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Code Issues Releases Wiki Activity

G60/G61 Position Save/Restore (#16557)

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This commit is contained in:
Hans007a 2020-01-07 20:52:19 +01:00 committed by Scott Lahteine
parent a0a93e35ae
commit e2eef1256a
10 changed files with 183 additions and 14 deletions
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5
Marlin/Configuration_adv.h
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@ -1576,6 +1576,11 @@
// @section extras
//
// G60/G61 Position Save and Return
//
//#define SAVED_POSITIONS 1 // Each saved position slot costs 12 bytes
//
// G2/G3 Arc Support
//

10
Marlin/src/HAL/HAL_STM32/timers.h
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@ -61,8 +61,6 @@
#define HAL_TIMER_RATE (F_CPU / 2) // frequency of timer peripherals
// STM32F401 only has timers 1-5 & 9-11 with timers 4 & 5 usually assigned to TIMER_SERVO and TIMER_TONE
#ifndef STEP_TIMER
#define STEP_TIMER 9
#endif
@ -76,19 +74,19 @@
#define HAL_TIMER_RATE (F_CPU / 2) // frequency of timer peripherals
#ifndef STEP_TIMER
#define STEP_TIMER 6
#define STEP_TIMER 6 // STM32F401 has no TIM6, TIM7, or TIM8
#endif
#ifndef TEMP_TIMER
#define TEMP_TIMER 14
#define TEMP_TIMER 14 // TIM7 is consumed by Software Serial if used.
#endif
#elif defined(STM32F7xx)
#define HAL_TIMER_RATE (F_CPU/2) // frequency of timer peripherals
#define HAL_TIMER_RATE (F_CPU / 2) // frequency of timer peripherals
#ifndef STEP_TIMER
#define STEP_TIMER 6
#define STEP_TIMER 6 // the RIGHT timer!
#endif
#ifndef TEMP_TIMER

4
Marlin/src/core/language.h
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@ -222,6 +222,10 @@
#define MSG_SOFT_MIN " Min: "
#define MSG_SOFT_MAX " Max: "
#define MSG_SAVED_POS "Position saved"
#define MSG_RESTORING_POS "Restoring position"
#define MSG_INVALID_POS_SLOT "Invalid slot. Total: "
#define MSG_SD_CANT_OPEN_SUBDIR "Cannot open subdir "
#define MSG_SD_INIT_FAIL "SD init fail"
#define MSG_SD_VOL_INIT_FAIL "volume.init failed"

59
Marlin/src/gcode/feature/pause/G60.cpp Normal file
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@ -0,0 +1,59 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 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 <http://www.gnu.org/licenses/>.
*
*/
#include "../../../inc/MarlinConfig.h"
#if SAVED_POSITIONS
#include "../../../core/language.h"
#include "../../gcode.h"
#include "../../../module/motion.h"
#define DEBUG_OUT ENABLED(SAVED_POSITIONS_DEBUG)
#include "../../../core/debug_out.h"
/**
* G60: Save current position
*
* S<slot> - Memory slot # (0-based) to save into (default 0)
*/
void GcodeSuite::G60() {
const uint8_t slot = parser.byteval('S');
if (slot >= SAVED_POSITIONS) {
SERIAL_ERROR_MSG(MSG_INVALID_POS_SLOT STRINGIFY(SAVED_POSITIONS));
return;
}
stored_position[slot] = current_position;
SBI(saved_slots, slot);
#if ENABLED(SAVED_POSITIONS_DEBUG)
const xyze_pos_t &pos = stored_position[slot];
DEBUG_ECHOPAIR_F(MSG_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);
#endif
}
#endif // SAVED_POSITIONS

71
Marlin/src/gcode/feature/pause/G61.cpp Normal file
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@ -0,0 +1,71 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 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 <http://www.gnu.org/licenses/>.
*
*/
#include "../../../inc/MarlinConfig.h"
#if SAVED_POSITIONS
#include "../../../core/language.h"
#include "../../module/planner.h"
#include "../../gcode.h"
#include "../../../module/motion.h"
/**
* G61: Return to saved position
*
* 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.
*/
void GcodeSuite::G61(void) {
const uint8_t slot = parser.byteval('S');
#if SAVED_POSITIONS < 256
if (slot >= SAVED_POSITIONS) {
SERIAL_ERROR_MSG(MSG_INVALID_POS_SLOT STRINGIFY(SAVED_POSITIONS));
return;
}
#endif
// No saved position? No axes being restored?
if (!TEST(saved_slots, slot) || !parser.seen("XYZ")) return;
// Apply any given feedrate over 0.0
const float fr = parser.linearval('F');
if (fr > 0.0) feedrate_mm_s = MMM_TO_MMS(fr);
SERIAL_ECHOPAIR(MSG_RESTORING_POS " S", int(slot));
LOOP_XYZ(i) {
destination[i] = parser.seen(axis_codes[i])
? stored_position[slot][i] + parser.value_axis_units((AxisEnum)i)
: current_position[i];
SERIAL_CHAR(' ', axis_codes[i]);
SERIAL_ECHO_F(destination[i]);
}
SERIAL_EOL();
// Move to the saved position
prepare_move_to_destination();
}
#endif // SAVED_POSITIONS

