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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(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
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