Merge pull request #8256 from thinkyhead/bf2_cnc_coordinate_sys

[2.0.x] CNC_COORDINATE_SYSTEMS

.travis.yml

   - opt_set TEMP_SENSOR_0 -2
   - opt_set TEMP_SENSOR_1 1
   - opt_set TEMP_SENSOR_BED 1
-  - opt_enable PIDTEMPBED Z_SAFE_HOMING ARC_P_CIRCLES CNC_WORKSPACE_PLANES
+  - opt_enable PIDTEMPBED FIX_MOUNTED_PROBE Z_SAFE_HOMING ARC_P_CIRCLES CNC_WORKSPACE_PLANES CNC_COORDINATE_SYSTEMS
   - opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER SDSUPPORT EEPROM_SETTINGS
   - opt_enable BLINKM PCA9632 RGB_LED NEOPIXEL_LED
-  - build_marlin_pio ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}
-
-  #
-  # ...with AUTO_BED_LEVELING_LINEAR, Z_MIN_PROBE_REPEATABILITY_TEST, and DEBUG_LEVELING_FEATURE
-  #
-  - opt_enable AUTO_BED_LEVELING_LINEAR BLTOUCH Z_MIN_PROBE_REPEATABILITY_TEST DEBUG_LEVELING_FEATURE
+  - opt_enable AUTO_BED_LEVELING_LINEAR Z_MIN_PROBE_REPEATABILITY_TEST DEBUG_LEVELING_FEATURE
   - opt_enable_adv FWRETRACT MAX7219_DEBUG
   - opt_set ABL_GRID_POINTS_X 16
   - opt_set ABL_GRID_POINTS_Y 16
+  - opt_set_adv FANMUX0_PIN 53
   - build_marlin_pio ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}
   #
   # Test a probeless build of AUTO_BED_LEVELING_UBL
   - opt_enable_adv CUSTOM_USER_MENUS I2C_POSITION_ENCODERS BABYSTEPPING
   - build_marlin_pio ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}
   #
-  # ...and with a probe
+  # And with a probe...
   #
-  - opt_enable BLTOUCH
-  - opt_enable_adv BABYSTEP_ZPROBE_OFFSET
+  - opt_enable FIX_MOUNTED_PROBE
   - build_marlin_pio ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}
   #
   # Test a Sled Z Probe

Marlin/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/Marlin.cpp

   #include "feature/caselight.h"
 #endif
 
+#if HAS_FANMUX
+  #include "feature/fanmux.h"
+#endif
+
 #if (ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH) || ENABLED(SWITCHING_NOZZLE) || ENABLED(PARKING_EXTRUDER)
   #include "module/tool_change.h"
 #endif

Marlin/src/config/default/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/AlephObjects/TAZ4/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/Anet/A6/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/Anet/A8/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/Azteeg/X5GT/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/BQ/Hephestos/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/BQ/Hephestos_2/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/BQ/WITBOX/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/Cartesio/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/Creality/CR-10/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/Felix/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/FolgerTech/i3-2020/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 #define PINS_DEBUGGING

Marlin/src/config/examples/Infitary/i3-M508/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/Malyan/M150/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/Micromake/C1/enhanced/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/Mks/Sbase/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/RigidBot/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/SCARA/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/Sanguinololu/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/TinyBoy2/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/UltiMachine/Archim2/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/Velleman/K8200/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/Velleman/K8400/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/delta/generic/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/delta/kossel_mini/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/delta/kossel_pro/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/delta/kossel_xl/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/gCreate/gMax1.5+/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/makibox/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/tvrrug/Round2/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/config/examples/wt150/Configuration_adv.h

 #endif
 
 /**
+ * CNC Coordinate Systems
+ *
+ * Enables G53 and G54-G59.3 commands to select coordinate systems
+ * and G92.1 to reset the workspace to native machine space.
+ */
+//#define CNC_COORDINATE_SYSTEMS
+
+/**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
 //#define PINS_DEBUGGING

Marlin/src/feature/I2CPositionEncoder.h

               invert              = false,
               ec                  = true;
 