22
Marlin/src/gcode/gcode.cpp
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@ -314,19 +314,27 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
#endif
#if ENABLED(CNC_COORDINATE_SYSTEMS)
case 53: G53(); break;
case 54: G54(); break;
case 55: G55(); break;
case 56: G56(); break;
case 57: G57(); break;
case 58: G58(); break;
case 59: G59(); break;
case 53: G53(); break; // G53: (prefix) Apply native workspace
case 54: G54(); break; // G54: Switch to Workspace 1
case 55: G55(); break; // G55: Switch to Workspace 2
case 56: G56(); break; // G56: Switch to Workspace 3
case 57: G57(); break; // G57: Switch to Workspace 4
case 58: G58(); break; // G58: Switch to Workspace 5
case 59: G59(); break; // G59.0 - G59.3: Switch to Workspace 6-9
#endif
#if SAVED_POSITIONS
case 60: G60(); break; // G60: save current position
case 61: G61(); break; // G61: Apply/restore saved coordinates.
#endif
#if ENABLED(PROBE_TEMP_COMPENSATION)
case 76: G76(); break; // G76: Calibrate first layer compensation values
#endif
case 60: G60(); break; // G60: save current position
case 61: G61(); break; // G61: Apply/restore saved coordinates.
#if ENABLED(GCODE_MOTION_MODES)
case 80: G80(); break; // G80: Reset the current motion mode
#endif

7
Marlin/src/gcode/gcode.h
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@ -67,6 +67,8 @@
* G34 - Z Stepper automatic alignment using probe: I<iterations> T<accuracy> A<amplification> (Requires Z_STEPPER_AUTO_ALIGN)
* G38 - Probe in any direction using the Z_MIN_PROBE (Requires G38_PROBE_TARGET)
* G42 - Coordinated move to a mesh point (Requires MESH_BED_LEVELING, AUTO_BED_LEVELING_BLINEAR, or AUTO_BED_LEVELING_UBL)
* G60 - Save current position. (Requires SAVED_POSITIONS)
* G61 - Apply/restore saved coordinates. (Requires SAVED_POSITIONS)
* G76 - Calibrate first layer temperature offsets. (Requires PROBE_TEMP_COMPENSATION)
* G80 - Cancel current motion mode (Requires GCODE_MOTION_MODES)
* G90 - Use Absolute Coordinates
@ -471,6 +473,11 @@ private:
static void G76();
#endif
#if SAVED_POSITIONS
static void G60();
static void G61();
#endif
#if ENABLED(GCODE_MOTION_MODES)
static void G80();
#endif

5
Marlin/src/inc/Conditionals_adv.h
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@ -142,3 +142,8 @@
#if ENABLED(JOYSTICK)
#define POLL_JOG
#endif
// G60/G61 Position Save
#if SAVED_POSITIONS > 256
#error "SAVED_POSITIONS must be an integer from 0 to 256."
#endif

8
Marlin/src/module/motion.cpp
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@ -109,9 +109,15 @@ xyze_pos_t current_position = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS };
*/
xyze_pos_t destination; // {0}
// G60/G61 Position Save and Return
#if SAVED_POSITIONS
uint8_t saved_slots;
xyz_pos_t stored_position[SAVED_POSITIONS];
#endif
// The active extruder (tool). Set with T<extruder> command.
#if EXTRUDERS > 1
uint8_t active_extruder; // = 0
uint8_t active_extruder = 0; // = 0
#endif
#if ENABLED(LCD_SHOW_E_TOTAL)

6
Marlin/src/module/motion.h
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@ -65,6 +65,12 @@ extern bool relative_mode;
extern xyze_pos_t current_position, // High-level current tool position
destination; // Destination for a move
// G60/G61 Position Save and Return
#if SAVED_POSITIONS
extern uint8_t saved_slots;
extern xyz_pos_t stored_position[SAVED_POSITIONS];
#endif
// Scratch space for a cartesian result
extern xyz_pos_t cartes;