123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135 |
- /**
- * 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"
-
- #include "../../MarlinCore.h"
-
- #if BOTH(FWRETRACT, FWRETRACT_AUTORETRACT)
- #include "../../feature/fwretract.h"
- #endif
-
- #include "../../sd/cardreader.h"
-
- #if ENABLED(NANODLP_Z_SYNC)
- #include "../../module/planner.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(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) {
-
- if (IsRunning()
- #if ENABLED(NO_MOTION_BEFORE_HOMING)
- && !homing_needed_error(
- NUM_AXIS_GANG(
- (parser.seen_test('X') ? _BV(X_AXIS) : 0),
- | (parser.seen_test('Y') ? _BV(Y_AXIS) : 0),
- | (parser.seen_test('Z') ? _BV(Z_AXIS) : 0),
- | (parser.seen_test(AXIS4_NAME) ? _BV(I_AXIS) : 0),
- | (parser.seen_test(AXIS5_NAME) ? _BV(J_AXIS) : 0),
- | (parser.seen_test(AXIS6_NAME) ? _BV(K_AXIS) : 0),
- | (parser.seen_test(AXIS7_NAME) ? _BV(U_AXIS) : 0),
- | (parser.seen_test(AXIS8_NAME) ? _BV(V_AXIS) : 0),
- | (parser.seen_test(AXIS9_NAME) ? _BV(W_AXIS) : 0))
- )
- #endif
- ) {
- TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_RUNNING));
-
- #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(); // Get X Y [Z[I[J[K]]]] [E] F (and set cutter power)
-
- #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_test('E')
- && !parser.seen(STR_AXES_MAIN)
- ) {
- 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);
- }
- TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE));
- #else
- TERN_(FULL_REPORT_TO_HOST_FEATURE, report_current_grblstate_moving());
- #endif
- }
- }
|