-    float     axisOffset          = 0;
-
-    int32_t   axisOffsetTicks     = 0,
-              zeroOffset          = 0,
+    int32_t   zeroOffset          = 0,
               lastPosition        = 0,
               position;
 
     }
 
     FORCE_INLINE float get_position_mm() { return mm_from_count(get_position()); }
-    FORCE_INLINE int32_t get_position() { return get_raw_count() - zeroOffset - axisOffsetTicks; }
+    FORCE_INLINE int32_t get_position() { return get_raw_count() - zeroOffset; }
 
     int32_t get_axis_error_steps(const bool report);
     float get_axis_error_mm(const bool report);
 
     FORCE_INLINE int get_stepper_ticks() { return stepperTicks; }
     FORCE_INLINE void set_stepper_ticks(const int ticks) { stepperTicks = ticks; }
-
-    FORCE_INLINE float get_axis_offset() { return axisOffset; }
-    FORCE_INLINE void set_axis_offset(const float newOffset) {
-      axisOffset = newOffset;
-      axisOffsetTicks = int32_t(axisOffset * get_encoder_ticks_mm());
-    }
-
-    FORCE_INLINE void set_current_position(const float newPositionMm) {
-      set_axis_offset(get_position_mm() - newPositionMm + axisOffset);
-    }
 };
 
 class I2CPositionEncodersMgr {

Marlin/src/feature/fanmux.cpp

+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * feature/pause.cpp - Pause feature support functions
+ * This may be combined with related G-codes if features are consolidated.
+ */
+
+#include "../inc/MarlinConfig.h"
+
+#if HAS_FANMUX
+
+#include "fanmux.h"
+
+void fanmux_switch(const uint8_t e) {
+  WRITE(FANMUX0_PIN, TEST(e, 0) ? HIGH : LOW);
+  #if PIN_EXISTS(FANMUX1)
+    WRITE(FANMUX1_PIN, TEST(e, 1) ? HIGH : LOW);
+    #if PIN_EXISTS(FANMUX2)
+      WRITE(FANMUX2, TEST(e, 2) ? HIGH : LOW);
+    #endif
+  #endif
+}
+
+void fanmux_init(void) {
+  SET_OUTPUT(FANMUX0_PIN);
+  #if PIN_EXISTS(FANMUX1)
+    SET_OUTPUT(FANMUX1_PIN);
+    #if PIN_EXISTS(FANMUX2)
+      SET_OUTPUT(FANMUX2_PIN);
+    #endif
+  #endif
+  fanmux_switch(0);
+}
+
+#endif // HAS_FANMUX

Marlin/src/feature/fanmux.h

+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * feature/fanmux.h - Cooling Fan Multiplexer support functions
+ */
+
+#ifndef _FANMUX_H_
+#define _FANMUX_H_
+
+extern void fanmux_switch(const uint8_t e);
+extern void fanmux_init(void);
+
+#endif // _FANMUX_H_

Marlin/src/gcode/calibrate/G33.cpp

 #include "../../module/motion.h"
 #include "../../module/stepper.h"
 #include "../../module/endstops.h"
-#include "../../module/tool_change.h"
 #include "../../lcd/ultralcd.h"
 
+#if HOTENDS > 1
+  #include "../../module/tool_change.h"
+#endif
+
 #if HAS_LEVELING
   #include "../../feature/bedlevel/bedlevel.h"
 #endif
   if (!_0p_calibration) {
 
     if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
-      #if ENABLED(PROBE_MANUALLY)
-        z_at_pt[CEN] += lcd_probe_pt(0, 0);
-      #else
-        z_at_pt[CEN] += probe_pt(dx, dy, stow_after_each, 1, false);
-      #endif
+      z_at_pt[CEN] +=
+        #if ENABLED(PROBE_MANUALLY)
+          lcd_probe_pt(0, 0)
+        #else
+          probe_pt(dx, dy, stow_after_each, 1, false)
+        #endif
+      ;
     }
 
     if (_7p_calibration) { // probe extra center points
       I_LOOP_CAL_PT(axis, start, steps) {
         const float a = RADIANS(210 + (360 / NPP) *  (axis - 1)),
                     r = delta_calibration_radius * 0.1;
-        #if ENABLED(PROBE_MANUALLY)
-          z_at_pt[CEN] += lcd_probe_pt(cos(a) * r, sin(a) * r);
-        #else
-          z_at_pt[CEN] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
-        #endif
+        z_at_pt[CEN] +=
+          #if ENABLED(PROBE_MANUALLY)
+            lcd_probe_pt(cos(a) * r, sin(a) * r)
+          #else
+            probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1)
+          #endif
+        ;
       }
       z_at_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
     }

