Allow Zero Endstops (e.g., for CNC) (#21120)

Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>

Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp

@@ -1118,8 +1118,8 @@ bool unified_bed_leveling::g29_parameter_parsing() {
   }
 
   // If X or Y are not valid, use center of the bed values
-  if (!WITHIN(sx, X_MIN_BED, X_MAX_BED)) sx = X_CENTER;
-  if (!WITHIN(sy, Y_MIN_BED, Y_MAX_BED)) sy = Y_CENTER;
+  if (!COORDINATE_OKAY(sx, X_MIN_BED, X_MAX_BED)) sx = X_CENTER;
+  if (!COORDINATE_OKAY(sy, Y_MIN_BED, Y_MAX_BED)) sy = Y_CENTER;
 
   if (err_flag) return UBL_ERR;
 

Marlin/src/gcode/bedlevel/G26.cpp

@@ -319,9 +319,13 @@ inline bool look_for_lines_to_connect() {
           s.x = _GET_MESH_X(  i  ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // right edge
           e.x = _GET_MESH_X(i + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // left edge
 
-          LIMIT(s.x, X_MIN_POS + 1, X_MAX_POS - 1);
-          s.y = e.y = constrain(_GET_MESH_Y(j), Y_MIN_POS + 1, Y_MAX_POS - 1);
-          LIMIT(e.x, X_MIN_POS + 1, X_MAX_POS - 1);
+          #if HAS_ENDSTOPS
+            LIMIT(s.x, X_MIN_POS + 1, X_MAX_POS - 1);
+            s.y = e.y = constrain(_GET_MESH_Y(j), Y_MIN_POS + 1, Y_MAX_POS - 1);
+            LIMIT(e.x, X_MIN_POS + 1, X_MAX_POS - 1);
+          #else
+            s.y = e.y = _GET_MESH_Y(j);
+          #endif
 
           if (position_is_reachable(s.x, s.y) && position_is_reachable(e.x, e.y))
             print_line_from_here_to_there(s, e);
@@ -339,9 +343,13 @@ inline bool look_for_lines_to_connect() {
             s.y = _GET_MESH_Y(  j  ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // top edge
             e.y = _GET_MESH_Y(j + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // bottom edge
 
-            s.x = e.x = constrain(_GET_MESH_X(i), X_MIN_POS + 1, X_MAX_POS - 1);
-            LIMIT(s.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
-            LIMIT(e.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
+            #if HAS_ENDSTOPS
+              s.x = e.x = constrain(_GET_MESH_X(i), X_MIN_POS + 1, X_MAX_POS - 1);
+              LIMIT(s.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
+              LIMIT(e.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
+            #else
+              s.x = e.x = _GET_MESH_X(i);
+            #endif
 
             if (position_is_reachable(s.x, s.y) && position_is_reachable(e.x, e.y))
               print_line_from_here_to_there(s, e);
@@ -826,7 +834,7 @@ void GcodeSuite::G26() {
           #if IS_KINEMATIC
             // Check to make sure this segment is entirely on the bed, skip if not.
             if (!position_is_reachable(p) || !position_is_reachable(q)) continue;
-          #else
+          #elif HAS_ENDSTOPS
             LIMIT(p.x, X_MIN_POS + 1, X_MAX_POS - 1); // Prevent hitting the endstops
             LIMIT(p.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
             LIMIT(q.x, X_MIN_POS + 1, X_MAX_POS - 1);

Marlin/src/gcode/calibrate/M48.cpp

@@ -202,7 +202,7 @@ void GcodeSuite::M48() {
               if (verbose_level > 3)
                 SERIAL_ECHOLNPAIR_P(PSTR("Moving inward: X"), next_pos.x, SP_Y_STR, next_pos.y);
             }
-          #else
+          #elif HAS_ENDSTOPS
             // For a rectangular bed just keep the probe in bounds
             LIMIT(next_pos.x, X_MIN_POS, X_MAX_POS);
             LIMIT(next_pos.y, Y_MIN_POS, Y_MAX_POS);

Marlin/src/inc/Conditionals_LCD.h

@@ -1195,3 +1195,10 @@
     #define TOUCH_ORIENTATION    TOUCH_LANDSCAPE
   #endif
 #endif
+
+#if ANY(USE_XMIN_PLUG, USE_YMIN_PLUG, USE_ZMIN_PLUG, USE_XMAX_PLUG, USE_YMAX_PLUG, USE_ZMAX_PLUG)
+  #define HAS_ENDSTOPS 1
+  #define COORDINATE_OKAY(N,L,H) WITHIN(N,L,H)
+#else
+  #define COORDINATE_OKAY(N,L,H) true
+#endif

