My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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Marlin_main.cpp 362KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. /**
  23. * About Marlin
  24. *
  25. * This firmware is a mashup between Sprinter and grbl.
  26. * - https://github.com/kliment/Sprinter
  27. * - https://github.com/simen/grbl/tree
  28. */
  29. /**
  30. * -----------------
  31. * G-Codes in Marlin
  32. * -----------------
  33. *
  34. * Helpful G-code references:
  35. * - http://linuxcnc.org/handbook/gcode/g-code.html
  36. * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  37. *
  38. * Help to document Marlin's G-codes online:
  39. * - http://reprap.org/wiki/G-code
  40. * - https://github.com/MarlinFirmware/MarlinDocumentation
  41. *
  42. * -----------------
  43. *
  44. * "G" Codes
  45. *
  46. * G0 -> G1
  47. * G1 - Coordinated Movement X Y Z E
  48. * G2 - CW ARC
  49. * G3 - CCW ARC
  50. * G4 - Dwell S<seconds> or P<milliseconds>
  51. * G5 - Cubic B-spline with XYZE destination and IJPQ offsets
  52. * G10 - Retract filament according to settings of M207
  53. * G11 - Retract recover filament according to settings of M208
  54. * G12 - Clean tool
  55. * G20 - Set input units to inches
  56. * G21 - Set input units to millimeters
  57. * G28 - Home one or more axes
  58. * G29 - Detailed Z probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  59. * G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
  60. * G31 - Dock sled (Z_PROBE_SLED only)
  61. * G32 - Undock sled (Z_PROBE_SLED only)
  62. * G38 - Probe target - similar to G28 except it uses the Z_MIN_PROBE for all three axes
  63. * G90 - Use Absolute Coordinates
  64. * G91 - Use Relative Coordinates
  65. * G92 - Set current position to coordinates given
  66. *
  67. * "M" Codes
  68. *
  69. * M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
  70. * M1 - Same as M0
  71. * M17 - Enable/Power all stepper motors
  72. * M18 - Disable all stepper motors; same as M84
  73. * M20 - List SD card. (Requires SDSUPPORT)
  74. * M21 - Init SD card. (Requires SDSUPPORT)
  75. * M22 - Release SD card. (Requires SDSUPPORT)
  76. * M23 - Select SD file: "M23 /path/file.gco". (Requires SDSUPPORT)
  77. * M24 - Start/resume SD print. (Requires SDSUPPORT)
  78. * M25 - Pause SD print. (Requires SDSUPPORT)
  79. * M26 - Set SD position in bytes: "M26 S12345". (Requires SDSUPPORT)
  80. * M27 - Report SD print status. (Requires SDSUPPORT)
  81. * M28 - Start SD write: "M28 /path/file.gco". (Requires SDSUPPORT)
  82. * M29 - Stop SD write. (Requires SDSUPPORT)
  83. * M30 - Delete file from SD: "M30 /path/file.gco"
  84. * M31 - Report time since last M109 or SD card start to serial.
  85. * M32 - Select file and start SD print: "M32 [S<bytepos>] !/path/file.gco#". (Requires SDSUPPORT)
  86. * Use P to run other files as sub-programs: "M32 P !filename#"
  87. * The '#' is necessary when calling from within sd files, as it stops buffer prereading
  88. * M33 - Get the longname version of a path. (Requires LONG_FILENAME_HOST_SUPPORT)
  89. * M34 - Set SD Card sorting options. (Requires SDCARD_SORT_ALPHA)
  90. * M42 - Change pin status via gcode: M42 P<pin> S<value>. LED pin assumed if P is omitted.
  91. * M43 - Display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  92. * M48 - Measure Z Probe repeatability: M48 P<points> X<pos> Y<pos> V<level> E<engage> L<legs>. (Requires Z_MIN_PROBE_REPEATABILITY_TEST)
  93. * M75 - Start the print job timer.
  94. * M76 - Pause the print job timer.
  95. * M77 - Stop the print job timer.
  96. * M78 - Show statistical information about the print jobs. (Requires PRINTCOUNTER)
  97. * M80 - Turn on Power Supply. (Requires POWER_SUPPLY)
  98. * M81 - Turn off Power Supply. (Requires POWER_SUPPLY)
  99. * M82 - Set E codes absolute (default).
  100. * M83 - Set E codes relative while in Absolute (G90) mode.
  101. * M84 - Disable steppers until next move, or use S<seconds> to specify an idle
  102. * duration after which steppers should turn off. S0 disables the timeout.
  103. * M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  104. * M92 - Set planner.axis_steps_per_mm for one or more axes.
  105. * M104 - Set extruder target temp.
  106. * M105 - Report current temperatures.
  107. * M106 - Fan on.
  108. * M107 - Fan off.
  109. * M108 - Break out of heating loops (M109, M190, M303). With no controller, breaks out of M0/M1. (Requires EMERGENCY_PARSER)
  110. * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  111. * Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  112. * If AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  113. * M110 - Set the current line number. (Used by host printing)
  114. * M111 - Set debug flags: "M111 S<flagbits>". See flag bits defined in enum.h.
  115. * M112 - Emergency stop.
  116. * M113 - Get or set the timeout interval for Host Keepalive "busy" messages. (Requires HOST_KEEPALIVE_FEATURE)
  117. * M114 - Report current position.
  118. * M115 - Report capabilities. (Extended capabilities requires EXTENDED_CAPABILITIES_REPORT)
  119. * M117 - Display a message on the controller screen. (Requires an LCD)
  120. * M119 - Report endstops status.
  121. * M120 - Enable endstops detection.
  122. * M121 - Disable endstops detection.
  123. * M125 - Save current position and move to filament change position. (Requires PARK_HEAD_ON_PAUSE)
  124. * M126 - Solenoid Air Valve Open. (Requires BARICUDA)
  125. * M127 - Solenoid Air Valve Closed. (Requires BARICUDA)
  126. * M128 - EtoP Open. (Requires BARICUDA)
  127. * M129 - EtoP Closed. (Requires BARICUDA)
  128. * M140 - Set bed target temp. S<temp>
  129. * M145 - Set heatup values for materials on the LCD. H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
  130. * M149 - Set temperature units. (Requires TEMPERATURE_UNITS_SUPPORT)
  131. * M150 - Set Status LED Color as R<red> U<green> B<blue>. Values 0-255. (Requires BLINKM or RGB_LED)
  132. * M155 - Auto-report temperatures with interval of S<seconds>. (Requires AUTO_REPORT_TEMPERATURES)
  133. * M163 - Set a single proportion for a mixing extruder. (Requires MIXING_EXTRUDER)
  134. * M164 - Save the mix as a virtual extruder. (Requires MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS)
  135. * M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. (Requires MIXING_EXTRUDER)
  136. * M190 - Sxxx Wait for bed current temp to reach target temp. ** Waits only when heating! **
  137. * Rxxx Wait for bed current temp to reach target temp. ** Waits for heating or cooling. **
  138. * M200 - Set filament diameter, D<diameter>, setting E axis units to cubic. (Use S0 to revert to linear units.)
  139. * M201 - Set max acceleration in units/s^2 for print moves: "M201 X<accel> Y<accel> Z<accel> E<accel>"
  140. * M202 - Set max acceleration in units/s^2 for travel moves: "M202 X<accel> Y<accel> Z<accel> E<accel>" ** UNUSED IN MARLIN! **
  141. * M203 - Set maximum feedrate: "M203 X<fr> Y<fr> Z<fr> E<fr>" in units/sec.
  142. * M204 - Set default acceleration in units/sec^2: P<printing> R<extruder_only> T<travel>
  143. * M205 - Set advanced settings. Current units apply:
  144. S<print> T<travel> minimum speeds
  145. B<minimum segment time>
  146. X<max X jerk>, Y<max Y jerk>, Z<max Z jerk>, E<max E jerk>
  147. * M206 - Set additional homing offset.
  148. * M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>. (Requires FWRETRACT)
  149. * M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>. (Requires FWRETRACT)
  150. * M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT)
  151. Every normal extrude-only move will be classified as retract depending on the direction.
  152. * M211 - Enable, Disable, and/or Report software endstops: S<0|1> (Requires MIN_SOFTWARE_ENDSTOPS or MAX_SOFTWARE_ENDSTOPS)
  153. * M218 - Set a tool offset: "M218 T<index> X<offset> Y<offset>". (Requires 2 or more extruders)
  154. * M220 - Set Feedrate Percentage: "M220 S<percent>" (i.e., "FR" on the LCD)
  155. * M221 - Set Flow Percentage: "M221 S<percent>"
  156. * M226 - Wait until a pin is in a given state: "M226 P<pin> S<state>"
  157. * M240 - Trigger a camera to take a photograph. (Requires CHDK or PHOTOGRAPH_PIN)
  158. * M250 - Set LCD contrast: "M250 C<contrast>" (0-63). (Requires LCD support)
  159. * M260 - i2c Send Data (Requires EXPERIMENTAL_I2CBUS)
  160. * M261 - i2c Request Data (Requires EXPERIMENTAL_I2CBUS)
  161. * M280 - Set servo position absolute: "M280 P<index> S<angle|µs>". (Requires servos)
  162. * M300 - Play beep sound S<frequency Hz> P<duration ms>
  163. * M301 - Set PID parameters P I and D. (Requires PIDTEMP)
  164. * M302 - Allow cold extrudes, or set the minimum extrude S<temperature>. (Requires PREVENT_COLD_EXTRUSION)
  165. * M303 - PID relay autotune S<temperature> sets the target temperature. Default 150C. (Requires PIDTEMP)
  166. * M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED)
  167. * M355 - Turn the Case Light on/off and set its brightness. (Requires CASE_LIGHT_PIN)
  168. * M380 - Activate solenoid on active extruder. (Requires EXT_SOLENOID)
  169. * M381 - Disable all solenoids. (Requires EXT_SOLENOID)
  170. * M400 - Finish all moves.
  171. * M401 - Lower Z probe. (Requires a probe)
  172. * M402 - Raise Z probe. (Requires a probe)
  173. * M404 - Display or set the Nominal Filament Width: "W<diameter>". (Requires FILAMENT_WIDTH_SENSOR)
  174. * M405 - Enable Filament Sensor flow control. "M405 D<delay_cm>". (Requires FILAMENT_WIDTH_SENSOR)
  175. * M406 - Disable Filament Sensor flow control. (Requires FILAMENT_WIDTH_SENSOR)
  176. * M407 - Display measured filament diameter in millimeters. (Requires FILAMENT_WIDTH_SENSOR)
  177. * M410 - Quickstop. Abort all planned moves.
  178. * M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL)
  179. * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units> (Requires MESH_BED_LEVELING or AUTO_BED_LEVELING_UBL)
  180. * M428 - Set the home_offset based on the current_position. Nearest edge applies.
  181. * M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS)
  182. * M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS)
  183. * M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! **
  184. * M503 - Print the current settings (in memory): "M503 S<verbose>". S0 specifies compact output.
  185. * M540 - Enable/disable SD card abort on endstop hit: "M540 S<state>". (Requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  186. * M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires FILAMENT_CHANGE_FEATURE)
  187. * M665 - Set delta configurations: "M665 L<diagonal rod> R<delta radius> S<segments/s> A<rod A trim mm> B<rod B trim mm> C<rod C trim mm> I<tower A trim angle> J<tower B trim angle> K<tower C trim angle>" (Requires DELTA)
  188. * M666 - Set delta endstop adjustment. (Requires DELTA)
  189. * M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
  190. * M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
  191. * M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires HAVE_TMC2130)
  192. * M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
  193. * M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN)
  194. * M909 - Print digipot/DAC current value. (Requires DAC_STEPPER_CURRENT)
  195. * M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT)
  196. * M911 - Report stepper driver overtemperature pre-warn condition. (Requires HAVE_TMC2130)
  197. * M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires HAVE_TMC2130)
  198. * M350 - Set microstepping mode. (Requires digital microstepping pins.)
  199. * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
  200. *
  201. * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  202. * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  203. * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  204. * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  205. * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  206. *
  207. * ************ Custom codes - This can change to suit future G-code regulations
  208. * M100 - Watch Free Memory (For Debugging). (Requires M100_FREE_MEMORY_WATCHER)
  209. * M928 - Start SD logging: "M928 filename.gco". Stop with M29. (Requires SDSUPPORT)
  210. * M999 - Restart after being stopped by error
  211. *
  212. * "T" Codes
  213. *
  214. * T0-T3 - Select an extruder (tool) by index: "T<n> F<units/min>"
  215. *
  216. */
  217. #include "Marlin.h"
  218. #include "ultralcd.h"
  219. #include "planner.h"
  220. #include "stepper.h"
  221. #include "endstops.h"
  222. #include "temperature.h"
  223. #include "cardreader.h"
  224. #include "configuration_store.h"
  225. #include "language.h"
  226. #include "pins_arduino.h"
  227. #include "math.h"
  228. #include "nozzle.h"
  229. #include "duration_t.h"
  230. #include "types.h"
  231. #if HAS_ABL
  232. #include "vector_3.h"
  233. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  234. #include "qr_solve.h"
  235. #endif
  236. #elif ENABLED(MESH_BED_LEVELING)
  237. #include "mesh_bed_leveling.h"
  238. #endif
  239. #if ENABLED(BEZIER_CURVE_SUPPORT)
  240. #include "planner_bezier.h"
  241. #endif
  242. #if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
  243. #include "buzzer.h"
  244. #endif
  245. #if ENABLED(USE_WATCHDOG)
  246. #include "watchdog.h"
  247. #endif
  248. #if ENABLED(BLINKM)
  249. #include "blinkm.h"
  250. #include "Wire.h"
  251. #endif
  252. #if HAS_SERVOS
  253. #include "servo.h"
  254. #endif
  255. #if HAS_DIGIPOTSS
  256. #include <SPI.h>
  257. #endif
  258. #if ENABLED(DAC_STEPPER_CURRENT)
  259. #include "stepper_dac.h"
  260. #endif
  261. #if ENABLED(EXPERIMENTAL_I2CBUS)
  262. #include "twibus.h"
  263. #endif
  264. #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
  265. #include "endstop_interrupts.h"
  266. #endif
  267. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  268. void gcode_M100();
  269. #endif
  270. #if ENABLED(SDSUPPORT)
  271. CardReader card;
  272. #endif
  273. #if ENABLED(EXPERIMENTAL_I2CBUS)
  274. TWIBus i2c;
  275. #endif
  276. #if ENABLED(G38_PROBE_TARGET)
  277. bool G38_move = false,
  278. G38_endstop_hit = false;
  279. #endif
  280. #if ENABLED(AUTO_BED_LEVELING_UBL)
  281. #include "ubl.h"
  282. unified_bed_leveling ubl;
  283. #define UBL_MESH_VALID !( ( ubl.z_values[0][0] == ubl.z_values[0][1] && ubl.z_values[0][1] == ubl.z_values[0][2] \
  284. && ubl.z_values[1][0] == ubl.z_values[1][1] && ubl.z_values[1][1] == ubl.z_values[1][2] \
  285. && ubl.z_values[2][0] == ubl.z_values[2][1] && ubl.z_values[2][1] == ubl.z_values[2][2] \
  286. && ubl.z_values[0][0] == 0 && ubl.z_values[1][0] == 0 && ubl.z_values[2][0] == 0 ) \
  287. || isnan(ubl.z_values[0][0]))
  288. #endif
  289. bool Running = true;
  290. uint8_t marlin_debug_flags = DEBUG_NONE;
  291. /**
  292. * Cartesian Current Position
  293. * Used to track the logical position as moves are queued.
  294. * Used by 'line_to_current_position' to do a move after changing it.
  295. * Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'.
  296. */
  297. float current_position[XYZE] = { 0.0 };
  298. /**
  299. * Cartesian Destination
  300. * A temporary position, usually applied to 'current_position'.
  301. * Set with 'gcode_get_destination' or 'set_destination_to_current'.
  302. * 'line_to_destination' sets 'current_position' to 'destination'.
  303. */
  304. float destination[XYZE] = { 0.0 };
  305. /**
  306. * axis_homed
  307. * Flags that each linear axis was homed.
  308. * XYZ on cartesian, ABC on delta, ABZ on SCARA.
  309. *
  310. * axis_known_position
  311. * Flags that the position is known in each linear axis. Set when homed.
  312. * Cleared whenever a stepper powers off, potentially losing its position.
  313. */
  314. bool axis_homed[XYZ] = { false }, axis_known_position[XYZ] = { false };
  315. /**
  316. * GCode line number handling. Hosts may opt to include line numbers when
  317. * sending commands to Marlin, and lines will be checked for sequentiality.
  318. * M110 N<int> sets the current line number.
  319. */
  320. static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
  321. /**
  322. * GCode Command Queue
  323. * A simple ring buffer of BUFSIZE command strings.
  324. *
  325. * Commands are copied into this buffer by the command injectors
  326. * (immediate, serial, sd card) and they are processed sequentially by
  327. * the main loop. The process_next_command function parses the next
  328. * command and hands off execution to individual handler functions.
  329. */
  330. uint8_t commands_in_queue = 0; // Count of commands in the queue
  331. static uint8_t cmd_queue_index_r = 0, // Ring buffer read position
  332. cmd_queue_index_w = 0; // Ring buffer write position
  333. static char command_queue[BUFSIZE][MAX_CMD_SIZE];
  334. /**
  335. * Current GCode Command
  336. * When a GCode handler is running, these will be set
  337. */
  338. static char *current_command, // The command currently being executed
  339. *current_command_args, // The address where arguments begin
  340. *seen_pointer; // Set by code_seen(), used by the code_value functions
  341. /**
  342. * Next Injected Command pointer. NULL if no commands are being injected.
  343. * Used by Marlin internally to ensure that commands initiated from within
  344. * are enqueued ahead of any pending serial or sd card commands.
  345. */
  346. static const char *injected_commands_P = NULL;
  347. #if ENABLED(INCH_MODE_SUPPORT)
  348. float linear_unit_factor = 1.0, volumetric_unit_factor = 1.0;
  349. #endif
  350. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  351. TempUnit input_temp_units = TEMPUNIT_C;
  352. #endif
  353. /**
  354. * Feed rates are often configured with mm/m
  355. * but the planner and stepper like mm/s units.
  356. */
  357. float constexpr homing_feedrate_mm_s[] = {
  358. #if ENABLED(DELTA)
  359. MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z),
  360. #else
  361. MMM_TO_MMS(HOMING_FEEDRATE_XY), MMM_TO_MMS(HOMING_FEEDRATE_XY),
  362. #endif
  363. MMM_TO_MMS(HOMING_FEEDRATE_Z), 0
  364. };
  365. static float feedrate_mm_s = MMM_TO_MMS(1500.0), saved_feedrate_mm_s;
  366. int feedrate_percentage = 100, saved_feedrate_percentage,
  367. flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
  368. bool axis_relative_modes[] = AXIS_RELATIVE_MODES,
  369. volumetric_enabled =
  370. #if ENABLED(VOLUMETRIC_DEFAULT_ON)
  371. true
  372. #else
  373. false
  374. #endif
  375. ;
  376. float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA),
  377. volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
  378. #if DISABLED(NO_WORKSPACE_OFFSETS)
  379. // The distance that XYZ has been offset by G92. Reset by G28.
  380. float position_shift[XYZ] = { 0 };
  381. // This offset is added to the configured home position.
  382. // Set by M206, M428, or menu item. Saved to EEPROM.
  383. float home_offset[XYZ] = { 0 };
  384. // The above two are combined to save on computes
  385. float workspace_offset[XYZ] = { 0 };
  386. #endif
  387. // Software Endstops are based on the configured limits.
  388. #if HAS_SOFTWARE_ENDSTOPS
  389. bool soft_endstops_enabled = true;
  390. #endif
  391. float soft_endstop_min[XYZ] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
  392. soft_endstop_max[XYZ] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  393. #if FAN_COUNT > 0
  394. int fanSpeeds[FAN_COUNT] = { 0 };
  395. #endif
  396. // The active extruder (tool). Set with T<extruder> command.
  397. uint8_t active_extruder = 0;
  398. // Relative Mode. Enable with G91, disable with G90.