Marlin/src/gcode/gcode.cpp

   GcodeSuite::WorkspacePlane GcodeSuite::workspace_plane = PLANE_XY;
 #endif
 
+#if ENABLED(CNC_COORDINATE_SYSTEMS)
+  int8_t GcodeSuite::active_coordinate_system = -1; // machine space
+  float GcodeSuite::coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
+#endif
+
 /**
  * Set target_extruder from the T parameter or the active_extruder
  *
 #endif
 
 /**
- * Process a single command and dispatch it to its handler
- * This is called from the main loop()
+ * Process the parsed command and dispatch it to its handler
  */
-void GcodeSuite::process_next_command() {
-  char * const current_command = command_queue[cmd_queue_index_r];
-
-  if (DEBUGGING(ECHO)) {
-    SERIAL_ECHO_START();
-    SERIAL_ECHOLN(current_command);
-    #if ENABLED(M100_FREE_MEMORY_WATCHER)
-      SERIAL_ECHOPAIR("slot:", cmd_queue_index_r);
-      M100_dump_routine("   Command Queue:", (const char*)command_queue, (const char*)(command_queue + sizeof(command_queue)));
-    #endif
-  }
-
+void GcodeSuite::process_parsed_command() {
   KEEPALIVE_STATE(IN_HANDLER);
 
-  // Parse the next command in the queue
-  parser.parse(current_command);
-
   // Handle a known G, M, or T
   switch (parser.command_letter) {
     case 'G': switch (parser.codenum) {
   ok_to_send();
 }
 
+/**
+ * Process a single command and dispatch it to its handler
+ * This is called from the main loop()
+ */
+void GcodeSuite::process_next_command() {
+  char * const current_command = command_queue[cmd_queue_index_r];
+
+  if (DEBUGGING(ECHO)) {
+    SERIAL_ECHO_START();
+    SERIAL_ECHOLN(current_command);
+    #if ENABLED(M100_FREE_MEMORY_WATCHER)
+      SERIAL_ECHOPAIR("slot:", cmd_queue_index_r);
+      M100_dump_routine("   Command Queue:", (const char*)command_queue, (const char*)(command_queue + sizeof(command_queue)));
+    #endif
+  }
+
+  // Parse the next command in the queue
+  parser.parse(current_command);
+  process_parsed_command();
+}
+
 #if ENABLED(HOST_KEEPALIVE_FEATURE)
 
   /**

Marlin/src/gcode/gcode.h

     static WorkspacePlane workspace_plane;
   #endif
 
+  #if ENABLED(CNC_COORDINATE_SYSTEMS)
+    #define MAX_COORDINATE_SYSTEMS 9
+    static int8_t active_coordinate_system;
+    static float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
+    static bool select_coordinate_system(const int8_t _new);
+  #endif
+
   static millis_t previous_cmd_ms;
   FORCE_INLINE static void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
 
   static bool get_target_extruder_from_command();
   static void get_destination_from_command();
+  static void process_parsed_command();
   static void process_next_command();
 
   static FORCE_INLINE void home_all_axes() { G28(true); }
     static void G42();
   #endif
 
+  #if ENABLED(CNC_COORDINATE_SYSTEMS)
+    bool select_coordinate_system(const int8_t _new);
+    static void G53();
+    static void G54();
+    static void G55();
+    static void G56();
+    static void G57();
+    static void G58();
+    static void G59();
+  #endif
+
   static void G92();
 
