🚸 Revert M206 Home Offset behavior

MarlinFirmware · Jul 21, 2023 · bba5754 · bba5754
1 parent 45193b4
commit bba5754
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Showing 21 changed files with 70 additions and 130 deletions.
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
@@ -3835,14 +3835,17 @@
 //#define REPETIER_GCODE_M360     // Add commands originally from Repetier FW
 
 /**
- * Enable this option for a leaner build of Marlin that removes all
- * workspace offsets, simplifying coordinate transformations, leveling, etc.
- *
- *  - M206 and M428 are disabled.
- *  - G92 will revert to its behavior from Marlin 1.0.
+ * Enable this option for a leaner build of Marlin that removes
+ * workspace offsets to slightly optimize performance.
+ * G92 will revert to its behavior from Marlin 1.0.
  */
 //#define NO_WORKSPACE_OFFSETS
 
+/**
+ * Disable M206 and M428 if you don't need home offsets.
+ */
+//#define NO_HOME_OFFSETS
+
 /**
  * CNC G-code options
  * Support CNC-style G-code dialects used by laser cutters, drawing machine cams, etc.

diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
@@ -1337,7 +1337,7 @@ void setup() {
     SETUP_RUN(touchBt.init());
   #endif
 
-  TERN_(HAS_M206_COMMAND, current_position += home_offset); // Init current position based on home_offset
+  TERN_(HAS_HOME_OFFSET, current_position += home_offset); // Init current position based on home_offset
 
   sync_plan_position();               // Vital to init stepper/planner equivalent for current_position
 

diff --git a/Marlin/src/feature/powerloss.cpp b/Marlin/src/feature/powerloss.cpp
@@ -207,7 +207,7 @@ void PrintJobRecovery::save(const bool force/*=false*/, const float zraise/*=POW
 
     TERN_(GCODE_REPEAT_MARKERS, info.stored_repeat = repeat);
     TERN_(HAS_HOME_OFFSET, info.home_offset = home_offset);
-    TERN_(HAS_POSITION_SHIFT, info.position_shift = position_shift);
+    TERN_(HAS_WORKSPACE_OFFSET, info.workspace_offset = workspace_offset);
     E_TERN_(info.active_extruder = active_extruder);
 
     #if DISABLED(NO_VOLUMETRICS)
@@ -552,10 +552,7 @@ void PrintJobRecovery::resume() {
 
   TERN_(GCODE_REPEAT_MARKERS, repeat = info.stored_repeat);
   TERN_(HAS_HOME_OFFSET, home_offset = info.home_offset);
-  TERN_(HAS_POSITION_SHIFT, position_shift = info.position_shift);
-  #if HAS_HOME_OFFSET || HAS_POSITION_SHIFT
-    LOOP_NUM_AXES(i) update_workspace_offset((AxisEnum)i);
-  #endif
+  TERN_(HAS_WORKSPACE_OFFSET, workspace_offset = info.workspace_offset);
 
   // Relative axis modes
   gcode.axis_relative = info.axis_relative;
@@ -600,11 +597,11 @@ void PrintJobRecovery::resume() {
           DEBUG_EOL();
         #endif
 
-        #if HAS_POSITION_SHIFT
-          DEBUG_ECHOPGM("position_shift: ");
+        #if HAS_WORKSPACE_OFFSET
+          DEBUG_ECHOPGM("workspace_offset: ");
           LOOP_NUM_AXES(i) {
             if (i) DEBUG_CHAR(',');
-            DEBUG_ECHO(info.position_shift[i]);
+            DEBUG_ECHO(info.workspace_offset[i]);
           }
           DEBUG_EOL();
         #endif

diff --git a/Marlin/src/feature/powerloss.h b/Marlin/src/feature/powerloss.h
@@ -67,8 +67,8 @@ typedef struct {
   #if HAS_HOME_OFFSET
     xyz_pos_t home_offset;
   #endif
-  #if HAS_POSITION_SHIFT
-    xyz_pos_t position_shift;
+  #if HAS_WORKSPACE_OFFSET
+    xyz_pos_t workspace_offset;
   #endif
   #if HAS_MULTI_EXTRUDER
     uint8_t active_extruder;

diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
@@ -120,14 +120,7 @@
      * (Z is already at the right height)
      */
     constexpr xy_float_t safe_homing_xy = { Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT };
-    #if HAS_HOME_OFFSET && DISABLED(Z_SAFE_HOMING_POINT_ABSOLUTE)
-      xy_float_t okay_homing_xy = safe_homing_xy;
-      okay_homing_xy -= home_offset;
-    #else
-      constexpr xy_float_t okay_homing_xy = safe_homing_xy;
-    #endif
-
-    destination.set(okay_homing_xy, current_position.z);
+    destination.set(safe_homing_xy, current_position.z);
 
