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95 lines
3.0 KiB
95 lines
3.0 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 "../../../inc/MarlinConfig.h"
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#if SAVED_POSITIONS
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#include "../../../module/planner.h"
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#include "../../gcode.h"
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#include "../../../module/motion.h"
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#include "../../../module/planner.h"
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#define DEBUG_OUT ENABLED(SAVED_POSITIONS_DEBUG)
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#include "../../../core/debug_out.h"
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/**
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* G61: Return to saved position
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*
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* F<rate> - Feedrate (optional) for the move back.
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* S<slot> - Slot # (0-based) to restore from (default 0).
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* X Y Z E - Axes to restore. At least one is required.
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*
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* If XYZE are not given, default restore uses the smart blocking move.
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*/
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void GcodeSuite::G61(void) {
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const uint8_t slot = parser.byteval('S');
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#define SYNC_E(POINT) TERN_(HAS_EXTRUDERS, planner.set_e_position_mm((destination.e = current_position.e = (POINT))))
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#if SAVED_POSITIONS < 256
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if (slot >= SAVED_POSITIONS) {
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SERIAL_ERROR_MSG(STR_INVALID_POS_SLOT STRINGIFY(SAVED_POSITIONS));
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return;
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}
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#endif
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// No saved position? No axes being restored?
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if (!TEST(saved_slots[slot >> 3], slot & 0x07)) return;
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// Apply any given feedrate over 0.0
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feedRate_t saved_feedrate = feedrate_mm_s;
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const float fr = parser.linearval('F');
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if (fr > 0.0) feedrate_mm_s = MMM_TO_MMS(fr);
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if (!parser.seen_axis()) {
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DEBUG_ECHOLNPGM("Default position restore");
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do_blocking_move_to(stored_position[slot], feedrate_mm_s);
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SYNC_E(stored_position[slot].e);
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}
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else {
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if (parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z", STR_I, STR_J, STR_K))) {
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DEBUG_ECHOPGM(STR_RESTORING_POS " S", slot);
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LOOP_LINEAR_AXES(i) {
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destination[i] = parser.seen(AXIS_CHAR(i))
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? stored_position[slot][i] + parser.value_axis_units((AxisEnum)i)
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: current_position[i];
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DEBUG_CHAR(' ', AXIS_CHAR(i));
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DEBUG_ECHO_F(destination[i]);
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}
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DEBUG_EOL();
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// Move to the saved position
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prepare_line_to_destination();
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}
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#if HAS_EXTRUDERS
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if (parser.seen_test('E')) {
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DEBUG_ECHOLNPGM(STR_RESTORING_POS " S", slot, " E", current_position.e, "=>", stored_position[slot].e);
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SYNC_E(stored_position[slot].e);
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}
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#endif
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}
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feedrate_mm_s = saved_feedrate;
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}
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#endif // SAVED_POSITIONS
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