  399. static bool relative_mode = false;
  400. // For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
  401. volatile bool wait_for_heatup = true;
  402. // For M0/M1, this flag may be cleared (by M108) to exit the wait-for-user loop
  403. #if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
  404. volatile bool wait_for_user = false;
  405. #endif
  406. const char axis_codes[XYZE] = {'X', 'Y', 'Z', 'E'};
  407. // Number of characters read in the current line of serial input
  408. static int serial_count = 0;
  409. // Inactivity shutdown
  410. millis_t previous_cmd_ms = 0;
  411. static millis_t max_inactive_time = 0;
  412. static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
  413. // Print Job Timer
  414. #if ENABLED(PRINTCOUNTER)
  415. PrintCounter print_job_timer = PrintCounter();
  416. #else
  417. Stopwatch print_job_timer = Stopwatch();
  418. #endif
  419. // Buzzer - I2C on the LCD or a BEEPER_PIN
  420. #if ENABLED(LCD_USE_I2C_BUZZER)
  421. #define BUZZ(d,f) lcd_buzz(d, f)
  422. #elif PIN_EXISTS(BEEPER)
  423. Buzzer buzzer;
  424. #define BUZZ(d,f) buzzer.tone(d, f)
  425. #else
  426. #define BUZZ(d,f) NOOP
  427. #endif
  428. static uint8_t target_extruder;
  429. #if HAS_BED_PROBE
  430. float zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER;
  431. #endif
  432. #define PLANNER_XY_FEEDRATE() (min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]))
  433. #if HAS_ABL
  434. float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
  435. #define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s
  436. #elif defined(XY_PROBE_SPEED)
  437. #define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED)
  438. #else
  439. #define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
  440. #endif
  441. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  442. #if ENABLED(DELTA)
  443. #define ADJUST_DELTA(V) \
  444. if (planner.abl_enabled) { \
  445. const float zadj = bilinear_z_offset(V); \
  446. delta[A_AXIS] += zadj; \
  447. delta[B_AXIS] += zadj; \
  448. delta[C_AXIS] += zadj; \
  449. }
  450. #else
  451. #define ADJUST_DELTA(V) if (planner.abl_enabled) { delta[Z_AXIS] += bilinear_z_offset(V); }
  452. #endif
  453. #elif IS_KINEMATIC
  454. #define ADJUST_DELTA(V) NOOP
  455. #endif
  456. #if ENABLED(Z_DUAL_ENDSTOPS)
  457. float z_endstop_adj =
  458. #ifdef Z_DUAL_ENDSTOPS_ADJUSTMENT
  459. Z_DUAL_ENDSTOPS_ADJUSTMENT
  460. #else
  461. 0
  462. #endif
  463. ;
  464. #endif
  465. // Extruder offsets
  466. #if HOTENDS > 1
  467. float hotend_offset[XYZ][HOTENDS];
  468. #endif
  469. #if HAS_Z_SERVO_ENDSTOP
  470. const int z_servo_angle[2] = Z_SERVO_ANGLES;
  471. #endif
  472. #if ENABLED(BARICUDA)
  473. int baricuda_valve_pressure = 0;
  474. int baricuda_e_to_p_pressure = 0;
  475. #endif
  476. #if ENABLED(FWRETRACT)
  477. bool autoretract_enabled = false;
  478. bool retracted[EXTRUDERS] = { false };
  479. bool retracted_swap[EXTRUDERS] = { false };
  480. float retract_length = RETRACT_LENGTH;
  481. float retract_length_swap = RETRACT_LENGTH_SWAP;
  482. float retract_feedrate_mm_s = RETRACT_FEEDRATE;
  483. float retract_zlift = RETRACT_ZLIFT;
  484. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  485. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  486. float retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE;
  487. #endif // FWRETRACT
  488. #if ENABLED(ULTIPANEL) && HAS_POWER_SWITCH
  489. bool powersupply =
  490. #if ENABLED(PS_DEFAULT_OFF)
  491. false
  492. #else
  493. true
  494. #endif
  495. ;
  496. #endif
  497. #if HAS_CASE_LIGHT
  498. bool case_light_on =
  499. #if ENABLED(CASE_LIGHT_DEFAULT_ON)
  500. true
  501. #else
  502. false
  503. #endif
  504. ;
  505. #endif
  506. #if ENABLED(DELTA)
  507. float delta[ABC],
  508. endstop_adj[ABC] = { 0 };
  509. // These values are loaded or reset at boot time when setup() calls
  510. // Config_RetrieveSettings(), which calls recalc_delta_settings().
  511. float delta_radius,
  512. delta_tower_angle_trim[ABC],
  513. delta_tower[ABC][2],
  514. delta_diagonal_rod,
  515. delta_diagonal_rod_trim[ABC],
  516. delta_diagonal_rod_2_tower[ABC],
  517. delta_segments_per_second,
  518. delta_clip_start_height = Z_MAX_POS;
  519. float delta_safe_distance_from_top();
  520. #endif
  521. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  522. int bilinear_grid_spacing[2], bilinear_start[2];
  523. float bed_level_grid[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
  524. #endif
  525. #if IS_SCARA
  526. // Float constants for SCARA calculations
  527. const float L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
  528. L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
  529. L2_2 = sq(float(L2));
  530. float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
  531. delta[ABC];
  532. #endif
  533. float cartes[XYZ] = { 0 };
  534. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  535. bool filament_sensor = false; //M405 turns on filament_sensor control, M406 turns it off
  536. float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA, // Nominal filament width. Change with M404
  537. filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA; // Measured filament diameter
  538. int8_t measurement_delay[MAX_MEASUREMENT_DELAY + 1]; // Ring buffer to delayed measurement. Store extruder factor after subtracting 100
  539. int filwidth_delay_index[2] = { 0, -1 }; // Indexes into ring buffer
  540. int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
  541. #endif
  542. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  543. static bool filament_ran_out = false;
  544. #endif
  545. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  546. FilamentChangeMenuResponse filament_change_menu_response;
  547. #endif
  548. #if ENABLED(MIXING_EXTRUDER)
  549. float mixing_factor[MIXING_STEPPERS]; // Reciprocal of mix proportion. 0.0 = off, otherwise >= 1.0.
  550. #if MIXING_VIRTUAL_TOOLS > 1
  551. float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
  552. #endif
  553. #endif
  554. static bool send_ok[BUFSIZE];
  555. #if HAS_SERVOS
  556. Servo servo[NUM_SERVOS];
  557. #define MOVE_SERVO(I, P) servo[I].move(P)
  558. #if HAS_Z_SERVO_ENDSTOP
  559. #define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0])
  560. #define STOW_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[1])
  561. #endif
  562. #endif
  563. #ifdef CHDK
  564. millis_t chdkHigh = 0;
  565. bool chdkActive = false;
  566. #endif
  567. #if ENABLED(PID_EXTRUSION_SCALING)
  568. int lpq_len = 20;
  569. #endif
  570. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  571. MarlinBusyState busy_state = NOT_BUSY;
  572. static millis_t next_busy_signal_ms = 0;
  573. uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
  574. #else
  575. #define host_keepalive() NOOP
  576. #endif
  577. static inline float pgm_read_any(const float *p) { return pgm_read_float_near(p); }
  578. static inline signed char pgm_read_any(const signed char *p) { return pgm_read_byte_near(p); }
  579. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  580. static const PROGMEM type array##_P[XYZ] = { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  581. static inline type array(AxisEnum axis) { return pgm_read_any(&array##_P[axis]); }
  582. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS)
  583. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS)
  584. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS)
  585. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH)
  586. XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM)
  587. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR)
  588. /**
  589. * ***************************************************************************
  590. * ******************************** FUNCTIONS ********************************
  591. * ***************************************************************************
  592. */
  593. void stop();
  594. void get_available_commands();
  595. void process_next_command();
  596. void prepare_move_to_destination();
  597. void get_cartesian_from_steppers();
  598. void set_current_from_steppers_for_axis(const AxisEnum axis);
  599. #if ENABLED(ARC_SUPPORT)
  600. void plan_arc(float target[XYZE], float* offset, uint8_t clockwise);
  601. #endif
  602. #if ENABLED(BEZIER_CURVE_SUPPORT)
  603. void plan_cubic_move(const float offset[4]);
  604. #endif
  605. void tool_change(const uint8_t tmp_extruder, const float fr_mm_s=0.0, bool no_move=false);
  606. static void report_current_position();
  607. #if ENABLED(DEBUG_LEVELING_FEATURE)
  608. void print_xyz(const char* prefix, const char* suffix, const float x, const float y, const float z) {
  609. serialprintPGM(prefix);
  610. SERIAL_ECHOPAIR("(", x);
  611. SERIAL_ECHOPAIR(", ", y);
  612. SERIAL_ECHOPAIR(", ", z);
  613. SERIAL_CHAR(')');
  614. if (suffix) serialprintPGM(suffix);
  615. else SERIAL_EOL;
  616. }
  617. void print_xyz(const char* prefix, const char* suffix, const float xyz[]) {
  618. print_xyz(prefix, suffix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
  619. }
  620. #if HAS_ABL
  621. void print_xyz(const char* prefix, const char* suffix, const vector_3 &xyz) {
  622. print_xyz(prefix, suffix, xyz.x, xyz.y, xyz.z);
  623. }
  624. #endif
  625. #define DEBUG_POS(SUFFIX,VAR) do { \
  626. print_xyz(PSTR(" " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); } while(0)
  627. #endif
  628. /**
  629. * sync_plan_position
  630. *
  631. * Set the planner/stepper positions directly from current_position with
  632. * no kinematic translation. Used for homing axes and cartesian/core syncing.
  633. */
  634. inline void sync_plan_position() {
  635. #if ENABLED(DEBUG_LEVELING_FEATURE)
  636. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
  637. #endif
  638. planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  639. }
  640. inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
  641. #if IS_KINEMATIC
  642. inline void sync_plan_position_kinematic() {
  643. #if ENABLED(DEBUG_LEVELING_FEATURE)
  644. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
  645. #endif
  646. planner.set_position_mm_kinematic(current_position);
  647. }
  648. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
  649. #else
  650. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
  651. #endif
  652. #if ENABLED(SDSUPPORT)
  653. #include "SdFatUtil.h"
  654. int freeMemory() { return SdFatUtil::FreeRam(); }
  655. #else
  656. extern "C" {
  657. extern char __bss_end;
  658. extern char __heap_start;
  659. extern void* __brkval;
  660. int freeMemory() {
  661. int free_memory;
  662. if ((int)__brkval == 0)
  663. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  664. else
  665. free_memory = ((int)&free_memory) - ((int)__brkval);
  666. return free_memory;
  667. }
  668. }
  669. #endif //!SDSUPPORT
  670. #if ENABLED(DIGIPOT_I2C)
  671. extern void digipot_i2c_set_current(int channel, float current);
  672. extern void digipot_i2c_init();
  673. #endif
  674. /**
  675. * Inject the next "immediate" command, when possible, onto the front of the queue.
  676. * Return true if any immediate commands remain to inject.
  677. */
  678. static bool drain_injected_commands_P() {
  679. if (injected_commands_P != NULL) {
  680. size_t i = 0;
  681. char c, cmd[30];
  682. strncpy_P(cmd, injected_commands_P, sizeof(cmd) - 1);
  683. cmd[sizeof(cmd) - 1] = '\0';
  684. while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
  685. cmd[i] = '\0';
  686. if (enqueue_and_echo_command(cmd)) // success?
  687. injected_commands_P = c ? injected_commands_P + i + 1 : NULL; // next command or done
  688. }
  689. return (injected_commands_P != NULL); // return whether any more remain
  690. }
  691. /**
  692. * Record one or many commands to run from program memory.
  693. * Aborts the current queue, if any.
  694. * Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards
  695. */
  696. void enqueue_and_echo_commands_P(const char* pgcode) {
  697. injected_commands_P = pgcode;
  698. drain_injected_commands_P(); // first command executed asap (when possible)
  699. }
  700. /**
  701. * Clear the Marlin command queue
  702. */
  703. void clear_command_queue() {
  704. cmd_queue_index_r = cmd_queue_index_w;
  705. commands_in_queue = 0;
  706. }
  707. /**
  708. * Once a new command is in the ring buffer, call this to commit it
  709. */
  710. inline void _commit_command(bool say_ok) {
  711. send_ok[cmd_queue_index_w] = say_ok;
  712. cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE;
  713. commands_in_queue++;
  714. }
  715. /**
  716. * Copy a command from RAM into the main command buffer.
  717. * Return true if the command was successfully added.
  718. * Return false for a full buffer, or if the 'command' is a comment.
  719. */
  720. inline bool _enqueuecommand(const char* cmd, bool say_ok=false) {
  721. if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
  722. strcpy(command_queue[cmd_queue_index_w], cmd);
  723. _commit_command(say_ok);
  724. return true;
  725. }
  726. /**
  727. * Enqueue with Serial Echo
  728. */
  729. bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
  730. if (_enqueuecommand(cmd, say_ok)) {
  731. SERIAL_ECHO_START;
  732. SERIAL_ECHOPAIR(MSG_ENQUEUEING, cmd);
  733. SERIAL_CHAR('"');
  734. SERIAL_EOL;
  735. return true;
  736. }
  737. return false;
  738. }
  739. void setup_killpin() {
  740. #if HAS_KILL
  741. SET_INPUT_PULLUP(KILL_PIN);
  742. #endif
  743. }
  744. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  745. void setup_filrunoutpin() {
  746. #if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
  747. SET_INPUT_PULLUP(FIL_RUNOUT_PIN);
  748. #else
  749. SET_INPUT(FIL_RUNOUT_PIN);
  750. #endif
  751. }
  752. #endif
  753. void setup_homepin(void) {
  754. #if HAS_HOME
  755. SET_INPUT_PULLUP(HOME_PIN);
  756. #endif
  757. }
  758. void setup_powerhold() {
  759. #if HAS_SUICIDE
  760. OUT_WRITE(SUICIDE_PIN, HIGH);
  761. #endif
  762. #if HAS_POWER_SWITCH
  763. #if ENABLED(PS_DEFAULT_OFF)
  764. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  765. #else
  766. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
  767. #endif
  768. #endif
  769. }
  770. void suicide() {
  771. #if HAS_SUICIDE
  772. OUT_WRITE(SUICIDE_PIN, LOW);
  773. #endif
  774. }
  775. void servo_init() {
  776. #if NUM_SERVOS >= 1 && HAS_SERVO_0
  777. servo[0].attach(SERVO0_PIN);
  778. servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
  779. #endif
  780. #if NUM_SERVOS >= 2 && HAS_SERVO_1
  781. servo[1].attach(SERVO1_PIN);
  782. servo[1].detach();
  783. #endif
  784. #if NUM_SERVOS >= 3 && HAS_SERVO_2
  785. servo[2].attach(SERVO2_PIN);
  786. servo[2].detach();
  787. #endif
  788. #if NUM_SERVOS >= 4 && HAS_SERVO_3
  789. servo[3].attach(SERVO3_PIN);
  790. servo[3].detach();
  791. #endif
  792. #if HAS_Z_SERVO_ENDSTOP
  793. /**
  794. * Set position of Z Servo Endstop
  795. *
  796. * The servo might be deployed and positioned too low to stow
  797. * when starting up the machine or rebooting the board.
  798. * There's no way to know where the nozzle is positioned until
  799. * homing has been done - no homing with z-probe without init!
  800. *
  801. */
  802. STOW_Z_SERVO();
  803. #endif
  804. }
  805. /**
  806. * Stepper Reset (RigidBoard, et.al.)
  807. */
  808. #if HAS_STEPPER_RESET
  809. void disableStepperDrivers() {
  810. OUT_WRITE(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
  811. }
  812. void enableStepperDrivers() { SET_INPUT(STEPPER_RESET_PIN); } // set to input, which allows it to be pulled high by pullups
  813. #endif
  814. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  815. void i2c_on_receive(int bytes) { // just echo all bytes received to serial
  816. i2c.receive(bytes);
  817. }
  818. void i2c_on_request() { // just send dummy data for now
  819. i2c.reply("Hello World!\n");
  820. }
  821. #endif
  822. void gcode_line_error(const char* err, bool doFlush = true) {
  823. SERIAL_ERROR_START;
  824. serialprintPGM(err);
  825. SERIAL_ERRORLN(gcode_LastN);
  826. //Serial.println(gcode_N);
  827. if (doFlush) FlushSerialRequestResend();
  828. serial_count = 0;
  829. }
  830. /**
  831. * Get all commands waiting on the serial port and queue them.
  832. * Exit when the buffer is full or when no more characters are
  833. * left on the serial port.
  834. */
  835. inline void get_serial_commands() {
  836. static char serial_line_buffer[MAX_CMD_SIZE];
  837. static bool serial_comment_mode = false;
  838. // If the command buffer is empty for too long,
  839. // send "wait" to indicate Marlin is still waiting.
  840. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  841. static millis_t last_command_time = 0;
  842. const millis_t ms = millis();
  843. if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
  844. SERIAL_ECHOLNPGM(MSG_WAIT);
  845. last_command_time = ms;
  846. }
  847. #endif
  848. /**
  849. * Loop while serial characters are incoming and the queue is not full
  850. */
  851. while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) {
  852. char serial_char = MYSERIAL.read();
  853. /**
  854. * If the character ends the line
  855. */
  856. if (serial_char == '\n' || serial_char == '\r') {
  857. serial_comment_mode = false; // end of line == end of comment
  858. if (!serial_count) continue; // skip empty lines
  859. serial_line_buffer[serial_count] = 0; // terminate string
  860. serial_count = 0; //reset buffer
  861. char* command = serial_line_buffer;
  862. while (*command == ' ') command++; // skip any leading spaces
  863. char* npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
  864. char* apos = strchr(command, '*');
  865. if (npos) {
  866. bool M110 = strstr_P(command, PSTR("M110")) != NULL;
  867. if (M110) {
  868. char* n2pos = strchr(command + 4, 'N');
  869. if (n2pos) npos = n2pos;
  870. }
  871. gcode_N = strtol(npos + 1, NULL, 10);
  872. if (gcode_N != gcode_LastN + 1 && !M110) {
  873. gcode_line_error(PSTR(MSG_ERR_LINE_NO));
  874. return;
  875. }
  876. if (apos) {
  877. byte checksum = 0, count = 0;
  878. while (command[count] != '*') checksum ^= command[count++];
  879. if (strtol(apos + 1, NULL, 10) != checksum) {
  880. gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
  881. return;
  882. }
  883. // if no errors, continue parsing
  884. }
  885. else {
  886. gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
  887. return;
  888. }
  889. gcode_LastN = gcode_N;
  890. // if no errors, continue parsing
  891. }
  892. else if (apos) { // No '*' without 'N'
  893. gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false);
  894. return;
  895. }
  896. // Movement commands alert when stopped
  897. if (IsStopped()) {
  898. char* gpos = strchr(command, 'G');
  899. if (gpos) {
  900. int codenum = strtol(gpos + 1, NULL, 10);
  901. switch (codenum) {
  902. case 0:
  903. case 1:
  904. case 2:
  905. case 3:
  906. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  907. LCD_MESSAGEPGM(MSG_STOPPED);
  908. break;
  909. }
  910. }
  911. }
  912. #if DISABLED(EMERGENCY_PARSER)
  913. // If command was e-stop process now
  914. if (strcmp(command, "M108") == 0) {
  915. wait_for_heatup = false;
  916. #if ENABLED(ULTIPANEL)
  917. wait_for_user = false;
  918. #endif
  919. }
  920. if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
  921. if (strcmp(command, "M410") == 0) { quickstop_stepper(); }
  922. #endif
  923. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  924. last_command_time = ms;
  925. #endif
  926. // Add the command to the queue
  927. _enqueuecommand(serial_line_buffer, true);
  928. }
  929. else if (serial_count >= MAX_CMD_SIZE - 1) {
  930. // Keep fetching, but ignore normal characters beyond the max length
  931. // The command will be injected when EOL is reached
  932. }
  933. else if (serial_char == '\\') { // Handle escapes
  934. if (MYSERIAL.available() > 0) {
  935. // if we have one more character, copy it over
  936. serial_char = MYSERIAL.read();
  937. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  938. }
  939. // otherwise do nothing
  940. }
  941. else { // it's not a newline, carriage return or escape char
  942. if (serial_char == ';') serial_comment_mode = true;
  943. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  944. }
  945. } // queue has space, serial has data
  946. }
  947. #if ENABLED(SDSUPPORT)
  948. /**
  949. * Get commands from the SD Card until the command buffer is full
  950. * or until the end of the file is reached. The special character '#'
  951. * can also interrupt buffering.
  952. */
  953. inline void get_sdcard_commands() {
  954. static bool stop_buffering = false,
  955. sd_comment_mode = false;
  956. if (!card.sdprinting) return;
  957. /**
  958. * '#' stops reading from SD to the buffer prematurely, so procedural
  959. * macro calls are possible. If it occurs, stop_buffering is triggered
  960. * and the buffer is run dry; this character _can_ occur in serial com
  961. * due to checksums, however, no checksums are used in SD printing.