     TERN_(HOMING_Z_WITH_PROBE, destination -= probe.offset_xy);
 

diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp
@@ -715,7 +715,7 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
       case 204: M204(); break;                                    // M204: Set acceleration
       case 205: M205(); break;                                    // M205: Set advanced settings
 
-      #if HAS_M206_COMMAND
+      #if HAS_HOME_OFFSET
         case 206: M206(); break;                                  // M206: Set home offsets
       #endif
 
@@ -881,7 +881,7 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 425: M425(); break;                                  // M425: Tune backlash compensation
       #endif
 
-      #if HAS_M206_COMMAND
+      #if HAS_HOME_OFFSET
         case 428: M428(); break;                                  // M428: Apply current_position to home_offset
       #endif
 

diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h
@@ -860,7 +860,7 @@ class GcodeSuite {
   static void M205();
   static void M205_report(const bool forReplay=true);
 
-  #if HAS_M206_COMMAND
+  #if HAS_HOME_OFFSET
     static void M206();
     static void M206_report(const bool forReplay=true);
   #endif
@@ -1043,7 +1043,7 @@ class GcodeSuite {
     static void M425_report(const bool forReplay=true);
   #endif
 
-  #if HAS_M206_COMMAND
+  #if HAS_HOME_OFFSET
     static void M428();
   #endif
 

diff --git a/Marlin/src/gcode/geometry/G53-G59.cpp b/Marlin/src/gcode/geometry/G53-G59.cpp
@@ -37,12 +37,7 @@ bool GcodeSuite::select_coordinate_system(const int8_t _new) {
   xyz_float_t new_offset{0};
   if (WITHIN(_new, 0, MAX_COORDINATE_SYSTEMS - 1))
     new_offset = coordinate_system[_new];
-  LOOP_NUM_AXES(i) {
-    if (position_shift[i] != new_offset[i]) {
-      position_shift[i] = new_offset[i];
-      update_workspace_offset((AxisEnum)i);
-    }
-  }
+  workspace_offset = new_offset;
   return true;
 }
 

diff --git a/Marlin/src/gcode/geometry/G92.cpp b/Marlin/src/gcode/geometry/G92.cpp
@@ -63,10 +63,7 @@ void GcodeSuite::G92() {
 
     #if ENABLED(CNC_COORDINATE_SYSTEMS) && !IS_SCARA
       case 1:                                                         // G92.1 - Zero the Workspace Offset
-        LOOP_NUM_AXES(i) if (position_shift[i]) {
-          position_shift[i] = 0;
-          update_workspace_offset((AxisEnum)i);
-        }
+        workspace_offset.reset();
         break;
     #endif
 
@@ -92,10 +89,9 @@ void GcodeSuite::G92() {
                       v = TERN0(HAS_EXTRUDERS, 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 HAS_POSITION_SHIFT && NONE(IS_SCARA, POLARGRAPH)  // When using workspaces...
+            #if HAS_WORKSPACE_OFFSET && NONE(IS_SCARA, POLARGRAPH)  // When using workspaces...
               if (TERN1(HAS_EXTRUDERS, i != E_AXIS)) {
-                position_shift[i] += d;                           // ...most axes offset the workspace...
-                update_workspace_offset((AxisEnum)i);
+                workspace_offset[i] += d;                         // ...most axes offset the workspace...
               }
               else {
                 #if HAS_EXTRUDERS
@@ -120,7 +116,7 @@ void GcodeSuite::G92() {
   #if ENABLED(CNC_COORDINATE_SYSTEMS)
     // 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;
+      coordinate_system[active_coordinate_system] = workspace_offset;
   #endif
 
   if (sync_XYZE) sync_plan_position();

diff --git a/Marlin/src/gcode/geometry/M206_M428.cpp b/Marlin/src/gcode/geometry/M206_M428.cpp
@@ -22,7 +22,7 @@
 
