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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 "../../inc/MarlinConfig.h"
-
- #if ENABLED(DIRECT_STEPPING)
-
- #include "../../feature/direct_stepping.h"
-
- #include "../gcode.h"
- #include "../../module/planner.h"
-
- /**
- * G6: Direct Stepper Move
- */
- void GcodeSuite::G6() {
- // TODO: feedrate support?
- if (parser.seen('R'))
- planner.last_page_step_rate = parser.value_ulong();
-
- if (!DirectStepping::Config::DIRECTIONAL) {
- if (parser.seen('X')) planner.last_page_dir.x = !!parser.value_byte();
- if (parser.seen('Y')) planner.last_page_dir.y = !!parser.value_byte();
- if (parser.seen('Z')) planner.last_page_dir.z = !!parser.value_byte();
- if (parser.seen('E')) planner.last_page_dir.e = !!parser.value_byte();
- }
-
- // No index means we just set the state
- if (!parser.seen('I')) return;
-
- // No speed is set, can't schedule the move
- if (!planner.last_page_step_rate) return;
-
- const page_idx_t page_idx = (page_idx_t) parser.value_ulong();
-
- uint16_t num_steps = DirectStepping::Config::TOTAL_STEPS;
- if (parser.seen('S')) num_steps = parser.value_ushort();
-
- planner.buffer_page(page_idx, 0, num_steps);
- reset_stepper_timeout();
- }
-
- #endif // DIRECT_STEPPING
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