  962. */
  963. if (commands_in_queue == 0) stop_buffering = false;
  964. uint16_t sd_count = 0;
  965. bool card_eof = card.eof();
  966. while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
  967. const int16_t n = card.get();
  968. char sd_char = (char)n;
  969. card_eof = card.eof();
  970. if (card_eof || n == -1
  971. || sd_char == '\n' || sd_char == '\r'
  972. || ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
  973. ) {
  974. if (card_eof) {
  975. SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
  976. card.printingHasFinished();
  977. card.checkautostart(true);
  978. }
  979. else if (n == -1) {
  980. SERIAL_ERROR_START;
  981. SERIAL_ECHOLNPGM(MSG_SD_ERR_READ);
  982. }
  983. if (sd_char == '#') stop_buffering = true;
  984. sd_comment_mode = false; // for new command
  985. if (!sd_count) continue; // skip empty lines (and comment lines)
  986. command_queue[cmd_queue_index_w][sd_count] = '\0'; // terminate string
  987. sd_count = 0; // clear sd line buffer
  988. _commit_command(false);
  989. }
  990. else if (sd_count >= MAX_CMD_SIZE - 1) {
  991. /**
  992. * Keep fetching, but ignore normal characters beyond the max length
  993. * The command will be injected when EOL is reached
  994. */
  995. }
  996. else {
  997. if (sd_char == ';') sd_comment_mode = true;
  998. if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
  999. }
  1000. }
  1001. }
  1002. #endif // SDSUPPORT
  1003. /**
  1004. * Add to the circular command queue the next command from:
  1005. * - The command-injection queue (injected_commands_P)
  1006. * - The active serial input (usually USB)
  1007. * - The SD card file being actively printed
  1008. */
  1009. void get_available_commands() {
  1010. // if any immediate commands remain, don't get other commands yet
  1011. if (drain_injected_commands_P()) return;
  1012. get_serial_commands();
  1013. #if ENABLED(SDSUPPORT)
  1014. get_sdcard_commands();
  1015. #endif
  1016. }
  1017. inline bool code_has_value() {
  1018. int i = 1;
  1019. char c = seen_pointer[i];
  1020. while (c == ' ') c = seen_pointer[++i];
  1021. if (c == '-' || c == '+') c = seen_pointer[++i];
  1022. if (c == '.') c = seen_pointer[++i];
  1023. return NUMERIC(c);
  1024. }
  1025. inline float code_value_float() {
  1026. char* e = strchr(seen_pointer, 'E');
  1027. if (!e) return strtod(seen_pointer + 1, NULL);
  1028. *e = 0;
  1029. float ret = strtod(seen_pointer + 1, NULL);
  1030. *e = 'E';
  1031. return ret;
  1032. }
  1033. inline unsigned long code_value_ulong() { return strtoul(seen_pointer + 1, NULL, 10); }
  1034. inline long code_value_long() { return strtol(seen_pointer + 1, NULL, 10); }
  1035. inline int code_value_int() { return (int)strtol(seen_pointer + 1, NULL, 10); }
  1036. inline uint16_t code_value_ushort() { return (uint16_t)strtoul(seen_pointer + 1, NULL, 10); }
  1037. inline uint8_t code_value_byte() { return (uint8_t)(constrain(strtol(seen_pointer + 1, NULL, 10), 0, 255)); }
  1038. inline bool code_value_bool() { return !code_has_value() || code_value_byte() > 0; }
  1039. #if ENABLED(INCH_MODE_SUPPORT)
  1040. inline void set_input_linear_units(LinearUnit units) {
  1041. switch (units) {
  1042. case LINEARUNIT_INCH:
  1043. linear_unit_factor = 25.4;
  1044. break;
  1045. case LINEARUNIT_MM:
  1046. default:
  1047. linear_unit_factor = 1.0;
  1048. break;
  1049. }
  1050. volumetric_unit_factor = pow(linear_unit_factor, 3.0);
  1051. }
  1052. inline float axis_unit_factor(int axis) {
  1053. return (axis >= E_AXIS && volumetric_enabled ? volumetric_unit_factor : linear_unit_factor);
  1054. }
  1055. inline float code_value_linear_units() { return code_value_float() * linear_unit_factor; }
  1056. inline float code_value_axis_units(int axis) { return code_value_float() * axis_unit_factor(axis); }
  1057. inline float code_value_per_axis_unit(int axis) { return code_value_float() / axis_unit_factor(axis); }
  1058. #else
  1059. inline float code_value_linear_units() { return code_value_float(); }
  1060. inline float code_value_axis_units(int axis) { UNUSED(axis); return code_value_float(); }
  1061. inline float code_value_per_axis_unit(int axis) { UNUSED(axis); return code_value_float(); }
  1062. #endif
  1063. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  1064. inline void set_input_temp_units(TempUnit units) { input_temp_units = units; }
  1065. float code_value_temp_abs() {
  1066. switch (input_temp_units) {
  1067. case TEMPUNIT_C:
  1068. return code_value_float();
  1069. case TEMPUNIT_F:
  1070. return (code_value_float() - 32) * 0.5555555556;
  1071. case TEMPUNIT_K:
  1072. return code_value_float() - 273.15;
  1073. default:
  1074. return code_value_float();
  1075. }
  1076. }
  1077. float code_value_temp_diff() {
  1078. switch (input_temp_units) {
  1079. case TEMPUNIT_C:
  1080. case TEMPUNIT_K:
  1081. return code_value_float();
  1082. case TEMPUNIT_F:
  1083. return code_value_float() * 0.5555555556;
  1084. default:
  1085. return code_value_float();
  1086. }
  1087. }
  1088. #else
  1089. float code_value_temp_abs() { return code_value_float(); }
  1090. float code_value_temp_diff() { return code_value_float(); }
  1091. #endif
  1092. FORCE_INLINE millis_t code_value_millis() { return code_value_ulong(); }
  1093. inline millis_t code_value_millis_from_seconds() { return code_value_float() * 1000; }
  1094. bool code_seen(char code) {
  1095. seen_pointer = strchr(current_command_args, code);
  1096. return (seen_pointer != NULL); // Return TRUE if the code-letter was found
  1097. }
  1098. /**
  1099. * Set target_extruder from the T parameter or the active_extruder
  1100. *
  1101. * Returns TRUE if the target is invalid
  1102. */
  1103. bool get_target_extruder_from_command(int code) {
  1104. if (code_seen('T')) {
  1105. if (code_value_byte() >= EXTRUDERS) {
  1106. SERIAL_ECHO_START;
  1107. SERIAL_CHAR('M');
  1108. SERIAL_ECHO(code);
  1109. SERIAL_ECHOLNPAIR(" " MSG_INVALID_EXTRUDER " ", code_value_byte());
  1110. return true;
  1111. }
  1112. target_extruder = code_value_byte();
  1113. }
  1114. else
  1115. target_extruder = active_extruder;
  1116. return false;
  1117. }
  1118. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  1119. bool extruder_duplication_enabled = false; // Used in Dual X mode 2
  1120. #endif
  1121. #if ENABLED(DUAL_X_CARRIAGE)
  1122. static DualXMode dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  1123. static float x_home_pos(const int extruder) {
  1124. if (extruder == 0)
  1125. return LOGICAL_X_POSITION(base_home_pos(X_AXIS));
  1126. else
  1127. /**
  1128. * In dual carriage mode the extruder offset provides an override of the
  1129. * second X-carriage position when homed - otherwise X2_HOME_POS is used.
  1130. * This allows soft recalibration of the second extruder home position
  1131. * without firmware reflash (through the M218 command).
  1132. */
  1133. return LOGICAL_X_POSITION(hotend_offset[X_AXIS][1] > 0 ? hotend_offset[X_AXIS][1] : X2_HOME_POS);
  1134. }
  1135. static int x_home_dir(const int extruder) { return extruder ? X2_HOME_DIR : X_HOME_DIR; }
  1136. static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
  1137. static bool active_extruder_parked = false; // used in mode 1 & 2
  1138. static float raised_parked_position[XYZE]; // used in mode 1
  1139. static millis_t delayed_move_time = 0; // used in mode 1
  1140. static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
  1141. static float duplicate_extruder_temp_offset = 0; // used in mode 2
  1142. #endif // DUAL_X_CARRIAGE
  1143. #if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
  1144. /**
  1145. * Software endstops can be used to monitor the open end of
  1146. * an axis that has a hardware endstop on the other end. Or
  1147. * they can prevent axes from moving past endstops and grinding.
  1148. *
  1149. * To keep doing their job as the coordinate system changes,
  1150. * the software endstop positions must be refreshed to remain
  1151. * at the same positions relative to the machine.
  1152. */
  1153. void update_software_endstops(const AxisEnum axis) {
  1154. const float offs = workspace_offset[axis] = home_offset[axis] + position_shift[axis];
  1155. #if ENABLED(DUAL_X_CARRIAGE)
  1156. if (axis == X_AXIS) {
  1157. // In Dual X mode hotend_offset[X] is T1's home position
  1158. float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
  1159. if (active_extruder != 0) {
  1160. // T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
  1161. soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
  1162. soft_endstop_max[X_AXIS] = dual_max_x + offs;
  1163. }
  1164. else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
  1165. // In Duplication Mode, T0 can move as far left as X_MIN_POS
  1166. // but not so far to the right that T1 would move past the end
  1167. soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
  1168. soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
  1169. }
  1170. else {
  1171. // In other modes, T0 can move from X_MIN_POS to X_MAX_POS
  1172. soft_endstop_min[axis] = base_min_pos(axis) + offs;
  1173. soft_endstop_max[axis] = base_max_pos(axis) + offs;
  1174. }
  1175. }
  1176. #else
  1177. soft_endstop_min[axis] = base_min_pos(axis) + offs;
  1178. soft_endstop_max[axis] = base_max_pos(axis) + offs;
  1179. #endif
  1180. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1181. if (DEBUGGING(LEVELING)) {
  1182. SERIAL_ECHOPAIR("For ", axis_codes[axis]);
  1183. #if DISABLED(NO_WORKSPACE_OFFSETS)
  1184. SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
  1185. SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
  1186. #endif
  1187. SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
  1188. SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
  1189. }
  1190. #endif
  1191. #if ENABLED(DELTA)
  1192. if (axis == Z_AXIS)
  1193. delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
  1194. #endif
  1195. }
  1196. #endif // NO_WORKSPACE_OFFSETS
  1197. #if DISABLED(NO_WORKSPACE_OFFSETS)
  1198. /**
  1199. * Change the home offset for an axis, update the current
  1200. * position and the software endstops to retain the same
  1201. * relative distance to the new home.
  1202. *
  1203. * Since this changes the current_position, code should
  1204. * call sync_plan_position soon after this.
  1205. */
  1206. static void set_home_offset(const AxisEnum axis, const float v) {
  1207. current_position[axis] += v - home_offset[axis];
  1208. home_offset[axis] = v;
  1209. update_software_endstops(axis);
  1210. }
  1211. #endif // NO_WORKSPACE_OFFSETS
  1212. /**
  1213. * Set an axis' current position to its home position (after homing).
  1214. *
  1215. * For Core and Cartesian robots this applies one-to-one when an
  1216. * individual axis has been homed.
  1217. *
  1218. * DELTA should wait until all homing is done before setting the XYZ
  1219. * current_position to home, because homing is a single operation.
  1220. * In the case where the axis positions are already known and previously
  1221. * homed, DELTA could home to X or Y individually by moving either one
  1222. * to the center. However, homing Z always homes XY and Z.
  1223. *
  1224. * SCARA should wait until all XY homing is done before setting the XY
  1225. * current_position to home, because neither X nor Y is at home until
  1226. * both are at home. Z can however be homed individually.
  1227. *
  1228. * Callers must sync the planner position after calling this!
  1229. */
  1230. static void set_axis_is_at_home(AxisEnum axis) {
  1231. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1232. if (DEBUGGING(LEVELING)) {
  1233. SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]);
  1234. SERIAL_CHAR(')');
  1235. SERIAL_EOL;
  1236. }
  1237. #endif
  1238. axis_known_position[axis] = axis_homed[axis] = true;
  1239. #if DISABLED(NO_WORKSPACE_OFFSETS)
  1240. position_shift[axis] = 0;
  1241. update_software_endstops(axis);
  1242. #endif
  1243. #if ENABLED(DUAL_X_CARRIAGE)
  1244. if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
  1245. current_position[X_AXIS] = x_home_pos(active_extruder);
  1246. return;
  1247. }
  1248. #endif
  1249. #if ENABLED(MORGAN_SCARA)
  1250. /**
  1251. * Morgan SCARA homes XY at the same time
  1252. */
  1253. if (axis == X_AXIS || axis == Y_AXIS) {
  1254. float homeposition[XYZ];
  1255. LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos((AxisEnum)i), i);
  1256. // SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
  1257. // SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
  1258. /**
  1259. * Get Home position SCARA arm angles using inverse kinematics,
  1260. * and calculate homing offset using forward kinematics
  1261. */
  1262. inverse_kinematics(homeposition);
  1263. forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
  1264. // SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
  1265. // SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
  1266. current_position[axis] = LOGICAL_POSITION(cartes[axis], axis);
  1267. /**
  1268. * SCARA home positions are based on configuration since the actual
  1269. * limits are determined by the inverse kinematic transform.
  1270. */
  1271. soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis));
  1272. soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis));
  1273. }
  1274. else
  1275. #endif
  1276. {
  1277. current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis);
  1278. }
  1279. /**
  1280. * Z Probe Z Homing? Account for the probe's Z offset.
  1281. */
  1282. #if HAS_BED_PROBE && Z_HOME_DIR < 0
  1283. if (axis == Z_AXIS) {
  1284. #if HOMING_Z_WITH_PROBE
  1285. current_position[Z_AXIS] -= zprobe_zoffset;
  1286. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1287. if (DEBUGGING(LEVELING)) {
  1288. SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***");
  1289. SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset);
  1290. }
  1291. #endif
  1292. #elif ENABLED(DEBUG_LEVELING_FEATURE)
  1293. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP (Z_MIN_PROBE_ENDSTOP) ***");
  1294. #endif
  1295. }
  1296. #endif
  1297. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1298. if (DEBUGGING(LEVELING)) {
  1299. #if DISABLED(NO_WORKSPACE_OFFSETS)
  1300. SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
  1301. SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
  1302. #endif
  1303. DEBUG_POS("", current_position);
  1304. SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
  1305. SERIAL_CHAR(')');
  1306. SERIAL_EOL;
  1307. }
  1308. #endif
  1309. }
  1310. /**
  1311. * Some planner shorthand inline functions
  1312. */
  1313. inline float get_homing_bump_feedrate(AxisEnum axis) {
  1314. int constexpr homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
  1315. int hbd = homing_bump_divisor[axis];
  1316. if (hbd < 1) {
  1317. hbd = 10;
  1318. SERIAL_ECHO_START;
  1319. SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
  1320. }
  1321. return homing_feedrate_mm_s[axis] / hbd;
  1322. }
  1323. //
  1324. // line_to_current_position
  1325. // Move the planner to the current position from wherever it last moved
  1326. // (or from wherever it has been told it is located).
  1327. //
  1328. inline void line_to_current_position() {
  1329. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
  1330. }
  1331. //
  1332. // line_to_destination
  1333. // Move the planner, not necessarily synced with current_position
  1334. //
  1335. inline void line_to_destination(float fr_mm_s) {
  1336. planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
  1337. }
  1338. inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
  1339. inline void set_current_to_destination() { COPY(current_position, destination); }
  1340. inline void set_destination_to_current() { COPY(destination, current_position); }
  1341. #if IS_KINEMATIC
  1342. /**
  1343. * Calculate delta, start a line, and set current_position to destination
  1344. */
  1345. void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0) {
  1346. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1347. if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
  1348. #endif
  1349. if ( current_position[X_AXIS] == destination[X_AXIS]
  1350. && current_position[Y_AXIS] == destination[Y_AXIS]
  1351. && current_position[Z_AXIS] == destination[Z_AXIS]
  1352. && current_position[E_AXIS] == destination[E_AXIS]
  1353. ) return;
  1354. refresh_cmd_timeout();
  1355. planner.buffer_line_kinematic(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
  1356. set_current_to_destination();
  1357. }
  1358. #endif // IS_KINEMATIC
  1359. /**
  1360. * Plan a move to (X, Y, Z) and set the current_position
  1361. * The final current_position may not be the one that was requested
  1362. */
  1363. void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s /*=0.0*/) {
  1364. const float old_feedrate_mm_s = feedrate_mm_s;
  1365. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1366. if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, x, y, z);
  1367. #endif
  1368. #if ENABLED(DELTA)
  1369. feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  1370. set_destination_to_current(); // sync destination at the start
  1371. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1372. if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_to_current", destination);
  1373. #endif
  1374. // when in the danger zone
  1375. if (current_position[Z_AXIS] > delta_clip_start_height) {
  1376. if (z > delta_clip_start_height) { // staying in the danger zone
  1377. destination[X_AXIS] = x; // move directly (uninterpolated)
  1378. destination[Y_AXIS] = y;
  1379. destination[Z_AXIS] = z;
  1380. prepare_uninterpolated_move_to_destination(); // set_current_to_destination
  1381. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1382. if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
  1383. #endif
  1384. return;
  1385. }
  1386. else {
  1387. destination[Z_AXIS] = delta_clip_start_height;
  1388. prepare_uninterpolated_move_to_destination(); // set_current_to_destination
  1389. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1390. if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
  1391. #endif
  1392. }
  1393. }
  1394. if (z > current_position[Z_AXIS]) { // raising?
  1395. destination[Z_AXIS] = z;
  1396. prepare_uninterpolated_move_to_destination(); // set_current_to_destination
  1397. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1398. if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
  1399. #endif
  1400. }
  1401. destination[X_AXIS] = x;
  1402. destination[Y_AXIS] = y;
  1403. prepare_move_to_destination(); // set_current_to_destination
  1404. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1405. if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
  1406. #endif
  1407. if (z < current_position[Z_AXIS]) { // lowering?
  1408. destination[Z_AXIS] = z;
  1409. prepare_uninterpolated_move_to_destination(); // set_current_to_destination
  1410. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1411. if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
  1412. #endif
  1413. }
  1414. #elif IS_SCARA
  1415. set_destination_to_current();
  1416. // If Z needs to raise, do it before moving XY
  1417. if (destination[Z_AXIS] < z) {
  1418. destination[Z_AXIS] = z;
  1419. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
  1420. }
  1421. destination[X_AXIS] = x;
  1422. destination[Y_AXIS] = y;
  1423. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
  1424. // If Z needs to lower, do it after moving XY
  1425. if (destination[Z_AXIS] > z) {
  1426. destination[Z_AXIS] = z;
  1427. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
  1428. }
  1429. #else
  1430. // If Z needs to raise, do it before moving XY
  1431. if (current_position[Z_AXIS] < z) {
  1432. feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
  1433. current_position[Z_AXIS] = z;
  1434. line_to_current_position();
  1435. }
  1436. feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  1437. current_position[X_AXIS] = x;
  1438. current_position[Y_AXIS] = y;
  1439. line_to_current_position();
  1440. // If Z needs to lower, do it after moving XY
  1441. if (current_position[Z_AXIS] > z) {
  1442. feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
  1443. current_position[Z_AXIS] = z;
  1444. line_to_current_position();
  1445. }
  1446. #endif
  1447. stepper.synchronize();
  1448. feedrate_mm_s = old_feedrate_mm_s;
  1449. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1450. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
  1451. #endif
  1452. }
  1453. void do_blocking_move_to_x(const float &x, const float &fr_mm_s/*=0.0*/) {
  1454. do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
  1455. }
  1456. void do_blocking_move_to_z(const float &z, const float &fr_mm_s/*=0.0*/) {
  1457. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, fr_mm_s);
  1458. }
  1459. void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s/*=0.0*/) {
  1460. do_blocking_move_to(x, y, current_position[Z_AXIS], fr_mm_s);
  1461. }
  1462. //
  1463. // Prepare to do endstop or probe moves
  1464. // with custom feedrates.
  1465. //
  1466. // - Save current feedrates
  1467. // - Reset the rate multiplier
  1468. // - Reset the command timeout
  1469. // - Enable the endstops (for endstop moves)
  1470. //
  1471. static void setup_for_endstop_or_probe_move() {
  1472. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1473. if (DEBUGGING(LEVELING)) DEBUG_POS("setup_for_endstop_or_probe_move", current_position);
  1474. #endif
  1475. saved_feedrate_mm_s = feedrate_mm_s;
  1476. saved_feedrate_percentage = feedrate_percentage;
  1477. feedrate_percentage = 100;
  1478. refresh_cmd_timeout();
  1479. }
  1480. static void clean_up_after_endstop_or_probe_move() {
  1481. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1482. if (DEBUGGING(LEVELING)) DEBUG_POS("clean_up_after_endstop_or_probe_move", current_position);
  1483. #endif
  1484. feedrate_mm_s = saved_feedrate_mm_s;
  1485. feedrate_percentage = saved_feedrate_percentage;
  1486. refresh_cmd_timeout();
  1487. }
  1488. #if HAS_BED_PROBE
  1489. /**
  1490. * Raise Z to a minimum height to make room for a probe to move
  1491. */
  1492. inline void do_probe_raise(float z_raise) {
  1493. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1494. if (DEBUGGING(LEVELING)) {
  1495. SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
  1496. SERIAL_CHAR(')');
  1497. SERIAL_EOL;
  1498. }
  1499. #endif
  1500. float z_dest = LOGICAL_Z_POSITION(z_raise);
  1501. if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
  1502. if (z_dest > current_position[Z_AXIS])
  1503. do_blocking_move_to_z(z_dest);
  1504. }
  1505. #endif //HAS_BED_PROBE
  1506. #if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
  1507. bool axis_unhomed_error(const bool x, const bool y, const bool z) {
  1508. const bool xx = x && !axis_homed[X_AXIS],
  1509. yy = y && !axis_homed[Y_AXIS],
  1510. zz = z && !axis_homed[Z_AXIS];
  1511. if (xx || yy || zz) {
  1512. SERIAL_ECHO_START;
  1513. SERIAL_ECHOPGM(MSG_HOME " ");
  1514. if (xx) SERIAL_ECHOPGM(MSG_X);
  1515. if (yy) SERIAL_ECHOPGM(MSG_Y);
  1516. if (zz) SERIAL_ECHOPGM(MSG_Z);
  1517. SERIAL_ECHOLNPGM(" " MSG_FIRST);
  1518. #if ENABLED(ULTRA_LCD)
  1519. lcd_status_printf_P(0, PSTR(MSG_HOME " %s%s%s " MSG_FIRST), xx ? MSG_X : "", yy ? MSG_Y : "", zz ? MSG_Z : "");
  1520. #endif
  1521. return true;
  1522. }
  1523. return false;
  1524. }
  1525. #endif
  1526. #if ENABLED(Z_PROBE_SLED)
  1527. #ifndef SLED_DOCKING_OFFSET
  1528. #define SLED_DOCKING_OFFSET 0
  1529. #endif
  1530. /**
  1531. * Method to dock/undock a sled designed by Charles Bell.
