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105 lines
3.3 KiB
105 lines
3.3 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 "../../module/stepper.h"
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#if ENABLED(I2C_POSITION_ENCODERS)
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#include "../../feature/encoder_i2c.h"
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#endif
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/**
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* G92: Set current position to given X Y Z E
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*/
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void GcodeSuite::G92() {
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bool sync_E = false, sync_XYZ = false;
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#if ENABLED(USE_GCODE_SUBCODES)
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const uint8_t subcode_G92 = parser.subcode;
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#else
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constexpr uint8_t subcode_G92 = 0;
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#endif
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switch (subcode_G92) {
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default: break;
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#if ENABLED(CNC_COORDINATE_SYSTEMS)
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case 1: {
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// Zero the G92 values and restore current position
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#if !IS_SCARA
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LOOP_XYZ(i) if (position_shift[i]) {
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position_shift[i] = 0;
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update_workspace_offset((AxisEnum)i);
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}
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#endif // Not SCARA
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} return;
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#endif
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#if ENABLED(POWER_LOSS_RECOVERY)
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case 9: {
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LOOP_XYZE(i) {
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if (parser.seenval(axis_codes[i])) {
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current_position[i] = parser.value_axis_units((AxisEnum)i);
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if (i == E_AXIS) sync_E = true; else sync_XYZ = true;
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}
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}
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} break;
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#endif
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case 0: {
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LOOP_XYZE(i) {
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if (parser.seenval(axis_codes[i])) {
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const float l = parser.value_axis_units((AxisEnum)i),
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v = i == E_AXIS ? l : LOGICAL_TO_NATIVE(l, i),
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d = v - current_position[i];
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if (!NEAR_ZERO(d)) {
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#if IS_SCARA || !HAS_POSITION_SHIFT
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if (i == E_AXIS) sync_E = true; else sync_XYZ = true;
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current_position[i] = v; // Without workspaces revert to Marlin 1.0 behavior
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#elif HAS_POSITION_SHIFT
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if (i == E_AXIS) {
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sync_E = true;
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current_position.e = v; // When using coordinate spaces, only E is set directly
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}
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else {
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position_shift[i] += d; // Other axes simply offset the coordinate space
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update_workspace_offset((AxisEnum)i);
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}
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#endif
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}
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}
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}
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} break;
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}
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#if ENABLED(CNC_COORDINATE_SYSTEMS)
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// Apply workspace offset to the active coordinate system
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if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
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coordinate_system[active_coordinate_system] = position_shift;
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#endif
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if (sync_XYZ) sync_plan_position();
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else if (sync_E) sync_plan_position_e();
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#if DISABLED(DIRECT_STEPPING)
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report_current_position();
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#endif
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}
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