From e8701195e66f2d27ffe17fb514eae8173795aaf7 Mon Sep 17 00:00:00 2001
From: Georgiy Bondarenko <69736697+nehilo@users.noreply.github.com>
Date: Thu, 4 Mar 2021 22:54:23 +0500
Subject: Initial commit

---
 Marlin/src/gcode/geometry/G17-G19.cpp   |  53 ++++++++++++++++
 Marlin/src/gcode/geometry/G53-G59.cpp   | 101 ++++++++++++++++++++++++++++++
 Marlin/src/gcode/geometry/G92.cpp       | 105 ++++++++++++++++++++++++++++++++
 Marlin/src/gcode/geometry/M206_M428.cpp |  94 ++++++++++++++++++++++++++++
 4 files changed, 353 insertions(+)
 create mode 100644 Marlin/src/gcode/geometry/G17-G19.cpp
 create mode 100644 Marlin/src/gcode/geometry/G53-G59.cpp
 create mode 100644 Marlin/src/gcode/geometry/G92.cpp
 create mode 100644 Marlin/src/gcode/geometry/M206_M428.cpp

(limited to 'Marlin/src/gcode/geometry')

diff --git a/Marlin/src/gcode/geometry/G17-G19.cpp b/Marlin/src/gcode/geometry/G17-G19.cpp
new file mode 100644
index 0000000..7510eab
--- /dev/null
+++ b/Marlin/src/gcode/geometry/G17-G19.cpp
@@ -0,0 +1,53 @@
+/**
+ * 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(CNC_WORKSPACE_PLANES)
+
+#include "../gcode.h"
+
+inline void report_workspace_plane() {
+  SERIAL_ECHO_START();
+  SERIAL_ECHOPGM("Workspace Plane ");
+  serialprintPGM(
+      gcode.workspace_plane == GcodeSuite::PLANE_YZ ? PSTR("YZ\n")
+    : gcode.workspace_plane == GcodeSuite::PLANE_ZX ? PSTR("ZX\n")
+                                                    : PSTR("XY\n")
+  );
+}
+
+inline void set_workspace_plane(const GcodeSuite::WorkspacePlane plane) {
+  gcode.workspace_plane = plane;
+  if (DEBUGGING(INFO)) report_workspace_plane();
+}
+
+/**
+ * G17: Select Plane XY
+ * G18: Select Plane ZX
+ * G19: Select Plane YZ
+ */
+void GcodeSuite::G17() { set_workspace_plane(PLANE_XY); }
+void GcodeSuite::G18() { set_workspace_plane(PLANE_ZX); }
+void GcodeSuite::G19() { set_workspace_plane(PLANE_YZ); }
+
+#endif // CNC_WORKSPACE_PLANES
diff --git a/Marlin/src/gcode/geometry/G53-G59.cpp b/Marlin/src/gcode/geometry/G53-G59.cpp
new file mode 100644
index 0000000..05bc522
--- /dev/null
+++ b/Marlin/src/gcode/geometry/G53-G59.cpp
@@ -0,0 +1,101 @@
+/**
+ * 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"
+
+#if ENABLED(CNC_COORDINATE_SYSTEMS)
+
+#include "../../module/stepper.h"
+
+//#define DEBUG_M53
+
+/**
+ * Select a coordinate system and update the workspace offset.
+ * System index -1 is used to specify machine-native.
+ */
+bool GcodeSuite::select_coordinate_system(const int8_t _new) {
+  if (active_coordinate_system == _new) return false;
+  active_coordinate_system = _new;
+  xyz_float_t new_offset{0};
+  if (WITHIN(_new, 0, MAX_COORDINATE_SYSTEMS - 1))
+    new_offset = coordinate_system[_new];
+  LOOP_XYZ(i) {
+    if (position_shift[i] != new_offset[i]) {
+      position_shift[i] = new_offset[i];
+      update_workspace_offset((AxisEnum)i);
+    }
+  }
+  return true;
+}
+
+/**
+ * G53: Apply native workspace to the current move
+ *
+ * In CNC G-code G53 is a modifier.
+ * It precedes a movement command (or other modifiers) on the same line.
+ * This is the first command to use parser.chain() to make this possible.
+ *
+ * Marlin also uses G53 on a line by itself to go back to native space.
+ */
+void GcodeSuite::G53() {
+  const int8_t old_system = active_coordinate_system;
+  select_coordinate_system(-1);   // Always remove workspace offsets
+  #ifdef DEBUG_M53
+    SERIAL_ECHOLNPGM("Go to native space");
+    report_current_position();
+  #endif
+
+  if (parser.chain()) {       // Command to chain?
+    process_parsed_command(); // ...process the chained command
+    select_coordinate_system(old_system);
+    #ifdef DEBUG_M53