   #if HAS_RESUME_CONTINUE

Marlin/src/gcode/geometry/G53-G59.cpp

+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../gcode.h"
+#include "../../module/motion.h"
+//#include "../../module/stepper.h"
+
+#if ENABLED(CNC_COORDINATE_SYSTEMS)
+
+  /**
+   * Select a coordinate system and update the current position.
+   * 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;
+    stepper.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]);
+    if (WITHIN(_new, 0, MAX_COORDINATE_SYSTEMS - 1))
+      COPY(new_offset, coordinate_system[_new]);
+    active_coordinate_system = _new;
+    bool didXYZ = false;
+    LOOP_XYZ(i) {
+      const float diff = new_offset[i] - old_offset[i];
+      if (diff) {
+        position_shift[i] += diff;
+        update_software_endstops((AxisEnum)i);
+        didXYZ = true;
+      }
+    }
+    if (didXYZ) SYNC_PLAN_POSITION_KINEMATIC();
+    return true;
+  }
+
+  /**
+   * In CNC G-code G53 is like a modifier
+   * It precedes a movement command (or other modifiers) on the same line.
+   * This is the first command to use parser.chain() to make this possible.
+   */
+  void GCodeSuite::G53() {
+    // If this command has more following...
+    if (parser.chain()) {
+      const int8_t _system = active_coordinate_system;
+      active_coordinate_system = -1;
+      process_parsed_command();
+      active_coordinate_system = _system;
+    }
+  }
+
+  /**
+   * G54-G59.3: Select a new workspace
+   *
+   * A workspace is an XYZ offset to the machine native space.
+   * All workspaces default to 0,0,0 at start, or with EEPROM
+   * support they may be restored from a previous session.
+   *
+   * G92 is used to set the current workspace's offset.
+   */
+  void G54_59(uint8_t subcode=0) {
+    const int8_t _space = parser.codenum - 54 + subcode;
+    if (gcode.select_coordinate_system(_space)) {
+      SERIAL_PROTOCOLLNPAIR("Select workspace ", _space);
+      report_current_position();
+    }
+  }
+  void GCodeSuite::G54() { G54_59(); }
+  void GCodeSuite::G55() { G54_59(); }
+  void GCodeSuite::G56() { G54_59(); }
+  void GCodeSuite::G57() { G54_59(); }
+  void GCodeSuite::G58() { G54_59(); }
+  void GCodeSuite::G59() { G54_59(parser.subcode); }
+
+#endif // CNC_COORDINATE_SYSTEMS

Marlin/src/gcode/geometry/G92.cpp

 
   if (!didE) stepper.synchronize();
 
-  LOOP_XYZE(i) {
+  #if ENABLED(CNC_COORDINATE_SYSTEMS)
+    switch (parser.subcode) {
+      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_software_endstops((AxisEnum)i);
+            }
+          }
+        #endif // Not SCARA
+        return;
+    }
+  #endif
+
+  #if ENABLED(CNC_COORDINATE_SYSTEMS)
+    #define IS_G92_0 (parser.subcode == 0)
+  #else
+    #define IS_G92_0 true
+  #endif
+
+  if (IS_G92_0) LOOP_XYZE(i) {
     if (parser.seenval(axis_codes[i])) {
       #if IS_SCARA
         current_position[i] = parser.value_axis_units((AxisEnum)i);
           #if HAS_POSITION_SHIFT
             position_shift[i] += v - p; // Offset the coordinate space
             update_software_endstops((AxisEnum)i);
-
-            #if ENABLED(I2C_POSITION_ENCODERS)
-              I2CPEM.encoders[I2CPEM.idx_from_axis((AxisEnum)i)].set_axis_offset(position_shift[i]);
-            #endif
-
           #endif
         }
       #endif
     }
   }
+
+  #if ENABLED(CNC_COORDINATE_SYSTEMS)
+    // Apply workspace offset to the active coordinate system
+    if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
+      COPY(coordinate_system[active_coordinate_system], position_shift);
+  #endif
+
   if (didXYZ)
     SYNC_PLAN_POSITION_KINEMATIC();
   else if (didE)

