Firmware2/Marlin/src/gcode/probe/M951.cpp

/**
 * Marlin 3D Printer Firmware
 * Copyright (C) 2019 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/MarlinConfigPre.h"

#if ENABLED(MAGNETIC_PARKING_EXTRUDER)

#include "../gcode.h"
#include "../../module/tool_change.h"
#include "../../module/motion.h"


mpe_settings_t mpe_settings;

inline void mpe_settings_report() {
  SERIAL_ECHO_START(); SERIAL_ECHOLNPGM("Magnetic Parking Extruder");
  SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR("L: Left parking  :", mpe_settings.parking_xpos[0]);
  SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR("R: Right parking :", mpe_settings.parking_xpos[1]);
  SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR("I: Grab Offset   :", mpe_settings.grab_distance);
  SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR("J: Normal speed  :", long(MMS_TO_MMM(mpe_settings.slow_feedrate)));
  SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR("H: High speed    :", long(MMS_TO_MMM(mpe_settings.fast_feedrate)));
  SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR("D: Distance trav.:", mpe_settings.travel_distance);
  SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR("C: Compenstion   :", mpe_settings.compensation_factor);
}

void mpe_settings_init() {
  constexpr float pex[2] = PARKING_EXTRUDER_PARKING_X;
  mpe_settings.parking_xpos[0]      = pex[0];                         // M951 L
  mpe_settings.parking_xpos[1]      = pex[1];                         // M951 R
  mpe_settings.grab_distance        = PARKING_EXTRUDER_GRAB_DISTANCE; // M951 I
  #if HAS_HOME_OFFSET
    set_home_offset(X_AXIS, mpe_settings.grab_distance * -1);
  #endif
  mpe_settings.slow_feedrate        = MMM_TO_MMS(MPE_SLOW_SPEED);     // M951 J
  mpe_settings.fast_feedrate        = MMM_TO_MMS(MPE_FAST_SPEED);     // M951 H
  mpe_settings.travel_distance      = MPE_TRAVEL_DISTANCE;            // M951 D
  mpe_settings.compensation_factor  = MPE_COMPENSATION;               // M951 C
  mpe_settings_report();
}

void GcodeSuite::M951() {
  if (parser.seenval('L')) mpe_settings.parking_xpos[0] = parser.value_linear_units();
  if (parser.seenval('R')) mpe_settings.parking_xpos[1] = parser.value_linear_units();
  if (parser.seenval('I')) {
    mpe_settings.grab_distance = parser.value_linear_units();
    #if HAS_HOME_OFFSET
      set_home_offset(X_AXIS, mpe_settings.grab_distance * -1);
    #endif
  }
  if (parser.seenval('J')) mpe_settings.slow_feedrate       = MMM_TO_MMS(parser.value_linear_units());
  if (parser.seenval('H')) mpe_settings.fast_feedrate       = MMM_TO_MMS(parser.value_linear_units());
  if (parser.seenval('D')) mpe_settings.travel_distance     = parser.value_linear_units();
  if (parser.seenval('C')) mpe_settings.compensation_factor = parser.value_float();
  if (!parser.seen("CDHIJLR")) mpe_settings_report();
}

#endif // MAGNETIC_PARKING_EXTRUDER