 #include "../../inc/MarlinConfig.h"
 
-#if HAS_M206_COMMAND
+#if HAS_HOME_OFFSET
 
 #include "../gcode.h"
 #include "../../module/motion.h"
@@ -101,4 +101,4 @@ void GcodeSuite::M428() {
   OKAY_BUZZ();
 }
 
-#endif // HAS_M206_COMMAND
+#endif // HAS_HOME_OFFSET
diff --git a/Marlin/src/gcode/probe/M951.cpp b/Marlin/src/gcode/probe/M951.cpp
@@ -46,7 +46,7 @@ void mpe_settings_init() {
   mpe_settings.parking_xpos[0]      = pex[0];                         // M951 L
   mpe_settings.parking_xpos[1]      = pex[1];                         // M951 R
   mpe_settings.grab_distance        = PARKING_EXTRUDER_GRAB_DISTANCE; // M951 I
-  TERN_(HAS_HOME_OFFSET, set_home_offset(X_AXIS, mpe_settings.grab_distance * -1));
+  TERN_(HAS_HOME_OFFSET, set_home_offset(X_AXIS, -mpe_settings.grab_distance));
   mpe_settings.slow_feedrate        = MMM_TO_MMS(MPE_SLOW_SPEED);     // M951 J
   mpe_settings.fast_feedrate        = MMM_TO_MMS(MPE_FAST_SPEED);     // M951 H
   mpe_settings.travel_distance      = MPE_TRAVEL_DISTANCE;            // M951 D
@@ -59,7 +59,7 @@ void GcodeSuite::M951() {
   if (parser.seenval('R')) mpe_settings.parking_xpos[1] = parser.value_linear_units();
   if (parser.seenval('I')) {
     mpe_settings.grab_distance = parser.value_linear_units();
-    TERN_(HAS_HOME_OFFSET, set_home_offset(X_AXIS, mpe_settings.grab_distance * -1));
+    TERN_(HAS_HOME_OFFSET, set_home_offset(X_AXIS, -mpe_settings.grab_distance));
   }
   if (parser.seenval('J')) mpe_settings.slow_feedrate       = MMM_TO_MMS(parser.value_linear_units());
   if (parser.seenval('H')) mpe_settings.fast_feedrate       = MMM_TO_MMS(parser.value_linear_units());

diff --git a/Marlin/src/inc/Conditionals_adv.h b/Marlin/src/inc/Conditionals_adv.h
@@ -97,6 +97,7 @@
 #if !HAS_X_AXIS
   //#define LCD_SHOW_E_TOTAL
   #define NO_WORKSPACE_OFFSETS
+  #define NO_HOME_OFFSETS
   #undef AUTOTEMP
   #undef CALIBRATION_MEASURE_LEFT
   #undef CALIBRATION_MEASURE_RIGHT

diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
@@ -3140,15 +3140,15 @@
   #undef MOTOR_CURRENT
 #endif
 
-// Updated G92 behavior shifts the workspace
+// G92 shifts the workspace
 #if DISABLED(NO_WORKSPACE_OFFSETS)
-  #define HAS_POSITION_SHIFT 1
+  #define HAS_WORKSPACE_OFFSET 1
+#endif
+#if DISABLED(NO_HOME_OFFSETS)
   #if IS_CARTESIAN
-    #define HAS_HOME_OFFSET 1       // The home offset also shifts the coordinate space
-    #define HAS_WORKSPACE_OFFSET 1  // Cumulative offset to workspace to save some calculation
-    #define HAS_M206_COMMAND 1      // M206 sets the home offset for Cartesian machines
+    #define HAS_HOME_OFFSET 1     // M206 affects the Native Machine Space on G28
   #elif IS_SCARA
-    #define HAS_SCARA_OFFSET 1      // The SCARA home offset applies only on G28
+    #define HAS_SCARA_OFFSET 1    // The SCARA home offset applies only on G28
   #endif
 #endif
 

diff --git a/Marlin/src/lcd/menu/menu_advanced.cpp b/Marlin/src/lcd/menu/menu_advanced.cpp
@@ -695,7 +695,7 @@ void menu_advanced_settings() {
       }
     #endif
 
