Add G68/G51 rotate/scale workspace (LinuxCNC)

Marlin/Configuration_adv.h

@@ -2592,6 +2592,11 @@
  */
 //#define DIRECT_STEPPING
 
+/**
+ * Rotate Workspace
+ */
+//#define ROTATE_WORKSPACE
+
 /**
  * G38 Probe Target
  *

Marlin/src/gcode/gcode.cpp

@@ -450,6 +450,10 @@ void GcodeSuite::process_parsed_command(bool no_ok/*=false*/) {
         case 61: G61(); break;                                    // G61:  Apply/restore saved coordinates.
       #endif
 
+      #if ENABLED(ROTATE_WORKSPACE)
+        case 68: G68(); break;                                    // G68: Set Workspace Rotation
+      #endif
+
       #if ALL(PTC_PROBE, PTC_BED)
         case 76: G76(); break;                                    // G76: Calibrate first layer compensation values
       #endif

Marlin/src/gcode/gcode.h

@@ -66,6 +66,7 @@
  * G42  - Coordinated move to a mesh point (Requires MESH_BED_LEVELING, AUTO_BED_LEVELING_BLINEAR, or AUTO_BED_LEVELING_UBL)
  * G60  - Save current position. (Requires SAVED_POSITIONS)
  * G61  - Apply/Restore saved coordinates. (Requires SAVED_POSITIONS)
+ * G68  - Set Workspace Rotation
  * G76  - Calibrate first layer temperature offsets. (Requires PTC_PROBE and PTC_BED)
  * G80  - Cancel current motion mode (Requires GCODE_MOTION_MODES)
  * G90  - Use Absolute Coordinates
@@ -628,6 +629,10 @@ class GcodeSuite {
     static void G61(int8_t slot=-1);
   #endif
 
+  #if ENABLED(ROTATE_WORKSPACE)
+    static void G68();
+  #endif
+
   #if ENABLED(GCODE_MOTION_MODES)
     static void G80();
   #endif

Marlin/src/gcode/motion/G68.cpp

@@ -0,0 +1,86 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if ENABLED(ROTATE_WORKSPACE)
+
+  #include "../gcode.h"
+  #include "../../module/motion.h"
+
+  /**
+   * G68: Set Workspace Rotation
+   *
+   * Set the rotation (about Z axis) for the current workspace (begins at 0).
+   *
+   * Parameters:
+   *   P<index>  Workspace index (Optional, default: current)
+   *   R<deg>    Rotation angle in degrees (Required)
+   *
+   * Example:
+   *   G68 R45    ; Rotate current workspace by 45°
+   *   G68 R-30   ; Rotate current workspace by -30°
+   *   G68 P2 R90 ; Rotate workspace 2 by 90° around
+   *   G68 P1     ; Set active workspace to 1 (no rotation change)
+   *
+   * NOTES:
+   *   - Only rotation is set. No translation/offset is changed.
+   *   - All subsequent moves are rotated by the specified angle.
+   */
+  void GcodeSuite::G68() {
+    const int P = parser.seenval('P') ? parser.value_int() : active_workspace;
+    float rotation_angle[MAX_COORDINATE_SYSTEMS] = { 0 };
+    float r_angle = rotation_angle[active_workspace];
+
+    if (parser.seenval('P')) {
+      if (P < 0 || P >= MAX_COORDINATE_SYSTEMS) {
+        SERIAL_ECHOLNPGM("Invalid workspace index.");
+        return;
+      }
+      active_workspace = P;
+      SERIAL_ECHOLN("Active workspace set to ", P, ".");
+    }
+
+    if (parser.seenval('P') && !parser.seenval('R')) {
+      return;
+    }
+
+    if (parser.seenval('R')) {
+      // Parse R parameter (rotation angle)
+      r_angle = parser.value_float();
+      rotation_angle[active_workspace] = r_angle;
+
+      float center_x = rotation_center_x;
+      center_x = (X_MIN_POS + X_MAX_POS) * 0.5f;
+      rotation_center_x = center_x;
+
+      float center_y = rotation_center_y;
+      center_y = (Y_MIN_POS + Y_MAX_POS) * 0.5f;
+      rotation_center_y = center_y;
+      SERIAL_ECHOLN("Workspace ", P, " rotation set to: ", r_angle, " deg.");
+    }
+    else {
+      SERIAL_ECHOLNPGM("Missing R parameter (rotation angle).");
+    }
+  }
+
+#endif // ROTATE_WORKSPACE

