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101 lines
3.2 KiB
101 lines
3.2 KiB
/**
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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 "../gcode.h"
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#include "../../module/motion.h"
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#if ENABLED(CNC_COORDINATE_SYSTEMS)
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#include "../../module/stepper.h"
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//#define DEBUG_M53
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/**
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* Select a coordinate system and update the workspace offset.
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* System index -1 is used to specify machine-native.
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*/
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bool GcodeSuite::select_coordinate_system(const int8_t _new) {
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if (active_coordinate_system == _new) return false;
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active_coordinate_system = _new;
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xyz_float_t new_offset{0};
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if (WITHIN(_new, 0, MAX_COORDINATE_SYSTEMS - 1))
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new_offset = coordinate_system[_new];
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LOOP_LINEAR_AXES(i) {
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if (position_shift[i] != new_offset[i]) {
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position_shift[i] = new_offset[i];
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update_workspace_offset((AxisEnum)i);
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}
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}
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return true;
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}
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/**
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* G53: Apply native workspace to the current move
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*
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* In CNC G-code G53 is a modifier.
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* It precedes a movement command (or other modifiers) on the same line.
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* This is the first command to use parser.chain() to make this possible.
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*
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* Marlin also uses G53 on a line by itself to go back to native space.
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*/
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void GcodeSuite::G53() {
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const int8_t old_system = active_coordinate_system;
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select_coordinate_system(-1); // Always remove workspace offsets
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#ifdef DEBUG_M53
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SERIAL_ECHOLNPGM("Go to native space");
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report_current_position();
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#endif
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if (parser.chain()) { // Command to chain?
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process_parsed_command(); // ...process the chained command
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select_coordinate_system(old_system);
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#ifdef DEBUG_M53
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SERIAL_ECHOLNPAIR("Go back to workspace ", old_system);
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report_current_position();
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#endif
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}
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}
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/**
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* G54-G59.3: Select a new workspace
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*
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* A workspace is an XYZ offset to the machine native space.
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* All workspaces default to 0,0,0 at start, or with EEPROM
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* support they may be restored from a previous session.
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*
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* G92 is used to set the current workspace's offset.
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*/
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void G54_59(uint8_t subcode=0) {
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const int8_t _space = parser.codenum - 54 + subcode;
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if (gcode.select_coordinate_system(_space)) {
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SERIAL_ECHOLNPAIR("Select workspace ", _space);
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report_current_position();
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}
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}
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void GcodeSuite::G54() { G54_59(); }
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void GcodeSuite::G55() { G54_59(); }
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void GcodeSuite::G56() { G54_59(); }
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void GcodeSuite::G57() { G54_59(); }
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void GcodeSuite::G58() { G54_59(); }
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void GcodeSuite::G59() { G54_59(parser.subcode); }
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#endif // CNC_COORDINATE_SYSTEMS
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