  1532. *
  1533. * stow[in] If false, move to MAX_X and engage the solenoid
  1534. * If true, move to MAX_X and release the solenoid
  1535. */
  1536. static void dock_sled(bool stow) {
  1537. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1538. if (DEBUGGING(LEVELING)) {
  1539. SERIAL_ECHOPAIR("dock_sled(", stow);
  1540. SERIAL_CHAR(')');
  1541. SERIAL_EOL;
  1542. }
  1543. #endif
  1544. // Dock sled a bit closer to ensure proper capturing
  1545. do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
  1546. #if PIN_EXISTS(SLED)
  1547. digitalWrite(SLED_PIN, !stow); // switch solenoid
  1548. #endif
  1549. }
  1550. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1551. void run_deploy_moves_script() {
  1552. #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
  1553. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
  1554. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
  1555. #endif
  1556. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
  1557. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
  1558. #endif
  1559. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
  1560. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
  1561. #endif
  1562. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
  1563. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
  1564. #endif
  1565. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE));
  1566. #endif
  1567. #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Z)
  1568. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
  1569. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
  1570. #endif
  1571. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
  1572. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
  1573. #endif
  1574. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
  1575. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
  1576. #endif
  1577. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
  1578. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
  1579. #endif
  1580. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE));
  1581. #endif
  1582. #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Z)
  1583. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
  1584. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
  1585. #endif
  1586. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
  1587. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
  1588. #endif
  1589. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
  1590. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
  1591. #endif
  1592. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
  1593. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
  1594. #endif
  1595. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE));
  1596. #endif
  1597. #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Z)
  1598. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
  1599. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
  1600. #endif
  1601. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
  1602. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
  1603. #endif
  1604. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
  1605. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
  1606. #endif
  1607. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
  1608. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
  1609. #endif
  1610. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE));
  1611. #endif
  1612. #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Z)
  1613. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
  1614. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
  1615. #endif
  1616. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
  1617. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
  1618. #endif
  1619. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
  1620. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
  1621. #endif
  1622. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
  1623. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
  1624. #endif
  1625. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE));
  1626. #endif
  1627. }
  1628. void run_stow_moves_script() {
  1629. #if defined(Z_PROBE_ALLEN_KEY_STOW_1_X) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Z)
  1630. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
  1631. #define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
  1632. #endif
  1633. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
  1634. #define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
  1635. #endif
  1636. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
  1637. #define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
  1638. #endif
  1639. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
  1640. #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
  1641. #endif
  1642. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE));
  1643. #endif
  1644. #if defined(Z_PROBE_ALLEN_KEY_STOW_2_X) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Z)
  1645. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
  1646. #define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
  1647. #endif
  1648. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
  1649. #define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
  1650. #endif
  1651. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
  1652. #define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
  1653. #endif
  1654. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
  1655. #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
  1656. #endif
  1657. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE));
  1658. #endif
  1659. #if defined(Z_PROBE_ALLEN_KEY_STOW_3_X) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Z)
  1660. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
  1661. #define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
  1662. #endif
  1663. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
  1664. #define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
  1665. #endif
  1666. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
  1667. #define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
  1668. #endif
  1669. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
  1670. #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
  1671. #endif
  1672. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE));
  1673. #endif
  1674. #if defined(Z_PROBE_ALLEN_KEY_STOW_4_X) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Z)
  1675. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
  1676. #define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
  1677. #endif
  1678. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
  1679. #define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
  1680. #endif
  1681. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
  1682. #define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
  1683. #endif
  1684. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
  1685. #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
  1686. #endif
  1687. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE));
  1688. #endif
  1689. #if defined(Z_PROBE_ALLEN_KEY_STOW_5_X) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Z)
  1690. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
  1691. #define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
  1692. #endif
  1693. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
  1694. #define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
  1695. #endif
  1696. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
  1697. #define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
  1698. #endif
  1699. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
  1700. #define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
  1701. #endif
  1702. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE));
  1703. #endif
  1704. }
  1705. #endif
  1706. #if HAS_BED_PROBE
  1707. // TRIGGERED_WHEN_STOWED_TEST can easily be extended to servo probes, ... if needed.
  1708. #if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST)
  1709. #if ENABLED(Z_MIN_PROBE_ENDSTOP)
  1710. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
  1711. #else
  1712. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
  1713. #endif
  1714. #endif
  1715. #if ENABLED(BLTOUCH)
  1716. void bltouch_command(int angle) {
  1717. servo[Z_ENDSTOP_SERVO_NR].move(angle); // Give the BL-Touch the command and wait
  1718. safe_delay(BLTOUCH_DELAY);
  1719. }
  1720. void set_bltouch_deployed(const bool deploy) {
  1721. if (deploy && TEST_BLTOUCH()) { // If BL-Touch says it's triggered
  1722. bltouch_command(BLTOUCH_RESET); // try to reset it.
  1723. bltouch_command(BLTOUCH_DEPLOY); // Also needs to deploy and stow to
  1724. bltouch_command(BLTOUCH_STOW); // clear the triggered condition.
  1725. safe_delay(1500); // wait for internal self test to complete
  1726. // measured completion time was 0.65 seconds
  1727. // after reset, deploy & stow sequence
  1728. if (TEST_BLTOUCH()) { // If it still claims to be triggered...
  1729. SERIAL_ERROR_START;
  1730. SERIAL_ERRORLNPGM(MSG_STOP_BLTOUCH);
  1731. stop(); // punt!
  1732. }
  1733. }
  1734. bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
  1735. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1736. if (DEBUGGING(LEVELING)) {
  1737. SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy);
  1738. SERIAL_CHAR(')');
  1739. SERIAL_EOL;
  1740. }
  1741. #endif
  1742. }
  1743. #endif
  1744. // returns false for ok and true for failure
  1745. bool set_probe_deployed(bool deploy) {
  1746. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1747. if (DEBUGGING(LEVELING)) {
  1748. DEBUG_POS("set_probe_deployed", current_position);
  1749. SERIAL_ECHOLNPAIR("deploy: ", deploy);
  1750. }
  1751. #endif
  1752. if (endstops.z_probe_enabled == deploy) return false;
  1753. // Make room for probe
  1754. do_probe_raise(_Z_CLEARANCE_DEPLOY_PROBE);
  1755. // When deploying make sure BLTOUCH is not already triggered
  1756. #if ENABLED(BLTOUCH)
  1757. if (deploy && TEST_BLTOUCH()) { // If BL-Touch says it's triggered
  1758. bltouch_command(BLTOUCH_RESET); // try to reset it.
  1759. bltouch_command(BLTOUCH_DEPLOY); // Also needs to deploy and stow to
  1760. bltouch_command(BLTOUCH_STOW); // clear the triggered condition.
  1761. safe_delay(1500); // wait for internal self test to complete
  1762. // measured completion time was 0.65 seconds
  1763. // after reset, deploy & stow sequence
  1764. if (TEST_BLTOUCH()) { // If it still claims to be triggered...
  1765. SERIAL_ERROR_START;
  1766. SERIAL_ERRORLNPGM(MSG_STOP_BLTOUCH);
  1767. stop(); // punt!
  1768. return true;
  1769. }
  1770. }
  1771. #elif ENABLED(Z_PROBE_SLED)
  1772. if (axis_unhomed_error(true, false, false)) {
  1773. SERIAL_ERROR_START;
  1774. SERIAL_ERRORLNPGM(MSG_STOP_UNHOMED);
  1775. stop();
  1776. return true;
  1777. }
  1778. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1779. if (axis_unhomed_error(true, true, true )) {
  1780. SERIAL_ERROR_START;
  1781. SERIAL_ERRORLNPGM(MSG_STOP_UNHOMED);
  1782. stop();
  1783. return true;
  1784. }
  1785. #endif
  1786. const float oldXpos = current_position[X_AXIS],
  1787. oldYpos = current_position[Y_AXIS];
  1788. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1789. // If endstop is already false, the Z probe is deployed
  1790. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
  1791. // Would a goto be less ugly?
  1792. //while (!_TRIGGERED_WHEN_STOWED_TEST) idle(); // would offer the opportunity
  1793. // for a triggered when stowed manual probe.
  1794. if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early
  1795. // otherwise an Allen-Key probe can't be stowed.
  1796. #endif
  1797. #if ENABLED(Z_PROBE_SLED)
  1798. dock_sled(!deploy);
  1799. #elif HAS_Z_SERVO_ENDSTOP && DISABLED(BLTOUCH)
  1800. servo[Z_ENDSTOP_SERVO_NR].move(z_servo_angle[deploy ? 0 : 1]);
  1801. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1802. deploy ? run_deploy_moves_script() : run_stow_moves_script();
  1803. #endif
  1804. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1805. } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  1806. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // State hasn't changed?
  1807. if (IsRunning()) {
  1808. SERIAL_ERROR_START;
  1809. SERIAL_ERRORLNPGM("Z-Probe failed");
  1810. LCD_ALERTMESSAGEPGM("Err: ZPROBE");
  1811. }
  1812. stop();
  1813. return true;
  1814. } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  1815. #endif
  1816. do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
  1817. endstops.enable_z_probe(deploy);
  1818. return false;
  1819. }
  1820. static void do_probe_move(float z, float fr_mm_m) {
  1821. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1822. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
  1823. #endif
  1824. // Deploy BLTouch at the start of any probe
  1825. #if ENABLED(BLTOUCH)
  1826. set_bltouch_deployed(true);
  1827. #endif
  1828. // Move down until probe triggered
  1829. do_blocking_move_to_z(LOGICAL_Z_POSITION(z), MMM_TO_MMS(fr_mm_m));
  1830. // Retract BLTouch immediately after a probe
  1831. #if ENABLED(BLTOUCH)
  1832. set_bltouch_deployed(false);
  1833. #endif
  1834. // Clear endstop flags
  1835. endstops.hit_on_purpose();
  1836. // Get Z where the steppers were interrupted
  1837. set_current_from_steppers_for_axis(Z_AXIS);
  1838. // Tell the planner where we actually are
  1839. SYNC_PLAN_POSITION_KINEMATIC();
  1840. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1841. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
  1842. #endif
  1843. }
  1844. // Do a single Z probe and return with current_position[Z_AXIS]
  1845. // at the height where the probe triggered.
  1846. static float run_z_probe() {
  1847. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1848. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
  1849. #endif
  1850. // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
  1851. refresh_cmd_timeout();
  1852. #if ENABLED(PROBE_DOUBLE_TOUCH)
  1853. // Do a first probe at the fast speed
  1854. do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_FAST);
  1855. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1856. float first_probe_z = current_position[Z_AXIS];
  1857. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("1st Probe Z:", first_probe_z);
  1858. #endif
  1859. // move up by the bump distance
  1860. do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  1861. #else
  1862. // If the nozzle is above the travel height then
  1863. // move down quickly before doing the slow probe
  1864. float z = LOGICAL_Z_POSITION(Z_CLEARANCE_BETWEEN_PROBES);
  1865. if (zprobe_zoffset < 0) z -= zprobe_zoffset;
  1866. if (z < current_position[Z_AXIS])
  1867. do_blocking_move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  1868. #endif
  1869. // move down slowly to find bed
  1870. do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_SLOW);
  1871. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1872. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
  1873. #endif
  1874. // Debug: compare probe heights
  1875. #if ENABLED(PROBE_DOUBLE_TOUCH) && ENABLED(DEBUG_LEVELING_FEATURE)
  1876. if (DEBUGGING(LEVELING)) {
  1877. SERIAL_ECHOPAIR("2nd Probe Z:", current_position[Z_AXIS]);
  1878. SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - current_position[Z_AXIS]);
  1879. }
  1880. #endif
  1881. return current_position[Z_AXIS] + zprobe_zoffset;
  1882. }
  1883. //
  1884. // - Move to the given XY
  1885. // - Deploy the probe, if not already deployed
  1886. // - Probe the bed, get the Z position
  1887. // - Depending on the 'stow' flag
  1888. // - Stow the probe, or
  1889. // - Raise to the BETWEEN height
  1890. // - Return the probed Z position
  1891. //
  1892. //float probe_pt(const float &x, const float &y, const bool stow = true, const int verbose_level = 1) {
  1893. float probe_pt(const float x, const float y, const bool stow, const int verbose_level) {
  1894. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1895. if (DEBUGGING(LEVELING)) {
  1896. SERIAL_ECHOPAIR(">>> probe_pt(", x);
  1897. SERIAL_ECHOPAIR(", ", y);
  1898. SERIAL_ECHOPAIR(", ", stow ? "" : "no ");
  1899. SERIAL_ECHOLNPGM("stow)");
  1900. DEBUG_POS("", current_position);
  1901. }
  1902. #endif
  1903. const float old_feedrate_mm_s = feedrate_mm_s;
  1904. #if ENABLED(DELTA)
  1905. if (current_position[Z_AXIS] > delta_clip_start_height)
  1906. do_blocking_move_to_z(delta_clip_start_height);
  1907. #endif
  1908. // Ensure a minimum height before moving the probe
  1909. do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
  1910. feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
  1911. // Move the probe to the given XY
  1912. do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
  1913. if (DEPLOY_PROBE()) return NAN;
  1914. const float measured_z = run_z_probe();
  1915. if (!stow)
  1916. do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
  1917. else
  1918. if (STOW_PROBE()) return NAN;
  1919. if (verbose_level > 2) {
  1920. SERIAL_PROTOCOLPGM("Bed X: ");
  1921. SERIAL_PROTOCOL_F(x, 3);
  1922. SERIAL_PROTOCOLPGM(" Y: ");
  1923. SERIAL_PROTOCOL_F(y, 3);
  1924. SERIAL_PROTOCOLPGM(" Z: ");
  1925. SERIAL_PROTOCOL_F(FIXFLOAT(measured_z), 3);
  1926. SERIAL_EOL;
  1927. }
  1928. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1929. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
  1930. #endif
  1931. feedrate_mm_s = old_feedrate_mm_s;
  1932. return measured_z;
  1933. }
  1934. #endif // HAS_BED_PROBE
  1935. #if PLANNER_LEVELING
  1936. /**
  1937. * Turn bed leveling on or off, fixing the current
  1938. * position as-needed.
  1939. *
  1940. * Disable: Current position = physical position
  1941. * Enable: Current position = "unleveled" physical position
  1942. */
  1943. void set_bed_leveling_enabled(bool enable/*=true*/) {
  1944. #if ENABLED(MESH_BED_LEVELING)
  1945. if (enable != mbl.active()) {
  1946. if (!enable)
  1947. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
  1948. mbl.set_active(enable && mbl.has_mesh());
  1949. if (enable && mbl.has_mesh()) planner.unapply_leveling(current_position);
  1950. }
  1951. #elif HAS_ABL && !ENABLED(AUTO_BED_LEVELING_UBL)
  1952. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  1953. const bool can_change = (!enable || (bilinear_grid_spacing[0] && bilinear_grid_spacing[1]));
  1954. #else
  1955. constexpr bool can_change = true;
  1956. #endif
  1957. if (can_change && enable != planner.abl_enabled) {
  1958. planner.abl_enabled = enable;
  1959. if (!enable)
  1960. set_current_from_steppers_for_axis(
  1961. #if ABL_PLANAR
  1962. ALL_AXES
  1963. #else
  1964. Z_AXIS
  1965. #endif
  1966. );
  1967. else
  1968. planner.unapply_leveling(current_position);
  1969. }
  1970. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  1971. ubl.state.active = enable;
  1972. //set_current_from_steppers_for_axis(Z_AXIS);
  1973. #endif
  1974. }
  1975. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  1976. void set_z_fade_height(const float zfh) {
  1977. planner.z_fade_height = zfh;
  1978. planner.inverse_z_fade_height = RECIPROCAL(zfh);
  1979. if (
  1980. #if ENABLED(MESH_BED_LEVELING)
  1981. mbl.active()
  1982. #else
  1983. planner.abl_enabled
  1984. #endif
  1985. ) {
  1986. set_current_from_steppers_for_axis(
  1987. #if ABL_PLANAR
  1988. ALL_AXES
  1989. #else
  1990. Z_AXIS
  1991. #endif
  1992. );
  1993. }
  1994. }
  1995. #endif // LEVELING_FADE_HEIGHT
  1996. /**
  1997. * Reset calibration results to zero.
  1998. */
  1999. void reset_bed_level() {
  2000. set_bed_leveling_enabled(false);
  2001. #if ENABLED(MESH_BED_LEVELING)
  2002. if (mbl.has_mesh()) {
  2003. mbl.reset();
  2004. mbl.set_has_mesh(false);
  2005. }
  2006. #else
  2007. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2008. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
  2009. #endif
  2010. #if ABL_PLANAR
  2011. planner.bed_level_matrix.set_to_identity();
  2012. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2013. bilinear_start[X_AXIS] = bilinear_start[Y_AXIS] =
  2014. bilinear_grid_spacing[X_AXIS] = bilinear_grid_spacing[Y_AXIS] = 0;
  2015. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
  2016. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
  2017. bed_level_grid[x][y] = NAN;
  2018. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  2019. ubl.reset();
  2020. #endif
  2021. #endif
  2022. }
  2023. #endif // PLANNER_LEVELING
  2024. #if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(MESH_BED_LEVELING)
  2025. //
  2026. // Enable if you prefer your output in JSON format
  2027. // suitable for SCAD or JavaScript mesh visualizers.
  2028. //
  2029. // Visualize meshes in OpenSCAD using the included script.
  2030. //
  2031. // buildroot/shared/scripts/MarlinMesh.scad
  2032. //
  2033. //#define SCAD_MESH_OUTPUT
  2034. /**
  2035. * Print calibration results for plotting or manual frame adjustment.
  2036. */
  2037. static void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, float (*fn)(const uint8_t, const uint8_t)) {
  2038. #ifndef SCAD_MESH_OUTPUT
  2039. for (uint8_t x = 0; x < sx; x++) {
  2040. for (uint8_t i = 0; i < precision + 2 + (x < 10 ? 1 : 0); i++)
  2041. SERIAL_PROTOCOLCHAR(' ');
  2042. SERIAL_PROTOCOL((int)x);
  2043. }
  2044. SERIAL_EOL;
  2045. #endif
  2046. #ifdef SCAD_MESH_OUTPUT
  2047. SERIAL_PROTOCOLLNPGM("measured_z = ["); // open 2D array
  2048. #endif
  2049. for (uint8_t y = 0; y < sy; y++) {
  2050. #ifdef SCAD_MESH_OUTPUT
  2051. SERIAL_PROTOCOLLNPGM(" ["); // open sub-array
  2052. #else
  2053. if (y < 10) SERIAL_PROTOCOLCHAR(' ');
  2054. SERIAL_PROTOCOL((int)y);
  2055. #endif
  2056. for (uint8_t x = 0; x < sx; x++) {
  2057. SERIAL_PROTOCOLCHAR(' ');
  2058. const float offset = fn(x, y);
  2059. if (offset != NAN) {
  2060. if (offset >= 0) SERIAL_PROTOCOLCHAR('+');
  2061. SERIAL_PROTOCOL_F(offset, precision);
  2062. }
  2063. else {
  2064. #ifdef SCAD_MESH_OUTPUT
  2065. for (uint8_t i = 3; i < precision + 3; i++)
  2066. SERIAL_PROTOCOLCHAR(' ');
  2067. SERIAL_PROTOCOLPGM("NAN");
  2068. #else
  2069. for (uint8_t i = 0; i < precision + 3; i++)
  2070. SERIAL_PROTOCOLCHAR(i ? '=' : ' ');
  2071. #endif
  2072. }
  2073. #ifdef SCAD_MESH_OUTPUT
  2074. if (x < sx - 1) SERIAL_PROTOCOLCHAR(',');
  2075. #endif
  2076. }
  2077. #ifdef SCAD_MESH_OUTPUT
  2078. SERIAL_PROTOCOLCHAR(' ');
  2079. SERIAL_PROTOCOLCHAR(']'); // close sub-array
  2080. if (y < sy - 1) SERIAL_PROTOCOLCHAR(',');
  2081. #endif
  2082. SERIAL_EOL;
  2083. }
  2084. #ifdef SCAD_MESH_OUTPUT
  2085. SERIAL_PROTOCOLPGM("\n];"); // close 2D array
  2086. #endif
  2087. SERIAL_EOL;
  2088. }
  2089. #endif
  2090. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2091. /**
  2092. * Extrapolate a single point from its neighbors
  2093. */
  2094. static void extrapolate_one_point(uint8_t x, uint8_t y, int8_t xdir, int8_t ydir) {
  2095. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2096. if (DEBUGGING(LEVELING)) {
  2097. SERIAL_ECHOPGM("Extrapolate [");
  2098. if (x < 10) SERIAL_CHAR(' ');
  2099. SERIAL_ECHO((int)x);
  2100. SERIAL_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' ');
  2101. SERIAL_CHAR(' ');
  2102. if (y < 10) SERIAL_CHAR(' ');
  2103. SERIAL_ECHO((int)y);
  2104. SERIAL_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
  2105. SERIAL_CHAR(']');
  2106. }
  2107. #endif
  2108. if (bed_level_grid[x][y] != NAN) {
  2109. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2110. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" (done)");
  2111. #endif
  2112. return; // Don't overwrite good values.
