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1 files changed, 105 insertions, 0 deletions

diff --git a/Marlin/src/gcode/geometry/G92.cpp b/Marlin/src/gcode/geometry/G92.cpp
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+++ b/Marlin/src/gcode/geometry/G92.cpp
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../gcode.h"
+#include "../../module/motion.h"
+#include "../../module/stepper.h"
+
+#if ENABLED(I2C_POSITION_ENCODERS)
+  #include "../../feature/encoder_i2c.h"
+#endif
+
+/**
+ * G92: Set current position to given X Y Z E
+ */
+void GcodeSuite::G92() {
+
+  bool sync_E = false, sync_XYZ = false;
+
+  #if ENABLED(USE_GCODE_SUBCODES)
+    const uint8_t subcode_G92 = parser.subcode;
+  #else
+    constexpr uint8_t subcode_G92 = 0;
+  #endif
+
+  switch (subcode_G92) {
+    default: break;
+    #if ENABLED(CNC_COORDINATE_SYSTEMS)
+      case 1: {
+        // Zero the G92 values and restore current position
+        #if !IS_SCARA
+          LOOP_XYZ(i) if (position_shift[i]) {
+            position_shift[i] = 0;
+            update_workspace_offset((AxisEnum)i);
+          }
+        #endif // Not SCARA
+      } return;
+    #endif
+    #if ENABLED(POWER_LOSS_RECOVERY)
+      case 9: {
+        LOOP_XYZE(i) {
+          if (parser.seenval(axis_codes[i])) {
+            current_position[i] = parser.value_axis_units((AxisEnum)i);
+            if (i == E_AXIS) sync_E = true; else sync_XYZ = true;
+          }
+        }
+      } break;
+    #endif
+    case 0: {
+      LOOP_XYZE(i) {
+        if (parser.seenval(axis_codes[i])) {
+          const float l = parser.value_axis_units((AxisEnum)i),
+                      v = i == E_AXIS ? l : LOGICAL_TO_NATIVE(l, i),
+                      d = v - current_position[i];
+          if (!NEAR_ZERO(d)) {
+            #if IS_SCARA || !HAS_POSITION_SHIFT
+              if (i == E_AXIS) sync_E = true; else sync_XYZ = true;
+              current_position[i] = v;        // Without workspaces revert to Marlin 1.0 behavior
+            #elif HAS_POSITION_SHIFT
+              if (i == E_AXIS) {
+                sync_E = true;
+                current_position.e = v;       // When using coordinate spaces, only E is set directly
+              }
+              else {
+                position_shift[i] += d;       // Other axes simply offset the coordinate space
+                update_workspace_offset((AxisEnum)i);
+              }
+            #endif
+          }
+        }
+      }
+    } break;
+  }
+
+  #if ENABLED(CNC_COORDINATE_SYSTEMS)
+    // Apply workspace offset to the active coordinate system
+    if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
+      coordinate_system[active_coordinate_system] = position_shift;
+  #endif
+
+  if    (sync_XYZ) sync_plan_position();
+  else if (sync_E) sync_plan_position_e();
+
+  #if DISABLED(DIRECT_STEPPING)
+    report_current_position();
+  #endif
+}