// Set relative coordinate system
static const char *handle_G92(float sub_command,
struct GCodeParser *p, const char *line) {
// It is safe to compare raw float values here, as long as we give float
// literals. They have been parsed from literals as well.
if (sub_command == 92.0f) {
char axis_l;
float value;
const char *remaining_line;
while ((remaining_line = gparse_pair(p, line, &axis_l, &value))) {
const float unit_val = value * p->unit_to_mm_factor;
const enum GCodeParserAxis axis = gcodep_letter2axis(axis_l);
if (axis == GCODE_NUM_AXES)
break; // Possibly start of new command.
// This sets the given value to be the new zero.
p->origin_g92[axis] = p->axes_pos[axis] - unit_val;
line = remaining_line;
}
set_current_origin(p, p->origin_g92);
}
else if (sub_command == 92.1f) {
reset_G92(p);
set_current_origin(p, p->origin_g92);
}
else if (sub_command == 92.2f) {
set_current_origin(p, p->origin_machine); // Later: G54...
}
else if (sub_command == 92.3f) {
set_current_origin(p, p->origin_g92);
}
return line;
}
static const char *handle_z_probe(struct GCodeParser *p, const char *line) {
char letter;
float value;
float feedrate = -1;
float probe_thickness = 0;
const char *remaining_line;
while ((remaining_line = gparse_pair(p, line, &letter, &value))) {
const float unit_value = value * p->unit_to_mm_factor;
if (letter == 'F') feedrate = f_param_to_feedrate(unit_value);
else if (letter == 'Z') probe_thickness = value * p->unit_to_mm_factor;
else break;
line = remaining_line;
}
// Probe for the travel endstop
float probed_pos;
if (p->callbacks.probe_axis(p->callbacks.user_data, feedrate, AXIS_Z,
&probed_pos)) {
p->axes_pos[AXIS_Z] = probed_pos;
// Doing implicit G92 here. Is this what we want ? Later, this might
// be part of tool-offset or something.
p->global_offset_g92[AXIS_Z] = (p->axes_pos[AXIS_Z] - probe_thickness)
- p->current_origin[AXIS_Z];
set_current_origin(p, p->current_origin, p->global_offset_g92);
}
return line;
}
// Reset coordinate systems etc. that should be assumed at
// the beginnig of a program.
static void gcodep_program_start_defaults(GCodeParser_t *object) {
// Initial values for various constants.
object->unit_to_mm_factor = 1.0f; // G21
set_all_axis_to_absolute(object, 1); // G90
reset_G92(object);
object->arc_normal = AXIS_Z; // Arcs in XY-plane
set_current_origin(object, object->origin_machine);
// Some initial machine states
object->callbacks.set_speed_factor(object->callbacks.user_data, 1);
object->callbacks.set_fanspeed(object->callbacks.user_data, 0);
object->callbacks.set_temperature(object->callbacks.user_data, 0);
}
