1 files changed, 65 insertions, 0 deletions
diff --git a/Marlin/src/gcode/motion/G5.cpp b/Marlin/src/gcode/motion/G5.cpp
new file mode 100644
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+++ b/Marlin/src/gcode/motion/G5.cpp
@@ -0,0 +1,65 @@
+/**
+ * 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 "../../inc/MarlinConfig.h"
+
+#if ENABLED(BEZIER_CURVE_SUPPORT)
+
+#include "../../module/motion.h"
+#include "../../module/planner_bezier.h"
+
+/**
+ * Parameters interpreted according to:
+ * https://linuxcnc.org/docs/2.7/html/gcode/g-code.html#gcode:g5
+ * However I, J omission is not supported at this point; all
+ * parameters can be omitted and default to zero.
+ */
+
+#include "../gcode.h"
+#include "../../MarlinCore.h" // for IsRunning()
+
+/**
+ * G5: Cubic B-spline
+ */
+void GcodeSuite::G5() {
+  if (MOTION_CONDITIONS) {
+
+    #if ENABLED(CNC_WORKSPACE_PLANES)
+      if (workspace_plane != PLANE_XY) {
+        SERIAL_ERROR_MSG(STR_ERR_BAD_PLANE_MODE);
+        return;
+      }
+    #endif
+
+    get_destination_from_command();
+
+    const xy_pos_t offsets[2] = {
+      { parser.linearval('I'), parser.linearval('J') },
+      { parser.linearval('P'), parser.linearval('Q') }
+    };
+
+    cubic_b_spline(current_position, destination, offsets, MMS_SCALED(feedrate_mm_s), active_extruder);
+    current_position = destination;
+  }
+}
+
+#endif // BEZIER_CURVE_SUPPORT