Added G60/G61 gcodes

Marlin/Configuration_adv.h

@@ -1524,6 +1524,10 @@
 
 // @section extras
 
+// Defines the number of memory slots for saving/restoring position (G60/G61)
+// The values should not be less than 1
+#define NUM_POSITON_SLOTS 1
+
 //
 // G2/G3 Arc Support
 //

Marlin/src/core/language.h

@@ -220,6 +220,11 @@
 #define MSG_SOFT_MIN                        "  Min: "
 #define MSG_SOFT_MAX                        "  Max: "
 
+// Slot
+#define MSG_SAVED_POS                      "Saved position"
+#define MSG_RESTORING_POS                  "Restoring position"
+#define MSG_INVALID_POS_SLOT               "Invalid slot, total slots:"
+
 #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"

Marlin/src/gcode/feature/pause/G60.cpp

@@ -0,0 +1,53 @@
+/**
+ * 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"
+#include "../../../core/language.h"
+#include "../../gcode.h"
+#include "../../../module/motion.h"
+
+/**
+ * G60:  save current position
+ *        S<slot> specifies memory slot # (0-based) to save into (default 0)
+ */
+void GcodeSuite::G60() {
+  const uint8_t slot = parser.byteval('S');
+
+  if (slot >= NUM_POSITON_SLOTS) {
+    SERIAL_ERROR_START();
+    SERIAL_ECHOLNPAIR_F(MSG_INVALID_POS_SLOT, NUM_POSITON_SLOTS);
+    return;
+  } 
+  stored_position[slot] = current_position;
+  isPosSaved[slot] = true;
+  //setPosSaved(true);
+
+  SERIAL_ECHOPGM(MSG_SAVED_POS);
+  SERIAL_ECHOPAIR_F(" S", slot);
+  SERIAL_ECHOPAIR_F("<-X:", stored_position[slot].x);
+  SERIAL_ECHOPAIR_F(" Y:", stored_position[slot].y);
+  SERIAL_ECHOPAIR_F(" Z:", stored_position[slot].z);
+  SERIAL_ECHOLNPAIR_F(" E:", stored_position[slot].e);
+
+}
+

Marlin/src/gcode/feature/pause/G61.cpp

@@ -0,0 +1,70 @@
+/**
+ * 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"
+#include "../../../core/language.h"
+#include "../../module/planner.h"
+#include "../../gcode.h"
+#include "../../../module/motion.h"
+
+/**
+ * G61:  Apply/restore saved coordinates.
+ *        X Y Z E - Value to add at stored coordinates.
+ *        F<speed> - Set Feedrate.
+ *        S<slot> specifies memory slot # (0-based) to save into (default 0).
+ */
+void GcodeSuite::G61(void) {
+
+  const uint8_t slot = parser.byteval('S');
+
+  if (slot >= NUM_POSITON_SLOTS) {
+    SERIAL_ERROR_START();
+    SERIAL_ECHOLNPAIR_F(MSG_INVALID_POS_SLOT, NUM_POSITON_SLOTS);
+    return;
+  }
+
+  if (!isPosSaved[slot]) return;
+
+  SERIAL_ECHOPGM(MSG_RESTORING_POS);
+  SERIAL_ECHOPAIR_F(" S", int(slot));
+  SERIAL_ECHOPGM("->");
+
+  if (parser.seen('F') && parser.value_linear_units() > 0.0)
+    feedrate_mm_s = MMM_TO_MMS(parser.value_linear_units());
+
+  LOOP_XYZE(i) {
+    if (parser.seen(axis_codes[i])) {
+      destination[i] = parser.value_axis_units((AxisEnum)i) + stored_position[slot][i];
+    }
+    else {
+      destination[i] = current_position[i];
+    }
+    SERIAL_ECHOPAIR_F(" ", axis_codes[i]);
+    SERIAL_ECHOPAIR_F(":", destination[i]);
+  }
+  SERIAL_EOL();
+
+  // finish moves
+  prepare_move_to_destination();
+  planner.synchronize();
+} 

Marlin/src/gcode/gcode.cpp

@@ -93,6 +93,9 @@ int8_t GcodeSuite::get_target_extruder_from_command() {
     SERIAL_ECHOLNPAIR(" " MSG_INVALID_EXTRUDER " ", int(e));
     return -1;
   }
+  #if ENABLED(SINGLENOZZLE)
+    if(active_extruder<0) return 0;
+  #endif
   return active_extruder;
 }
 
@@ -323,6 +326,8 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 59: G59(); break;
       #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

Marlin/src/gcode/gcode.h

@@ -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
+ * G61  - Apply/restore saved coordinates.
  * G80  - Cancel current motion mode (Requires GCODE_MOTION_MODES)
  * G90  - Use Absolute Coordinates
  * G91  - Use Relative Coordinates
@@ -464,6 +466,9 @@ class GcodeSuite {
     static void G59();
   #endif
 
+  static void G60();
+  static void G61();
+
   #if ENABLED(GCODE_MOTION_MODES)
     static void G80();
   #endif

Marlin/src/inc/Conditionals_adv.h

@@ -135,3 +135,9 @@
 #if ENABLED(JOYSTICK)
   #define POLL_JOG
 #endif
+
+// Number of memory slots for saving/restoring position (G60/G61) should be between 1 and 5.
+#if NUM_POSITON_SLOTS < 1 || NUM_POSITON_SLOTS > 5
+  #error "Number of memory slots for saving/restoring position (G60/G61) should be between 1 and 5."
+#endif
+

Marlin/src/module/motion.cpp

@@ -109,9 +109,13 @@ xyze_pos_t current_position = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS };
  */
 xyze_pos_t destination; // {0}
 
+xyze_pos_t stored_position[NUM_POSITON_SLOTS];
+bool isPosSaved[NUM_POSITON_SLOTS];
+
+
 // 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)

Marlin/src/module/motion.h

@@ -65,6 +65,16 @@ extern bool relative_mode;
 extern xyze_pos_t current_position,  // High-level current tool position
                   destination;       // Destination for a move
 
+/**
+ * Stored Position
+ *   Used to save native machine position as moves are queued.
+ *   Used by G60 for stored.
+ *   Used by G61 for move to.
+ */
+extern xyze_pos_t stored_position[NUM_POSITON_SLOTS];
+// Various flag bit 1 PosSaved
+extern bool isPosSaved[NUM_POSITON_SLOTS];
+
 // Scratch space for a cartesian result
 extern xyz_pos_t cartes;