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🩹 G60-G61 Save E position (#21810)

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vyacheslav-shubin 2021-05-12 10:17:06 +03:00 committed by Scott Lahteine
parent 02e131b5fd
commit ed224ca7d8
4 changed files with 39 additions and 17 deletions
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5
Marlin/src/gcode/feature/pause/G60.cpp
View file

@ -48,10 +48,11 @@ void GcodeSuite::G60() {
#if ENABLED(SAVED_POSITIONS_DEBUG)
const xyze_pos_t &pos = stored_position[slot];
DEBUG_ECHOPAIR_F(STR_SAVED_POS " S", slot);
DEBUG_ECHOPAIR(STR_SAVED_POS " S", slot);
DEBUG_ECHOPAIR_F(" : X", pos.x);
DEBUG_ECHOPAIR_F_P(SP_Y_STR, pos.y);
DEBUG_ECHOLNPAIR_F_P(SP_Z_STR, pos.z);
DEBUG_ECHOPAIR_F_P(SP_Z_STR, pos.z);
DEBUG_ECHOLNPAIR_F_P(SP_E_STR, pos.e);
#endif
}

47
Marlin/src/gcode/feature/pause/G61.cpp
View file

@ -27,6 +27,10 @@
#include "../../../module/planner.h"
#include "../../gcode.h"
#include "../../../module/motion.h"
#include "../../../module/planner.h"
#define DEBUG_OUT ENABLED(SAVED_POSITIONS_DEBUG)
#include "../../../core/debug_out.h"
/**
* G61: Return to saved position
@ -34,11 +38,16 @@
* 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.
* E - Restore extruder position
*
* If XYZE are not given, default restore uses the smart blocking move.
*/
void GcodeSuite::G61(void) {
const uint8_t slot = parser.byteval('S');
#define SYNC_E(POINT) planner.set_e_position_mm((destination.e = current_position.e = (POINT)))
#if SAVED_POSITIONS < 256
if (slot >= SAVED_POSITIONS) {
SERIAL_ERROR_MSG(STR_INVALID_POS_SLOT STRINGIFY(SAVED_POSITIONS));
@ -47,25 +56,37 @@ void GcodeSuite::G61(void) {
#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();
if (!TEST(saved_slots[slot >> 3], slot & 0x07)) return;
// 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();
if (!parser.seen_axis()) {
DEBUG_ECHOLNPGM("Default position restore");
do_blocking_move_to(stored_position[slot], feedrate_mm_s);
SYNC_E(stored_position[slot].e);
}
else {
if (parser.seen("XYZ")) {
DEBUG_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];
DEBUG_CHAR(' ', XYZ_CHAR(i));
DEBUG_ECHO_F(destination[i]);
}
DEBUG_EOL();
// Move to the saved position
prepare_line_to_destination();
}
if (parser.seen_test('E')) {
DEBUG_ECHOLNPAIR(STR_RESTORING_POS " S", slot, " E", current_position.e, "=>", stored_position[slot].e);
SYNC_E(stored_position[slot].e);
}
}
feedrate_mm_s = saved_feedrate;
}

2
Marlin/src/module/motion.cpp
View file

@ -102,7 +102,7 @@ xyze_pos_t destination; // {0}
// G60/G61 Position Save and Return
#if SAVED_POSITIONS
uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3];
xyz_pos_t stored_position[SAVED_POSITIONS];
xyze_pos_t stored_position[SAVED_POSITIONS];
#endif
// The active extruder (tool). Set with T<extruder> command.

2
Marlin/src/module/motion.h
View file

@ -45,7 +45,7 @@ extern xyze_pos_t current_position, // High-level current tool position
// G60/G61 Position Save and Return
#if SAVED_POSITIONS
extern uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3];
extern xyz_pos_t stored_position[SAVED_POSITIONS];
extern xyze_pos_t stored_position[SAVED_POSITIONS];
#endif
// Scratch space for a cartesian result