1 files changed, 70 insertions, 0 deletions
diff --git a/Marlin/src/gcode/bedlevel/ubl/M421.cpp b/Marlin/src/gcode/bedlevel/ubl/M421.cpp
new file mode 100644
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+++ b/Marlin/src/gcode/bedlevel/ubl/M421.cpp
@@ -0,0 +1,70 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * unified.cpp - Unified Bed Leveling
+ */
+
+#include "../../../inc/MarlinConfig.h"
+
+#if ENABLED(AUTO_BED_LEVELING_UBL)
+
+#include "../../gcode.h"
+#include "../../../feature/bedlevel/bedlevel.h"
+
+#if ENABLED(EXTENSIBLE_UI)
+  #include "../../../lcd/extui/ui_api.h"
+#endif
+
+/**
+ * M421: Set a single Mesh Bed Leveling Z coordinate
+ *
+ * Usage:
+ *   M421 I<xindex> J<yindex> Z<linear>
+ *   M421 I<xindex> J<yindex> Q<offset>
+ *   M421 I<xindex> J<yindex> N
+ *   M421 C Z<linear>
+ *   M421 C Q<offset>
+ */
+void GcodeSuite::M421() {
+  xy_int8_t ij = { int8_t(parser.intval('I', -1)), int8_t(parser.intval('J', -1)) };
+  const bool hasI = ij.x >= 0,
+             hasJ = ij.y >= 0,
+             hasC = parser.seen('C'),
+             hasN = parser.seen('N'),
+             hasZ = parser.seen('Z'),
+             hasQ = !hasZ && parser.seen('Q');
+
+  if (hasC) ij = ubl.find_closest_mesh_point_of_type(REAL, current_position);
+
+  if (int(hasC) + int(hasI && hasJ) != 1 || !(hasZ || hasQ || hasN))
+    SERIAL_ERROR_MSG(STR_ERR_M421_PARAMETERS);
+  else if (!WITHIN(ij.x, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(ij.y, 0, GRID_MAX_POINTS_Y - 1))
+    SERIAL_ERROR_MSG(STR_ERR_MESH_XY);
+  else {
+    float &zval = ubl.z_values[ij.x][ij.y];
+    zval = hasN ? NAN : parser.value_linear_units() + (hasQ ? zval : 0);
+    TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(ij.x, ij.y, zval));
+  }
+}
+
+#endif // AUTO_BED_LEVELING_UBL