CMS/Marlin
3
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

G60/G61 Position Save/Restore (#16557)

Browse Source
This commit is contained in:
Hans007a 2020-01-07 20:52:19 +01:00 committed by Scott Lahteine
parent a0a93e35ae
commit e2eef1256a
10 changed files with 183 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
Marlin/Configuration_adv.h
View File

@ -1576,6 +1576,11 @@
// @section extras
//
// G60/G61 Position Save and Return
//
//#define SAVED_POSITIONS 1 // Each saved position slot costs 12 bytes
//
// G2/G3 Arc Support
//

8
Marlin/src/HAL/HAL_STM32/timers.h
View File

@ -61,8 +61,6 @@
#define HAL_TIMER_RATE (F_CPU / 2) // frequency of timer peripherals
// STM32F401 only has timers 1-5 & 9-11 with timers 4 & 5 usually assigned to TIMER_SERVO and TIMER_TONE
#ifndef STEP_TIMER
#define STEP_TIMER 9
#endif
@ -76,11 +74,11 @@
#define HAL_TIMER_RATE (F_CPU / 2) // frequency of timer peripherals
#ifndef STEP_TIMER
#define STEP_TIMER 6
#define STEP_TIMER 6 // STM32F401 has no TIM6, TIM7, or TIM8
#endif
#ifndef TEMP_TIMER
#define TEMP_TIMER 14
#define TEMP_TIMER 14 // TIM7 is consumed by Software Serial if used.
#endif
#elif defined(STM32F7xx)
@ -88,7 +86,7 @@
#define HAL_TIMER_RATE (F_CPU / 2) // frequency of timer peripherals
#ifndef STEP_TIMER
#define STEP_TIMER 6
#define STEP_TIMER 6 // the RIGHT timer!
#endif
#ifndef TEMP_TIMER

4
Marlin/src/core/language.h
View File

@ -222,6 +222,10 @@
#define MSG_SOFT_MIN " Min: "
#define MSG_SOFT_MAX " Max: "
#define MSG_SAVED_POS "Position saved"
#define MSG_RESTORING_POS "Restoring position"
#define MSG_INVALID_POS_SLOT "Invalid slot. Total: "
#define MSG_SD_CANT_OPEN_SUBDIR "Cannot open subdir "
#define MSG_SD_INIT_FAIL "SD init fail"
#define MSG_SD_VOL_INIT_FAIL "volume.init failed"

59
Marlin/src/gcode/feature/pause/G60.cpp Normal file
View File

@ -0,0 +1,59 @@
/**
* 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/MarlinConfig.h"
#if SAVED_POSITIONS
#include "../../../core/language.h"
#include "../../gcode.h"
#include "../../../module/motion.h"
#define DEBUG_OUT ENABLED(SAVED_POSITIONS_DEBUG)
#include "../../../core/debug_out.h"
/**
* G60: Save current position
*
* S<slot> - Memory slot # (0-based) to save into (default 0)
*/
void GcodeSuite::G60() {
const uint8_t slot = parser.byteval('S');
if (slot >= SAVED_POSITIONS) {
SERIAL_ERROR_MSG(MSG_INVALID_POS_SLOT STRINGIFY(SAVED_POSITIONS));
return;
}
stored_position[slot] = current_position;
SBI(saved_slots, slot);
#if ENABLED(SAVED_POSITIONS_DEBUG)
const xyze_pos_t &pos = stored_position[slot];
DEBUG_ECHOPAIR_F(MSG_SAVED_POS " S", slot);
DEBUG_ECHOPAIR_F(" : X", pos.x);
DEBUG_ECHOPAIR_F_P(SP_Y_STR, pos.y);
DEBUG_ECHOLNPAIR_F_P(SP_Z_STR, pos.z);
#endif
}
#endif // SAVED_POSITIONS

71
Marlin/src/gcode/feature/pause/G61.cpp Normal file
View File

@ -0,0 +1,71 @@
/**
* 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/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(MSG_INVALID_POS_SLOT STRINGIFY(SAVED_POSITIONS));
return;
}
#endif
// No saved position? No axes being restored?
if (!TEST(saved_slots, slot) || !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(MSG_RESTORING_POS " S", int(slot));
LOOP_XYZ(i) {
destination[i] = parser.seen(axis_codes[i])
? stored_position[slot][i] + parser.value_axis_units((AxisEnum)i)
: current_position[i];
SERIAL_CHAR(' ', axis_codes[i]);
SERIAL_ECHO_F(destination[i]);
}
SERIAL_EOL();
// Move to the saved position
prepare_move_to_destination();
}
#endif // SAVED_POSITIONS