Marlin/src/inc/SanityCheck.h

@@ -2016,39 +2016,41 @@ static_assert(hbm[Z_AXIS] >= 0, "HOMING_BUMP_MM.Z must be greater than or equal
   && !(ENABLED(A##_MULTI_ENDSTOPS) && WITHIN(A##2_USE_ENDSTOP, _##P##MAX_, _##P##MIN_)) )
 #define _AXIS_PLUG_UNUSED_TEST(A) (_PLUG_UNUSED_TEST(A,X) && _PLUG_UNUSED_TEST(A,Y) && _PLUG_UNUSED_TEST(A,Z))
 
-// At least 3 endstop plugs must be used
-#if _AXIS_PLUG_UNUSED_TEST(X)
-  #error "You must enable USE_XMIN_PLUG or USE_XMAX_PLUG."
-#endif
-#if _AXIS_PLUG_UNUSED_TEST(Y)
-  #error "You must enable USE_YMIN_PLUG or USE_YMAX_PLUG."
-#endif
-#if _AXIS_PLUG_UNUSED_TEST(Z)
-  #error "You must enable USE_ZMIN_PLUG or USE_ZMAX_PLUG."
-#endif
-
-// Delta and Cartesian use 3 homing endstops
-#if NONE(IS_SCARA, SPI_ENDSTOPS)
-  #if X_HOME_DIR < 0 && DISABLED(USE_XMIN_PLUG)
-    #error "Enable USE_XMIN_PLUG when homing X to MIN."
-  #elif X_HOME_DIR > 0 && DISABLED(USE_XMAX_PLUG)
-    #error "Enable USE_XMAX_PLUG when homing X to MAX."
-  #elif Y_HOME_DIR < 0 && DISABLED(USE_YMIN_PLUG)
-    #error "Enable USE_YMIN_PLUG when homing Y to MIN."
-  #elif Y_HOME_DIR > 0 && DISABLED(USE_YMAX_PLUG)
-    #error "Enable USE_YMAX_PLUG when homing Y to MAX."
-  #endif
-#endif
-
-// Z homing direction and plug usage flags
-#if Z_HOME_DIR < 0 && NONE(USE_ZMIN_PLUG, HOMING_Z_WITH_PROBE)
-  #error "Enable USE_ZMIN_PLUG when homing Z to MIN."
-#elif Z_HOME_DIR > 0 && ENABLED(USE_PROBE_FOR_Z_HOMING)
-  #error "Z_HOME_DIR must be -1 when homing Z with the probe."
-#elif BOTH(HOMING_Z_WITH_PROBE, Z_MULTI_ENDSTOPS)
-  #error "Z_MULTI_ENDSTOPS is incompatible with USE_PROBE_FOR_Z_HOMING."
-#elif Z_HOME_DIR > 0 && DISABLED(USE_ZMAX_PLUG)
-  #error "Enable USE_ZMAX_PLUG when homing Z to MAX."
+// A machine with endstops must have a minimum of 3
+#if HAS_ENDSTOPS
+  #if _AXIS_PLUG_UNUSED_TEST(X)
+    #error "You must enable USE_XMIN_PLUG or USE_XMAX_PLUG."
+  #endif
+  #if _AXIS_PLUG_UNUSED_TEST(Y)
+    #error "You must enable USE_YMIN_PLUG or USE_YMAX_PLUG."
+  #endif
+  #if _AXIS_PLUG_UNUSED_TEST(Z)
+    #error "You must enable USE_ZMIN_PLUG or USE_ZMAX_PLUG."
+  #endif
+
+  // Delta and Cartesian use 3 homing endstops
+  #if NONE(IS_SCARA, SPI_ENDSTOPS)
+    #if X_HOME_DIR < 0 && DISABLED(USE_XMIN_PLUG)
+      #error "Enable USE_XMIN_PLUG when homing X to MIN."
+    #elif X_HOME_DIR > 0 && DISABLED(USE_XMAX_PLUG)
+      #error "Enable USE_XMAX_PLUG when homing X to MAX."
+    #elif Y_HOME_DIR < 0 && DISABLED(USE_YMIN_PLUG)
+      #error "Enable USE_YMIN_PLUG when homing Y to MIN."
+    #elif Y_HOME_DIR > 0 && DISABLED(USE_YMAX_PLUG)
+      #error "Enable USE_YMAX_PLUG when homing Y to MAX."
+    #endif
+  #endif
+
+  // Z homing direction and plug usage flags
+  #if Z_HOME_DIR < 0 && NONE(USE_ZMIN_PLUG, HOMING_Z_WITH_PROBE)
+    #error "Enable USE_ZMIN_PLUG when homing Z to MIN."
+  #elif Z_HOME_DIR > 0 && ENABLED(USE_PROBE_FOR_Z_HOMING)
+    #error "Z_HOME_DIR must be -1 when homing Z with the probe."
+  #elif BOTH(HOMING_Z_WITH_PROBE, Z_MULTI_ENDSTOPS)
+    #error "Z_MULTI_ENDSTOPS is incompatible with USE_PROBE_FOR_Z_HOMING."
+  #elif Z_HOME_DIR > 0 && DISABLED(USE_ZMAX_PLUG)
+    #error "Enable USE_ZMAX_PLUG when homing Z to MAX."
+  #endif
 #endif
 
