/** * Marlin 3D Printer Firmware * Copyright (c) 2019 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 . * */ #include "../gcode.h" #include "../../module/motion.h" #include "../../Marlin.h" #if BOTH(FWRETRACT, FWRETRACT_AUTORETRACT) #include "../../feature/fwretract.h" #endif #include "../../sd/cardreader.h" #if ENABLED(NANODLP_Z_SYNC) #include "../../module/stepper.h" #endif extern float destination[XYZE]; #if ENABLED(VARIABLE_G0_FEEDRATE) float saved_g0_feedrate_mm_s = MMM_TO_MMS(G0_FEEDRATE); #endif /** * G0, G1: Coordinated movement of X Y Z E axes */ void GcodeSuite::G0_G1( #if IS_SCARA || defined(G0_FEEDRATE) bool fast_move/*=false*/ #endif ) { if (IsRunning() #if ENABLED(NO_MOTION_BEFORE_HOMING) && !axis_unhomed_error(parser.seen('X'), parser.seen('Y'), parser.seen('Z')) #endif ) { #ifdef G0_FEEDRATE float saved_feedrate_mm_s; #if ENABLED(VARIABLE_G0_FEEDRATE) if (fast_move) { saved_feedrate_mm_s = feedrate_mm_s; // Back up the (old) motion mode feedrate feedrate_mm_s = saved_g0_feedrate_mm_s; // Get G0 feedrate from last usage } #endif #endif get_destination_from_command(); // For X Y Z E F #ifdef G0_FEEDRATE if (fast_move) { #if ENABLED(VARIABLE_G0_FEEDRATE) saved_g0_feedrate_mm_s = feedrate_mm_s; // Save feedrate for the next G0 #else saved_feedrate_mm_s = feedrate_mm_s; // Back up the (new) motion mode feedrate feedrate_mm_s = MMM_TO_MMS(G0_FEEDRATE); // Get the fixed G0 feedrate #endif } #endif #if BOTH(FWRETRACT, FWRETRACT_AUTORETRACT) if (MIN_AUTORETRACT <= MAX_AUTORETRACT) { // When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves if (fwretract.autoretract_enabled && parser.seen('E') && !(parser.seen('X') || parser.seen('Y') || parser.seen('Z'))) { const float echange = destination[E_AXIS] - current_position[E_AXIS]; // Is this a retract or recover move? if (WITHIN(ABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && fwretract.retracted[active_extruder] == (echange > 0.0)) { current_position[E_AXIS] = destination[E_AXIS]; // Hide a G1-based retract/recover from calculations sync_plan_position_e(); // AND from the planner return fwretract.retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored) } } } #endif // FWRETRACT #if IS_SCARA fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination(); #else prepare_move_to_destination(); #endif #ifdef G0_FEEDRATE // Restore the motion mode feedrate if (fast_move) feedrate_mm_s = saved_feedrate_mm_s; #endif #if ENABLED(NANODLP_Z_SYNC) #if ENABLED(NANODLP_ALL_AXIS) #define _MOVE_SYNC parser.seenval('X') || parser.seenval('Y') || parser.seenval('Z') // For any move wait and output sync message #else #define _MOVE_SYNC parser.seenval('Z') // Only for Z move #endif if (_MOVE_SYNC) { planner.synchronize(); SERIAL_ECHOLNPGM(MSG_Z_MOVE_COMP); } #endif } }