1 files changed, 61 insertions, 0 deletions
diff --git a/Marlin/src/gcode/motion/G6.cpp b/Marlin/src/gcode/motion/G6.cpp
new file mode 100644
index 0000000..168dc28
--- /dev/null
+++ b/Marlin/src/gcode/motion/G6.cpp
@@ -0,0 +1,61 @@
+/**
+ * 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(DIRECT_STEPPING)
+
+#include "../../feature/direct_stepping.h"
+
+#include "../gcode.h"
+#include "../../module/planner.h"
+
+/**
+ * G6: Direct Stepper Move
+ */
+void GcodeSuite::G6() {
+  // TODO: feedrate support?
+  if (parser.seen('R'))
+    planner.last_page_step_rate = parser.value_ulong();
+
+  if (!DirectStepping::Config::DIRECTIONAL) {
+    if (parser.seen('X')) planner.last_page_dir.x = !!parser.value_byte();
+    if (parser.seen('Y')) planner.last_page_dir.y = !!parser.value_byte();
+    if (parser.seen('Z')) planner.last_page_dir.z = !!parser.value_byte();
+    if (parser.seen('E')) planner.last_page_dir.e = !!parser.value_byte();
+  }
+
+  // No index means we just set the state
+  if (!parser.seen('I')) return;
+
+  // No speed is set, can't schedule the move
+  if (!planner.last_page_step_rate) return;
+
+  const page_idx_t page_idx = (page_idx_t) parser.value_ulong();
+
+  uint16_t num_steps = DirectStepping::Config::TOTAL_STEPS;
+  if (parser.seen('S')) num_steps = parser.value_ushort();
+
+  planner.buffer_page(page_idx, 0, num_steps);
+  reset_stepper_timeout();
+}
+
+#endif // DIRECT_STEPPING