100 lines
3 KiB
C++
100 lines
3 KiB
C++
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
|
|
*
|
|
*/
|
|
|
|
#include "../gcode.h"
|
|
#include "../../module/motion.h"
|
|
#include "../../module/stepper.h"
|
|
|
|
#if ENABLED(I2C_POSITION_ENCODERS)
|
|
#include "../../feature/I2CPositionEncoder.h"
|
|
#endif
|
|
|
|
/**
|
|
* G92: Set current position to given X Y Z E
|
|
*/
|
|
void GcodeSuite::G92() {
|
|
|
|
#if ENABLED(CNC_COORDINATE_SYSTEMS)
|
|
switch (parser.subcode) {
|
|
case 1:
|
|
// Zero the G92 values and restore current position
|
|
#if !IS_SCARA
|
|
LOOP_XYZ(i) {
|
|
const float v = position_shift[i];
|
|
if (v) {
|
|
position_shift[i] = 0;
|
|
update_workspace_offset((AxisEnum)i);
|
|
}
|
|
}
|
|
#endif // Not SCARA
|
|
return;
|
|
}
|
|
#endif
|
|
|
|
#if ENABLED(CNC_COORDINATE_SYSTEMS)
|
|
#define IS_G92_0 (parser.subcode == 0)
|
|
#else
|
|
#define IS_G92_0 true
|
|
#endif
|
|
|
|
bool didE = false;
|
|
#if IS_SCARA || !HAS_POSITION_SHIFT
|
|
bool didXYZ = false;
|
|
#else
|
|
constexpr bool didXYZ = false;
|
|
#endif
|
|
|
|
if (IS_G92_0) LOOP_XYZE(i) {
|
|
if (parser.seenval(axis_codes[i])) {
|
|
const float l = parser.value_axis_units((AxisEnum)i),
|
|
v = i == E_AXIS ? l : LOGICAL_TO_NATIVE(l, i),
|
|
d = v - current_position[i];
|
|
if (!NEAR_ZERO(d)) {
|
|
#if IS_SCARA || !HAS_POSITION_SHIFT
|
|
if (i == E_AXIS) didE = true; else didXYZ = true;
|
|
current_position[i] = v; // Without workspaces revert to Marlin 1.0 behavior
|
|
#elif HAS_POSITION_SHIFT
|
|
if (i == E_AXIS) {
|
|
didE = true;
|
|
current_position[E_AXIS] = v; // When using coordinate spaces, only E is set directly
|
|
}
|
|
else {
|
|
position_shift[i] += d; // Other axes simply offset the coordinate space
|
|
update_workspace_offset((AxisEnum)i);
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
}
|
|
|
|
#if ENABLED(CNC_COORDINATE_SYSTEMS)
|
|
// Apply workspace offset to the active coordinate system
|
|
if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
|
|
COPY(coordinate_system[active_coordinate_system], position_shift);
|
|
#endif
|
|
|
|
if (didXYZ) sync_plan_position();
|
|
else if (didE) sync_plan_position_e();
|
|
|
|
report_current_position();
|
|
}
|