123 lines
4.0 KiB
C++
123 lines
4.0 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../gcode.h"
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#include "../../module/motion.h"
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#include "../../Marlin.h"
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#if ENABLED(FWRETRACT) && ENABLED(FWRETRACT_AUTORETRACT)
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#include "../../feature/fwretract.h"
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#endif
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#include "../../sd/cardreader.h"
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#if ENABLED(NANODLP_Z_SYNC)
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#include "../../module/stepper.h"
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#endif
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extern float destination[XYZE];
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#if ENABLED(VARIABLE_G0_FEEDRATE)
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float saved_g0_feedrate_mm_s = MMM_TO_MMS(G0_FEEDRATE);
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#endif
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/**
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* G0, G1: Coordinated movement of X Y Z E axes
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*/
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void GcodeSuite::G0_G1(
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#if IS_SCARA || defined(G0_FEEDRATE)
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bool fast_move/*=false*/
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#endif
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) {
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if (IsRunning()
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#if ENABLED(NO_MOTION_BEFORE_HOMING)
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&& !axis_unhomed_error(parser.seen('X'), parser.seen('Y'), parser.seen('Z'))
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#endif
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) {
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#ifdef G0_FEEDRATE
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float saved_feedrate_mm_s;
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#if ENABLED(VARIABLE_G0_FEEDRATE)
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if (fast_move) {
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saved_feedrate_mm_s = feedrate_mm_s; // Back up the (old) motion mode feedrate
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feedrate_mm_s = saved_g0_feedrate_mm_s; // Get G0 feedrate from last usage
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}
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#endif
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#endif
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get_destination_from_command(); // For X Y Z E F
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#ifdef G0_FEEDRATE
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if (fast_move) {
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#if ENABLED(VARIABLE_G0_FEEDRATE)
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saved_g0_feedrate_mm_s = feedrate_mm_s; // Save feedrate for the next G0
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#else
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saved_feedrate_mm_s = feedrate_mm_s; // Back up the (new) motion mode feedrate
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feedrate_mm_s = MMM_TO_MMS(G0_FEEDRATE); // Get the fixed G0 feedrate
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#endif
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}
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#endif
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#if ENABLED(FWRETRACT) && ENABLED(FWRETRACT_AUTORETRACT)
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if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
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// When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves
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if (fwretract.autoretract_enabled && parser.seen('E') && !(parser.seen('X') || parser.seen('Y') || parser.seen('Z'))) {
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const float echange = destination[E_AXIS] - current_position[E_AXIS];
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// Is this a retract or recover move?
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if (WITHIN(ABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && fwretract.retracted[active_extruder] == (echange > 0.0)) {
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current_position[E_AXIS] = destination[E_AXIS]; // Hide a G1-based retract/recover from calculations
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sync_plan_position_e(); // AND from the planner
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return fwretract.retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored)
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}
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}
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}
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#endif // FWRETRACT
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#if IS_SCARA
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fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination();
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#else
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prepare_move_to_destination();
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#endif
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#ifdef G0_FEEDRATE
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// Restore the motion mode feedrate
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if (fast_move) feedrate_mm_s = saved_feedrate_mm_s;
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#endif
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#if ENABLED(NANODLP_Z_SYNC)
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#if ENABLED(NANODLP_ALL_AXIS)
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#define _MOVE_SYNC parser.seenval('X') || parser.seenval('Y') || parser.seenval('Z') // For any move wait and output sync message
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#else
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#define _MOVE_SYNC parser.seenval('Z') // Only for Z move
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#endif
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if (_MOVE_SYNC) {
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planner.synchronize();
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SERIAL_ECHOLNPGM(MSG_Z_MOVE_COMP);
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}
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#endif
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}
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}
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