1 files changed, 121 insertions, 0 deletions
diff --git a/Marlin/src/gcode/motion/G0_G1.cpp b/Marlin/src/gcode/motion/G0_G1.cpp
new file mode 100644
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--- /dev/null
+++ b/Marlin/src/gcode/motion/G0_G1.cpp
@@ -0,0 +1,121 @@
+/**
+ * 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 "../../MarlinCore.h"
+
+#if BOTH(FWRETRACT, FWRETRACT_AUTORETRACT)
+  #include "../../feature/fwretract.h"
+#endif
+
+#include "../../sd/cardreader.h"
+
+#if ENABLED(NANODLP_Z_SYNC)
+  #include "../../module/stepper.h"
+#endif
+
+extern xyze_pos_t destination;
+
+#if ENABLED(VARIABLE_G0_FEEDRATE)
+  feedRate_t fast_move_feedrate = MMM_TO_MMS(G0_FEEDRATE);
+#endif
+
+/**
+ * G0, G1: Coordinated movement of X Y Z E axes
+ */
+void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) {
+
+  if (IsRunning()
+    #if ENABLED(NO_MOTION_BEFORE_HOMING)
+      && !homing_needed_error(
+          (parser.seen('X') ? _BV(X_AXIS) : 0)
+        | (parser.seen('Y') ? _BV(Y_AXIS) : 0)
+        | (parser.seen('Z') ? _BV(Z_AXIS) : 0) )
+    #endif
+  ) {
+
+    #ifdef G0_FEEDRATE
+      feedRate_t old_feedrate;
+      #if ENABLED(VARIABLE_G0_FEEDRATE)
+        if (fast_move) {
+          old_feedrate = feedrate_mm_s;             // Back up the (old) motion mode feedrate
+          feedrate_mm_s = fast_move_feedrate;       // Get G0 feedrate from last usage
+        }
+      #endif
+    #endif
+
+    get_destination_from_command();                 // Get X Y Z E F (and set cutter power)
+
+    #ifdef G0_FEEDRATE
+      if (fast_move) {
+        #if ENABLED(VARIABLE_G0_FEEDRATE)
+          fast_move_feedrate = feedrate_mm_s;       // Save feedrate for the next G0
+        #else
+          old_feedrate = feedrate_mm_s;             // Back up the (new) motion mode feedrate
+          feedrate_mm_s = MMM_TO_MMS(G0_FEEDRATE);  // Get the fixed G0 feedrate
+        #endif
+      }
+    #endif
+
+    #if BOTH(FWRETRACT, FWRETRACT_AUTORETRACT)
+
+      if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
+        // When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves
+        if (fwretract.autoretract_enabled && parser.seen('E') && !(parser.seen('X') || parser.seen('Y') || parser.seen('Z'))) {
+          const float echange = destination.e - current_position.e;
+          // Is this a retract or recover move?
+          if (WITHIN(ABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && fwretract.retracted[active_extruder] == (echange > 0.0)) {
+            current_position.e = destination.e;       // Hide a G1-based retract/recover from calculations
+            sync_plan_position_e();                   // AND from the planner
+            return fwretract.retract(echange < 0.0);  // Firmware-based retract/recover (double-retract ignored)
+          }
+        }
+      }
+
+    #endif // FWRETRACT
+
+    #if IS_SCARA
+      fast_move ? prepare_fast_move_to_destination() : prepare_line_to_destination();
+    #else
+      prepare_line_to_destination();
+    #endif
+
+    #ifdef G0_FEEDRATE
+      // Restore the motion mode feedrate
+      if (fast_move) feedrate_mm_s = old_feedrate;
+    #endif
+
+    #if ENABLED(NANODLP_Z_SYNC)
+      #if ENABLED(NANODLP_ALL_AXIS)
+        #define _MOVE_SYNC parser.seenval('X') || parser.seenval('Y') || parser.seenval('Z')  // For any move wait and output sync message
+      #else
+        #define _MOVE_SYNC parser.seenval('Z')  // Only for Z move
+      #endif
+      if (_MOVE_SYNC) {
+        planner.synchronize();
+        SERIAL_ECHOLNPGM(STR_Z_MOVE_COMP);
+      }
+    #endif
+  }
+}