stepper spindles.";
Expand Down