  2113. }
  2114. SERIAL_EOL;
  2115. // Get X neighbors, Y neighbors, and XY neighbors
  2116. float a1 = bed_level_grid[x + xdir][y], a2 = bed_level_grid[x + xdir * 2][y],
  2117. b1 = bed_level_grid[x][y + ydir], b2 = bed_level_grid[x][y + ydir * 2],
  2118. c1 = bed_level_grid[x + xdir][y + ydir], c2 = bed_level_grid[x + xdir * 2][y + ydir * 2];
  2119. // Treat far unprobed points as zero, near as equal to far
  2120. if (a2 == NAN) a2 = 0.0; if (a1 == NAN) a1 = a2;
  2121. if (b2 == NAN) b2 = 0.0; if (b1 == NAN) b1 = b2;
  2122. if (c2 == NAN) c2 = 0.0; if (c1 == NAN) c1 = c2;
  2123. const float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2;
  2124. // Take the average instead of the median
  2125. bed_level_grid[x][y] = (a + b + c) / 3.0;
  2126. // Median is robust (ignores outliers).
  2127. // bed_level_grid[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
  2128. // : ((c < b) ? b : (a < c) ? a : c);
  2129. }
  2130. //Enable this if your SCARA uses 180° of total area
  2131. //#define EXTRAPOLATE_FROM_EDGE
  2132. #if ENABLED(EXTRAPOLATE_FROM_EDGE)
  2133. #if GRID_MAX_POINTS_X < GRID_MAX_POINTS_Y
  2134. #define HALF_IN_X
  2135. #elif GRID_MAX_POINTS_Y < GRID_MAX_POINTS_X
  2136. #define HALF_IN_Y
  2137. #endif
  2138. #endif
  2139. /**
  2140. * Fill in the unprobed points (corners of circular print surface)
  2141. * using linear extrapolation, away from the center.
  2142. */
  2143. static void extrapolate_unprobed_bed_level() {
  2144. #ifdef HALF_IN_X
  2145. const uint8_t ctrx2 = 0, xlen = GRID_MAX_POINTS_X - 1;
  2146. #else
  2147. const uint8_t ctrx1 = (GRID_MAX_POINTS_X - 1) / 2, // left-of-center
  2148. ctrx2 = GRID_MAX_POINTS_X / 2, // right-of-center
  2149. xlen = ctrx1;
  2150. #endif
  2151. #ifdef HALF_IN_Y
  2152. const uint8_t ctry2 = 0, ylen = GRID_MAX_POINTS_Y - 1;
  2153. #else
  2154. const uint8_t ctry1 = (GRID_MAX_POINTS_Y - 1) / 2, // top-of-center
  2155. ctry2 = GRID_MAX_POINTS_Y / 2, // bottom-of-center
  2156. ylen = ctry1;
  2157. #endif
  2158. for (uint8_t xo = 0; xo <= xlen; xo++)
  2159. for (uint8_t yo = 0; yo <= ylen; yo++) {
  2160. uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo;
  2161. #ifndef HALF_IN_X
  2162. const uint8_t x1 = ctrx1 - xo;
  2163. #endif
  2164. #ifndef HALF_IN_Y
  2165. const uint8_t y1 = ctry1 - yo;
  2166. #ifndef HALF_IN_X
  2167. extrapolate_one_point(x1, y1, +1, +1); // left-below + +
  2168. #endif
  2169. extrapolate_one_point(x2, y1, -1, +1); // right-below - +
  2170. #endif
  2171. #ifndef HALF_IN_X
  2172. extrapolate_one_point(x1, y2, +1, -1); // left-above + -
  2173. #endif
  2174. extrapolate_one_point(x2, y2, -1, -1); // right-above - -
  2175. }
  2176. }
  2177. static void print_bilinear_leveling_grid() {
  2178. SERIAL_ECHOLNPGM("Bilinear Leveling Grid:");
  2179. print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3,
  2180. [](const uint8_t ix, const uint8_t iy) { return bed_level_grid[ix][iy]; }
  2181. );
  2182. }
  2183. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  2184. #define ABL_GRID_POINTS_VIRT_X (GRID_MAX_POINTS_X - 1) * (BILINEAR_SUBDIVISIONS) + 1
  2185. #define ABL_GRID_POINTS_VIRT_Y (GRID_MAX_POINTS_Y - 1) * (BILINEAR_SUBDIVISIONS) + 1
  2186. #define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2)
  2187. #define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2)
  2188. float bed_level_grid_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
  2189. int bilinear_grid_spacing_virt[2] = { 0 };
  2190. static void bed_level_virt_print() {
  2191. SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
  2192. print_2d_array(ABL_GRID_POINTS_VIRT_X, ABL_GRID_POINTS_VIRT_Y, 5,
  2193. [](const uint8_t ix, const uint8_t iy) { return bed_level_grid_virt[ix][iy]; }
  2194. );
  2195. }
  2196. #define LINEAR_EXTRAPOLATION(E, I) ((E) * 2 - (I))
  2197. float bed_level_virt_coord(const uint8_t x, const uint8_t y) {
  2198. uint8_t ep = 0, ip = 1;
  2199. if (!x || x == ABL_TEMP_POINTS_X - 1) {
  2200. if (x) {
  2201. ep = GRID_MAX_POINTS_X - 1;
  2202. ip = GRID_MAX_POINTS_X - 2;
  2203. }
  2204. if (WITHIN(y, 1, ABL_TEMP_POINTS_Y - 2))
  2205. return LINEAR_EXTRAPOLATION(
  2206. bed_level_grid[ep][y - 1],
  2207. bed_level_grid[ip][y - 1]
  2208. );
  2209. else
  2210. return LINEAR_EXTRAPOLATION(
  2211. bed_level_virt_coord(ep + 1, y),
  2212. bed_level_virt_coord(ip + 1, y)
  2213. );
  2214. }
  2215. if (!y || y == ABL_TEMP_POINTS_Y - 1) {
  2216. if (y) {
  2217. ep = GRID_MAX_POINTS_Y - 1;
  2218. ip = GRID_MAX_POINTS_Y - 2;
  2219. }
  2220. if (WITHIN(x, 1, ABL_TEMP_POINTS_X - 2))
  2221. return LINEAR_EXTRAPOLATION(
  2222. bed_level_grid[x - 1][ep],
  2223. bed_level_grid[x - 1][ip]
  2224. );
  2225. else
  2226. return LINEAR_EXTRAPOLATION(
  2227. bed_level_virt_coord(x, ep + 1),
  2228. bed_level_virt_coord(x, ip + 1)
  2229. );
  2230. }
  2231. return bed_level_grid[x - 1][y - 1];
  2232. }
  2233. static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) {
  2234. return (
  2235. p[i-1] * -t * sq(1 - t)
  2236. + p[i] * (2 - 5 * sq(t) + 3 * t * sq(t))
  2237. + p[i+1] * t * (1 + 4 * t - 3 * sq(t))
  2238. - p[i+2] * sq(t) * (1 - t)
  2239. ) * 0.5;
  2240. }
  2241. static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) {
  2242. float row[4], column[4];
  2243. for (uint8_t i = 0; i < 4; i++) {
  2244. for (uint8_t j = 0; j < 4; j++) {
  2245. column[j] = bed_level_virt_coord(i + x - 1, j + y - 1);
  2246. }
  2247. row[i] = bed_level_virt_cmr(column, 1, ty);
  2248. }
  2249. return bed_level_virt_cmr(row, 1, tx);
  2250. }
  2251. void bed_level_virt_interpolate() {
  2252. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
  2253. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
  2254. for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++)
  2255. for (uint8_t tx = 0; tx < BILINEAR_SUBDIVISIONS; tx++) {
  2256. if ((ty && y == GRID_MAX_POINTS_Y - 1) || (tx && x == GRID_MAX_POINTS_X - 1))
  2257. continue;
  2258. bed_level_grid_virt[x * (BILINEAR_SUBDIVISIONS) + tx][y * (BILINEAR_SUBDIVISIONS) + ty] =
  2259. bed_level_virt_2cmr(
  2260. x + 1,
  2261. y + 1,
  2262. (float)tx / (BILINEAR_SUBDIVISIONS),
  2263. (float)ty / (BILINEAR_SUBDIVISIONS)
  2264. );
  2265. }
  2266. }
  2267. #endif // ABL_BILINEAR_SUBDIVISION
  2268. #endif // AUTO_BED_LEVELING_BILINEAR
  2269. /**
  2270. * Home an individual linear axis
  2271. */
  2272. static void do_homing_move(const AxisEnum axis, float distance, float fr_mm_s=0.0) {
  2273. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2274. if (DEBUGGING(LEVELING)) {
  2275. SERIAL_ECHOPAIR(">>> do_homing_move(", axis_codes[axis]);
  2276. SERIAL_ECHOPAIR(", ", distance);
  2277. SERIAL_ECHOPAIR(", ", fr_mm_s);
  2278. SERIAL_CHAR(')');
  2279. SERIAL_EOL;
  2280. }
  2281. #endif
  2282. #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
  2283. const bool deploy_bltouch = (axis == Z_AXIS && distance < 0);
  2284. if (deploy_bltouch) set_bltouch_deployed(true);
  2285. #endif
  2286. // Tell the planner we're at Z=0
  2287. current_position[axis] = 0;
  2288. #if IS_SCARA
  2289. SYNC_PLAN_POSITION_KINEMATIC();
  2290. current_position[axis] = distance;
  2291. inverse_kinematics(current_position);
  2292. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
  2293. #else
  2294. sync_plan_position();
  2295. current_position[axis] = distance;
  2296. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
  2297. #endif
  2298. stepper.synchronize();
  2299. #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
  2300. if (deploy_bltouch) set_bltouch_deployed(false);
  2301. #endif
  2302. endstops.hit_on_purpose();
  2303. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2304. if (DEBUGGING(LEVELING)) {
  2305. SERIAL_ECHOPAIR("<<< do_homing_move(", axis_codes[axis]);
  2306. SERIAL_CHAR(')');
  2307. SERIAL_EOL;
  2308. }
  2309. #endif
  2310. }
  2311. /**
  2312. * Home an individual "raw axis" to its endstop.
  2313. * This applies to XYZ on Cartesian and Core robots, and
  2314. * to the individual ABC steppers on DELTA and SCARA.
  2315. *
  2316. * At the end of the procedure the axis is marked as
  2317. * homed and the current position of that axis is updated.
  2318. * Kinematic robots should wait till all axes are homed
  2319. * before updating the current position.
  2320. */
  2321. #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
  2322. static void homeaxis(const AxisEnum axis) {
  2323. #if IS_SCARA
  2324. // Only Z homing (with probe) is permitted
  2325. if (axis != Z_AXIS) { BUZZ(100, 880); return; }
  2326. #else
  2327. #define CAN_HOME(A) \
  2328. (axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
  2329. if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
  2330. #endif
  2331. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2332. if (DEBUGGING(LEVELING)) {
  2333. SERIAL_ECHOPAIR(">>> homeaxis(", axis_codes[axis]);
  2334. SERIAL_CHAR(')');
  2335. SERIAL_EOL;
  2336. }
  2337. #endif
  2338. const int axis_home_dir =
  2339. #if ENABLED(DUAL_X_CARRIAGE)
  2340. (axis == X_AXIS) ? x_home_dir(active_extruder) :
  2341. #endif
  2342. home_dir(axis);
  2343. // Homing Z towards the bed? Deploy the Z probe or endstop.
  2344. #if HOMING_Z_WITH_PROBE
  2345. if (axis == Z_AXIS && DEPLOY_PROBE()) return;
  2346. #endif
  2347. // Set a flag for Z motor locking
  2348. #if ENABLED(Z_DUAL_ENDSTOPS)
  2349. if (axis == Z_AXIS) stepper.set_homing_flag(true);
  2350. #endif
  2351. // Fast move towards endstop until triggered
  2352. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2353. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
  2354. #endif
  2355. do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
  2356. // When homing Z with probe respect probe clearance
  2357. const float bump = axis_home_dir * (
  2358. #if HOMING_Z_WITH_PROBE
  2359. (axis == Z_AXIS) ? max(Z_CLEARANCE_BETWEEN_PROBES, home_bump_mm(Z_AXIS)) :
  2360. #endif
  2361. home_bump_mm(axis)
  2362. );
  2363. // If a second homing move is configured...
  2364. if (bump) {
  2365. // Move away from the endstop by the axis HOME_BUMP_MM
  2366. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2367. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Move Away:");
  2368. #endif
  2369. do_homing_move(axis, -bump);
  2370. // Slow move towards endstop until triggered
  2371. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2372. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 2 Slow:");
  2373. #endif
  2374. do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis));
  2375. }
  2376. #if ENABLED(Z_DUAL_ENDSTOPS)
  2377. if (axis == Z_AXIS) {
  2378. float adj = fabs(z_endstop_adj);
  2379. bool lockZ1;
  2380. if (axis_home_dir > 0) {
  2381. adj = -adj;
  2382. lockZ1 = (z_endstop_adj > 0);
  2383. }
  2384. else
  2385. lockZ1 = (z_endstop_adj < 0);
  2386. if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
  2387. // Move to the adjusted endstop height
  2388. do_homing_move(axis, adj);
  2389. if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
  2390. stepper.set_homing_flag(false);
  2391. } // Z_AXIS
  2392. #endif
  2393. #if IS_SCARA
  2394. set_axis_is_at_home(axis);
  2395. SYNC_PLAN_POSITION_KINEMATIC();
  2396. #elif ENABLED(DELTA)
  2397. // Delta has already moved all three towers up in G28
  2398. // so here it re-homes each tower in turn.
  2399. // Delta homing treats the axes as normal linear axes.
  2400. // retrace by the amount specified in endstop_adj
  2401. if (endstop_adj[axis] * Z_HOME_DIR < 0) {
  2402. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2403. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("endstop_adj:");
  2404. #endif
  2405. do_homing_move(axis, endstop_adj[axis]);
  2406. }
  2407. #else
  2408. // For cartesian/core machines,
  2409. // set the axis to its home position
  2410. set_axis_is_at_home(axis);
  2411. sync_plan_position();
  2412. destination[axis] = current_position[axis];
  2413. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2414. if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
  2415. #endif
  2416. #endif
  2417. // Put away the Z probe
  2418. #if HOMING_Z_WITH_PROBE
  2419. if (axis == Z_AXIS && STOW_PROBE()) return;
  2420. #endif
  2421. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2422. if (DEBUGGING(LEVELING)) {
  2423. SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]);
  2424. SERIAL_CHAR(')');
  2425. SERIAL_EOL;
  2426. }
  2427. #endif
  2428. } // homeaxis()
  2429. #if ENABLED(FWRETRACT)
  2430. void retract(const bool retracting, const bool swapping = false) {
  2431. static float hop_height;
  2432. if (retracting == retracted[active_extruder]) return;
  2433. const float old_feedrate_mm_s = feedrate_mm_s;
  2434. set_destination_to_current();
  2435. if (retracting) {
  2436. feedrate_mm_s = retract_feedrate_mm_s;
  2437. current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
  2438. sync_plan_position_e();
  2439. prepare_move_to_destination();
  2440. if (retract_zlift > 0.01) {
  2441. hop_height = current_position[Z_AXIS];
  2442. // Pretend current position is lower
  2443. current_position[Z_AXIS] -= retract_zlift;
  2444. SYNC_PLAN_POSITION_KINEMATIC();
  2445. // Raise up to the old current_position
  2446. prepare_move_to_destination();
  2447. }
  2448. }
  2449. else {
  2450. // If the height hasn't been altered, undo the Z hop
  2451. if (retract_zlift > 0.01 && hop_height == current_position[Z_AXIS]) {
  2452. // Pretend current position is higher. Z will lower on the next move
  2453. current_position[Z_AXIS] += retract_zlift;
  2454. SYNC_PLAN_POSITION_KINEMATIC();
  2455. }
  2456. feedrate_mm_s = retract_recover_feedrate_mm_s;
  2457. const float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
  2458. current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
  2459. sync_plan_position_e();
  2460. // Lower Z and recover E
  2461. prepare_move_to_destination();
  2462. }
  2463. feedrate_mm_s = old_feedrate_mm_s;
  2464. retracted[active_extruder] = retracting;
  2465. } // retract()
  2466. #endif // FWRETRACT
  2467. #if ENABLED(MIXING_EXTRUDER)
  2468. void normalize_mix() {
  2469. float mix_total = 0.0;
  2470. for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mix_total += RECIPROCAL(mixing_factor[i]);
  2471. // Scale all values if they don't add up to ~1.0
  2472. if (!NEAR(mix_total, 1.0)) {
  2473. SERIAL_PROTOCOLLNPGM("Warning: Mix factors must add up to 1.0. Scaling.");
  2474. for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mixing_factor[i] *= mix_total;
  2475. }
  2476. }
  2477. #if ENABLED(DIRECT_MIXING_IN_G1)
  2478. // Get mixing parameters from the GCode
  2479. // The total "must" be 1.0 (but it will be normalized)
  2480. // If no mix factors are given, the old mix is preserved
  2481. void gcode_get_mix() {
  2482. const char* mixing_codes = "ABCDHI";
  2483. byte mix_bits = 0;
  2484. for (uint8_t i = 0; i < MIXING_STEPPERS; i++) {
  2485. if (code_seen(mixing_codes[i])) {
  2486. SBI(mix_bits, i);
  2487. float v = code_value_float();
  2488. NOLESS(v, 0.0);
  2489. mixing_factor[i] = RECIPROCAL(v);
  2490. }
  2491. }
  2492. // If any mixing factors were included, clear the rest
  2493. // If none were included, preserve the last mix
  2494. if (mix_bits) {
  2495. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  2496. if (!TEST(mix_bits, i)) mixing_factor[i] = 0.0;
  2497. normalize_mix();
  2498. }
  2499. }
  2500. #endif
  2501. #endif
  2502. /**
  2503. * ***************************************************************************
  2504. * ***************************** G-CODE HANDLING *****************************
  2505. * ***************************************************************************
  2506. */
  2507. /**
  2508. * Set XYZE destination and feedrate from the current GCode command
  2509. *
  2510. * - Set destination from included axis codes
  2511. * - Set to current for missing axis codes
  2512. * - Set the feedrate, if included
  2513. */
  2514. void gcode_get_destination() {
  2515. LOOP_XYZE(i) {
  2516. if (code_seen(axis_codes[i]))
  2517. destination[i] = code_value_axis_units(i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
  2518. else
  2519. destination[i] = current_position[i];
  2520. }
  2521. if (code_seen('F') && code_value_linear_units() > 0.0)
  2522. feedrate_mm_s = MMM_TO_MMS(code_value_linear_units());
  2523. #if ENABLED(PRINTCOUNTER)
  2524. if (!DEBUGGING(DRYRUN))
  2525. print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
  2526. #endif
  2527. // Get ABCDHI mixing factors
  2528. #if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1)
  2529. gcode_get_mix();
  2530. #endif
  2531. }
  2532. void unknown_command_error() {
  2533. SERIAL_ECHO_START;
  2534. SERIAL_ECHOPAIR(MSG_UNKNOWN_COMMAND, current_command);
  2535. SERIAL_CHAR('"');
  2536. SERIAL_EOL;
  2537. }
  2538. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  2539. /**
  2540. * Output a "busy" message at regular intervals
  2541. * while the machine is not accepting commands.
  2542. */
  2543. void host_keepalive() {
  2544. const millis_t ms = millis();
  2545. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  2546. if (PENDING(ms, next_busy_signal_ms)) return;
  2547. switch (busy_state) {
  2548. case IN_HANDLER:
  2549. case IN_PROCESS:
  2550. SERIAL_ECHO_START;
  2551. SERIAL_ECHOLNPGM(MSG_BUSY_PROCESSING);
  2552. break;
  2553. case PAUSED_FOR_USER:
  2554. SERIAL_ECHO_START;
  2555. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_USER);
  2556. break;
  2557. case PAUSED_FOR_INPUT:
  2558. SERIAL_ECHO_START;
  2559. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_INPUT);
  2560. break;
  2561. default:
  2562. break;
  2563. }
  2564. }
  2565. next_busy_signal_ms = ms + host_keepalive_interval * 1000UL;
  2566. }
  2567. #endif //HOST_KEEPALIVE_FEATURE
  2568. bool position_is_reachable(float target[XYZ]
  2569. #if HAS_BED_PROBE
  2570. , bool by_probe=false
  2571. #endif
  2572. ) {
  2573. float dx = RAW_X_POSITION(target[X_AXIS]),
  2574. dy = RAW_Y_POSITION(target[Y_AXIS]);
  2575. #if HAS_BED_PROBE
  2576. if (by_probe) {
  2577. dx -= X_PROBE_OFFSET_FROM_EXTRUDER;
  2578. dy -= Y_PROBE_OFFSET_FROM_EXTRUDER;
  2579. }
  2580. #endif
  2581. #if IS_SCARA
  2582. #if MIDDLE_DEAD_ZONE_R > 0
  2583. const float R2 = HYPOT2(dx - SCARA_OFFSET_X, dy - SCARA_OFFSET_Y);
  2584. return R2 >= sq(float(MIDDLE_DEAD_ZONE_R)) && R2 <= sq(L1 + L2);
  2585. #else
  2586. return HYPOT2(dx - SCARA_OFFSET_X, dy - SCARA_OFFSET_Y) <= sq(L1 + L2);
  2587. #endif
  2588. #elif ENABLED(DELTA)
  2589. return HYPOT2(dx, dy) <= sq((float)(DELTA_PRINTABLE_RADIUS));
  2590. #else
  2591. const float dz = RAW_Z_POSITION(target[Z_AXIS]);
  2592. return WITHIN(dx, X_MIN_POS - 0.0001, X_MAX_POS + 0.0001)
  2593. && WITHIN(dy, Y_MIN_POS - 0.0001, Y_MAX_POS + 0.0001)
  2594. && WITHIN(dz, Z_MIN_POS - 0.0001, Z_MAX_POS + 0.0001);
  2595. #endif
  2596. }
  2597. /**************************************************
  2598. ***************** GCode Handlers *****************
  2599. **************************************************/
  2600. /**
  2601. * G0, G1: Coordinated movement of X Y Z E axes
  2602. */
  2603. inline void gcode_G0_G1(
  2604. #if IS_SCARA
  2605. bool fast_move=false
  2606. #endif
  2607. ) {
  2608. if (IsRunning()) {
  2609. gcode_get_destination(); // For X Y Z E F
  2610. #if ENABLED(FWRETRACT)
  2611. if (autoretract_enabled && !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  2612. const float echange = destination[E_AXIS] - current_position[E_AXIS];
  2613. // Is this move an attempt to retract or recover?