22
Marlin/src/gcode/gcode.cpp
View File

@ -314,19 +314,27 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
#endif
#if ENABLED(CNC_COORDINATE_SYSTEMS)
case 53: G53(); break;
case 54: G54(); break;
case 55: G55(); break;
case 56: G56(); break;
case 57: G57(); break;
case 58: G58(); break;
case 59: G59(); break;
case 53: G53(); break; // G53: (prefix) Apply native workspace
case 54: G54(); break; // G54: Switch to Workspace 1
case 55: G55(); break; // G55: Switch to Workspace 2
case 56: G56(); break; // G56: Switch to Workspace 3
case 57: G57(); break; // G57: Switch to Workspace 4
case 58: G58(); break; // G58: Switch to Workspace 5
case 59: G59(); break; // G59.0 - G59.3: Switch to Workspace 6-9
#endif
#if SAVED_POSITIONS
case 60: G60(); break; // G60: save current position
case 61: G61(); break; // G61: Apply/restore saved coordinates.
#endif
#if ENABLED(PROBE_TEMP_COMPENSATION)
case 76: G76(); break; // G76: Calibrate first layer compensation values
#endif
case 60: G60(); break; // G60: save current position
case 61: G61(); break; // G61: Apply/restore saved coordinates.
#if ENABLED(GCODE_MOTION_MODES)
case 80: G80(); break; // G80: Reset the current motion mode
#endif

7
Marlin/src/gcode/gcode.h
View File

@ -67,6 +67,8 @@
* G34 - Z Stepper automatic alignment using probe: I<iterations> T<accuracy> A<amplification> (Requires Z_STEPPER_AUTO_ALIGN)
* G38 - Probe in any direction using the Z_MIN_PROBE (Requires G38_PROBE_TARGET)
* G42 - Coordinated move to a mesh point (Requires MESH_BED_LEVELING, AUTO_BED_LEVELING_BLINEAR, or AUTO_BED_LEVELING_UBL)
* G60 - Save current position. (Requires SAVED_POSITIONS)
* G61 - Apply/restore saved coordinates. (Requires SAVED_POSITIONS)
* G76 - Calibrate first layer temperature offsets. (Requires PROBE_TEMP_COMPENSATION)
* G80 - Cancel current motion mode (Requires GCODE_MOTION_MODES)
* G90 - Use Absolute Coordinates
@ -471,6 +473,11 @@ private:
static void G76();
#endif
#if SAVED_POSITIONS
static void G60();
static void G61();
#endif
#if ENABLED(GCODE_MOTION_MODES)
static void G80();
#endif

5
Marlin/src/inc/Conditionals_adv.h
View File

@ -142,3 +142,8 @@
#if ENABLED(JOYSTICK)
#define POLL_JOG
#endif
// G60/G61 Position Save
#if SAVED_POSITIONS > 256
#error "SAVED_POSITIONS must be an integer from 0 to 256."
#endif

8
Marlin/src/module/motion.cpp
View File

@ -109,9 +109,15 @@ xyze_pos_t current_position = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS };
*/
xyze_pos_t destination; // {0}
// G60/G61 Position Save and Return
#if SAVED_POSITIONS
uint8_t saved_slots;
xyz_pos_t stored_position[SAVED_POSITIONS];
#endif
// The active extruder (tool). Set with T<extruder> command.
#if EXTRUDERS > 1
uint8_t active_extruder; // = 0
uint8_t active_extruder = 0; // = 0
#endif
#if ENABLED(LCD_SHOW_E_TOTAL)

6
Marlin/src/module/motion.h
View File

@ -65,6 +65,12 @@ extern bool relative_mode;
extern xyze_pos_t current_position, // High-level current tool position
destination; // Destination for a move
// G60/G61 Position Save and Return
#if SAVED_POSITIONS
extern uint8_t saved_slots;
extern xyz_pos_t stored_position[SAVED_POSITIONS];
#endif
// Scratch space for a cartesian result
extern xyz_pos_t cartes;