🩹 G60-G61 Save E position (#21810)
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@ -48,10 +48,11 @@ void GcodeSuite::G60() {
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#if ENABLED(SAVED_POSITIONS_DEBUG)
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#if ENABLED(SAVED_POSITIONS_DEBUG)
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const xyze_pos_t &pos = stored_position[slot];
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const xyze_pos_t &pos = stored_position[slot];
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DEBUG_ECHOPAIR_F(STR_SAVED_POS " S", slot);
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DEBUG_ECHOPAIR(STR_SAVED_POS " S", slot);
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DEBUG_ECHOPAIR_F(" : X", pos.x);
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DEBUG_ECHOPAIR_F(" : X", pos.x);
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DEBUG_ECHOPAIR_F_P(SP_Y_STR, pos.y);
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DEBUG_ECHOPAIR_F_P(SP_Y_STR, pos.y);
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DEBUG_ECHOLNPAIR_F_P(SP_Z_STR, pos.z);
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DEBUG_ECHOPAIR_F_P(SP_Z_STR, pos.z);
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DEBUG_ECHOLNPAIR_F_P(SP_E_STR, pos.e);
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#endif
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#endif
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}
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}
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@ -27,6 +27,10 @@
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#include "../../../module/planner.h"
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#include "../../../module/planner.h"
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#include "../../gcode.h"
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#include "../../gcode.h"
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#include "../../../module/motion.h"
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#include "../../../module/motion.h"
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#include "../../../module/planner.h"
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#define DEBUG_OUT ENABLED(SAVED_POSITIONS_DEBUG)
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#include "../../../core/debug_out.h"
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/**
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/**
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* G61: Return to saved position
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* G61: Return to saved position
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@ -34,11 +38,16 @@
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* F<rate> - Feedrate (optional) for the move back.
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* F<rate> - Feedrate (optional) for the move back.
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* S<slot> - Slot # (0-based) to restore from (default 0).
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* S<slot> - Slot # (0-based) to restore from (default 0).
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* X Y Z - Axes to restore. At least one is required.
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* X Y Z - Axes to restore. At least one is required.
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* E - Restore extruder position
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*
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* If XYZE are not given, default restore uses the smart blocking move.
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*/
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*/
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void GcodeSuite::G61(void) {
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void GcodeSuite::G61(void) {
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const uint8_t slot = parser.byteval('S');
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const uint8_t slot = parser.byteval('S');
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#define SYNC_E(POINT) planner.set_e_position_mm((destination.e = current_position.e = (POINT)))
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#if SAVED_POSITIONS < 256
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#if SAVED_POSITIONS < 256
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if (slot >= SAVED_POSITIONS) {
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if (slot >= SAVED_POSITIONS) {
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SERIAL_ERROR_MSG(STR_INVALID_POS_SLOT STRINGIFY(SAVED_POSITIONS));
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SERIAL_ERROR_MSG(STR_INVALID_POS_SLOT STRINGIFY(SAVED_POSITIONS));
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@ -47,25 +56,37 @@ void GcodeSuite::G61(void) {
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#endif
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#endif
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// No saved position? No axes being restored?
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// No saved position? No axes being restored?
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if (!TEST(saved_slots[slot >> 3], slot & 0x07) || !parser.seen("XYZ")) return;
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if (!TEST(saved_slots[slot >> 3], slot & 0x07)) return;
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SERIAL_ECHOPAIR(STR_RESTORING_POS " S", slot);
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LOOP_XYZ(i) {
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destination[i] = parser.seen(XYZ_CHAR(i))
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? stored_position[slot][i] + parser.value_axis_units((AxisEnum)i)
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: current_position[i];
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SERIAL_CHAR(' ', XYZ_CHAR(i));
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SERIAL_ECHO_F(destination[i]);
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}
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SERIAL_EOL();
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// Apply any given feedrate over 0.0
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// Apply any given feedrate over 0.0
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feedRate_t saved_feedrate = feedrate_mm_s;
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feedRate_t saved_feedrate = feedrate_mm_s;
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const float fr = parser.linearval('F');
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const float fr = parser.linearval('F');
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if (fr > 0.0) feedrate_mm_s = MMM_TO_MMS(fr);
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if (fr > 0.0) feedrate_mm_s = MMM_TO_MMS(fr);
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// Move to the saved position
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if (!parser.seen_axis()) {
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prepare_line_to_destination();
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DEBUG_ECHOLNPGM("Default position restore");
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do_blocking_move_to(stored_position[slot], feedrate_mm_s);
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SYNC_E(stored_position[slot].e);
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}
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else {
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if (parser.seen("XYZ")) {
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DEBUG_ECHOPAIR(STR_RESTORING_POS " S", slot);
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LOOP_XYZ(i) {
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destination[i] = parser.seen(XYZ_CHAR(i))
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? stored_position[slot][i] + parser.value_axis_units((AxisEnum)i)
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: current_position[i];
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DEBUG_CHAR(' ', XYZ_CHAR(i));
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DEBUG_ECHO_F(destination[i]);
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}
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DEBUG_EOL();
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// Move to the saved position
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prepare_line_to_destination();
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}
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if (parser.seen_test('E')) {
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DEBUG_ECHOLNPAIR(STR_RESTORING_POS " S", slot, " E", current_position.e, "=>", stored_position[slot].e);
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SYNC_E(stored_position[slot].e);
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}
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}
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feedrate_mm_s = saved_feedrate;
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feedrate_mm_s = saved_feedrate;
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}
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}
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@ -102,7 +102,7 @@ xyze_pos_t destination; // {0}
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// G60/G61 Position Save and Return
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// G60/G61 Position Save and Return
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#if SAVED_POSITIONS
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#if SAVED_POSITIONS
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uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3];
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uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3];
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xyz_pos_t stored_position[SAVED_POSITIONS];
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xyze_pos_t stored_position[SAVED_POSITIONS];
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#endif
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#endif
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// The active extruder (tool). Set with T<extruder> command.
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// The active extruder (tool). Set with T<extruder> command.
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@ -45,7 +45,7 @@ extern xyze_pos_t current_position, // High-level current tool position
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// G60/G61 Position Save and Return
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// G60/G61 Position Save and Return
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#if SAVED_POSITIONS
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#if SAVED_POSITIONS
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extern uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3];
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extern uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3];
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extern xyz_pos_t stored_position[SAVED_POSITIONS];
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extern xyze_pos_t stored_position[SAVED_POSITIONS];
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#endif
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#endif
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// Scratch space for a cartesian result
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// Scratch space for a cartesian result
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