  2614. if ((echange < -MIN_RETRACT && !retracted[active_extruder]) || (echange > MIN_RETRACT && retracted[active_extruder])) {
  2615. current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations
  2616. sync_plan_position_e(); // AND from the planner
  2617. retract(!retracted[active_extruder]);
  2618. return;
  2619. }
  2620. }
  2621. #endif //FWRETRACT
  2622. #if IS_SCARA
  2623. fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination();
  2624. #else
  2625. prepare_move_to_destination();
  2626. #endif
  2627. }
  2628. }
  2629. /**
  2630. * G2: Clockwise Arc
  2631. * G3: Counterclockwise Arc
  2632. *
  2633. * This command has two forms: IJ-form and R-form.
  2634. *
  2635. * - I specifies an X offset. J specifies a Y offset.
  2636. * At least one of the IJ parameters is required.
  2637. * X and Y can be omitted to do a complete circle.
  2638. * The given XY is not error-checked. The arc ends
  2639. * based on the angle of the destination.
  2640. * Mixing I or J with R will throw an error.
  2641. *
  2642. * - R specifies the radius. X or Y is required.
  2643. * Omitting both X and Y will throw an error.
  2644. * X or Y must differ from the current XY.
  2645. * Mixing R with I or J will throw an error.
  2646. *
  2647. * Examples:
  2648. *
  2649. * G2 I10 ; CW circle centered at X+10
  2650. * G3 X20 Y12 R14 ; CCW circle with r=14 ending at X20 Y12
  2651. */
  2652. #if ENABLED(ARC_SUPPORT)
  2653. inline void gcode_G2_G3(bool clockwise) {
  2654. if (IsRunning()) {
  2655. #if ENABLED(SF_ARC_FIX)
  2656. const bool relative_mode_backup = relative_mode;
  2657. relative_mode = true;
  2658. #endif
  2659. gcode_get_destination();
  2660. #if ENABLED(SF_ARC_FIX)
  2661. relative_mode = relative_mode_backup;
  2662. #endif
  2663. float arc_offset[2] = { 0.0, 0.0 };
  2664. if (code_seen('R')) {
  2665. const float r = code_value_axis_units(X_AXIS),
  2666. x1 = current_position[X_AXIS], y1 = current_position[Y_AXIS],
  2667. x2 = destination[X_AXIS], y2 = destination[Y_AXIS];
  2668. if (r && (x2 != x1 || y2 != y1)) {
  2669. const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
  2670. dx = x2 - x1, dy = y2 - y1, // X and Y differences
  2671. d = HYPOT(dx, dy), // Linear distance between the points
  2672. h = sqrt(sq(r) - sq(d * 0.5)), // Distance to the arc pivot-point
  2673. mx = (x1 + x2) * 0.5, my = (y1 + y2) * 0.5, // Point between the two points
  2674. sx = -dy / d, sy = dx / d, // Slope of the perpendicular bisector
  2675. cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc
  2676. arc_offset[X_AXIS] = cx - x1;
  2677. arc_offset[Y_AXIS] = cy - y1;
  2678. }
  2679. }
  2680. else {
  2681. if (code_seen('I')) arc_offset[X_AXIS] = code_value_axis_units(X_AXIS);
  2682. if (code_seen('J')) arc_offset[Y_AXIS] = code_value_axis_units(Y_AXIS);
  2683. }
  2684. if (arc_offset[0] || arc_offset[1]) {
  2685. // Send an arc to the planner
  2686. plan_arc(destination, arc_offset, clockwise);
  2687. refresh_cmd_timeout();
  2688. }
  2689. else {
  2690. // Bad arguments
  2691. SERIAL_ERROR_START;
  2692. SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS);
  2693. }
  2694. }
  2695. }
  2696. #endif
  2697. /**
  2698. * G4: Dwell S<seconds> or P<milliseconds>
  2699. */
  2700. inline void gcode_G4() {
  2701. millis_t dwell_ms = 0;
  2702. if (code_seen('P')) dwell_ms = code_value_millis(); // milliseconds to wait
  2703. if (code_seen('S')) dwell_ms = code_value_millis_from_seconds(); // seconds to wait
  2704. stepper.synchronize();
  2705. refresh_cmd_timeout();
  2706. dwell_ms += previous_cmd_ms; // keep track of when we started waiting
  2707. if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
  2708. while (PENDING(millis(), dwell_ms)) idle();
  2709. }
  2710. #if ENABLED(BEZIER_CURVE_SUPPORT)
  2711. /**
  2712. * Parameters interpreted according to:
  2713. * http://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G5-Cubic-Spline
  2714. * However I, J omission is not supported at this point; all
  2715. * parameters can be omitted and default to zero.
  2716. */
  2717. /**
  2718. * G5: Cubic B-spline
  2719. */
  2720. inline void gcode_G5() {
  2721. if (IsRunning()) {
  2722. gcode_get_destination();
  2723. const float offset[] = {
  2724. code_seen('I') ? code_value_axis_units(X_AXIS) : 0.0,
  2725. code_seen('J') ? code_value_axis_units(Y_AXIS) : 0.0,
  2726. code_seen('P') ? code_value_axis_units(X_AXIS) : 0.0,
  2727. code_seen('Q') ? code_value_axis_units(Y_AXIS) : 0.0
  2728. };
  2729. plan_cubic_move(offset);
  2730. }
  2731. }
  2732. #endif // BEZIER_CURVE_SUPPORT
  2733. #if ENABLED(FWRETRACT)
  2734. /**
  2735. * G10 - Retract filament according to settings of M207
  2736. * G11 - Recover filament according to settings of M208
  2737. */
  2738. inline void gcode_G10_G11(bool doRetract=false) {
  2739. #if EXTRUDERS > 1
  2740. if (doRetract) {
  2741. retracted_swap[active_extruder] = (code_seen('S') && code_value_bool()); // checks for swap retract argument
  2742. }
  2743. #endif
  2744. retract(doRetract
  2745. #if EXTRUDERS > 1
  2746. , retracted_swap[active_extruder]
  2747. #endif
  2748. );
  2749. }
  2750. #endif //FWRETRACT
  2751. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  2752. /**
  2753. * G12: Clean the nozzle
  2754. */
  2755. inline void gcode_G12() {
  2756. // Don't allow nozzle cleaning without homing first
  2757. if (axis_unhomed_error(true, true, true)) return;
  2758. const uint8_t pattern = code_seen('P') ? code_value_ushort() : 0,
  2759. strokes = code_seen('S') ? code_value_ushort() : NOZZLE_CLEAN_STROKES,
  2760. objects = code_seen('T') ? code_value_ushort() : NOZZLE_CLEAN_TRIANGLES;
  2761. const float radius = code_seen('R') ? code_value_float() : NOZZLE_CLEAN_CIRCLE_RADIUS;
  2762. Nozzle::clean(pattern, strokes, radius, objects);
  2763. }
  2764. #endif
  2765. #if ENABLED(INCH_MODE_SUPPORT)
  2766. /**
  2767. * G20: Set input mode to inches
  2768. */
  2769. inline void gcode_G20() { set_input_linear_units(LINEARUNIT_INCH); }
  2770. /**
  2771. * G21: Set input mode to millimeters
  2772. */
  2773. inline void gcode_G21() { set_input_linear_units(LINEARUNIT_MM); }
  2774. #endif
  2775. #if ENABLED(NOZZLE_PARK_FEATURE)
  2776. /**
  2777. * G27: Park the nozzle
  2778. */
  2779. inline void gcode_G27() {
  2780. // Don't allow nozzle parking without homing first
  2781. if (axis_unhomed_error(true, true, true)) return;
  2782. Nozzle::park(code_seen('P') ? code_value_ushort() : 0);
  2783. }
  2784. #endif // NOZZLE_PARK_FEATURE
  2785. #if ENABLED(QUICK_HOME)
  2786. static void quick_home_xy() {
  2787. // Pretend the current position is 0,0
  2788. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  2789. sync_plan_position();
  2790. const int x_axis_home_dir =
  2791. #if ENABLED(DUAL_X_CARRIAGE)
  2792. x_home_dir(active_extruder)
  2793. #else
  2794. home_dir(X_AXIS)
  2795. #endif
  2796. ;
  2797. const float mlx = max_length(X_AXIS),
  2798. mly = max_length(Y_AXIS),
  2799. mlratio = mlx > mly ? mly / mlx : mlx / mly,
  2800. fr_mm_s = min(homing_feedrate_mm_s[X_AXIS], homing_feedrate_mm_s[Y_AXIS]) * sqrt(sq(mlratio) + 1.0);
  2801. do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
  2802. endstops.hit_on_purpose(); // clear endstop hit flags
  2803. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  2804. }
  2805. #endif // QUICK_HOME
  2806. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2807. void log_machine_info() {
  2808. SERIAL_ECHOPGM("Machine Type: ");
  2809. #if ENABLED(DELTA)
  2810. SERIAL_ECHOLNPGM("Delta");
  2811. #elif IS_SCARA
  2812. SERIAL_ECHOLNPGM("SCARA");
  2813. #elif IS_CORE
  2814. SERIAL_ECHOLNPGM("Core");
  2815. #else
  2816. SERIAL_ECHOLNPGM("Cartesian");
  2817. #endif
  2818. SERIAL_ECHOPGM("Probe: ");
  2819. #if ENABLED(PROBE_MANUALLY)
  2820. SERIAL_ECHOLNPGM("PROBE_MANUALLY");
  2821. #elif ENABLED(FIX_MOUNTED_PROBE)
  2822. SERIAL_ECHOLNPGM("FIX_MOUNTED_PROBE");
  2823. #elif ENABLED(BLTOUCH)
  2824. SERIAL_ECHOLNPGM("BLTOUCH");
  2825. #elif HAS_Z_SERVO_ENDSTOP
  2826. SERIAL_ECHOLNPGM("SERVO PROBE");
  2827. #elif ENABLED(Z_PROBE_SLED)
  2828. SERIAL_ECHOLNPGM("Z_PROBE_SLED");
  2829. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  2830. SERIAL_ECHOLNPGM("Z_PROBE_ALLEN_KEY");
  2831. #else
  2832. SERIAL_ECHOLNPGM("NONE");
  2833. #endif
  2834. #if HAS_BED_PROBE
  2835. SERIAL_ECHOPAIR("Probe Offset X:", X_PROBE_OFFSET_FROM_EXTRUDER);
  2836. SERIAL_ECHOPAIR(" Y:", Y_PROBE_OFFSET_FROM_EXTRUDER);
  2837. SERIAL_ECHOPAIR(" Z:", zprobe_zoffset);
  2838. #if (X_PROBE_OFFSET_FROM_EXTRUDER > 0)
  2839. SERIAL_ECHOPGM(" (Right");
  2840. #elif (X_PROBE_OFFSET_FROM_EXTRUDER < 0)
  2841. SERIAL_ECHOPGM(" (Left");
  2842. #elif (Y_PROBE_OFFSET_FROM_EXTRUDER != 0)
  2843. SERIAL_ECHOPGM(" (Middle");
  2844. #else
  2845. SERIAL_ECHOPGM(" (Aligned With");
  2846. #endif
  2847. #if (Y_PROBE_OFFSET_FROM_EXTRUDER > 0)
  2848. SERIAL_ECHOPGM("-Back");
  2849. #elif (Y_PROBE_OFFSET_FROM_EXTRUDER < 0)
  2850. SERIAL_ECHOPGM("-Front");
  2851. #elif (X_PROBE_OFFSET_FROM_EXTRUDER != 0)
  2852. SERIAL_ECHOPGM("-Center");
  2853. #endif
  2854. if (zprobe_zoffset < 0)
  2855. SERIAL_ECHOPGM(" & Below");
  2856. else if (zprobe_zoffset > 0)
  2857. SERIAL_ECHOPGM(" & Above");
  2858. else
  2859. SERIAL_ECHOPGM(" & Same Z as");
  2860. SERIAL_ECHOLNPGM(" Nozzle)");
  2861. #endif
  2862. #if HAS_ABL
  2863. SERIAL_ECHOPGM("Auto Bed Leveling: ");
  2864. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  2865. SERIAL_ECHOPGM("LINEAR");
  2866. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2867. SERIAL_ECHOPGM("BILINEAR");
  2868. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  2869. SERIAL_ECHOPGM("3POINT");
  2870. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  2871. SERIAL_ECHOPGM("UBL");
  2872. #endif
  2873. if (planner.abl_enabled) {
  2874. SERIAL_ECHOLNPGM(" (enabled)");
  2875. #if ABL_PLANAR
  2876. float diff[XYZ] = {
  2877. stepper.get_axis_position_mm(X_AXIS) - current_position[X_AXIS],
  2878. stepper.get_axis_position_mm(Y_AXIS) - current_position[Y_AXIS],
  2879. stepper.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]
  2880. };
  2881. SERIAL_ECHOPGM("ABL Adjustment X");
  2882. if (diff[X_AXIS] > 0) SERIAL_CHAR('+');
  2883. SERIAL_ECHO(diff[X_AXIS]);
  2884. SERIAL_ECHOPGM(" Y");
  2885. if (diff[Y_AXIS] > 0) SERIAL_CHAR('+');
  2886. SERIAL_ECHO(diff[Y_AXIS]);
  2887. SERIAL_ECHOPGM(" Z");
  2888. if (diff[Z_AXIS] > 0) SERIAL_CHAR('+');
  2889. SERIAL_ECHO(diff[Z_AXIS]);
  2890. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  2891. SERIAL_ECHOPAIR("UBL Adjustment Z", stepper.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]);
  2892. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2893. SERIAL_ECHOPAIR("ABL Adjustment Z", bilinear_z_offset(current_position));
  2894. #endif
  2895. }
  2896. else
  2897. SERIAL_ECHOLNPGM(" (disabled)");
  2898. SERIAL_EOL;
  2899. #elif ENABLED(MESH_BED_LEVELING)
  2900. SERIAL_ECHOPGM("Mesh Bed Leveling");
  2901. if (mbl.active()) {
  2902. float lz = current_position[Z_AXIS];
  2903. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], lz);
  2904. SERIAL_ECHOLNPGM(" (enabled)");
  2905. SERIAL_ECHOPAIR("MBL Adjustment Z", lz);
  2906. }
  2907. else
  2908. SERIAL_ECHOPGM(" (disabled)");
  2909. SERIAL_EOL;
  2910. #endif // MESH_BED_LEVELING
  2911. }
  2912. #endif // DEBUG_LEVELING_FEATURE
  2913. #if ENABLED(DELTA)
  2914. /**
  2915. * A delta can only safely home all axes at the same time
  2916. * This is like quick_home_xy() but for 3 towers.
  2917. */
  2918. inline void home_delta() {
  2919. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2920. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
  2921. #endif
  2922. // Init the current position of all carriages to 0,0,0
  2923. ZERO(current_position);
  2924. sync_plan_position();
  2925. // Move all carriages together linearly until an endstop is hit.
  2926. current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10);
  2927. feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
  2928. line_to_current_position();
  2929. stepper.synchronize();
  2930. endstops.hit_on_purpose(); // clear endstop hit flags
  2931. // At least one carriage has reached the top.
  2932. // Now re-home each carriage separately.
  2933. HOMEAXIS(A);
  2934. HOMEAXIS(B);
  2935. HOMEAXIS(C);
  2936. // Set all carriages to their home positions
  2937. // Do this here all at once for Delta, because
  2938. // XYZ isn't ABC. Applying this per-tower would
  2939. // give the impression that they are the same.
  2940. LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
  2941. SYNC_PLAN_POSITION_KINEMATIC();
  2942. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2943. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
  2944. #endif
  2945. }
  2946. #endif // DELTA
  2947. #if ENABLED(Z_SAFE_HOMING)
  2948. inline void home_z_safely() {
  2949. // Disallow Z homing if X or Y are unknown
  2950. if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
  2951. LCD_MESSAGEPGM(MSG_ERR_Z_HOMING);
  2952. SERIAL_ECHO_START;
  2953. SERIAL_ECHOLNPGM(MSG_ERR_Z_HOMING);
  2954. return;
  2955. }
  2956. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2957. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>");
  2958. #endif
  2959. SYNC_PLAN_POSITION_KINEMATIC();
  2960. /**
  2961. * Move the Z probe (or just the nozzle) to the safe homing point
  2962. */
  2963. destination[X_AXIS] = LOGICAL_X_POSITION(Z_SAFE_HOMING_X_POINT);
  2964. destination[Y_AXIS] = LOGICAL_Y_POSITION(Z_SAFE_HOMING_Y_POINT);
  2965. destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
  2966. if (position_is_reachable(
  2967. destination
  2968. #if HOMING_Z_WITH_PROBE
  2969. , true
  2970. #endif
  2971. )
  2972. ) {
  2973. #if HOMING_Z_WITH_PROBE
  2974. destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
  2975. destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
  2976. #endif
  2977. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2978. if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
  2979. #endif
  2980. // This causes the carriage on Dual X to unpark
  2981. #if ENABLED(DUAL_X_CARRIAGE)
  2982. active_extruder_parked = false;
  2983. #endif
  2984. do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
  2985. HOMEAXIS(Z);
  2986. }
  2987. else {
  2988. LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
  2989. SERIAL_ECHO_START;
  2990. SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
  2991. }
  2992. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2993. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
  2994. #endif
  2995. }
  2996. #endif // Z_SAFE_HOMING
  2997. #if ENABLED(PROBE_MANUALLY)
  2998. bool g29_in_progress = false;
  2999. #else
  3000. constexpr bool g29_in_progress = false;
  3001. #endif
  3002. /**
  3003. * G28: Home all axes according to settings
  3004. *
  3005. * Parameters
  3006. *
  3007. * None Home to all axes with no parameters.
  3008. * With QUICK_HOME enabled XY will home together, then Z.
  3009. *
  3010. * Cartesian parameters
  3011. *
  3012. * X Home to the X endstop
  3013. * Y Home to the Y endstop
  3014. * Z Home to the Z endstop
  3015. *
  3016. */
  3017. inline void gcode_G28() {
  3018. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3019. if (DEBUGGING(LEVELING)) {
  3020. SERIAL_ECHOLNPGM(">>> gcode_G28");
  3021. log_machine_info();
  3022. }
  3023. #endif
  3024. // Wait for planner moves to finish!
