From 0d629c80c7e218cbe07a85ba0d9bfeb49feb65c6 Mon Sep 17 00:00:00 2001
From: vyacheslav-shubin <shubin-vv@krista.ru>
Date: Wed, 12 May 2021 10:17:06 +0300
Subject: [PATCH] =?UTF-8?q?=F0=9F=A9=B9=20G60-G61=20Save=20E=20position=20?=
=?UTF-8?q?(#21810)?=
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---
Marlin/src/gcode/feature/pause/G60.cpp | 5 +--
Marlin/src/gcode/feature/pause/G61.cpp | 47 +++++++++++++++++++-------
Marlin/src/module/motion.cpp | 2 +-
Marlin/src/module/motion.h | 2 +-
4 files changed, 39 insertions(+), 17 deletions(-)
diff --git a/Marlin/src/gcode/feature/pause/G60.cpp b/Marlin/src/gcode/feature/pause/G60.cpp
index 6f695b99a9..670ea2a58b 100644
--- a/Marlin/src/gcode/feature/pause/G60.cpp
+++ b/Marlin/src/gcode/feature/pause/G60.cpp
@@ -48,10 +48,11 @@ void GcodeSuite::G60() {
#if ENABLED(SAVED_POSITIONS_DEBUG)
const xyze_pos_t &pos = stored_position[slot];
- DEBUG_ECHOPAIR_F(STR_SAVED_POS " S", slot);
+ DEBUG_ECHOPAIR(STR_SAVED_POS " S", slot);
DEBUG_ECHOPAIR_F(" : X", pos.x);
DEBUG_ECHOPAIR_F_P(SP_Y_STR, pos.y);
- DEBUG_ECHOLNPAIR_F_P(SP_Z_STR, pos.z);
+ DEBUG_ECHOPAIR_F_P(SP_Z_STR, pos.z);
+ DEBUG_ECHOLNPAIR_F_P(SP_E_STR, pos.e);
#endif
}
diff --git a/Marlin/src/gcode/feature/pause/G61.cpp b/Marlin/src/gcode/feature/pause/G61.cpp
index 9d5dcc060a..bb11464902 100644
--- a/Marlin/src/gcode/feature/pause/G61.cpp
+++ b/Marlin/src/gcode/feature/pause/G61.cpp
@@ -27,6 +27,10 @@
#include "../../../module/planner.h"
#include "../../gcode.h"
#include "../../../module/motion.h"
+#include "../../../module/planner.h"
+
+#define DEBUG_OUT ENABLED(SAVED_POSITIONS_DEBUG)
+#include "../../../core/debug_out.h"
/**
* G61: Return to saved position
@@ -34,11 +38,16 @@
* F<rate> - Feedrate (optional) for the move back.
* S<slot> - Slot # (0-based) to restore from (default 0).
* X Y Z - Axes to restore. At least one is required.
+ * E - Restore extruder position
+ *
+ * If XYZE are not given, default restore uses the smart blocking move.
*/
void GcodeSuite::G61(void) {
const uint8_t slot = parser.byteval('S');
+ #define SYNC_E(POINT) planner.set_e_position_mm((destination.e = current_position.e = (POINT)))
+
#if SAVED_POSITIONS < 256
if (slot >= SAVED_POSITIONS) {
SERIAL_ERROR_MSG(STR_INVALID_POS_SLOT STRINGIFY(SAVED_POSITIONS));
@@ -47,25 +56,37 @@ void GcodeSuite::G61(void) {
#endif
// No saved position? No axes being restored?
- if (!TEST(saved_slots[slot >> 3], slot & 0x07) || !parser.seen("XYZ")) return;
-
- SERIAL_ECHOPAIR(STR_RESTORING_POS " S", slot);
- LOOP_XYZ(i) {
- destination[i] = parser.seen(XYZ_CHAR(i))
- ? stored_position[slot][i] + parser.value_axis_units((AxisEnum)i)
- : current_position[i];
- SERIAL_CHAR(' ', XYZ_CHAR(i));
- SERIAL_ECHO_F(destination[i]);
- }
- SERIAL_EOL();
+ if (!TEST(saved_slots[slot >> 3], slot & 0x07)) return;
// Apply any given feedrate over 0.0
feedRate_t saved_feedrate = feedrate_mm_s;
const float fr = parser.linearval('F');
if (fr > 0.0) feedrate_mm_s = MMM_TO_MMS(fr);
- // Move to the saved position
- prepare_line_to_destination();
+ if (!parser.seen_axis()) {
+ DEBUG_ECHOLNPGM("Default position restore");
+ do_blocking_move_to(stored_position[slot], feedrate_mm_s);
+ SYNC_E(stored_position[slot].e);
+ }
+ else {
+ if (parser.seen("XYZ")) {
+ DEBUG_ECHOPAIR(STR_RESTORING_POS " S", slot);
+ LOOP_XYZ(i) {
+ destination[i] = parser.seen(XYZ_CHAR(i))
+ ? stored_position[slot][i] + parser.value_axis_units((AxisEnum)i)
+ : current_position[i];
+ DEBUG_CHAR(' ', XYZ_CHAR(i));
+ DEBUG_ECHO_F(destination[i]);
+ }
+ DEBUG_EOL();
+ // Move to the saved position
+ prepare_line_to_destination();
+ }
+ if (parser.seen_test('E')) {
+ DEBUG_ECHOLNPAIR(STR_RESTORING_POS " S", slot, " E", current_position.e, "=>", stored_position[slot].e);
+ SYNC_E(stored_position[slot].e);
+ }
+ }
feedrate_mm_s = saved_feedrate;
}
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 7c0f8f404a..6ca8dc054c 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -102,7 +102,7 @@ xyze_pos_t destination; // {0}
// G60/G61 Position Save and Return
#if SAVED_POSITIONS
uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3];
- xyz_pos_t stored_position[SAVED_POSITIONS];
+ xyze_pos_t stored_position[SAVED_POSITIONS];
#endif
// The active extruder (tool). Set with T<extruder> command.
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index 647b3af52a..c734fbdf34 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -45,7 +45,7 @@ extern xyze_pos_t current_position, // High-level current tool position
// G60/G61 Position Save and Return
#if SAVED_POSITIONS
extern uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3];
- extern xyz_pos_t stored_position[SAVED_POSITIONS];
+ extern xyze_pos_t stored_position[SAVED_POSITIONS];
#endif
// Scratch space for a cartesian result