 #if BOTH(HOME_Z_FIRST, USE_PROBE_FOR_Z_HOMING)

Marlin/src/libs/L64XX/L64XX_Marlin.cpp

@@ -446,10 +446,8 @@ uint8_t L64XX_Marlin::get_user_input(uint8_t &driver_count, L64XX_axis_t axis_in
       position_max = X_center + displacement;
       echo_min_max('X', position_min, position_max);
       if (false
-        #ifdef X_MIN_POS
+        #if HAS_ENDSTOPS
           || position_min < (X_MIN_POS)
-        #endif
-        #ifdef X_MAX_POS
           || position_max > (X_MAX_POS)
         #endif
       ) {
@@ -463,10 +461,8 @@ uint8_t L64XX_Marlin::get_user_input(uint8_t &driver_count, L64XX_axis_t axis_in
       position_max = Y_center + displacement;
       echo_min_max('Y', position_min, position_max);
       if (false
-        #ifdef Y_MIN_POS
+        #if HAS_ENDSTOPS
           || position_min < (Y_MIN_POS)
-        #endif
-        #ifdef Y_MAX_POS
           || position_max > (Y_MAX_POS)
         #endif
       ) {
@@ -480,10 +476,8 @@ uint8_t L64XX_Marlin::get_user_input(uint8_t &driver_count, L64XX_axis_t axis_in
       position_max = Z_center + displacement;
       echo_min_max('Z', position_min, position_max);
       if (false
-        #ifdef Z_MIN_POS
+        #if HAS_ENDSTOPS
           || position_min < (Z_MIN_POS)
-        #endif
-        #ifdef Z_MAX_POS
           || position_max > (Z_MAX_POS)
         #endif
       ) {

Marlin/src/module/motion.h

@@ -284,27 +284,51 @@ void do_z_clearance(const float &zclear, const bool z_trusted=true, const bool r
  * Homing and Trusted Axes
  */
 constexpr uint8_t xyz_bits = _BV(X_AXIS) | _BV(Y_AXIS) | _BV(Z_AXIS);
-extern uint8_t axis_homed, axis_trusted;
 
