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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 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/encoder_i2c.h"
- #endif
-
- /**
- * G92: Set current position to given X Y Z E
- */
- void GcodeSuite::G92() {
-
- bool sync_E = false, sync_XYZ = false;
-
- #if ENABLED(USE_GCODE_SUBCODES)
- const uint8_t subcode_G92 = parser.subcode;
- #else
- constexpr uint8_t subcode_G92 = 0;
- #endif
-
- switch (subcode_G92) {
- default: break;
- #if ENABLED(CNC_COORDINATE_SYSTEMS)
- case 1: {
- // Zero the G92 values and restore current position
- #if !IS_SCARA
- LOOP_XYZ(i) if (position_shift[i]) {
- position_shift[i] = 0;
- update_workspace_offset((AxisEnum)i);
- }
- #endif // Not SCARA
- } return;
- #endif
- #if ENABLED(POWER_LOSS_RECOVERY)
- case 9: {
- LOOP_XYZE(i) {
- if (parser.seenval(axis_codes[i])) {
- current_position[i] = parser.value_axis_units((AxisEnum)i);
- if (i == E_AXIS) sync_E = true; else sync_XYZ = true;
- }
- }
- } break;
- #endif
- case 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) sync_E = true; else sync_XYZ = true;
- current_position[i] = v; // Without workspaces revert to Marlin 1.0 behavior
- #elif HAS_POSITION_SHIFT
- if (i == E_AXIS) {
- sync_E = true;
- current_position.e = 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
- }
- }
- }
- } break;
- }
-
- #if ENABLED(CNC_COORDINATE_SYSTEMS)
- // Apply workspace offset to the active coordinate system
- if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
- coordinate_system[active_coordinate_system] = position_shift;
- #endif
-
- if (sync_XYZ) sync_plan_position();
- else if (sync_E) sync_plan_position_e();
-
- report_current_position();
- }
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