Marlin/src/gcode/parser.cpp

   }
 }
 
+#if ENABLED(CNC_COORDINATE_SYSTEMS)
+
+  // Parse the next parameter as a new command
+  bool GCodeParser::chain() {
+    #if ENABLED(FASTER_GCODE_PARSER)
+      char *next_command = command_ptr;
+      if (next_command) {
+        while (*next_command && *next_command != ' ') ++next_command;
+        while (*next_command == ' ') ++next_command;
+        if (!*next_command) next_command = NULL;
+      }
+    #else
+      const char *next_command = command_args;
+    #endif
+    if (next_command) parse(next_command);
+    return !!next_command;
+  }
+
+#endif // CNC_COORDINATE_SYSTEMS
+
 void GCodeParser::unknown_command_error() {
   SERIAL_ECHO_START();
   SERIAL_ECHOPAIR(MSG_UNKNOWN_COMMAND, command_ptr);

Marlin/src/gcode/parser.h

   // This uses 54 bytes of SRAM to speed up seen/value
   static void parse(char * p);
 
+  #if ENABLED(CNC_COORDINATE_SYSTEMS)
+    // Parse the next parameter as a new command
+    static bool chain();
+  #endif
+
   // The code value pointer was set
   FORCE_INLINE static bool has_value() { return value_ptr != NULL; }
 

Marlin/src/inc/Conditionals_post.h

 #define GRID_MAX_POINTS ((GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y))
 
 // Add commands that need sub-codes to this list
-#define USE_GCODE_SUBCODES ENABLED(G38_PROBE_TARGET)
+#define USE_GCODE_SUBCODES ENABLED(G38_PROBE_TARGET) || ENABLED(CNC_COORDINATE_SYSTEMS)
 
 // MESH_BED_LEVELING overrides PROBE_MANUALLY
 #if ENABLED(MESH_BED_LEVELING)

Marlin/src/inc/SanityCheck.h

 static_assert(COUNT(sanity_arr_2) <= XYZE_N, "DEFAULT_MAX_FEEDRATE has too many elements.");
 static_assert(COUNT(sanity_arr_3) <= XYZE_N, "DEFAULT_MAX_ACCELERATION has too many elements.");
 
+#if ENABLED(CNC_COORDINATE_SYSTEMS) && ENABLED(NO_WORKSPACE_OFFSETS)
+  #error "CNC_COORDINATE_SYSTEMS is incompatible with NO_WORKSPACE_OFFSETS."
+#endif
+
 #include "../HAL/HAL_SanityCheck.h"  // get CPU specific checks
 
 #endif // _SANITYCHECK_H_

Marlin/src/module/configuration_store.cpp

  *
  */
 
-#define EEPROM_VERSION "V43"
+#define EEPROM_VERSION "V44"
 
 // Change EEPROM version if these are changed:
 #define EEPROM_OFFSET 100
 
 /**
- * V43 EEPROM Layout:
+ * V44 EEPROM Layout:
  *
  *  100  Version                                    (char x4)
  *  104  EEPROM CRC16                               (uint16_t)
  *  588  M907 Z    Stepper Z current                (uint32_t)
  *  592  M907 E    Stepper E current                (uint32_t)
  *
- *  596                                Minimum end-point
- * 1917 (596 + 36 + 9 + 288 + 988)     Maximum end-point
+ * CNC_COORDINATE_SYSTEMS                           108 bytes
+ *  596  G54-G59.3 coordinate_system                (float x 27)
+ *
+ *  704                                Minimum end-point
+ * 2025 (704 + 36 + 9 + 288 + 988)     Maximum end-point
  *
  * ========================================================================
  * meshes_begin (between max and min end-point, directly above)
   float new_z_fade_height;
 #endif
 
+#if ENABLED(CNC_COORDINATE_SYSTEMS)
+  bool position_changed;
+#endif
+
 /**
  * Post-process after Retrieve or Reset
  */
   #if ENABLED(FWRETRACT)
     fwretract.refresh_autoretract();
   #endif
+
+  #if ENABLED(CNC_COORDINATE_SYSTEMS)
+    if (position_changed) {
+      report_current_position();
+      position_changed = false;
+    }
+  #endif
 }
 
 #if ENABLED(EEPROM_SETTINGS)
     EEPROM_WRITE(ver);     // invalidate data first
     EEPROM_SKIP(working_crc); // Skip the checksum slot
 