  3025. stepper.synchronize();
  3026. // Cancel the active G29 session
  3027. #if ENABLED(PROBE_MANUALLY)
  3028. g29_in_progress = false;
  3029. #endif
  3030. // Disable the leveling matrix before homing
  3031. #if PLANNER_LEVELING
  3032. #if ENABLED(AUTO_BED_LEVELING_UBL)
  3033. const bool bed_leveling_state_at_entry = ubl.state.active;
  3034. #endif
  3035. set_bed_leveling_enabled(false);
  3036. #endif
  3037. // Always home with tool 0 active
  3038. #if HOTENDS > 1
  3039. const uint8_t old_tool_index = active_extruder;
  3040. tool_change(0, 0, true);
  3041. #endif
  3042. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  3043. extruder_duplication_enabled = false;
  3044. #endif
  3045. setup_for_endstop_or_probe_move();
  3046. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3047. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
  3048. #endif
  3049. endstops.enable(true); // Enable endstops for next homing move
  3050. #if ENABLED(DELTA)
  3051. home_delta();
  3052. #else // NOT DELTA
  3053. const bool homeX = code_seen('X'), homeY = code_seen('Y'), homeZ = code_seen('Z'),
  3054. home_all_axis = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
  3055. set_destination_to_current();
  3056. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  3057. if (home_all_axis || homeZ) {
  3058. HOMEAXIS(Z);
  3059. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3060. if (DEBUGGING(LEVELING)) DEBUG_POS("> HOMEAXIS(Z)", current_position);
  3061. #endif
  3062. }
  3063. #else
  3064. if (home_all_axis || homeX || homeY) {
  3065. // Raise Z before homing any other axes and z is not already high enough (never lower z)
  3066. destination[Z_AXIS] = LOGICAL_Z_POSITION(Z_HOMING_HEIGHT);
  3067. if (destination[Z_AXIS] > current_position[Z_AXIS]) {
  3068. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3069. if (DEBUGGING(LEVELING))
  3070. SERIAL_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
  3071. #endif
  3072. do_blocking_move_to_z(destination[Z_AXIS]);
  3073. }
  3074. }
  3075. #endif
  3076. #if ENABLED(QUICK_HOME)
  3077. if (home_all_axis || (homeX && homeY)) quick_home_xy();
  3078. #endif
  3079. #if ENABLED(HOME_Y_BEFORE_X)
  3080. // Home Y
  3081. if (home_all_axis || homeY) {
  3082. HOMEAXIS(Y);
  3083. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3084. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  3085. #endif
  3086. }
  3087. #endif
  3088. // Home X
  3089. if (home_all_axis || homeX) {
  3090. #if ENABLED(DUAL_X_CARRIAGE)
  3091. // Always home the 2nd (right) extruder first
  3092. active_extruder = 1;
  3093. HOMEAXIS(X);
  3094. // Remember this extruder's position for later tool change
  3095. inactive_extruder_x_pos = RAW_X_POSITION(current_position[X_AXIS]);
  3096. // Home the 1st (left) extruder
  3097. active_extruder = 0;
  3098. HOMEAXIS(X);
  3099. // Consider the active extruder to be parked
  3100. COPY(raised_parked_position, current_position);
  3101. delayed_move_time = 0;
  3102. active_extruder_parked = true;
  3103. #else
  3104. HOMEAXIS(X);
  3105. #endif
  3106. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3107. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
  3108. #endif
  3109. }
  3110. #if DISABLED(HOME_Y_BEFORE_X)
  3111. // Home Y
  3112. if (home_all_axis || homeY) {
  3113. HOMEAXIS(Y);
  3114. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3115. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  3116. #endif
  3117. }
  3118. #endif
  3119. // Home Z last if homing towards the bed
  3120. #if Z_HOME_DIR < 0
  3121. if (home_all_axis || homeZ) {
  3122. #if ENABLED(Z_SAFE_HOMING)
  3123. home_z_safely();
  3124. #else
  3125. HOMEAXIS(Z);
  3126. #endif
  3127. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3128. if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all_axis || homeZ) > final", current_position);
  3129. #endif
  3130. } // home_all_axis || homeZ
  3131. #endif // Z_HOME_DIR < 0
  3132. SYNC_PLAN_POSITION_KINEMATIC();
  3133. #endif // !DELTA (gcode_G28)
  3134. endstops.not_homing();
  3135. #if ENABLED(DELTA) && ENABLED(DELTA_HOME_TO_SAFE_ZONE)
  3136. // move to a height where we can use the full xy-area
  3137. do_blocking_move_to_z(delta_clip_start_height);
  3138. #endif
  3139. #if ENABLED(AUTO_BED_LEVELING_UBL)
  3140. set_bed_leveling_enabled(bed_leveling_state_at_entry);
  3141. #endif
  3142. // Enable mesh leveling again
  3143. #if ENABLED(MESH_BED_LEVELING)
  3144. if (mbl.reactivate()) {
  3145. set_bed_leveling_enabled(true);
  3146. if (home_all_axis || (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && homeZ)) {
  3147. #if ENABLED(MESH_G28_REST_ORIGIN)
  3148. current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS);
  3149. set_destination_to_current();
  3150. line_to_destination(homing_feedrate_mm_s[Z_AXIS]);
  3151. stepper.synchronize();
  3152. #endif
  3153. }
  3154. }
  3155. #endif
  3156. clean_up_after_endstop_or_probe_move();
  3157. // Restore the active tool after homing
  3158. #if HOTENDS > 1
  3159. tool_change(old_tool_index, 0, true);
  3160. #endif
  3161. report_current_position();
  3162. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3163. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28");
  3164. #endif
  3165. }
  3166. #if HAS_PROBING_PROCEDURE
  3167. void out_of_range_error(const char* p_edge) {
  3168. SERIAL_PROTOCOLPGM("?Probe ");
  3169. serialprintPGM(p_edge);
  3170. SERIAL_PROTOCOLLNPGM(" position out of range.");
  3171. }
  3172. #endif
  3173. #if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
  3174. inline void _manual_goto_xy(const float &x, const float &y) {
  3175. const float old_feedrate_mm_s = feedrate_mm_s;
  3176. #if MANUAL_PROBE_HEIGHT > 0
  3177. feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS];
  3178. current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS) + MANUAL_PROBE_HEIGHT;
  3179. line_to_current_position();
  3180. #endif
  3181. feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
  3182. current_position[X_AXIS] = LOGICAL_X_POSITION(x);
  3183. current_position[Y_AXIS] = LOGICAL_Y_POSITION(y);
  3184. line_to_current_position();
  3185. #if MANUAL_PROBE_HEIGHT > 0
  3186. feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS];
  3187. current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS) + 0.2; // just slightly over the bed
  3188. line_to_current_position();
  3189. #endif
  3190. feedrate_mm_s = old_feedrate_mm_s;
  3191. stepper.synchronize();
  3192. }
  3193. #endif
  3194. #if ENABLED(MESH_BED_LEVELING)
  3195. // Save 130 bytes with non-duplication of PSTR
  3196. void say_not_entered() { SERIAL_PROTOCOLLNPGM(" not entered."); }
  3197. void mbl_mesh_report() {
  3198. SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(GRID_MAX_POINTS_X) "," STRINGIFY(GRID_MAX_POINTS_Y));
  3199. SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
  3200. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  3201. print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5,
  3202. [](const uint8_t ix, const uint8_t iy) { return mbl.z_values[ix][iy]; }
  3203. );
  3204. }
  3205. /**
  3206. * G29: Mesh-based Z probe, probes a grid and produces a
  3207. * mesh to compensate for variable bed height
  3208. *
  3209. * Parameters With MESH_BED_LEVELING:
  3210. *
  3211. * S0 Produce a mesh report
  3212. * S1 Start probing mesh points
  3213. * S2 Probe the next mesh point
  3214. * S3 Xn Yn Zn.nn Manually modify a single point
  3215. * S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.
  3216. * S5 Reset and disable mesh
  3217. *
  3218. * The S0 report the points as below
  3219. *
  3220. * +----> X-axis 1-n
  3221. * |
  3222. * |
  3223. * v Y-axis 1-n
  3224. *
  3225. */
  3226. inline void gcode_G29() {
  3227. static int mbl_probe_index = -1;
  3228. #if HAS_SOFTWARE_ENDSTOPS
  3229. static bool enable_soft_endstops;
  3230. #endif
  3231. const MeshLevelingState state = code_seen('S') ? (MeshLevelingState)code_value_byte() : MeshReport;
  3232. if (!WITHIN(state, 0, 5)) {
  3233. SERIAL_PROTOCOLLNPGM("S out of range (0-5).");
  3234. return;
  3235. }
  3236. int8_t px, py;
  3237. switch (state) {
  3238. case MeshReport:
  3239. if (mbl.has_mesh()) {
  3240. SERIAL_PROTOCOLLNPAIR("State: ", mbl.active() ? MSG_ON : MSG_OFF);
  3241. mbl_mesh_report();
  3242. }
  3243. else
  3244. SERIAL_PROTOCOLLNPGM("Mesh bed leveling has no data.");
  3245. break;
  3246. case MeshStart:
  3247. mbl.reset();
  3248. mbl_probe_index = 0;
  3249. enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
  3250. break;
  3251. case MeshNext:
  3252. if (mbl_probe_index < 0) {
  3253. SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
  3254. return;
  3255. }
  3256. // For each G29 S2...
  3257. if (mbl_probe_index == 0) {
  3258. #if HAS_SOFTWARE_ENDSTOPS
  3259. // For the initial G29 S2 save software endstop state
  3260. enable_soft_endstops = soft_endstops_enabled;
  3261. #endif
  3262. }
  3263. else {
  3264. // For G29 S2 after adjusting Z.
  3265. mbl.set_zigzag_z(mbl_probe_index - 1, current_position[Z_AXIS]);
  3266. #if HAS_SOFTWARE_ENDSTOPS
  3267. soft_endstops_enabled = enable_soft_endstops;
  3268. #endif
  3269. }
  3270. // If there's another point to sample, move there with optional lift.
  3271. if (mbl_probe_index < (GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y)) {
  3272. mbl.zigzag(mbl_probe_index, px, py);
  3273. _manual_goto_xy(mbl.index_to_xpos[px], mbl.index_to_ypos[py]);
  3274. #if HAS_SOFTWARE_ENDSTOPS
  3275. // Disable software endstops to allow manual adjustment
  3276. // If G29 is not completed, they will not be re-enabled
  3277. soft_endstops_enabled = false;
  3278. #endif
  3279. mbl_probe_index++;
  3280. }
  3281. else {
  3282. // One last "return to the bed" (as originally coded) at completion
  3283. current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS) + MANUAL_PROBE_HEIGHT;
  3284. line_to_current_position();
  3285. stepper.synchronize();
  3286. // After recording the last point, activate the mbl and home
  3287. SERIAL_PROTOCOLLNPGM("Mesh probing done.");
  3288. mbl_probe_index = -1;
  3289. mbl.set_has_mesh(true);
  3290. mbl.set_reactivate(true);
  3291. enqueue_and_echo_commands_P(PSTR("G28"));
  3292. BUZZ(100, 659);
  3293. BUZZ(100, 698);
  3294. }
  3295. break;
  3296. case MeshSet:
  3297. if (code_seen('X')) {
  3298. px = code_value_int() - 1;
  3299. if (!WITHIN(px, 0, GRID_MAX_POINTS_X - 1)) {
  3300. SERIAL_PROTOCOLLNPGM("X out of range (1-" STRINGIFY(GRID_MAX_POINTS_X) ").");
  3301. return;
  3302. }
  3303. }
  3304. else {
  3305. SERIAL_CHAR('X'); say_not_entered();
  3306. return;
  3307. }
  3308. if (code_seen('Y')) {
  3309. py = code_value_int() - 1;
  3310. if (!WITHIN(py, 0, GRID_MAX_POINTS_Y - 1)) {
  3311. SERIAL_PROTOCOLLNPGM("Y out of range (1-" STRINGIFY(GRID_MAX_POINTS_Y) ").");
  3312. return;
  3313. }
  3314. }
  3315. else {
  3316. SERIAL_CHAR('Y'); say_not_entered();
  3317. return;
  3318. }
  3319. if (code_seen('Z')) {
  3320. mbl.z_values[py][px] = code_value_axis_units(Z_AXIS);
  3321. }
  3322. else {
  3323. SERIAL_CHAR('Z'); say_not_entered();
  3324. return;
  3325. }
  3326. break;
  3327. case MeshSetZOffset:
  3328. if (code_seen('Z')) {
  3329. mbl.z_offset = code_value_axis_units(Z_AXIS);
  3330. }
  3331. else {
  3332. SERIAL_CHAR('Z'); say_not_entered();
  3333. return;
  3334. }
  3335. break;
  3336. case MeshReset:
  3337. reset_bed_level();
  3338. break;
  3339. } // switch(state)
  3340. report_current_position();
  3341. }
  3342. #elif HAS_ABL && DISABLED(AUTO_BED_LEVELING_UBL)
  3343. #if ABL_GRID
  3344. #if ENABLED(PROBE_Y_FIRST)
  3345. #define PR_OUTER_VAR xCount
  3346. #define PR_OUTER_END abl_grid_points_x
  3347. #define PR_INNER_VAR yCount
  3348. #define PR_INNER_END abl_grid_points_y
  3349. #else
  3350. #define PR_OUTER_VAR yCount
  3351. #define PR_OUTER_END abl_grid_points_y
  3352. #define PR_INNER_VAR xCount
  3353. #define PR_INNER_END abl_grid_points_x
  3354. #endif
  3355. #endif
  3356. /**
  3357. * G29: Detailed Z probe, probes the bed at 3 or more points.
  3358. * Will fail if the printer has not been homed with G28.
  3359. *
  3360. * Enhanced G29 Auto Bed Leveling Probe Routine
  3361. *
  3362. * D Dry-Run mode. Just evaluate the bed Topology - Don't apply
  3363. * or alter the bed level data. Useful to check the topology
  3364. * after a first run of G29.
  3365. *
  3366. * J Jettison current bed leveling data
  3367. *
  3368. * V Set the verbose level (0-4). Example: "G29 V3"
  3369. *
  3370. * Parameters With LINEAR leveling only:
  3371. *
  3372. * P Set the size of the grid that will be probed (P x P points).
  3373. * Example: "G29 P4"
  3374. *
  3375. * X Set the X size of the grid that will be probed (X x Y points).
  3376. * Example: "G29 X7 Y5"
  3377. *
  3378. * Y Set the Y size of the grid that will be probed (X x Y points).
  3379. *
  3380. * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
  3381. * This is useful for manual bed leveling and finding flaws in the bed (to
  3382. * assist with part placement).
  3383. * Not supported by non-linear delta printer bed leveling.
  3384. *
  3385. * Parameters With LINEAR and BILINEAR leveling only:
  3386. *
  3387. * S Set the XY travel speed between probe points (in units/min)
  3388. *
  3389. * F Set the Front limit of the probing grid
  3390. * B Set the Back limit of the probing grid
  3391. * L Set the Left limit of the probing grid
  3392. * R Set the Right limit of the probing grid
  3393. *
  3394. * Parameters with BILINEAR leveling only:
  3395. *
  3396. * Z Supply an additional Z probe offset
  3397. *
  3398. * Extra parameters with PROBE_MANUALLY:
  3399. *
  3400. * To do manual probing simply repeat G29 until the procedure is complete.
  3401. * The first G29 accepts parameters. 'G29 Q' for status, 'G29 A' to abort.
  3402. *
  3403. * Q Query leveling and G29 state
  3404. *
  3405. * A Abort current leveling procedure
  3406. *
  3407. * W Write a mesh point. (Ignored during leveling.)
  3408. * X Required X for mesh point
  3409. * Y Required Y for mesh point
  3410. * Z Required Z for mesh point
  3411. *
  3412. * Without PROBE_MANUALLY:
  3413. *
  3414. * E By default G29 will engage the Z probe, test the bed, then disengage.
  3415. * Include "E" to engage/disengage the Z probe for each sample.
  3416. * There's no extra effect if you have a fixed Z probe.
  3417. *
  3418. */
  3419. inline void gcode_G29() {
  3420. // G29 Q is also available if debugging
  3421. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3422. const bool query = code_seen('Q');
  3423. const uint8_t old_debug_flags = marlin_debug_flags;
  3424. if (query) marlin_debug_flags |= DEBUG_LEVELING;
  3425. if (DEBUGGING(LEVELING)) {
  3426. DEBUG_POS(">>> gcode_G29", current_position);
  3427. log_machine_info();
  3428. }
  3429. marlin_debug_flags = old_debug_flags;
  3430. #if DISABLED(PROBE_MANUALLY)
  3431. if (query) return;
  3432. #endif
  3433. #endif
  3434. // Don't allow auto-leveling without homing first
  3435. if (axis_unhomed_error(true, true, true)) return;
  3436. // Define local vars 'static' for manual probing, 'auto' otherwise
  3437. #if ENABLED(PROBE_MANUALLY)
  3438. #define ABL_VAR static
  3439. #else
  3440. #define ABL_VAR
  3441. #endif
  3442. ABL_VAR int verbose_level, abl_probe_index;
  3443. ABL_VAR float xProbe, yProbe, measured_z;
  3444. ABL_VAR bool dryrun, abl_should_enable;
  3445. #if HAS_SOFTWARE_ENDSTOPS
  3446. ABL_VAR bool enable_soft_endstops = true;
  3447. #endif
  3448. #if ABL_GRID
  3449. ABL_VAR uint8_t PR_OUTER_VAR;
  3450. ABL_VAR int8_t PR_INNER_VAR;
  3451. ABL_VAR int left_probe_bed_position, right_probe_bed_position, front_probe_bed_position, back_probe_bed_position;
  3452. ABL_VAR float xGridSpacing, yGridSpacing;
  3453. #define ABL_GRID_MAX (GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y)
  3454. #if ABL_PLANAR
  3455. ABL_VAR uint8_t abl_grid_points_x = GRID_MAX_POINTS_X,
  3456. abl_grid_points_y = GRID_MAX_POINTS_Y;
  3457. ABL_VAR int abl2;
  3458. ABL_VAR bool do_topography_map;
  3459. #else // 3-point
  3460. uint8_t constexpr abl_grid_points_x = GRID_MAX_POINTS_X,
  3461. abl_grid_points_y = GRID_MAX_POINTS_Y;
  3462. int constexpr abl2 = ABL_GRID_MAX;
  3463. #endif
  3464. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3465. ABL_VAR float zoffset;
  3466. #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
  3467. ABL_VAR int indexIntoAB[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
  3468. ABL_VAR float eqnAMatrix[ABL_GRID_MAX * 3], // "A" matrix of the linear system of equations
  3469. eqnBVector[ABL_GRID_MAX], // "B" vector of Z points
  3470. mean;
  3471. #endif
  3472. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  3473. // Probe at 3 arbitrary points
  3474. ABL_VAR vector_3 points[3] = {
  3475. vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, 0),
  3476. vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, 0),
  3477. vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, 0)
  3478. };
  3479. #endif // AUTO_BED_LEVELING_3POINT
  3480. /**
  3481. * On the initial G29 fetch command parameters.
  3482. */
  3483. if (!g29_in_progress) {
  3484. abl_probe_index = 0;
  3485. abl_should_enable = planner.abl_enabled;
  3486. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3487. if (code_seen('W')) {
  3488. if (!bilinear_grid_spacing[X_AXIS]) {
  3489. SERIAL_ERROR_START;
  3490. SERIAL_ERRORLNPGM("No bilinear grid");
  3491. return;
  3492. }
  3493. const float z = code_seen('Z') && code_has_value() ? code_value_float() : 99999;
  3494. if (!WITHIN(z, -10, 10)) {
  3495. SERIAL_ERROR_START;
  3496. SERIAL_ERRORLNPGM("Bad Z value");
  3497. return;
  3498. }
  3499. const float x = code_seen('X') && code_has_value() ? code_value_float() : 99999,
  3500. y = code_seen('Y') && code_has_value() ? code_value_float() : 99999;
  3501. int8_t i = code_seen('I') && code_has_value() ? code_value_byte() : -1,
  3502. j = code_seen('J') && code_has_value() ? code_value_byte() : -1;
  3503. if (x < 99998 && y < 99998) {
  3504. // Get nearest i / j from x / y
  3505. i = (x - LOGICAL_X_POSITION(bilinear_start[X_AXIS]) + 0.5 * xGridSpacing) / xGridSpacing;
  3506. j = (y - LOGICAL_Y_POSITION(bilinear_start[Y_AXIS]) + 0.5 * yGridSpacing) / yGridSpacing;
  3507. i = constrain(i, 0, GRID_MAX_POINTS_X - 1);
  3508. j = constrain(j, 0, GRID_MAX_POINTS_Y - 1);
  3509. }
  3510. if (WITHIN(i, 0, GRID_MAX_POINTS_X - 1) && WITHIN(j, 0, GRID_MAX_POINTS_Y)) {
  3511. set_bed_leveling_enabled(false);
  3512. bed_level_grid[i][j] = z;
  3513. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  3514. bed_level_virt_interpolate();
  3515. #endif
  3516. set_bed_leveling_enabled(abl_should_enable);
  3517. }
  3518. return;
  3519. } // code_seen('W')
  3520. #endif
  3521. #if PLANNER_LEVELING
  3522. // Jettison bed leveling data
  3523. if (code_seen('J')) {
  3524. reset_bed_level();
  3525. return;
  3526. }
  3527. #endif
  3528. verbose_level = code_seen('V') && code_has_value() ? code_value_int() : 0;
  3529. if (!WITHIN(verbose_level, 0, 4)) {
  3530. SERIAL_PROTOCOLLNPGM("?(V)erbose Level is implausible (0-4).");
  3531. return;
  3532. }
  3533. dryrun = code_seen('D') ? code_value_bool() : false;
  3534. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3535. do_topography_map = verbose_level > 2 || code_seen('T');
  3536. // X and Y specify points in each direction, overriding the default
  3537. // These values may be saved with the completed mesh
  3538. abl_grid_points_x = code_seen('X') ? code_value_int() : GRID_MAX_POINTS_X;
  3539. abl_grid_points_y = code_seen('Y') ? code_value_int() : GRID_MAX_POINTS_Y;
  3540. if (code_seen('P')) abl_grid_points_x = abl_grid_points_y = code_value_int();
  3541. if (abl_grid_points_x < 2 || abl_grid_points_y < 2) {
  3542. SERIAL_PROTOCOLLNPGM("?Number of probe points is implausible (2 minimum).");
  3543. return;
  3544. }
  3545. abl2 = abl_grid_points_x * abl_grid_points_y;
  3546. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3547. zoffset = code_seen('Z') ? code_value_axis_units(Z_AXIS) : 0;
  3548. #endif
  3549. #if ABL_GRID
  3550. xy_probe_feedrate_mm_s = MMM_TO_MMS(code_seen('S') ? code_value_linear_units() : XY_PROBE_SPEED);
  3551. left_probe_bed_position = code_seen('L') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(LEFT_PROBE_BED_POSITION);
  3552. right_probe_bed_position = code_seen('R') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(RIGHT_PROBE_BED_POSITION);
  3553. front_probe_bed_position = code_seen('F') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(FRONT_PROBE_BED_POSITION);
  3554. back_probe_bed_position = code_seen('B') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(BACK_PROBE_BED_POSITION);
  3555. const bool left_out_l = left_probe_bed_position < LOGICAL_X_POSITION(MIN_PROBE_X),
  3556. left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE),
  3557. right_out_r = right_probe_bed_position > LOGICAL_X_POSITION(MAX_PROBE_X),
  3558. right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
  3559. front_out_f = front_probe_bed_position < LOGICAL_Y_POSITION(MIN_PROBE_Y),
  3560. front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE),
  3561. back_out_b = back_probe_bed_position > LOGICAL_Y_POSITION(MAX_PROBE_Y),
  3562. back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
  3563. if (left_out || right_out || front_out || back_out) {
  3564. if (left_out) {
  3565. out_of_range_error(PSTR("(L)eft"));
  3566. left_probe_bed_position = left_out_l ? LOGICAL_X_POSITION(MIN_PROBE_X) : right_probe_bed_position - (MIN_PROBE_EDGE);
  3567. }
  3568. if (right_out) {
  3569. out_of_range_error(PSTR("(R)ight"));
  3570. right_probe_bed_position = right_out_r ? LOGICAL_Y_POSITION(MAX_PROBE_X) : left_probe_bed_position + MIN_PROBE_EDGE;
  3571. }
  3572. if (front_out) {
  3573. out_of_range_error(PSTR("(F)ront"));
  3574. front_probe_bed_position = front_out_f ? LOGICAL_Y_POSITION(MIN_PROBE_Y) : back_probe_bed_position - (MIN_PROBE_EDGE);
  3575. }
  3576. if (back_out) {
  3577. out_of_range_error(PSTR("(B)ack"));
  3578. back_probe_bed_position = back_out_b ? LOGICAL_Y_POSITION(MAX_PROBE_Y) : front_probe_bed_position + MIN_PROBE_EDGE;
  3579. }
  3580. return;
  3581. }
  3582. // probe at the points of a lattice grid
  3583. xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1);
  3584. yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1);
  3585. #endif // ABL_GRID
  3586. if (verbose_level > 0) {
  3587. SERIAL_PROTOCOLLNPGM("G29 Auto Bed Leveling");
  3588. if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode");
  3589. }
  3590. stepper.synchronize();
  3591. // Disable auto bed leveling during G29
  3592. planner.abl_enabled = false;
  3593. if (!dryrun) {
  3594. // Re-orient the current position without leveling
  3595. // based on where the steppers are positioned.
