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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(BEZIER_CURVE_SUPPORT)
-
- #if AXIS_COLLISION('I') || AXIS_COLLISION('J')
- #error "G5 parameter 'I' or 'J' collision with axis name."
- #endif
-
- #include "../../module/motion.h"
- #include "../../module/planner_bezier.h"
-
- /**
- * Parameters interpreted according to:
- * https://linuxcnc.org/docs/2.7/html/gcode/g-code.html#gcode:g5
- * However I, J omission is not supported at this point; all
- * parameters can be omitted and default to zero.
- */
-
- #include "../gcode.h"
- #include "../../MarlinCore.h" // for IsRunning()
-
- /**
- * G5: Cubic B-spline
- */
- void GcodeSuite::G5() {
- if (MOTION_CONDITIONS) {
-
- #if ENABLED(CNC_WORKSPACE_PLANES)
- if (workspace_plane != PLANE_XY) {
- SERIAL_ERROR_MSG(STR_ERR_BAD_PLANE_MODE);
- return;
- }
- #endif
-
- get_destination_from_command();
-
- const xy_pos_t offsets[2] = {
- { parser.linearval('I'), parser.linearval('J') },
- { parser.linearval('P'), parser.linearval('Q') }
- };
-
- cubic_b_spline(current_position, destination, offsets, MMS_SCALED(feedrate_mm_s), active_extruder);
- current_position = destination;
- }
- }
-
- #endif // BEZIER_CURVE_SUPPORT
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