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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 "../../MarlinCore.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 xyze_pos_t destination;
-
- #if ENABLED(VARIABLE_G0_FEEDRATE)
- feedRate_t fast_move_feedrate = 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)
- const bool fast_move/*=false*/
- #endif
- ) {
-
- if (IsRunning()
- #if ENABLED(NO_MOTION_BEFORE_HOMING)
- && !axis_unhomed_error(
- (parser.seen('X') ? _BV(X_AXIS) : 0)
- | (parser.seen('Y') ? _BV(Y_AXIS) : 0)
- | (parser.seen('Z') ? _BV(Z_AXIS) : 0) )
- #endif
- ) {
-
- #ifdef G0_FEEDRATE
- feedRate_t old_feedrate;
- #if ENABLED(VARIABLE_G0_FEEDRATE)
- if (fast_move) {
- old_feedrate = feedrate_mm_s; // Back up the (old) motion mode feedrate
- feedrate_mm_s = fast_move_feedrate; // Get G0 feedrate from last usage
- }
- #endif
- #endif
-
- get_destination_from_command(); // Process X Y Z E F parameters
-
- #ifdef G0_FEEDRATE
- if (fast_move) {
- #if ENABLED(VARIABLE_G0_FEEDRATE)
- fast_move_feedrate = feedrate_mm_s; // Save feedrate for the next G0
- #else
- old_feedrate = 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 - current_position.e;
- // 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 = destination.e; // 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_fast_move_to_destination() : prepare_line_to_destination();
- #else
- prepare_line_to_destination();
- #endif
-
- #ifdef G0_FEEDRATE
- // Restore the motion mode feedrate
- if (fast_move) feedrate_mm_s = old_feedrate;
- #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(STR_Z_MOVE_COMP);
- }
- #endif
- }
- }
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