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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 SAVED_POSITIONS
-
- #include "../../../core/language.h"
- #include "../../../module/planner.h"
- #include "../../gcode.h"
- #include "../../../module/motion.h"
-
- /**
- * G61: Return to saved position
- *
- * F<rate> - Feedrate (optional) for the move back.
- * S<slot> - Slot # (0-based) to restore from (default 0).
- * X Y Z - Axes to restore. At least one is required.
- */
- void GcodeSuite::G61(void) {
-
- const uint8_t slot = parser.byteval('S');
-
- #if SAVED_POSITIONS < 256
- if (slot >= SAVED_POSITIONS) {
- SERIAL_ERROR_MSG(STR_INVALID_POS_SLOT STRINGIFY(SAVED_POSITIONS));
- return;
- }
- #endif
-
- // No saved position? No axes being restored?
- if (!TEST(saved_slots[slot >> 3], slot & 0x07) || !parser.seen("XYZ")) return;
-
- // Apply any given feedrate over 0.0
- const float fr = parser.linearval('F');
- if (fr > 0.0) feedrate_mm_s = MMM_TO_MMS(fr);
-
- SERIAL_ECHOPAIR(STR_RESTORING_POS " S", int(slot));
- LOOP_XYZ(i) {
- destination[i] = parser.seen(XYZ_CHAR(i))
- ? stored_position[slot][i] + parser.value_axis_units((AxisEnum)i)
- : current_position[i];
- SERIAL_CHAR(' ', XYZ_CHAR(i));
- SERIAL_ECHO_F(destination[i]);
- }
- SERIAL_EOL();
-
- // Move to the saved position
- prepare_line_to_destination();
- }
-
- #endif // SAVED_POSITIONS
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