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/**
* 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(SKEW_CORRECTION_GCODE)
#include "../gcode.h"
#include "../../module/planner.h"
/**
* M852: Get or set the machine skew factors. Reports current values with no arguments.
*
* S[xy_factor] - Alias for 'I'
* I[xy_factor] - New XY skew factor
* J[xz_factor] - New XZ skew factor
* K[yz_factor] - New YZ skew factor
*/
void GcodeSuite::M852() {
uint8_t ijk = 0, badval = 0, setval = 0;
if (parser.seen('I') || parser.seen('S')) {
++ijk;
const float value = parser.value_linear_units();
if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX)) {
if (planner.skew_factor.xy != value) {
planner.skew_factor.xy = value;
++setval;
}
}
else
++badval;
}
#if ENABLED(SKEW_CORRECTION_FOR_Z)
if (parser.seen('J')) {
++ijk;
const float value = parser.value_linear_units();
if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX)) {
if (planner.skew_factor.xz != value) {
planner.skew_factor.xz = value;
++setval;
}
}
else
++badval;
}
if (parser.seen('K')) {
++ijk;
const float value = parser.value_linear_units();
if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX)) {
if (planner.skew_factor.yz != value) {
planner.skew_factor.yz = value;
++setval;
}
}
else
++badval;
}
#endif
if (badval)
SERIAL_ECHOLNPGM(STR_SKEW_MIN " " STRINGIFY(SKEW_FACTOR_MIN) " " STR_SKEW_MAX " " STRINGIFY(SKEW_FACTOR_MAX));
// When skew is changed the current position changes
if (setval) {
set_current_from_steppers_for_axis(ALL_AXES);
sync_plan_position();
report_current_position();
}
if (!ijk) {
SERIAL_ECHO_START();
serialprintPGM(GET_TEXT(MSG_SKEW_FACTOR));
SERIAL_ECHOPAIR_F(" XY: ", planner.skew_factor.xy, 6);
#if ENABLED(SKEW_CORRECTION_FOR_Z)
SERIAL_ECHOPAIR_F(" XZ: ", planner.skew_factor.xz, 6);
SERIAL_ECHOPAIR_F(" YZ: ", planner.skew_factor.yz, 6);
#endif
SERIAL_EOL();
}
}
#endif // SKEW_CORRECTION_GCODE
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