From 78e111a4d04b3e64077da769c03178d6185f69f7 Mon Sep 17 00:00:00 2001
From: Evan Felix <karcaw@gmail.com>
Date: Thu, 25 Jul 2024 22:13:52 -0700
Subject: [PATCH] =?UTF-8?q?=F0=9F=9A=B8=20Implement=20G60=20/=20G61=20to?=
=?UTF-8?q?=20spec=20(#27281)?=
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Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
---
Marlin/src/core/language.h | 4 +-
Marlin/src/gcode/feature/pause/G60.cpp | 87 ++++++++++++++++++--------
Marlin/src/gcode/feature/pause/G61.cpp | 68 +++++++++++---------
Marlin/src/gcode/gcode.h | 2 +-
Marlin/src/module/motion.cpp | 2 +-
Marlin/src/module/motion.h | 2 +-
6 files changed, 107 insertions(+), 58 deletions(-)
diff --git a/Marlin/src/core/language.h b/Marlin/src/core/language.h
index 9d2cdca897e..2736a7833ed 100644
--- a/Marlin/src/core/language.h
+++ b/Marlin/src/core/language.h
@@ -162,8 +162,8 @@
#define STR_SOFT_MIN " Min: "
#define STR_SOFT_MAX " Max: "
-#define STR_SAVED_POS "Position saved"
-#define STR_RESTORING_POS "Restoring position"
+#define STR_SAVED_POSITION "Saved position #"
+#define STR_RESTORING_POSITION "Restoring position #"
#define STR_INVALID_POS_SLOT "Invalid slot. Total: "
#define STR_DONE "Done."
diff --git a/Marlin/src/gcode/feature/pause/G60.cpp b/Marlin/src/gcode/feature/pause/G60.cpp
index aa74a57596d..fe085200a9c 100644
--- a/Marlin/src/gcode/feature/pause/G60.cpp
+++ b/Marlin/src/gcode/feature/pause/G60.cpp
@@ -30,41 +30,78 @@
#define DEBUG_OUT ENABLED(SAVED_POSITIONS_DEBUG)
#include "../../../core/debug_out.h"
+bool report_stored_position(const uint8_t slot) {
+ if (!did_save_position[slot]) return false;
+ const xyze_pos_t &pos = stored_position[slot];
+ SERIAL_ECHO(STR_SAVED_POSITION, slot, C(':'));
+ #if NUM_AXES
+ SERIAL_ECHOPGM_P(
+ LIST_N(DOUBLE(NUM_AXES),
+ SP_X_LBL, pos.x, SP_Y_LBL, pos.y, SP_Z_LBL, pos.z,
+ SP_I_LBL, pos.i, SP_J_LBL, pos.j, SP_K_LBL, pos.k,
+ SP_U_LBL, pos.u, SP_V_LBL, pos.v, SP_W_LBL, pos.w
+ )
+ );
+ #endif
+ #if HAS_EXTRUDERS
+ SERIAL_ECHOPGM_P(SP_E_LBL, pos.e);
+ #endif
+ SERIAL_EOL();
+ return true;
+}
+
/**
- * G60: Save current position
+ * G60: Saved Positions
*
- * S<slot> - Memory slot # (0-based) to save into (default 0)
+ * S<slot> - Save to a memory slot. (default 0)
+ * Q<slot> - Restore from a memory slot. (default 0)
+ * D<slot> - Delete a memory slot. With no number, delete all.
*/
void GcodeSuite::G60() {
- const uint8_t slot = parser.byteval('S');
+ // With no parameters report any saved positions
+ if (!parser.seen_any()) {
+ uint8_t count = 0;
+ for (uint8_t s = 0; s < SAVED_POSITIONS; ++s)
+ if (report_stored_position(s)) ++count;
+ if (!count) SERIAL_ECHOLNPGM("No Saved Positions");
+ return;
+ }
- if (slot >= SAVED_POSITIONS) {
+ // Only one of these parameters is permitted
+ const uint8_t seenD = parser.seen_test('D'),
+ seenQ = parser.seen_test('Q'),
+ seenS = parser.seen_test('S');
+ if (seenD + seenQ + seenS > 1) return;
+
+ // G60 D : Delete all saved positions
+ if (seenD && !parser.seenval('D')) {
+ did_save_position.reset();
+ return;
+ }
+
+ // G60 Dn / Q / S : Get the slot value
+ const uint8_t slot = parser.byteval(seenD ? 'D' : seenQ ? 'Q' : 'S');
+
+ // G60 Q : Redirect to G61(slot)
+ if (seenQ) return G61(slot);
+
+ // Valid slot number?
+ if (SAVED_POSITIONS < 256 && slot >= SAVED_POSITIONS) {
SERIAL_ERROR_MSG(STR_INVALID_POS_SLOT STRINGIFY(SAVED_POSITIONS));
return;
}
- stored_position[slot] = current_position;
- SBI(saved_slots[slot >> 3], slot & 0x07);
-
- #if ENABLED(SAVED_POSITIONS_DEBUG)
- {
- const xyze_pos_t &pos = stored_position[slot];
- DEBUG_ECHOPGM(STR_SAVED_POS " S", slot, " :");
- #if NUM_AXES
- DEBUG_ECHOPGM_P(
- LIST_N(DOUBLE(NUM_AXES),
- SP_X_LBL, pos.x, SP_Y_LBL, pos.y, SP_Z_LBL, pos.z,
- SP_I_LBL, pos.i, SP_J_LBL, pos.j, SP_K_LBL, pos.k,
- SP_U_LBL, pos.u, SP_V_LBL, pos.v, SP_W_LBL, pos.w
- )
- );
- #endif
- #if HAS_EXTRUDERS
- DEBUG_ECHOPGM_P(SP_E_LBL, pos.e);
- #endif
- DEBUG_EOL();
+ // G60 Dn
+ if (seenD) {
+ SERIAL_ECHOLNPGM(STR_SAVED_POSITION, slot, ": DELETED");
+ did_save_position.clear(slot);
+ return;
}
- #endif
+
+ // G60 S
+ stored_position[slot] = current_position;
+ did_save_position.set(slot);
+ report_stored_position(slot);
}
#endif // SAVED_POSITIONS
diff --git a/Marlin/src/gcode/feature/pause/G61.cpp b/Marlin/src/gcode/feature/pause/G61.cpp
index 068e0b0e40e..08b4a99b7de 100644
--- a/Marlin/src/gcode/feature/pause/G61.cpp
+++ b/Marlin/src/gcode/feature/pause/G61.cpp
@@ -54,52 +54,64 @@
*
* If no axes are specified then all axes are restored.