-void homeaxis(const AxisEnum axis);
 void set_axis_is_at_home(const AxisEnum axis);
-void set_axis_never_homed(const AxisEnum axis);
-uint8_t axes_should_home(uint8_t axis_bits=0x07);
-bool homing_needed_error(uint8_t axis_bits=0x07);
-
-FORCE_INLINE bool axis_was_homed(const AxisEnum axis)     { return TEST(axis_homed, axis); }
-FORCE_INLINE bool axis_is_trusted(const AxisEnum axis)    { return TEST(axis_trusted, axis); }
-FORCE_INLINE bool axis_should_home(const AxisEnum axis)   { return (axes_should_home() & _BV(axis)) != 0; }
-FORCE_INLINE bool no_axes_homed()                         { return !axis_homed; }
-FORCE_INLINE bool all_axes_homed()                        { return xyz_bits == (axis_homed & xyz_bits); }
-FORCE_INLINE bool homing_needed()                         { return !all_axes_homed(); }
-FORCE_INLINE bool all_axes_trusted()                      { return xyz_bits == (axis_trusted & xyz_bits); }
-FORCE_INLINE void set_axis_homed(const AxisEnum axis)     { SBI(axis_homed, axis); }
-FORCE_INLINE void set_axis_unhomed(const AxisEnum axis)   { CBI(axis_homed, axis); }
-FORCE_INLINE void set_axis_trusted(const AxisEnum axis)   { SBI(axis_trusted, axis); }
-FORCE_INLINE void set_axis_untrusted(const AxisEnum axis) { CBI(axis_trusted, axis); }
-FORCE_INLINE void set_all_homed()                         { axis_homed = axis_trusted = xyz_bits; }
-FORCE_INLINE void set_all_unhomed()                       { axis_homed = axis_trusted = 0; }
+
+#if HAS_ENDSTOPS
+  /**
+   * axis_homed
+   *   Flags that each linear axis was homed.
+   *   XYZ on cartesian, ABC on delta, ABZ on SCARA.
+   *
+   * axis_trusted
+   *   Flags that the position is trusted in each linear axis. Set when homed.
+   *   Cleared whenever a stepper powers off, potentially losing its position.
+   */
+  extern uint8_t axis_homed, axis_trusted;
+  void homeaxis(const AxisEnum axis);
+  void set_axis_never_homed(const AxisEnum axis);
+  uint8_t axes_should_home(uint8_t axis_bits=0x07);
+  bool homing_needed_error(uint8_t axis_bits=0x07);
+  FORCE_INLINE void set_axis_unhomed(const AxisEnum axis)   { CBI(axis_homed, axis); }
+  FORCE_INLINE void set_axis_untrusted(const AxisEnum axis) { CBI(axis_trusted, axis); }
+  FORCE_INLINE void set_all_unhomed()                       { axis_homed = axis_trusted = 0; }
+  FORCE_INLINE void set_axis_homed(const AxisEnum axis)     { SBI(axis_homed, axis); }
+  FORCE_INLINE void set_axis_trusted(const AxisEnum axis)   { SBI(axis_trusted, axis); }
+  FORCE_INLINE void set_all_homed()                         { axis_homed = axis_trusted = xyz_bits; }
+#else
+  constexpr uint8_t axis_homed = xyz_bits, axis_trusted = xyz_bits; // Zero-endstop machines are always homed and trusted
+  FORCE_INLINE void homeaxis(const AxisEnum axis)           {}
+  FORCE_INLINE void set_axis_never_homed(const AxisEnum)    {}
+  FORCE_INLINE uint8_t axes_should_home(uint8_t=0x07)       { return false; }
+  FORCE_INLINE bool homing_needed_error(uint8_t=0x07)       { return false; }
+  FORCE_INLINE void set_axis_unhomed(const AxisEnum axis)   {}
+  FORCE_INLINE void set_axis_untrusted(const AxisEnum axis) {}
+  FORCE_INLINE void set_all_unhomed()                       {}
+  FORCE_INLINE void set_axis_homed(const AxisEnum axis)     {}
+  FORCE_INLINE void set_axis_trusted(const AxisEnum axis)   {}
+  FORCE_INLINE void set_all_homed()                         {}
+#endif
+
+FORCE_INLINE bool axis_was_homed(const AxisEnum axis)       { return TEST(axis_homed, axis); }
+FORCE_INLINE bool axis_is_trusted(const AxisEnum axis)      { return TEST(axis_trusted, axis); }
+FORCE_INLINE bool axis_should_home(const AxisEnum axis)     { return (axes_should_home() & _BV(axis)) != 0; }
+FORCE_INLINE bool no_axes_homed()                           { return !axis_homed; }
+FORCE_INLINE bool all_axes_homed()                          { return xyz_bits == (axis_homed & xyz_bits); }
+FORCE_INLINE bool homing_needed()                           { return !all_axes_homed(); }
+FORCE_INLINE bool all_axes_trusted()                        { return xyz_bits == (axis_trusted & xyz_bits); }
 
 #if ENABLED(NO_MOTION_BEFORE_HOMING)
   #define MOTION_CONDITIONS (IsRunning() && !homing_needed_error())
@@ -360,7 +384,6 @@ FORCE_INLINE void set_all_unhomed()                       { axis_homed = axis_tr
 /**
  * position_is_reachable family of functions
  */
-
 #if IS_KINEMATIC // (DELTA or SCARA)
 
   #if HAS_SCARA_OFFSET
@@ -390,14 +413,14 @@ FORCE_INLINE void set_all_unhomed()                       { axis_homed = axis_tr
 
   // Return true if the given position is within the machine bounds.
   inline bool position_is_reachable(const float &rx, const float &ry) {
-    if (!WITHIN(ry, Y_MIN_POS - fslop, Y_MAX_POS + fslop)) return false;
+    if (!COORDINATE_OKAY(ry, Y_MIN_POS - fslop, Y_MAX_POS + fslop)) return false;
     #if ENABLED(DUAL_X_CARRIAGE)
       if (active_extruder)
-        return WITHIN(rx, X2_MIN_POS - fslop, X2_MAX_POS + fslop);
+        return COORDINATE_OKAY(rx, X2_MIN_POS - fslop, X2_MAX_POS + fslop);
       else
-        return WITHIN(rx, X1_MIN_POS - fslop, X1_MAX_POS + fslop);
+        return COORDINATE_OKAY(rx, X1_MIN_POS - fslop, X1_MAX_POS + fslop);
     #else
-      return WITHIN(rx, X_MIN_POS - fslop, X_MAX_POS + fslop);
+      return COORDINATE_OKAY(rx, X_MIN_POS - fslop, X_MAX_POS + fslop);
     #endif
   }
   inline bool position_is_reachable(const xy_pos_t &pos) { return position_is_reachable(pos.x, pos.y); }

