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135 lines
4.7 KiB
135 lines
4.7 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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#include "../../MarlinCore.h"
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#if BOTH(FWRETRACT, FWRETRACT_AUTORETRACT)
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#include "../../feature/fwretract.h"
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#endif
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#include "../../sd/cardreader.h"
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#if ENABLED(NANODLP_Z_SYNC)
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#include "../../module/planner.h"
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#endif
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extern xyze_pos_t destination;
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#if ENABLED(VARIABLE_G0_FEEDRATE)
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feedRate_t fast_move_feedrate = MMM_TO_MMS(G0_FEEDRATE);
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#endif
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/**
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* G0, G1: Coordinated movement of X Y Z E axes
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*/
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void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) {
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if (IsRunning()
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#if ENABLED(NO_MOTION_BEFORE_HOMING)
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&& !homing_needed_error(
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NUM_AXIS_GANG(
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(parser.seen_test('X') ? _BV(X_AXIS) : 0),
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| (parser.seen_test('Y') ? _BV(Y_AXIS) : 0),
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| (parser.seen_test('Z') ? _BV(Z_AXIS) : 0),
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| (parser.seen_test(AXIS4_NAME) ? _BV(I_AXIS) : 0),
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| (parser.seen_test(AXIS5_NAME) ? _BV(J_AXIS) : 0),
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| (parser.seen_test(AXIS6_NAME) ? _BV(K_AXIS) : 0),
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| (parser.seen_test(AXIS7_NAME) ? _BV(U_AXIS) : 0),
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| (parser.seen_test(AXIS8_NAME) ? _BV(V_AXIS) : 0),
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| (parser.seen_test(AXIS9_NAME) ? _BV(W_AXIS) : 0))
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)
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#endif
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) {
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TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_RUNNING));
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#ifdef G0_FEEDRATE
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feedRate_t old_feedrate;
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#if ENABLED(VARIABLE_G0_FEEDRATE)
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if (fast_move) {
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old_feedrate = feedrate_mm_s; // Back up the (old) motion mode feedrate
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feedrate_mm_s = fast_move_feedrate; // Get G0 feedrate from last usage
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}
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#endif
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#endif
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get_destination_from_command(); // Get X Y [Z[I[J[K]]]] [E] F (and set cutter power)
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#ifdef G0_FEEDRATE
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if (fast_move) {
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#if ENABLED(VARIABLE_G0_FEEDRATE)
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fast_move_feedrate = feedrate_mm_s; // Save feedrate for the next G0
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#else
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old_feedrate = feedrate_mm_s; // Back up the (new) motion mode feedrate
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feedrate_mm_s = MMM_TO_MMS(G0_FEEDRATE); // Get the fixed G0 feedrate
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#endif
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}
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#endif
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#if BOTH(FWRETRACT, FWRETRACT_AUTORETRACT)
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if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
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// When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves
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if (fwretract.autoretract_enabled && parser.seen_test('E')
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&& !parser.seen(STR_AXES_MAIN)
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) {
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const float echange = destination.e - current_position.e;
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// Is this a retract or recover move?
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if (WITHIN(ABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && fwretract.retracted[active_extruder] == (echange > 0.0)) {
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current_position.e = destination.e; // Hide a G1-based retract/recover from calculations
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sync_plan_position_e(); // AND from the planner
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return fwretract.retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored)
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}
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}
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}
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#endif // FWRETRACT
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#if IS_SCARA
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fast_move ? prepare_fast_move_to_destination() : prepare_line_to_destination();
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#else
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prepare_line_to_destination();
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#endif
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#ifdef G0_FEEDRATE
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// Restore the motion mode feedrate
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if (fast_move) feedrate_mm_s = old_feedrate;
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#endif
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#if ENABLED(NANODLP_Z_SYNC)
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#if ENABLED(NANODLP_ALL_AXIS)
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#define _MOVE_SYNC parser.seenval('X') || parser.seenval('Y') || parser.seenval('Z') // For any move wait and output sync message
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#else
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#define _MOVE_SYNC parser.seenval('Z') // Only for Z move
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#endif
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if (_MOVE_SYNC) {
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planner.synchronize();
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SERIAL_ECHOLNPGM(STR_Z_MOVE_COMP);
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}
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TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE));
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#else
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TERN_(FULL_REPORT_TO_HOST_FEATURE, report_current_grblstate_moving());
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#endif
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}
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}
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