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ExternalAxis: option (b) homing - user A=0 at home, deterministic on re-home

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Three changes that together implement option (b) home semantics:

1. Mach.home for the external axis: replace G28.3 with explicit
   AVR position sync (Cmd.set_axis) + planner abs sync
   (position_change) + G92 a0 (set user-coord origin to current
   physical position, computing offset = home_position_mm).

   G28.3 was wrong: it preserves the current user-coord position
   and adjusts the offset to bridge to the new abs. After a move
   away from home and a re-home, the offset accumulates
   (134 -> 268 -> ...). G92 a0 with a freshly-synced abs always
   produces offset = home_position_mm regardless of prior state.

2. Planner.__encode: stop stripping the external axis target from
   the AVR line. The AVR has no motor mapped to A so it steps no
   motor, but exec_move_to_target updates ex.position[A] which
   gets reported back as ap. Leaving A in the AVR target keeps
   state.ap consistent with gplan's idea of A; stripping it left
   ex.position[A] stale and clobbered ExternalAxis's state.ap on
   the next status report.

   Side benefit: removes the special-case empty-string return for
   pure external moves; every line block follows the same path now.

3. ExternalAxis.enqueue_target_mm: stop writing to state.<axis>p
   from the planner hot path. The AVR's status reports drive it
   instead, which avoids DRO jitter (jump to target then snap back
   to intermediate values as the trapezoid runs). _pos_mm internal
   mirror is still updated for delta computation.

Re-verified with the integration smoke test in tmp/20260503_option_b/:
home/move-down/move-up/re-home/home-from-bottom all produce the
expected DRO position values (0 at home, -134 at bottom).
This commit is contained in:
Henrik Muehe
2026-05-03 10:46:47 +02:00
parent 7cdab010b3
commit 56c3406f25
4 changed files with 93 additions and 63 deletions
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22
src/pug/templates/control-view.pug
View File

@@ -92,17 +92,21 @@ script#control-view-template(type="text/x-template")
.fa.fa-arrow-down.ico(style="transform: rotate(-45deg)")
button.jbtn(@click="jog_fn(0, 0, -1, 0)") Z−
// Row 4 — W axis (auxcnc) when enabled.
// W- | W+ | Probe XYZ | Probe Z
// "Home W" lives in the DRO table's actions column on the
// right, so it doesn't need a tile here.
template(v-if="w.enabled")
button.jbtn(@click="aux_jog_incr(-1)", :disabled="!w.enabled")
// Row 4 — A axis (the auxcnc-driven external axis) when enabled.
// A- | A+ | Probe XYZ | Probe Z
// "Home A" lives in the DRO table's actions column on the
// right, so it doesn't need a tile here. The legacy w.enabled
// gate is kept so older installs (where the auxcnc axis still
// appears as W via the side-channel) keep working.
template(v-if="w.enabled || a.enabled")
button.jbtn(@click="aux_jog_incr(-1)",
:disabled="!(w.enabled || a.enabled)")
.fa.fa-arrow-down.ico
span.lbl W−
button.jbtn(@click="aux_jog_incr(+1)", :disabled="!w.enabled")
span.lbl A−
button.jbtn(@click="aux_jog_incr(+1)",
:disabled="!(w.enabled || a.enabled)")
.fa.fa-arrow-up.ico
span.lbl W+
span.lbl A+
button.jbtn(@click="showProbeDialog('xyz')",
:class="{'load-on': !state['pw']}")
.fa.fa-bullseye.ico