Marlin/src/module/planner.h

@@ -564,10 +564,10 @@ class Planner {
     #if ENABLED(SKEW_CORRECTION)
 
       FORCE_INLINE static void skew(float &cx, float &cy, const float &cz) {
-        if (WITHIN(cx, X_MIN_POS + 1, X_MAX_POS) && WITHIN(cy, Y_MIN_POS + 1, Y_MAX_POS)) {
+        if (COORDINATE_OKAY(cx, X_MIN_POS + 1, X_MAX_POS) && COORDINATE_OKAY(cy, Y_MIN_POS + 1, Y_MAX_POS)) {
           const float sx = cx - cy * skew_factor.xy - cz * (skew_factor.xz - (skew_factor.xy * skew_factor.yz)),
                       sy = cy - cz * skew_factor.yz;
-          if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
+          if (COORDINATE_OKAY(sx, X_MIN_POS, X_MAX_POS) && COORDINATE_OKAY(sy, Y_MIN_POS, Y_MAX_POS)) {
             cx = sx; cy = sy;
           }
         }
@@ -575,10 +575,10 @@ class Planner {
       FORCE_INLINE static void skew(xyz_pos_t &raw) { skew(raw.x, raw.y, raw.z); }
 
       FORCE_INLINE static void unskew(float &cx, float &cy, const float &cz) {
-        if (WITHIN(cx, X_MIN_POS, X_MAX_POS) && WITHIN(cy, Y_MIN_POS, Y_MAX_POS)) {
+        if (COORDINATE_OKAY(cx, X_MIN_POS, X_MAX_POS) && COORDINATE_OKAY(cy, Y_MIN_POS, Y_MAX_POS)) {
           const float sx = cx + cy * skew_factor.xy + cz * skew_factor.xz,
                       sy = cy + cz * skew_factor.yz;
-          if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
+          if (COORDINATE_OKAY(sx, X_MIN_POS, X_MAX_POS) && COORDINATE_OKAY(sy, Y_MIN_POS, Y_MAX_POS)) {
             cx = sx; cy = sy;
           }
         }

Marlin/src/module/probe.h

@@ -92,8 +92,8 @@ public:
        */
       static bool can_reach(const float &rx, const float &ry) {
         return position_is_reachable(rx - offset_xy.x, ry - offset_xy.y)
-            && WITHIN(rx, min_x() - fslop, max_x() + fslop)
-            && WITHIN(ry, min_y() - fslop, max_y() + fslop);
+            && COORDINATE_OKAY(rx, min_x() - fslop, max_x() + fslop)
+            && COORDINATE_OKAY(ry, min_y() - fslop, max_y() + fslop);
       }
 
     #endif
@@ -206,8 +206,8 @@ public:
         #if IS_KINEMATIC
           return HYPOT2(x, y) <= sq(probe_radius(default_probe_xy_offset));
         #else
-          return WITHIN(x, _min_x(default_probe_xy_offset) - fslop, _max_x(default_probe_xy_offset) + fslop)
-              && WITHIN(y, _min_y(default_probe_xy_offset) - fslop, _max_y(default_probe_xy_offset) + fslop);
+          return COORDINATE_OKAY(x, _min_x(default_probe_xy_offset) - fslop, _max_x(default_probe_xy_offset) + fslop)
+              && COORDINATE_OKAY(y, _min_y(default_probe_xy_offset) - fslop, _max_y(default_probe_xy_offset) + fslop);
         #endif
       }
 

buildroot/tests/teensy31-tests

@@ -11,6 +11,14 @@ opt_set MOTHERBOARD BOARD_TEENSY31_32
 exec_test $1 $2 "Teensy3.1 with default config" "$3"
 
 #
+# Zero endstops, as with a CNC
+#
+restore_configs
+opt_set MOTHERBOARD BOARD_TEENSY31_32
+opt_disable USE_XMIN_PLUG USE_YMIN_PLUG USE_ZMIN_PLUG
+exec_test $1 $2 "Teensy3.1 with Zero Endstops" "$3"
+
+#
 # Test many features together
 #
 restore_configs