-    #if HAS_M206_COMMAND
+    #if HAS_HOME_OFFSET
       // M428 - Set Home Offsets
       ACTION_ITEM(MSG_SET_HOME_OFFSETS, []{ queue.inject(F("M428")); ui.return_to_status(); });
     #endif

diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp
@@ -101,7 +101,7 @@ void recalc_delta_settings() {
  *
  * Suggested optimizations include:
  *
- * - Disable the home_offset (M206) and/or position_shift (G92)
+ * - Disable the home_offset (M206) and/or workspace_offset (G92)
  *   features to remove up to 12 float additions.
  */
 

diff --git a/Marlin/src/module/delta.h b/Marlin/src/module/delta.h
@@ -64,7 +64,7 @@ void recalc_delta_settings();
  *
  * Suggested optimizations include:
  *
- * - Disable the home_offset (M206) and/or position_shift (G92)
+ * - Disable the home_offset (M206) and/or workspace_offset (G92)
  *   features to remove up to 12 float additions.
  *
  * - Use a fast-inverse-sqrt function and add the reciprocal.

diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
@@ -177,16 +177,12 @@ xyz_pos_t cartes;
  * The workspace can be offset by some commands, or
  * these offsets may be omitted to save on computation.
  */
-#if HAS_POSITION_SHIFT
-  // The distance that XYZ has been offset by G92. Reset by G28.
-  xyz_pos_t position_shift{0};
-#endif
 #if HAS_HOME_OFFSET
   // This offset is added to the configured home position.
   // Set by M206, M428, or menu item. Saved to EEPROM.
   xyz_pos_t home_offset{0};
 #endif
-#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
+#if HAS_WORKSPACE_OFFSET
   // The above two are combined to save on computes
   xyz_pos_t workspace_offset{0};
 #endif
@@ -2468,7 +2464,7 @@ void set_axis_is_at_home(const AxisEnum axis) {
 
   #if ENABLED(DUAL_X_CARRIAGE)
     if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
-      current_position.x = x_home_pos(active_extruder);
+      current_position.x = SUM_TERN(HAS_HOME_OFFSET, x_home_pos(active_extruder), home_offset.x);
       return;
     }
   #endif
@@ -2478,7 +2474,7 @@ void set_axis_is_at_home(const AxisEnum axis) {
   #elif ENABLED(DELTA)
     current_position[axis] = (axis == Z_AXIS) ? DIFF_TERN(HAS_BED_PROBE, delta_height, probe.offset.z) : base_home_pos(axis);
   #else
-    current_position[axis] = base_home_pos(axis);
+    current_position[axis] = SUM_TERN(HAS_HOME_OFFSET, base_home_pos(axis), home_offset[axis]);
   #endif
 
   /**
@@ -2499,10 +2495,7 @@ void set_axis_is_at_home(const AxisEnum axis) {
 
   TERN_(BABYSTEP_DISPLAY_TOTAL, babystep.reset_total(axis));
 
-  #if HAS_POSITION_SHIFT
-    position_shift[axis] = 0;
-    update_workspace_offset(axis);
-  #endif
+  TERN_(HAS_WORKSPACE_OFFSET, workspace_offset[axis] = 0);
 
   if (DEBUGGING(LEVELING)) {
     #if HAS_HOME_OFFSET
@@ -2513,20 +2506,11 @@ void set_axis_is_at_home(const AxisEnum axis) {
   }
 }
 
-#if HAS_WORKSPACE_OFFSET
-  void update_workspace_offset(const AxisEnum axis) {
-    workspace_offset[axis] = home_offset[axis] + position_shift[axis];
-    if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Axis ", AS_CHAR(AXIS_CHAR(axis)), " home_offset = ", home_offset[axis], " position_shift = ", position_shift[axis]);
-  }
-#endif
-
-#if HAS_M206_COMMAND
+#if HAS_HOME_OFFSET
   /**
-   * Change the home offset for an axis.
-   * Also refreshes the workspace offset.
+   * Set the home offset for an axis.
    */
   void set_home_offset(const AxisEnum axis, const_float_t v) {
     home_offset[axis] = v;
-    update_workspace_offset(axis);
   }
 #endif