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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 "../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
}
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