text: /**
   * Marlin 3D Printer Firmware
   * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
   *
   */
  
  #include "../../inc/MarlinConfig.h"
  
  #include "../gcode.h"
  #include "../../module/motion.h"
  #include "../../module/stepper.h"
  
  #if ENABLED(M114_DETAIL)
  
    #if HAS_L64XX
      #include "../../libs/L64XX/L64XX_Marlin.h"
      #define DEBUG_OUT ENABLED(L6470_CHITCHAT)
      #include "../../core/debug_out.h"
    #endif
  
    void report_all_axis_pos(const xyze_pos_t &pos, const uint8_t n=XYZE, const uint8_t precision=3) {
      char str[12];
      LOOP_L_N(a, n) {
        SERIAL_CHAR(' ', axis_codes[a], ':');
        if (pos[a] >= 0) SERIAL_CHAR(' ');
        SERIAL_ECHO(dtostrf(pos[a], 1, precision, str));
      }
      SERIAL_EOL();
    }
    inline void report_linear_axis_pos(const xyze_pos_t &pos) { report_all_axis_pos(pos, XYZ); }
  
    void report_linear_axis_pos(const xyz_pos_t &pos, const uint8_t precision=3) {
      char str[12];
      LOOP_LINEAR_AXES(a) {
        SERIAL_CHAR(' ', AXIS_CHAR(a), ':');
        SERIAL_ECHO(dtostrf(pos[a], 1, precision, str));
      }
      SERIAL_EOL();
    }
  
    void report_current_position_detail() {
      // Position as sent by G-code
      SERIAL_ECHOPGM("\nLogical:");
      report_linear_axis_pos(current_position.asLogical());
  
      // Cartesian position in native machine space
      SERIAL_ECHOPGM("Raw:    ");
      report_linear_axis_pos(current_position);
  
      xyze_pos_t leveled = current_position;
  
      #if HAS_LEVELING
        // Current position with leveling applied
        SERIAL_ECHOPGM("Leveled:");
        planner.apply_leveling(leveled);
        report_linear_axis_pos(leveled);
  
        // Test planner un-leveling. This should match the Raw result.
        SERIAL_ECHOPGM("UnLevel:");
        xyze_pos_t unleveled = leveled;
        planner.unapply_leveling(unleveled);
        report_linear_axis_pos(unleveled);
      #endif
  
      #if IS_KINEMATIC
        // Kinematics applied to the leveled position
        SERIAL_ECHOPGM(TERN(IS_SCARA, "ScaraK: ", "DeltaK: "));
        inverse_kinematics(leveled);  // writes delta[]
        report_linear_axis_pos(delta);
      #endif
  
      planner.synchronize();
  
      #if HAS_L64XX
        char temp_buf[80];
        int32_t temp;
        //#define ABS_POS_SIGN_MASK 0b1111 1111 1110 0000 0000 0000 0000 0000
        #define ABS_POS_SIGN_MASK 0b11111111111000000000000000000000
        #define REPORT_ABSOLUTE_POS(Q) do{                            \
            L64xxManager.say_axis(Q, false);                          \
            temp = L6470_GETPARAM(L6470_ABS_POS,Q);                   \
            if (temp & ABS_POS_SIGN_MASK) temp |= ABS_POS_SIGN_MASK;  \
            sprintf_P(temp_buf, PSTR(":%8ld   "), temp);              \
            DEBUG_ECHO(temp_buf);                                     \
          }while(0)
  
