My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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G61.cpp 2.1KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. #include "../../../inc/MarlinConfig.h"
  23. #if SAVED_POSITIONS
  24. #include "../../../core/language.h"
  25. #include "../../../module/planner.h"
  26. #include "../../gcode.h"
  27. #include "../../../module/motion.h"
  28. /**
  29. * G61: Return to saved position
  30. *
  31. * F<rate> - Feedrate (optional) for the move back.
  32. * S<slot> - Slot # (0-based) to restore from (default 0).
  33. * X Y Z - Axes to restore. At least one is required.
  34. */
  35. void GcodeSuite::G61(void) {
  36. const uint8_t slot = parser.byteval('S');
  37. #if SAVED_POSITIONS < 256
  38. if (slot >= SAVED_POSITIONS) {
  39. SERIAL_ERROR_MSG(STR_INVALID_POS_SLOT STRINGIFY(SAVED_POSITIONS));
  40. return;
  41. }
  42. #endif
  43. // No saved position? No axes being restored?
  44. if (!TEST(saved_slots[slot >> 3], slot & 0x07) || !parser.seen("XYZ")) return;
  45. // Apply any given feedrate over 0.0
  46. const float fr = parser.linearval('F');
  47. if (fr > 0.0) feedrate_mm_s = MMM_TO_MMS(fr);
  48. SERIAL_ECHOPAIR(STR_RESTORING_POS " S", int(slot));
  49. LOOP_XYZ(i) {
  50. destination[i] = parser.seen(XYZ_CHAR(i))
  51. ? stored_position[slot][i] + parser.value_axis_units((AxisEnum)i)
  52. : current_position[i];
  53. SERIAL_CHAR(' ', XYZ_CHAR(i));
  54. SERIAL_ECHO_F(destination[i]);
  55. }
  56. SERIAL_EOL();
  57. // Move to the saved position
  58. prepare_line_to_destination();
  59. }
  60. #endif // SAVED_POSITIONS