134 lines
5.0 KiB
C++
134 lines
5.0 KiB
C++
/**
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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 the Current Position to the given X [Y [Z [A [B [C [U [V [W ]]]]]]]] [E] values.
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*
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* Behind the scenes the G92 command may modify the Current Position
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* or the Position Shift depending on settings and sub-commands.
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*
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* Since E has no Workspace Offset, it is always set directly.
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*
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* Without Workspace Offsets (e.g., with NO_WORKSPACE_OFFSETS):
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* G92 : Set NATIVE Current Position to the given X [Y [Z [A [B [C [U [V [W ]]]]]]]] [E].
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*
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* Using Workspace Offsets (default Marlin behavior):
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* G92 : Modify Workspace Offsets so the reported position shows the given X [Y [Z [A [B [C [U [V [W ]]]]]]]] [E].
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* G92.1 : Zero XYZ Workspace Offsets (so the reported position = the native position).
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*
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* With POWER_LOSS_RECOVERY:
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* G92.9 : Set NATIVE Current Position to the given X [Y [Z [A [B [C [U [V [W ]]]]]]]] [E].
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*/
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void GcodeSuite::G92() {
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#if HAS_EXTRUDERS
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bool sync_E = false;
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#endif
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bool sync_XYZE = false;
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#if 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: return; // Ignore unknown G92.x
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#if ENABLED(CNC_COORDINATE_SYSTEMS) && !IS_SCARA
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case 1: // G92.1 - Zero the Workspace Offset
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LOOP_NUM_AXES(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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break;
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#endif
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#if ENABLED(POWER_LOSS_RECOVERY)
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case 9: // G92.9 - Set Current Position directly (like Marlin 1.0)
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LOOP_LOGICAL_AXES(i) {
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if (parser.seenval(AXIS_CHAR(i))) {
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if (TERN1(HAS_EXTRUDERS, i != E_AXIS))
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sync_XYZE = true;
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else {
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TERN_(HAS_EXTRUDERS, sync_E = true);
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}
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current_position[i] = parser.value_axis_units((AxisEnum)i);
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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_LOGICAL_AXES(i) {
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if (parser.seenval(AXIS_CHAR(i))) {
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const float l = parser.value_axis_units((AxisEnum)i), // Given axis coordinate value, converted to millimeters
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v = TERN0(HAS_EXTRUDERS, i == E_AXIS) ? l : LOGICAL_TO_NATIVE(l, i), // Axis position in NATIVE space (applying the existing offset)
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d = v - current_position[i]; // How much is the current axis position altered by?
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if (!NEAR_ZERO(d)) {
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#if HAS_POSITION_SHIFT && NONE(IS_SCARA, POLARGRAPH) // When using workspaces...
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if (TERN1(HAS_EXTRUDERS, i != E_AXIS)) {
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position_shift[i] += d; // ...most axes offset the workspace...
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update_workspace_offset((AxisEnum)i);
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}
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else {
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#if HAS_EXTRUDERS
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sync_E = true;
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current_position.e = v; // ...but E is set directly
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#endif
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}
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#else // Without workspaces...
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if (TERN1(HAS_EXTRUDERS, i != E_AXIS))
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sync_XYZE = true;
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else {
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TERN_(HAS_EXTRUDERS, sync_E = true);
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}
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current_position[i] = v; // ...set Current Position directly (like Marlin 1.0)
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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_XYZE) sync_plan_position();
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#if HAS_EXTRUDERS
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else if (sync_E) sync_plan_position_e();
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#endif
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IF_DISABLED(DIRECT_STEPPING, report_current_position());
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}
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