        DEBUG_ECHOPGM("\nL6470:");
        #if AXIS_IS_L64XX(X)
          REPORT_ABSOLUTE_POS(X);
        #endif
        #if AXIS_IS_L64XX(X2)
          REPORT_ABSOLUTE_POS(X2);
        #endif
        #if AXIS_IS_L64XX(Y)
          REPORT_ABSOLUTE_POS(Y);
        #endif
        #if AXIS_IS_L64XX(Y2)
          REPORT_ABSOLUTE_POS(Y2);
        #endif
        #if AXIS_IS_L64XX(Z)
          REPORT_ABSOLUTE_POS(Z);
        #endif
        #if AXIS_IS_L64XX(Z2)
          REPORT_ABSOLUTE_POS(Z2);
        #endif
        #if AXIS_IS_L64XX(Z3)
          REPORT_ABSOLUTE_POS(Z3);
        #endif
        #if AXIS_IS_L64XX(Z4)
          REPORT_ABSOLUTE_POS(Z4);
        #endif
        #if AXIS_IS_L64XX(E0)
          REPORT_ABSOLUTE_POS(E0);
        #endif
        #if AXIS_IS_L64XX(E1)
          REPORT_ABSOLUTE_POS(E1);
        #endif
        #if AXIS_IS_L64XX(E2)
          REPORT_ABSOLUTE_POS(E2);
        #endif
        #if AXIS_IS_L64XX(E3)
          REPORT_ABSOLUTE_POS(E3);
        #endif
        #if AXIS_IS_L64XX(E4)
          REPORT_ABSOLUTE_POS(E4);
        #endif
        #if AXIS_IS_L64XX(E5)
          REPORT_ABSOLUTE_POS(E5);
        #endif
        #if AXIS_IS_L64XX(E6)
          REPORT_ABSOLUTE_POS(E6);
        #endif
        #if AXIS_IS_L64XX(E7)
          REPORT_ABSOLUTE_POS(E7);
        #endif
        SERIAL_EOL();
      #endif // HAS_L64XX
  
      SERIAL_ECHOPGM("Stepper:");
      LOOP_LOGICAL_AXES(i) {
        SERIAL_CHAR(' ', axis_codes[i], ':');
        SERIAL_ECHO(stepper.position((AxisEnum)i));
      }
      SERIAL_EOL();
  
      #if IS_SCARA
        const xy_float_t deg = {
          planner.get_axis_position_degrees(A_AXIS),
          planner.get_axis_position_degrees(B_AXIS)
        };
        SERIAL_ECHOPGM("Degrees:");
        report_all_axis_pos(deg, 2);
      #endif
  
      SERIAL_ECHOPGM("FromStp:");
      get_cartesian_from_steppers();  // writes 'cartes' (with forward kinematics)
      xyze_pos_t from_steppers = LOGICAL_AXIS_ARRAY(planner.get_axis_position_mm(E_AXIS), cartes.x, cartes.y, cartes.z);
      report_all_axis_pos(from_steppers);
  
      const xyze_float_t diff = from_steppers - leveled;
      SERIAL_ECHOPGM("Diff:   ");
      report_all_axis_pos(diff);
  
      TERN_(FULL_REPORT_TO_HOST_FEATURE, report_current_grblstate_moving());
    }
  
  #endif // M114_DETAIL
  
  /**
   * M114: Report the current position to host.
   *       Since steppers are moving, the count positions are
   *       projected by using planner calculations.
   *   D - Report more detail. This syncs the planner. (Requires M114_DETAIL)
   *   E - Report E stepper position (Requires M114_DETAIL)
   *   R - Report the realtime position instead of projected.
   */
  void GcodeSuite::M114() {
  
    #if ENABLED(M114_DETAIL)
      if (parser.seen_test('D')) {
        #if DISABLED(M114_LEGACY)
          planner.synchronize();
        #endif
        report_current_position();
        report_current_position_detail();
        return;
      }
      if (parser.seen_test('E')) {
        SERIAL_ECHOLNPAIR("Count E:", stepper.position(E_AXIS));
        return;
      }
    #endif
  
    #if ENABLED(M114_REALTIME)
      if (parser.seen_test('R')) { report_real_position(); return; }
    #endif
  
    TERN_(M114_LEGACY, planner.synchronize());
    report_current_position_projected();
  
    TERN_(FULL_REPORT_TO_HOST_FEATURE, report_current_grblstate_moving());
  }
  