*/
-void GcodeSuite::G61() {
+void GcodeSuite::G61(int8_t slot/*=-1*/) {
- const uint8_t slot = parser.byteval('S');
+ if (slot < 0) slot = parser.byteval('S');
- #define SYNC_E(POINT) TERN_(HAS_EXTRUDERS, planner.set_e_position_mm((destination.e = current_position.e = (POINT))))
+ #define SYNC_E(E) planner.set_e_position_mm(current_position.e = (E))
- #if SAVED_POSITIONS < 256
- if (slot >= SAVED_POSITIONS) {
- SERIAL_ERROR_MSG(STR_INVALID_POS_SLOT STRINGIFY(SAVED_POSITIONS));
- return;
- }
- #endif
+ if (SAVED_POSITIONS < 256 && slot >= SAVED_POSITIONS) {
+ SERIAL_ERROR_MSG(STR_INVALID_POS_SLOT STRINGIFY(SAVED_POSITIONS));
+ return;
+ }
// No saved position? No axes being restored?
- if (!TEST(saved_slots[slot >> 3], slot & 0x07)) return;
+ if (!did_save_position[slot]) return;
// Apply any given feedrate over 0.0
REMEMBER(saved, feedrate_mm_s);
const float fr = parser.linearval('F');
if (fr > 0.0) feedrate_mm_s = MMM_TO_MMS(fr);
+ // No XYZ...E parameters, move to stored position
+
+ float epos = stored_position[slot].e;
if (!parser.seen_axis()) {
- DEBUG_ECHOLNPGM("Default position restore");
+ DEBUG_ECHOLNPGM(STR_RESTORING_POSITION, slot, " (all axes)");
+ // Move to the saved position, all axes except E
do_blocking_move_to(stored_position[slot], feedrate_mm_s);
- SYNC_E(stored_position[slot].e);
+ // Just set E to the saved position without moving it
+ TERN_(HAS_EXTRUDERS, SYNC_E(stored_position[slot].e));
+ report_current_position();
+ return;
}
- else {
- if (parser.seen(STR_AXES_MAIN)) {
- DEBUG_ECHOPGM(STR_RESTORING_POS " S", slot);
- LOOP_NUM_AXES(i) {
- destination[i] = parser.seen(AXIS_CHAR(i))
- ? stored_position[slot][i] + parser.value_axis_units((AxisEnum)i)
- : current_position[i];
+
+ // With XYZ...E return specified axes + optional offset
+
+ DEBUG_ECHOPGM(STR_RESTORING_POSITION " S", slot);
+
+ if (parser.seen(STR_AXES_MAIN)) {
+ destination = current_position;
+ LOOP_NUM_AXES(i) {
+ if (parser.seen(AXIS_CHAR(i))) {
+ destination[i] = stored_position[slot][i] + parser.value_axis_units((AxisEnum)i);
DEBUG_ECHO(C(' '), C(AXIS_CHAR(i)), p_float_t(destination[i], 2));
}
- DEBUG_EOL();
- // Move to the saved position
- prepare_line_to_destination();
}
- #if HAS_EXTRUDERS
- if (parser.seen_test('E')) {
- DEBUG_ECHOLNPGM(STR_RESTORING_POS " S", slot, " E", current_position.e, "=>", stored_position[slot].e);
- SYNC_E(stored_position[slot].e);
- }
- #endif
+ prepare_line_to_destination();
}
+
+ #if HAS_EXTRUDERS
+ if (parser.seen('E')) {
+ epos += parser.value_axis_units(E_AXIS);
+ DEBUG_ECHOPGM(" E", epos);
+ SYNC_E(epos);
+ }
+ #endif
+
+ DEBUG_EOL();
+
+ report_current_position();
}
#endif // SAVED_POSITIONS
diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h
index bb2f0099949..7ec3e008881 100644
--- a/Marlin/src/gcode/gcode.h
+++ b/Marlin/src/gcode/gcode.h
@@ -606,7 +606,7 @@ private:
#if SAVED_POSITIONS
static void G60();
- static void G61();
+ static void G61(int8_t slot=-1);
#endif
#if ENABLED(GCODE_MOTION_MODES)
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 4bbb182bc34..a4e69c5be7c 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -104,7 +104,7 @@ xyze_pos_t destination; // {0}
// G60/G61 Position Save and Return
#if SAVED_POSITIONS
- uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3];
+ Flags<SAVED_POSITIONS> did_save_position;
xyze_pos_t stored_position[SAVED_POSITIONS];
#endif
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index bb8f36446b0..88fd69fbd06 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -50,7 +50,7 @@ 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]; // TODO: Add support for HAS_I_AXIS
+ extern Flags<SAVED_POSITIONS> did_save_position;
extern xyze_pos_t stored_position[SAVED_POSITIONS];
#endif