Marlin/src/module/motion.cpp

@@ -137,6 +137,30 @@ xyze_pos_t destination; // {0}
   }
 #endif
 
+#if ENABLED(ROTATE_WORKSPACE)
+  uint8_t active_workspace = 0;
+  float rotation_center_x = 0.0;
+  float rotation_center_y = 0.0;
+
+  void apply_workspace_rotation() {
+    // Apply translation to origin
+    float temp_x = destination[X_AXIS] - rotation_center_x;
+    float temp_y = destination[Y_AXIS] - rotation_center_y;
+
+    const float angle_rad = RADIANS(rotation_angle[active_workspace]);
+    const float cos_angle = cos(angle_rad);
+    const float sin_angle = sin(angle_rad);
+
+    // Apply rotation
+    float rotated_x = temp_x * cos_angle - temp_y * sin_angle;
+    float rotated_y = temp_x * sin_angle + temp_y * cos_angle;
+
+    // Apply translation back
+    destination[X_AXIS] = rotated_x + rotation_center_x;
+    destination[Y_AXIS] = rotated_y + rotation_center_y;
+  }
+#endif
+
 // The feedrate for the current move, often used as the default if
 // no other feedrate is specified. Overridden for special moves.
 // Set by the last G0 through G5 command's "F" parameter.
@@ -1897,6 +1921,10 @@ float get_move_distance(const xyze_pos_t &diff OPTARG(HAS_ROTATIONAL_AXES, bool
 void prepare_line_to_destination() {
   apply_motion_limits(destination);
 
+  #if ENABLED(ROTATE_WORKSPACE)
+    apply_workspace_rotation();
+  #endif
+
   #if ANY(PREVENT_COLD_EXTRUSION, PREVENT_LENGTHY_EXTRUDE)
 
     if (!DEBUGGING(DRYRUN) && destination.e != current_position.e) {
@@ -1947,6 +1975,12 @@ void prepare_line_to_destination() {
     #endif
   ) return;
 
+  if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_line_to_destination", destination);
+
+  TERN_(HAS_POSITION_MODIFIERS, planner.apply_modifiers(destination));
+
+  planner.buffer_line(destination, MMS_SCALED(feedrate_mm_s));
+
   current_position = destination;
 }
 

Marlin/src/module/motion.h

@@ -62,6 +62,17 @@ extern xyz_pos_t cartes;
   extern abce_pos_t delta;
 #endif
 
+#if ENABLED(ROTATE_WORKSPACE)
+  #include "../gcode/gcode.h"
+
+  extern uint8_t active_workspace;
+  extern float rotation_angle[MAX_COORDINATE_SYSTEMS]; // Store rotation for each workspace
+  extern float rotation_center_x;
+  extern float rotation_center_y;
+
+  void apply_workspace_rotation();
+#endif
+
 #if HAS_ABL_NOT_UBL
   extern feedRate_t xy_probe_feedrate_mm_s;
   #define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s

ini/features.ini

@@ -231,6 +231,7 @@ USE_CONTROLLER_FAN                     = build_src_filter=+<src/feature/controll
 HAS_COOLER|LASER_COOLANT_FLOW_METER    = build_src_filter=+<src/feature/cooler.cpp>
 HAS_MOTOR_CURRENT_DAC                  = build_src_filter=+<src/feature/dac>
 DIRECT_STEPPING                        = build_src_filter=+<src/feature/direct_stepping.cpp> +<src/gcode/motion/G6.cpp>
+ROTATE_WORKSPACE                       = build_src_filter=+<src/gcode/motion/G68.cpp>
 EMERGENCY_PARSER                       = build_src_filter=+<src/feature/e_parser.cpp> -<src/gcode/control/M108_*.cpp>
 EASYTHREED_UI                          = build_src_filter=+<src/feature/easythreed_ui.cpp>
 I2C_POSITION_ENCODERS                  = build_src_filter=+<src/feature/encoder_i2c.cpp>