Add G43, G43.4 and G49

Marlin/src/gcode/feature/fwretract/G10_G11.cpp

@@ -70,7 +70,7 @@ void GcodeSuite::G10() {
 
           default: break;                                              // Ignore unknown G10 Lx
 
-          case 1: // Sets the tool offset
+          case 1: // Sets the tool offset. Intended to work as in LinuxCNC.
             LOOP_NUM_AXES(i) {
               if (parser.seen(axis_codes[i])) {
                 const float axis_value = parser.value_axis_units((AxisEnum)i);
@@ -86,7 +86,7 @@ void GcodeSuite::G10() {
 
           // G10 L10 changes the tool table entry for tool P so that if the tool offset is reloaded, with the machine in its 
           // current position and with the current G5x and G52/G92 offsets active, the current coordinates for the given axes 
-          // will become the given values. (Intended to work the same as LinuxCNC).
+          // will become the given values. Intended to work as in LinuxCNC.
           // e.g. G10 L10 P1 Z1.5 followed by G43 sets the current position for Z to be 1.5.
           case 10:
             LOOP_NUM_AXES(i) {

Marlin/src/gcode/gcode.cpp

@@ -433,6 +433,11 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 42: G42(); break;                                    // G42: Coordinated move to a mesh point
       #endif
 
+      #if HAS_TOOL_LENGTH_COMPENSATION
+        case 43: G43(); break;                                    // G43.4: Rotational Tool Center Point Control Mode
+        case 49: G49(); break;
+      #endif
+
       #if ENABLED(CNC_COORDINATE_SYSTEMS)
         case 53: G53(); break;                                    // G53: (prefix) Apply native workspace
         case 54: G54(); break;                                    // G54: Switch to Workspace 1

Marlin/src/gcode/geometry/G43_G49.cpp

@@ -0,0 +1,101 @@
+/**
+ * Marlin2ForPipetBot [https://github.com/DerAndere1/Marlin]
+ * Copyright 2019 - 2024 DerAndere and other Marlin2ForPipetBot authors [https://github.com/DerAndere1/Marlin]
+ *
+ * Based on:
+ * 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/>.
+ *
+ */
+
+
+/**
+ * @file G43_G49.cpp
+ * @author DerAndere
+ * @brief G-codes related to Tool Length Compensation and Rotational Tool Center Point Control
+ * 
+ * Copyright 2024 DerAndere
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_TOOL_LENGTH_COMPENSATION
+
+#include "../gcode.h"
+#include "../../module/motion.h"
+
+/**
+ * G43: Enable Tool Length Compensation.
+ * 
+ * G43: Enable Simple Tool Length Compensation.
+ * G43 Tool Length Compensation can be canceled with G49.
+ *
+ * G43.4: Enable Rotational Tool Center Point Control Mode.
+ * G43.4 Rotational Tool Center Point Control Mode can be canceled with G49.
+ * 
+ * Only one can be active at any time.
+ */
+void GcodeSuite::G43() {
+
+  #if USE_GCODE_SUBCODES
+    const uint8_t subcode_G43 = parser.subcode;
+  #else
+    constexpr uint8_t subcode_G43 = 0;                           
+  #endif
+
+  switch (subcode_G43) {
+    default: return;                                              // Ignore unknown G43.x
+
+    case 0:                                                       // G43 - Simple Tool Length Compensation Mode.
+      #if HAS_TOOL_CENTERPOINT_CONTROL
+        tool_centerpoint_control = false;
+        simple_tool_length_compensation = true;
+      #endif
+      break;
+
+    #if HAS_TOOL_CENTERPOINT_CONTROL
+      case 4:                                                     // G43.4 - Rotational Tool Center Point Control Mode.
+        simple_tool_length_compensation = false;
+        tool_centerpoint_control = true;
+        break;
+    #endif
+  }
+
+  current_position += hotend_offset[active_extruder];
+  sync_plan_position();
+}
+
+
+/**
+ * G49: Cancel Tool Length Compensation
+ * 
+ * Cancels Simple Tool Length Compensation Mode and Rotational Tool Center Point Control Mode.
+ * 
+ * Simple Tool Length Compensation Mode can be enabled with G43
+ * Rotational Tool Center Point Control Mode can be enabled with G43.4
+ */
+void GcodeSuite::G49() {
+  simple_tool_length_compensation = false;
+  tool_centerpoint_control = false;
+
+  current_position -= hotend_offset[active_extruder];
+  sync_plan_position();
+}
+
+#endif

Marlin/src/inc/Conditionals-5-post.h

@@ -3411,7 +3411,7 @@
 #endif
 
 // G92 shifts the workspace
-#if DISABLED(NO_WORKSPACE_OFFSETS)
+#if DISABLED(NO_WORKSPACE_OFFSETS) || HAS_TOOL_LENGTH_COMPENSATION
   #define HAS_WORKSPACE_OFFSET 1
 #endif
 #if DISABLED(NO_HOME_OFFSETS)

Marlin/src/module/motion.cpp

@@ -189,7 +189,7 @@ xyz_pos_t cartes;
 
 
   #if ANY(PENTA_AXIS_TRT, PENTA_AXIS_HT)
-    bool tool_centerpoint_control = true;
+    bool tool_centerpoint_control = false;
   #endif
 
 #endif

Marlin/src/module/tool_change.cpp

@@ -1386,7 +1386,13 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
       #endif
 
       #if HAS_HOTEND_OFFSET
-        xyz_pos_t diff = hotend_offset[new_tool] - hotend_offset[old_tool];
+        #if HAS_TOOL_LENGTH_COMPENSATION
+          xyz_pos_t diff{0};
+          if (simple_tool_length_compensation || tool_centerpoint_control)
+            diff = hotend_offset[new_tool] - hotend_offset[old_tool];
+        #else
+          const xyz_pos_t diff = hotend_offset[new_tool] - hotend_offset[old_tool];
+        #endif
         TERN_(DUAL_X_CARRIAGE, diff.x = 0);
       #else
         constexpr xyz_pos_t diff{0};

ini/features.ini

@@ -319,6 +319,7 @@ FILAMENT_LOAD_UNLOAD_GCODES            = build_src_filter=+<src/gcode/feature/pa
 HAS_STEALTHCHOP                        = build_src_filter=+<src/gcode/feature/trinamic/M569.cpp>
 CNC_WORKSPACE_PLANES                   = build_src_filter=+<src/gcode/geometry/G17-G19.cpp>
 CNC_COORDINATE_SYSTEMS                 = build_src_filter=+<src/gcode/geometry/G53-G59.cpp>
+HAS_TOOL_LENGTH_COMPENSATION           = src_filter=+<src/gcode/geometry/G10_G11.cpp> +<src/gcode/geometry/G43_G49.cpp>
 HAS_HOME_OFFSET                        = build_src_filter=+<src/gcode/geometry/M206_M428.cpp>
 EXPECTED_PRINTER_CHECK                 = build_src_filter=+<src/gcode/host/M16.cpp>
 HOST_KEEPALIVE_FEATURE                 = build_src_filter=+<src/gcode/host/M113.cpp>