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/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfig.h"
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#if ENABLED(DIRECT_STEPPING)
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#include "../../feature/direct_stepping.h"
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#include "../gcode.h"
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#include "../../module/planner.h"
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/**
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* G6: Direct Stepper Move
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*/
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void GcodeSuite::G6() {
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// TODO: feedrate support?
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if (parser.seen('R'))
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planner.last_page_step_rate = parser.value_ulong();
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if (!DirectStepping::Config::DIRECTIONAL) {
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if (parser.seen('X')) planner.last_page_dir.x = !!parser.value_byte();
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if (parser.seen('Y')) planner.last_page_dir.y = !!parser.value_byte();
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if (parser.seen('Z')) planner.last_page_dir.z = !!parser.value_byte();
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if (parser.seen('E')) planner.last_page_dir.e = !!parser.value_byte();
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}
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// No index means we just set the state
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if (!parser.seen('I')) return;
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// No speed is set, can't schedule the move
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if (!planner.last_page_step_rate) return;
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const page_idx_t page_idx = (page_idx_t) parser.value_ulong();
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uint16_t num_steps = DirectStepping::Config::TOTAL_STEPS;
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if (parser.seen('S')) num_steps = parser.value_ushort();
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planner.buffer_page(page_idx, 0, num_steps);
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reset_stepper_timeout();
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}
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#endif // DIRECT_STEPPING
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