You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
73 lines
2.2 KiB
73 lines
2.2 KiB
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|
*
|
|
* Based on Sprinter and grbl.
|
|
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
|
|
*
|
|
* This program is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program. If not, see <https://www.gnu.org/licenses/>.
|
|
*
|
|
*/
|
|
|
|
#include "../../../inc/MarlinConfig.h"
|
|
|
|
#if SAVED_POSITIONS
|
|
|
|
#include "../../../module/planner.h"
|
|
#include "../../gcode.h"
|
|
#include "../../../module/motion.h"
|
|
|
|
/**
|
|
* G61: Return to saved position
|
|
*
|
|
* F<rate> - Feedrate (optional) for the move back.
|
|
* S<slot> - Slot # (0-based) to restore from (default 0).
|
|
* X Y Z - Axes to restore. At least one is required.
|
|
*/
|
|
void GcodeSuite::G61(void) {
|
|
|
|
const uint8_t slot = parser.byteval('S');
|
|
|
|
#if SAVED_POSITIONS < 256
|
|
if (slot >= SAVED_POSITIONS) {
|
|
SERIAL_ERROR_MSG(STR_INVALID_POS_SLOT STRINGIFY(SAVED_POSITIONS));
|
|
return;
|
|
}
|
|
#endif
|
|
|
|
// No saved position? No axes being restored?
|
|
if (!TEST(saved_slots[slot >> 3], slot & 0x07) || !parser.seen("XYZ")) return;
|
|
|
|
SERIAL_ECHOPAIR(STR_RESTORING_POS " S", slot);
|
|
LOOP_XYZ(i) {
|
|
destination[i] = parser.seen(XYZ_CHAR(i))
|
|
? stored_position[slot][i] + parser.value_axis_units((AxisEnum)i)
|
|
: current_position[i];
|
|
SERIAL_CHAR(' ', XYZ_CHAR(i));
|
|
SERIAL_ECHO_F(destination[i]);
|
|
}
|
|
SERIAL_EOL();
|
|
|
|
// Apply any given feedrate over 0.0
|
|
feedRate_t saved_feedrate = feedrate_mm_s;
|
|
const float fr = parser.linearval('F');
|
|
if (fr > 0.0) feedrate_mm_s = MMM_TO_MMS(fr);
|
|
|
|
// Move to the saved position
|
|
prepare_line_to_destination();
|
|
|
|
feedrate_mm_s = saved_feedrate;
|
|
}
|
|
|
|
#endif // SAVED_POSITIONS
|
|
|