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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"
-
- #if ENABLED(CNC_COORDINATE_SYSTEMS)
-
- #include "../../module/stepper.h"
-
- //#define DEBUG_M53
-
- /**
- * Select a coordinate system and update the workspace offset.
- * System index -1 is used to specify machine-native.
- */
- bool GcodeSuite::select_coordinate_system(const int8_t _new) {
- if (active_coordinate_system == _new) return false;
- active_coordinate_system = _new;
- xyz_float_t new_offset{0};
- if (WITHIN(_new, 0, MAX_COORDINATE_SYSTEMS - 1))
- new_offset = coordinate_system[_new];
- LOOP_XYZ(i) {
- if (position_shift[i] != new_offset[i]) {
- position_shift[i] = new_offset[i];
- update_workspace_offset((AxisEnum)i);
- }
- }
- return true;
- }
-
- /**
- * G53: Apply native workspace to the current move
- *
- * In CNC G-code G53 is a modifier.
- * It precedes a movement command (or other modifiers) on the same line.
- * This is the first command to use parser.chain() to make this possible.
- *
- * Marlin also uses G53 on a line by itself to go back to native space.
- */
- void GcodeSuite::G53() {
- const int8_t old_system = active_coordinate_system;
- select_coordinate_system(-1); // Always remove workspace offsets
- #ifdef DEBUG_M53
- SERIAL_ECHOLNPGM("Go to native space");
- report_current_position();
- #endif
-
- if (parser.chain()) { // Command to chain?
- process_parsed_command(); // ...process the chained command
- select_coordinate_system(old_system);
- #ifdef DEBUG_M53
- SERIAL_ECHOLNPAIR("Go back to workspace ", old_system);
- report_current_position();
- #endif
- }
- }
-
- /**
- * G54-G59.3: Select a new workspace
- *
- * A workspace is an XYZ offset to the machine native space.
- * All workspaces default to 0,0,0 at start, or with EEPROM
- * support they may be restored from a previous session.
- *
- * G92 is used to set the current workspace's offset.
- */
- void G54_59(uint8_t subcode=0) {
- const int8_t _space = parser.codenum - 54 + subcode;
- if (gcode.select_coordinate_system(_space)) {
- SERIAL_ECHOLNPAIR("Select workspace ", _space);
- report_current_position();
- }
- }
- void GcodeSuite::G54() { G54_59(); }
- void GcodeSuite::G55() { G54_59(); }
- void GcodeSuite::G56() { G54_59(); }
- void GcodeSuite::G57() { G54_59(); }
- void GcodeSuite::G58() { G54_59(); }
- void GcodeSuite::G59() { G54_59(parser.subcode); }
-
- #endif // CNC_COORDINATE_SYSTEMS
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