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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 "../../MarlinCore.h"
#if BOTH(FWRETRACT, FWRETRACT_AUTORETRACT)
#include "../../feature/fwretract.h"
#endif
#include "../../sd/cardreader.h"
#if ENABLED(NANODLP_Z_SYNC)
#include "../../module/stepper.h"
#endif
extern xyze_pos_t destination;
#if ENABLED(VARIABLE_G0_FEEDRATE)
feedRate_t fast_move_feedrate = MMM_TO_MMS(G0_FEEDRATE);
#endif
/**
* G0, G1: Coordinated movement of X Y Z E axes
*/
void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) {
if (IsRunning()
#if ENABLED(NO_MOTION_BEFORE_HOMING)
&& !homing_needed_error(
(parser.seen('X') ? _BV(X_AXIS) : 0)
| (parser.seen('Y') ? _BV(Y_AXIS) : 0)
| (parser.seen('Z') ? _BV(Z_AXIS) : 0) )
#endif
) {
#ifdef G0_FEEDRATE
feedRate_t old_feedrate;
#if ENABLED(VARIABLE_G0_FEEDRATE)
if (fast_move) {
old_feedrate = feedrate_mm_s; // Back up the (old) motion mode feedrate
feedrate_mm_s = fast_move_feedrate; // Get G0 feedrate from last usage
}
#endif
#endif
get_destination_from_command(); // Get X Y Z E F (and set cutter power)
#ifdef G0_FEEDRATE
if (fast_move) {
#if ENABLED(VARIABLE_G0_FEEDRATE)
fast_move_feedrate = feedrate_mm_s; // Save feedrate for the next G0
#else
old_feedrate = feedrate_mm_s; // Back up the (new) motion mode feedrate
feedrate_mm_s = MMM_TO_MMS(G0_FEEDRATE); // Get the fixed G0 feedrate
#endif
}
#endif
#if BOTH(FWRETRACT, FWRETRACT_AUTORETRACT)
if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
// When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves
if (fwretract.autoretract_enabled && parser.seen('E') && !(parser.seen('X') || parser.seen('Y') || parser.seen('Z'))) {
const float echange = destination.e - current_position.e;
// Is this a retract or recover move?
if (WITHIN(ABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && fwretract.retracted[active_extruder] == (echange > 0.0)) {
current_position.e = destination.e; // Hide a G1-based retract/recover from calculations
sync_plan_position_e(); // AND from the planner
return fwretract.retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored)
}
}
}
#endif // FWRETRACT
#if IS_SCARA
fast_move ? prepare_fast_move_to_destination() : prepare_line_to_destination();
#else
prepare_line_to_destination();
#endif
#ifdef G0_FEEDRATE
// Restore the motion mode feedrate
if (fast_move) feedrate_mm_s = old_feedrate;
#endif
#if ENABLED(NANODLP_Z_SYNC)
#if ENABLED(NANODLP_ALL_AXIS)
#define _MOVE_SYNC parser.seenval('X') || parser.seenval('Y') || parser.seenval('Z') // For any move wait and output sync message
#else
#define _MOVE_SYNC parser.seenval('Z') // Only for Z move
#endif
if (_MOVE_SYNC) {
planner.synchronize();
SERIAL_ECHOLNPGM(STR_Z_MOVE_COMP);
}
#endif
}
}
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