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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 "../gcode.h"
- #include "../../module/motion.h"
-
- #if ENABLED(I2C_POSITION_ENCODERS)
- #include "../../feature/encoder_i2c.h"
- #endif
-
- /**
- * G92: Set the Current Position to the given X [Y [Z [A [B [C [U [V [W ]]]]]]]] [E] values.
- *
- * Behind the scenes the G92 command may modify the Current Position
- * or the Position Shift depending on settings and sub-commands.
- *
- * Since E has no Workspace Offset, it is always set directly.
- *
- * Without Workspace Offsets (e.g., with NO_WORKSPACE_OFFSETS):
- * G92 : Set NATIVE Current Position to the given X [Y [Z [A [B [C [U [V [W ]]]]]]]] [E].
- *
- * Using Workspace Offsets (default Marlin behavior):
- * G92 : Modify Workspace Offsets so the reported position shows the given X [Y [Z [A [B [C [U [V [W ]]]]]]]] [E].
- * G92.1 : Zero XYZ Workspace Offsets (so the reported position = the native position).
- *
- * With POWER_LOSS_RECOVERY:
- * G92.9 : Set NATIVE Current Position to the given X [Y [Z [A [B [C [U [V [W ]]]]]]]] [E].
- */
- void GcodeSuite::G92() {
-
- #if HAS_EXTRUDERS
- bool sync_E = false;
- #endif
- bool sync_XYZE = false;
-
- #if USE_GCODE_SUBCODES
- const uint8_t subcode_G92 = parser.subcode;
- #else
- constexpr uint8_t subcode_G92 = 0;
- #endif
-
- switch (subcode_G92) {
- default: return; // Ignore unknown G92.x
-
- #if ENABLED(CNC_COORDINATE_SYSTEMS) && !IS_SCARA
- case 1: // G92.1 - Zero the Workspace Offset
- LOOP_NUM_AXES(i) if (position_shift[i]) {
- position_shift[i] = 0;
- update_workspace_offset((AxisEnum)i);
- }
- break;
- #endif
-
- #if ENABLED(POWER_LOSS_RECOVERY)
- case 9: // G92.9 - Set Current Position directly (like Marlin 1.0)
- LOOP_LOGICAL_AXES(i) {
- if (parser.seenval(AXIS_CHAR(i))) {
- if (TERN1(HAS_EXTRUDERS, i != E_AXIS))
- sync_XYZE = true;
- else {
- TERN_(HAS_EXTRUDERS, sync_E = true);
- }
- current_position[i] = parser.value_axis_units((AxisEnum)i);
- }
- }
- break;
- #endif
-
- case 0:
- LOOP_LOGICAL_AXES(i) {
- if (parser.seenval(AXIS_CHAR(i))) {
- const float l = parser.value_axis_units((AxisEnum)i), // Given axis coordinate value, converted to millimeters
- v = TERN0(HAS_EXTRUDERS, i == E_AXIS) ? l : LOGICAL_TO_NATIVE(l, i), // Axis position in NATIVE space (applying the existing offset)
- d = v - current_position[i]; // How much is the current axis position altered by?
- if (!NEAR_ZERO(d)) {
- #if HAS_POSITION_SHIFT && NONE(IS_SCARA, POLARGRAPH) // When using workspaces...
- if (TERN1(HAS_EXTRUDERS, i != E_AXIS)) {
- position_shift[i] += d; // ...most axes offset the workspace...
- update_workspace_offset((AxisEnum)i);
- }
- else {
- #if HAS_EXTRUDERS
- sync_E = true;
- current_position.e = v; // ...but E is set directly
- #endif
- }
- #else // Without workspaces...
- if (TERN1(HAS_EXTRUDERS, i != E_AXIS))
- sync_XYZE = true;
- else {
- TERN_(HAS_EXTRUDERS, sync_E = true);
- }
- current_position[i] = v; // ...set Current Position directly (like Marlin 1.0)
- #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_XYZE) sync_plan_position();
- #if HAS_EXTRUDERS
- else if (sync_E) sync_plan_position_e();
- #endif
-
- IF_DISABLED(DIRECT_STEPPING, report_current_position());
- }
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