-    working_crc = 0; // clear before first "real data"
+    working_crc = 0;  // Init to 0. Accumulated by EEPROM_READ
 
     const uint8_t esteppers = COUNT(planner.axis_steps_per_mm) - XYZ;
     EEPROM_WRITE(esteppers);
       for (uint8_t q = 3; q--;) EEPROM_WRITE(dummyui32);
     #endif
 
+    #if ENABLED(CNC_COORDINATE_SYSTEMS)
+      EEPROM_WRITE(coordinate_system); // 27 floats
+    #else
+      dummy = 0.0f;
+      for (uint8_t q = 27; q--;) EEPROM_WRITE(dummy);
+    #endif
+
     if (!eeprom_error) {
       #if ENABLED(EEPROM_CHITCHAT)
         const int eeprom_size = eeprom_index;
       uint8_t esteppers;
       EEPROM_READ(esteppers);
 
+      //
+      // Planner Motion
+      //
+
       // Get only the number of E stepper parameters previously stored
       // Any steppers added later are set to their defaults
       const float def1[] = DEFAULT_AXIS_STEPS_PER_UNIT, def2[] = DEFAULT_MAX_FEEDRATE;
       EEPROM_READ(planner.min_segment_time_us);
       EEPROM_READ(planner.max_jerk);
 
+      //
+      // Home Offset (M206)
+      //
+
       #if !HAS_HOME_OFFSET
         float home_offset[XYZ];
       #endif
         home_offset[Z_AXIS] -= DELTA_HEIGHT;
       #endif
 
+      //
+      // Hotend Offsets, if any
+      //
+
       #if HOTENDS > 1
         // Skip hotend 0 which must be 0
         for (uint8_t e = 1; e < HOTENDS; e++)
           for (uint16_t q = grid_max_x * grid_max_y; q--;) EEPROM_READ(dummy);
         }
 
+      //
+      // Unified Bed Leveling active state
+      //
+
       #if ENABLED(AUTO_BED_LEVELING_UBL)
         EEPROM_READ(planner.leveling_active);
         EEPROM_READ(ubl.storage_slot);
         EEPROM_READ(dummyui8);
       #endif // AUTO_BED_LEVELING_UBL
 
+      //
+      // DELTA Geometry or Dual Endstops offsets
+      //
+
       #if ENABLED(DELTA)
         EEPROM_READ(delta_endstop_adj);         // 3 floats
         EEPROM_READ(delta_radius);              // 1 float
 
       #endif
 
+      //
+      // LCD Preheat settings
+      //
+
       #if DISABLED(ULTIPANEL)
         int lcd_preheat_hotend_temp[2], lcd_preheat_bed_temp[2], lcd_preheat_fan_speed[2];
       #endif
 
-      EEPROM_READ(lcd_preheat_hotend_temp);
-      EEPROM_READ(lcd_preheat_bed_temp);
-      EEPROM_READ(lcd_preheat_fan_speed);
+      EEPROM_READ(lcd_preheat_hotend_temp); // 2 floats
+      EEPROM_READ(lcd_preheat_bed_temp);    // 2 floats
+      EEPROM_READ(lcd_preheat_fan_speed);   // 2 floats
 
       //EEPROM_ASSERT(
       //  WITHIN(lcd_preheat_fan_speed, 0, 255),
       //  "lcd_preheat_fan_speed out of range"
       //);
 
+      //
+      // Hotend PID
+      //
+
       #if ENABLED(PIDTEMP)
         for (uint8_t e = 0; e < MAX_EXTRUDERS; e++) {
           EEPROM_READ(dummy); // Kp
         for (uint8_t q = MAX_EXTRUDERS * 4; q--;) EEPROM_READ(dummy);  // Kp, Ki, Kd, Kc
       #endif // !PIDTEMP
 
+      //
+      // PID Extrusion Scaling
+      //
+
       #if DISABLED(PID_EXTRUSION_SCALING)
         int lpq_len;
       #endif
       EEPROM_READ(lpq_len);
 
+      //
+      // Heated Bed PID
+      //
+
       #if ENABLED(PIDTEMPBED)
         EEPROM_READ(dummy); // bedKp
         if (dummy != DUMMY_PID_VALUE) {
         for (uint8_t q=3; q--;) EEPROM_READ(dummy); // bedKp, bedKi, bedKd
       #endif
 
