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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 <https://www.gnu.org/licenses/>.
- *
- */
-
- #include "../../inc/MarlinConfig.h"
-
- #if ENABLED(SKEW_CORRECTION_GCODE)
-
- #include "../gcode.h"
- #include "../../module/planner.h"
-
- /**
- * M852: Get or set the machine skew factors. Reports current values with no arguments.
- *
- * S[xy_factor] - Alias for 'I'
- * I[xy_factor] - New XY skew factor
- * J[xz_factor] - New XZ skew factor
- * K[yz_factor] - New YZ skew factor
- */
- void GcodeSuite::M852() {
- if (!parser.seen("SIJK")) return M852_report();
-
- uint8_t badval = 0, setval = 0;
-
- if (parser.seenval('I') || parser.seenval('S')) {
- const float value = parser.value_linear_units();
- if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX)) {
- if (planner.skew_factor.xy != value) {
- planner.skew_factor.xy = value;
- ++setval;
- }
- }
- else
- ++badval;
- }
-
- #if ENABLED(SKEW_CORRECTION_FOR_Z)
-
- if (parser.seenval('J')) {
- const float value = parser.value_linear_units();
- if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX)) {
- if (planner.skew_factor.xz != value) {
- planner.skew_factor.xz = value;
- ++setval;
- }
- }
- else
- ++badval;
- }
-
- if (parser.seenval('K')) {
- const float value = parser.value_linear_units();
- if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX)) {
- if (planner.skew_factor.yz != value) {
- planner.skew_factor.yz = value;
- ++setval;
- }
- }
- else
- ++badval;
- }
-
- #endif
-
- if (badval)
- SERIAL_ECHOLNPGM(STR_SKEW_MIN " " STRINGIFY(SKEW_FACTOR_MIN) " " STR_SKEW_MAX " " STRINGIFY(SKEW_FACTOR_MAX));
-
- // When skew is changed the current position changes
- if (setval) {
- set_current_from_steppers_for_axis(ALL_AXES_ENUM);
- sync_plan_position();
- report_current_position();
- }
- }
-
- void GcodeSuite::M852_report(const bool forReplay/*=true*/) {
- report_heading_etc(forReplay, F(STR_SKEW_FACTOR));
- SERIAL_ECHOPAIR_F(" M852 I", planner.skew_factor.xy, 6);
- #if ENABLED(SKEW_CORRECTION_FOR_Z)
- SERIAL_ECHOPAIR_F(" J", planner.skew_factor.xz, 6);
- SERIAL_ECHOPAIR_F(" K", planner.skew_factor.yz, 6);
- SERIAL_ECHOLNPGM(" ; XY, XZ, YZ");
- #else
- SERIAL_ECHOLNPGM(" ; XY");
- #endif
- }
-
- #endif // SKEW_CORRECTION_GCODE
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