Backport #4167: expose absolute machine position as #5021-#5029 (2.9)#4168
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Backport #4167: expose absolute machine position as #5021-#5029 (2.9)#4168grandixximo wants to merge 1 commit into
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Add a machine-coordinate current-position parameter set, matching the layout used by other controllers. Reading machine coordinates previously required either summing the individual offset registers by formula or the G30.1 trick (which writes the absolute position into X Y Z A B C U V W, in the current program units, with no coordinate system, G92/G52 or tool length offset applied. They are read-only and volatile, filled each line alongside #5420-#5428 and not persisted to the var file. This is the same value already available as the #<_abs_*> named parameters, which until now existed only for X Y Z A B C; the U V W named parameters (#<_abs_u>, #<_abs_v>, #<_abs_w>) are added to match. The shared computation is factored into get_abs_position().
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Backport of #4167 to 2.9.
Adds a machine-coordinate current-position parameter set,
#5021-#5029, for X Y Z A B C U V W: the current absolute machine position (G53 frame), with no coordinate system, G92/G52 or tool length offset applied, in the current program units. Read-only and volatile, filled each line alongside#5420-#5428and not persisted to the var file.Also adds the
#<_abs_u>,#<_abs_v>,#<_abs_w>named parameters so the existing#<_abs_*>set (previously X Y Z A B C only) covers all nine axes. The shared computation is factored intoget_abs_position(). The G38 documentation is updated to use this for converting a probe result to machine coordinates.This is purely additive: it introduces new read-only parameters and does not change the value or behavior of any existing parameter. The only change to existing tests is the introspection dump in tests/remap/introspect, which now lists the three new named parameters.
Cherry-picked cleanly except for two trivial resolutions: the array is named
_readonly_parameterson 2.9, and the introspect expected output was regenerated on 2.9.Verified on 2.9: clean build, the new interp test passes, and 98/98 in tests/interp + tests/remap + tests/tlo + tests/g38.
@andypugh tagging you for the 2.9 sign-off. This adds parameters on the stable branch, if what landed yesterday was ok, this is better IMO.