+      //
+      // LCD Contrast
+      //
+
       #if !HAS_LCD_CONTRAST
         uint16_t lcd_contrast;
       #endif
       EEPROM_READ(lcd_contrast);
 
+      //
+      // Firmware Retraction
+      //
+
       #if ENABLED(FWRETRACT)
         EEPROM_READ(fwretract.autoretract_enabled);
         EEPROM_READ(fwretract.retract_length);
         for (uint8_t q=8; q--;) EEPROM_READ(dummy);
       #endif
 
-      EEPROM_READ(parser.volumetric_enabled);
+      //
+      // Volumetric & Filament Size
+      //
 
+      EEPROM_READ(parser.volumetric_enabled);
       for (uint8_t q = 0; q < MAX_EXTRUDERS; q++) {
         EEPROM_READ(dummy);
         if (q < COUNT(planner.filament_size)) planner.filament_size[q] = dummy;
       }
 
+      //
+      // TMC2130 Stepper Current
+      //
+
       uint16_t val;
       #if ENABLED(HAVE_TMC2130)
         EEPROM_READ(val);
           stepperE4.setCurrent(val, R_SENSE, HOLD_MULTIPLIER);
         #endif
       #else
-        for (uint8_t q = 0; q < 11; q++) EEPROM_READ(val);
+        for (uint8_t q = 11; q--;) EEPROM_READ(val);
       #endif
 
       //
         EEPROM_READ(dummy);
       #endif
 
+      //
+      // Motor Current PWM
+      //
+
       #if HAS_MOTOR_CURRENT_PWM
         for (uint8_t q = 3; q--;) EEPROM_READ(stepper.motor_current_setting[q]);
       #else
         for (uint8_t q = 3; q--;) EEPROM_READ(dummyui32);
       #endif
 
+      //
+      // CNC Coordinate System
+      //
+
+      #if ENABLED(CNC_COORDINATE_SYSTEMS)
+        position_changed = gcode.select_coordinate_system(-1); // Go back to machine space
+        EEPROM_READ(gcode.coordinate_system);                  // 27 floats
+      #else
+        for (uint8_t q = 27; q--;) EEPROM_READ(dummy);
+      #endif
+
       if (working_crc == stored_crc) {
         postprocess();
         #if ENABLED(EEPROM_CHITCHAT)

Marlin/src/module/motion.cpp

   #include "../lcd/ultralcd.h"
 #endif
 
-// #if ENABLED(DUAL_X_CARRIAGE)
-//   #include "tool_change.h"
-// #endif
-
 #if HAS_BED_PROBE
   #include "probe.h"
 #endif

Marlin/src/module/tool_change.cpp

   #include "../feature/bedlevel/bedlevel.h"
 #endif
 
+#if HAS_FANMUX
+  #include "../feature/fanmux.h"
+#endif
+
 #if ENABLED(SWITCHING_EXTRUDER)
 
   #if EXTRUDERS > 3
 
 #endif // PARKING_EXTRUDER
 
-#if HAS_FANMUX
-
-  void fanmux_switch(const uint8_t e) {
-    WRITE(FANMUX0_PIN, TEST(e, 0) ? HIGH : LOW);
-    #if PIN_EXISTS(FANMUX1)
-      WRITE(FANMUX1_PIN, TEST(e, 1) ? HIGH : LOW);
-      #if PIN_EXISTS(FANMUX2)
-        WRITE(FANMUX2, TEST(e, 2) ? HIGH : LOW);
-      #endif
-    #endif
-  }
-
-  FORCE_INLINE void fanmux_init(void){
-    SET_OUTPUT(FANMUX0_PIN);
-    #if PIN_EXISTS(FANMUX1)
-      SET_OUTPUT(FANMUX1_PIN);
-      #if PIN_EXISTS(FANMUX2)
-        SET_OUTPUT(FANMUX2_PIN);
-      #endif
-    #endif
-    fanmux_switch(0);
-  }
-
-#endif // HAS_FANMUX
 
 inline void invalid_extruder_error(const uint8_t e) {
   SERIAL_ECHO_START();