+      SERIAL_ECHOLNPAIR("Go back to workspace ", old_system);
+      report_current_position();
+    #endif
+  }
+}
+
+/**
+ * G54-G59.3: Select a new workspace
+ *
+ * A workspace is an XYZ offset to the machine native space.
+ * All workspaces default to 0,0,0 at start, or with EEPROM
+ * support they may be restored from a previous session.
+ *
+ * G92 is used to set the current workspace's offset.
+ */
+void G54_59(uint8_t subcode=0) {
+  const int8_t _space = parser.codenum - 54 + subcode;
+  if (gcode.select_coordinate_system(_space)) {
+    SERIAL_ECHOLNPAIR("Select workspace ", _space);
+    report_current_position();
+  }
+}
+void GcodeSuite::G54() { G54_59(); }
+void GcodeSuite::G55() { G54_59(); }
+void GcodeSuite::G56() { G54_59(); }
+void GcodeSuite::G57() { G54_59(); }
+void GcodeSuite::G58() { G54_59(); }
+void GcodeSuite::G59() { G54_59(parser.subcode); }
+
+#endif // CNC_COORDINATE_SYSTEMS
diff --git a/Marlin/src/gcode/geometry/G92.cpp b/Marlin/src/gcode/geometry/G92.cpp
new file mode 100644
index 0000000..1a0382e
--- /dev/null
+++ b/Marlin/src/gcode/geometry/G92.cpp
@@ -0,0 +1,105 @@
+/**
+ * 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
+}
diff --git a/Marlin/src/gcode/geometry/M206_M428.cpp b/Marlin/src/gcode/geometry/M206_M428.cpp
new file mode 100644
index 0000000..2a2cdb1
--- /dev/null
+++ b/Marlin/src/gcode/geometry/M206_M428.cpp
@@ -0,0 +1,94 @@
+/**
+ * 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 HAS_M206_COMMAND
+
+#include "../gcode.h"
+#include "../../module/motion.h"
+#include "../../lcd/marlinui.h"
+#include "../../libs/buzzer.h"
+#include "../../MarlinCore.h"
+
+void m206_report() {
+  SERIAL_ECHOLNPAIR_P(PSTR("M206 X"), home_offset.x, SP_Y_STR, home_offset.y, SP_Z_STR, home_offset.z);
+}
+
+/**
+ * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
+ *
+ * *** @thinkyhead: I recommend deprecating M206 for SCARA in favor of M665.
+ * ***              M206 for SCARA will remain enabled in 1.1.x for compatibility.
+ * ***              In the 2.0 release, it will simply be disabled by default.
+ */
+void GcodeSuite::M206() {
+  LOOP_XYZ(i)
+    if (parser.seen(XYZ_CHAR(i)))
+      set_home_offset((AxisEnum)i, parser.value_linear_units());
+
+  #if ENABLED(MORGAN_SCARA)
+    if (parser.seen('T')) set_home_offset(A_AXIS, parser.value_float()); // Theta
+    if (parser.seen('P')) set_home_offset(B_AXIS, parser.value_float()); // Psi
+  #endif
+
+  if (!parser.seen("XYZ"))
+    m206_report();
+  else
+    report_current_position();
+}
+
+/**
+ * M428: Set home_offset based on the distance between the
+ *       current_position and the nearest "reference point."
+ *       If an axis is past center its endstop position
+ *       is the reference-point. Otherwise it uses 0. This allows
+ *       the Z offset to be set near the bed when using a max endstop.
+ *
+ *       M428 can't be used more than 2cm away from 0 or an endstop.
+ *
+ *       Use M206 to set these values directly.
+ */
+void GcodeSuite::M428() {
+  if (homing_needed_error()) return;
+
+  xyz_float_t diff;
+  LOOP_XYZ(i) {
+    diff[i] = base_home_pos((AxisEnum)i) - current_position[i];
+    if (!WITHIN(diff[i], -20, 20) && home_dir((AxisEnum)i) > 0)
+      diff[i] = -current_position[i];
+    if (!WITHIN(diff[i], -20, 20)) {
+      SERIAL_ERROR_MSG(STR_ERR_M428_TOO_FAR);
+      LCD_ALERTMESSAGEPGM_P(PSTR("Err: Too far!"));
+      BUZZ(200, 40);
+      return;
+    }
+  }
+
+  LOOP_XYZ(i) set_home_offset((AxisEnum)i, diff[i]);
+  report_current_position();
+  LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
+  BUZZ(100, 659);
+  BUZZ(100, 698);
+}
+
+#endif // HAS_M206_COMMAND
-- 
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