  3596. set_current_from_steppers_for_axis(ALL_AXES);
  3597. // Sync the planner to where the steppers stopped
  3598. SYNC_PLAN_POSITION_KINEMATIC();
  3599. }
  3600. setup_for_endstop_or_probe_move();
  3601. //xProbe = yProbe = measured_z = 0;
  3602. #if HAS_BED_PROBE
  3603. // Deploy the probe. Probe will raise if needed.
  3604. if (DEPLOY_PROBE()) {
  3605. planner.abl_enabled = abl_should_enable;
  3606. return;
  3607. }
  3608. #endif
  3609. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3610. if ( xGridSpacing != bilinear_grid_spacing[X_AXIS]
  3611. || yGridSpacing != bilinear_grid_spacing[Y_AXIS]
  3612. || left_probe_bed_position != LOGICAL_X_POSITION(bilinear_start[X_AXIS])
  3613. || front_probe_bed_position != LOGICAL_Y_POSITION(bilinear_start[Y_AXIS])
  3614. ) {
  3615. if (dryrun) {
  3616. // Before reset bed level, re-enable to correct the position
  3617. planner.abl_enabled = abl_should_enable;
  3618. }
  3619. // Reset grid to 0.0 or "not probed". (Also disables ABL)
  3620. reset_bed_level();
  3621. // Initialize a grid with the given dimensions
  3622. bilinear_grid_spacing[X_AXIS] = xGridSpacing;
  3623. bilinear_grid_spacing[Y_AXIS] = yGridSpacing;
  3624. bilinear_start[X_AXIS] = RAW_X_POSITION(left_probe_bed_position);
  3625. bilinear_start[Y_AXIS] = RAW_Y_POSITION(front_probe_bed_position);
  3626. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  3627. bilinear_grid_spacing_virt[X_AXIS] = xGridSpacing / (BILINEAR_SUBDIVISIONS);
  3628. bilinear_grid_spacing_virt[Y_AXIS] = yGridSpacing / (BILINEAR_SUBDIVISIONS);
  3629. #endif
  3630. // Can't re-enable (on error) until the new grid is written
  3631. abl_should_enable = false;
  3632. }
  3633. #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
  3634. mean = 0.0;
  3635. #endif // AUTO_BED_LEVELING_LINEAR
  3636. #if ENABLED(AUTO_BED_LEVELING_3POINT)
  3637. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3638. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
  3639. #endif
  3640. // Probe at 3 arbitrary points
  3641. points[0].z = points[1].z = points[2].z = 0;
  3642. #endif // AUTO_BED_LEVELING_3POINT
  3643. } // !g29_in_progress
  3644. #if ENABLED(PROBE_MANUALLY)
  3645. // Abort current G29 procedure, go back to ABLStart
  3646. if (code_seen('A') && g29_in_progress) {
  3647. SERIAL_PROTOCOLLNPGM("Manual G29 aborted");
  3648. #if HAS_SOFTWARE_ENDSTOPS
  3649. soft_endstops_enabled = enable_soft_endstops;
  3650. #endif
  3651. planner.abl_enabled = abl_should_enable;
  3652. g29_in_progress = false;
  3653. }
  3654. // Query G29 status
  3655. if (code_seen('Q')) {
  3656. if (!g29_in_progress)
  3657. SERIAL_PROTOCOLLNPGM("Manual G29 idle");
  3658. else {
  3659. SERIAL_PROTOCOLPAIR("Manual G29 point ", abl_probe_index + 1);
  3660. SERIAL_PROTOCOLLNPAIR(" of ", abl2);
  3661. }
  3662. }
  3663. if (code_seen('A') || code_seen('Q')) return;
  3664. // Fall through to probe the first point
  3665. g29_in_progress = true;
  3666. if (abl_probe_index == 0) {
  3667. // For the initial G29 S2 save software endstop state
  3668. #if HAS_SOFTWARE_ENDSTOPS
  3669. enable_soft_endstops = soft_endstops_enabled;
  3670. #endif
  3671. }
  3672. else {
  3673. // For G29 after adjusting Z.
  3674. // Save the previous Z before going to the next point
  3675. measured_z = current_position[Z_AXIS];
  3676. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3677. mean += measured_z;
  3678. eqnBVector[abl_probe_index] = measured_z;
  3679. eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe;
  3680. eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe;
  3681. eqnAMatrix[abl_probe_index + 2 * abl2] = 1;
  3682. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3683. bed_level_grid[xCount][yCount] = measured_z + zoffset;
  3684. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  3685. points[i].z = measured_z;
  3686. #endif
  3687. }
  3688. //
  3689. // If there's another point to sample, move there with optional lift.
  3690. //
  3691. #if ABL_GRID
  3692. // Find a next point to probe
  3693. // On the first G29 this will be the first probe point
  3694. while (abl_probe_index < abl2) {
  3695. // Set xCount, yCount based on abl_probe_index, with zig-zag
  3696. PR_OUTER_VAR = abl_probe_index / PR_INNER_END;
  3697. PR_INNER_VAR = abl_probe_index - (PR_OUTER_VAR * PR_INNER_END);
  3698. bool zig = (PR_OUTER_VAR & 1) != ((PR_OUTER_END) & 1);
  3699. if (zig) PR_INNER_VAR = (PR_INNER_END - 1) - PR_INNER_VAR;
  3700. const float xBase = left_probe_bed_position + xGridSpacing * xCount,
  3701. yBase = front_probe_bed_position + yGridSpacing * yCount;
  3702. xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5));
  3703. yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5));
  3704. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3705. indexIntoAB[xCount][yCount] = abl_probe_index;
  3706. #endif
  3707. float pos[XYZ] = { xProbe, yProbe, 0 };
  3708. if (position_is_reachable(pos)) break;
  3709. ++abl_probe_index;
  3710. }
  3711. // Is there a next point to move to?
  3712. if (abl_probe_index < abl2) {
  3713. _manual_goto_xy(xProbe, yProbe); // Can be used here too!
  3714. ++abl_probe_index;
  3715. #if HAS_SOFTWARE_ENDSTOPS
  3716. // Disable software endstops to allow manual adjustment
  3717. // If G29 is not completed, they will not be re-enabled
  3718. soft_endstops_enabled = false;
  3719. #endif
  3720. return;
  3721. }
  3722. else {
  3723. // Then leveling is done!
  3724. // G29 finishing code goes here
  3725. // After recording the last point, activate abl
  3726. SERIAL_PROTOCOLLNPGM("Grid probing done.");
  3727. g29_in_progress = false;
  3728. // Re-enable software endstops, if needed
  3729. #if HAS_SOFTWARE_ENDSTOPS
  3730. soft_endstops_enabled = enable_soft_endstops;
  3731. #endif
  3732. }
  3733. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  3734. // Probe at 3 arbitrary points
  3735. if (abl_probe_index < 3) {
  3736. xProbe = LOGICAL_X_POSITION(points[i].x);
  3737. yProbe = LOGICAL_Y_POSITION(points[i].y);
  3738. ++abl_probe_index;
  3739. #if HAS_SOFTWARE_ENDSTOPS
  3740. // Disable software endstops to allow manual adjustment
  3741. // If G29 is not completed, they will not be re-enabled
  3742. soft_endstops_enabled = false;
  3743. #endif
  3744. return;
  3745. }
  3746. else {
  3747. SERIAL_PROTOCOLLNPGM("3-point probing done.");
  3748. g29_in_progress = false;
  3749. // Re-enable software endstops, if needed
  3750. #if HAS_SOFTWARE_ENDSTOPS
  3751. soft_endstops_enabled = enable_soft_endstops;
  3752. #endif
  3753. if (!dryrun) {
  3754. vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
  3755. if (planeNormal.z < 0) {
  3756. planeNormal.x *= -1;
  3757. planeNormal.y *= -1;
  3758. planeNormal.z *= -1;
  3759. }
  3760. planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  3761. // Can't re-enable (on error) until the new grid is written
  3762. abl_should_enable = false;
  3763. }
  3764. }
  3765. #endif // AUTO_BED_LEVELING_3POINT
  3766. #else // !PROBE_MANUALLY
  3767. bool stow_probe_after_each = code_seen('E');
  3768. #if ABL_GRID
  3769. bool zig = PR_OUTER_END & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION
  3770. // Outer loop is Y with PROBE_Y_FIRST disabled
  3771. for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END; PR_OUTER_VAR++) {
  3772. int8_t inStart, inStop, inInc;
  3773. if (zig) { // away from origin
  3774. inStart = 0;
  3775. inStop = PR_INNER_END;
  3776. inInc = 1;
  3777. }
  3778. else { // towards origin
  3779. inStart = PR_INNER_END - 1;
  3780. inStop = -1;
  3781. inInc = -1;
  3782. }
  3783. zig = !zig; // zag
  3784. // Inner loop is Y with PROBE_Y_FIRST enabled
  3785. for (int8_t PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) {
  3786. float xBase = left_probe_bed_position + xGridSpacing * xCount,
  3787. yBase = front_probe_bed_position + yGridSpacing * yCount;
  3788. xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5));
  3789. yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5));
  3790. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3791. indexIntoAB[xCount][yCount] = ++abl_probe_index;
  3792. #endif
  3793. #if IS_KINEMATIC
  3794. // Avoid probing outside the round or hexagonal area
  3795. float pos[XYZ] = { xProbe, yProbe, 0 };
  3796. if (!position_is_reachable(pos, true)) continue;
  3797. #endif
  3798. measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
  3799. if (measured_z == NAN) {
  3800. planner.abl_enabled = abl_should_enable;
  3801. return;
  3802. }
  3803. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3804. mean += measured_z;
  3805. eqnBVector[abl_probe_index] = measured_z;
  3806. eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe;
  3807. eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe;
  3808. eqnAMatrix[abl_probe_index + 2 * abl2] = 1;
  3809. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3810. bed_level_grid[xCount][yCount] = measured_z + zoffset;
  3811. #endif
  3812. abl_should_enable = false;
  3813. idle();
  3814. } // inner
  3815. } // outer
  3816. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  3817. // Probe at 3 arbitrary points
  3818. for (uint8_t i = 0; i < 3; ++i) {
  3819. // Retain the last probe position
  3820. xProbe = LOGICAL_X_POSITION(points[i].x);
  3821. yProbe = LOGICAL_Y_POSITION(points[i].y);
  3822. measured_z = points[i].z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
  3823. }
  3824. if (measured_z == NAN) {
  3825. planner.abl_enabled = abl_should_enable;
  3826. return;
  3827. }
  3828. if (!dryrun) {
  3829. vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
  3830. if (planeNormal.z < 0) {
  3831. planeNormal.x *= -1;
  3832. planeNormal.y *= -1;
  3833. planeNormal.z *= -1;
  3834. }
  3835. planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  3836. // Can't re-enable (on error) until the new grid is written
  3837. abl_should_enable = false;
  3838. }
  3839. #endif // AUTO_BED_LEVELING_3POINT
  3840. // Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe.
  3841. if (STOW_PROBE()) {
  3842. planner.abl_enabled = abl_should_enable;
  3843. return;
  3844. }
  3845. #endif // !PROBE_MANUALLY
  3846. //
  3847. // G29 Finishing Code
  3848. //
  3849. // Unless this is a dry run, auto bed leveling will
  3850. // definitely be enabled after this point
  3851. //
  3852. // Restore state after probing
  3853. clean_up_after_endstop_or_probe_move();
  3854. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3855. if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
  3856. #endif
  3857. // Calculate leveling, print reports, correct the position
  3858. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3859. if (!dryrun) extrapolate_unprobed_bed_level();
  3860. print_bilinear_leveling_grid();
  3861. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  3862. bed_level_virt_interpolate();
  3863. bed_level_virt_print();
  3864. #endif
  3865. #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
  3866. // For LINEAR leveling calculate matrix, print reports, correct the position
  3867. /**
  3868. * solve the plane equation ax + by + d = z
  3869. * A is the matrix with rows [x y 1] for all the probed points
  3870. * B is the vector of the Z positions
  3871. * the normal vector to the plane is formed by the coefficients of the
  3872. * plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
  3873. * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  3874. */
  3875. float plane_equation_coefficients[3];
  3876. qr_solve(plane_equation_coefficients, abl2, 3, eqnAMatrix, eqnBVector);
  3877. mean /= abl2;
  3878. if (verbose_level) {
  3879. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  3880. SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
  3881. SERIAL_PROTOCOLPGM(" b: ");
  3882. SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
  3883. SERIAL_PROTOCOLPGM(" d: ");
  3884. SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
  3885. SERIAL_EOL;
  3886. if (verbose_level > 2) {
  3887. SERIAL_PROTOCOLPGM("Mean of sampled points: ");
  3888. SERIAL_PROTOCOL_F(mean, 8);
  3889. SERIAL_EOL;
  3890. }
  3891. }
  3892. // Create the matrix but don't correct the position yet
  3893. if (!dryrun) {
  3894. planner.bed_level_matrix = matrix_3x3::create_look_at(
  3895. vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1)
  3896. );
  3897. }
  3898. // Show the Topography map if enabled
  3899. if (do_topography_map) {
  3900. SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n"
  3901. " +--- BACK --+\n"
  3902. " | |\n"
  3903. " L | (+) | R\n"
  3904. " E | | I\n"
  3905. " F | (-) N (+) | G\n"
  3906. " T | | H\n"
  3907. " | (-) | T\n"
  3908. " | |\n"
  3909. " O-- FRONT --+\n"
  3910. " (0,0)");
  3911. float min_diff = 999;
  3912. for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
  3913. for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
  3914. int ind = indexIntoAB[xx][yy];
  3915. float diff = eqnBVector[ind] - mean,
  3916. x_tmp = eqnAMatrix[ind + 0 * abl2],
  3917. y_tmp = eqnAMatrix[ind + 1 * abl2],
  3918. z_tmp = 0;
  3919. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  3920. NOMORE(min_diff, eqnBVector[ind] - z_tmp);
  3921. if (diff >= 0.0)
  3922. SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
  3923. else
  3924. SERIAL_PROTOCOLCHAR(' ');
  3925. SERIAL_PROTOCOL_F(diff, 5);
  3926. } // xx
  3927. SERIAL_EOL;
  3928. } // yy
  3929. SERIAL_EOL;
  3930. if (verbose_level > 3) {
  3931. SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:");
  3932. for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
  3933. for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
  3934. int ind = indexIntoAB[xx][yy];
  3935. float x_tmp = eqnAMatrix[ind + 0 * abl2],
  3936. y_tmp = eqnAMatrix[ind + 1 * abl2],
  3937. z_tmp = 0;
  3938. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  3939. float diff = eqnBVector[ind] - z_tmp - min_diff;
  3940. if (diff >= 0.0)
  3941. SERIAL_PROTOCOLPGM(" +");
  3942. // Include + for column alignment
  3943. else
  3944. SERIAL_PROTOCOLCHAR(' ');
  3945. SERIAL_PROTOCOL_F(diff, 5);
  3946. } // xx
  3947. SERIAL_EOL;
  3948. } // yy
  3949. SERIAL_EOL;
  3950. }
  3951. } //do_topography_map
  3952. #endif // AUTO_BED_LEVELING_LINEAR
  3953. #if ABL_PLANAR
  3954. // For LINEAR and 3POINT leveling correct the current position
  3955. if (verbose_level > 0)
  3956. planner.bed_level_matrix.debug("\n\nBed Level Correction Matrix:");
  3957. if (!dryrun) {
  3958. //
  3959. // Correct the current XYZ position based on the tilted plane.
  3960. //
  3961. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3962. if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
  3963. #endif
  3964. float converted[XYZ];
  3965. COPY(converted, current_position);
  3966. planner.abl_enabled = true;
  3967. planner.unapply_leveling(converted); // use conversion machinery
  3968. planner.abl_enabled = false;
  3969. // Use the last measured distance to the bed, if possible
  3970. if ( NEAR(current_position[X_AXIS], xProbe - (X_PROBE_OFFSET_FROM_EXTRUDER))
  3971. && NEAR(current_position[Y_AXIS], yProbe - (Y_PROBE_OFFSET_FROM_EXTRUDER))
  3972. ) {
  3973. float simple_z = current_position[Z_AXIS] - measured_z;
  3974. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3975. if (DEBUGGING(LEVELING)) {
  3976. SERIAL_ECHOPAIR("Z from Probe:", simple_z);
  3977. SERIAL_ECHOPAIR(" Matrix:", converted[Z_AXIS]);
  3978. SERIAL_ECHOLNPAIR(" Discrepancy:", simple_z - converted[Z_AXIS]);
  3979. }
  3980. #endif
  3981. converted[Z_AXIS] = simple_z;
  3982. }
  3983. // The rotated XY and corrected Z are now current_position
  3984. COPY(current_position, converted);
  3985. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3986. if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
  3987. #endif
  3988. }
  3989. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3990. if (!dryrun) {
  3991. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3992. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]);
  3993. #endif
  3994. // Unapply the offset because it is going to be immediately applied
  3995. // and cause compensation movement in Z
  3996. current_position[Z_AXIS] -= bilinear_z_offset(current_position);
  3997. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3998. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]);
  3999. #endif
  4000. }
  4001. #endif // ABL_PLANAR
  4002. #ifdef Z_PROBE_END_SCRIPT
  4003. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4004. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
  4005. #endif
  4006. enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
  4007. stepper.synchronize();
  4008. #endif
  4009. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4010. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29");
  4011. #endif
  4012. report_current_position();
  4013. KEEPALIVE_STATE(IN_HANDLER);
  4014. // Auto Bed Leveling is complete! Enable if possible.
  4015. planner.abl_enabled = dryrun ? abl_should_enable : true;
  4016. if (planner.abl_enabled)
  4017. SYNC_PLAN_POSITION_KINEMATIC();
  4018. }
  4019. #endif // HAS_ABL && DISABLED(AUTO_BED_LEVELING_UBL)
  4020. #if HAS_BED_PROBE
  4021. /**
  4022. * G30: Do a single Z probe at the current XY
  4023. * Usage:
  4024. * G30 <X#> <Y#> <S#>
  4025. * X = Probe X position (default=current probe position)
  4026. * Y = Probe Y position (default=current probe position)
  4027. * S = Stows the probe if 1 (default=1)
  4028. */
  4029. inline void gcode_G30() {
  4030. float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
  4031. Y_probe_location = code_seen('Y') ? code_value_axis_units(Y_AXIS) : current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  4032. float pos[XYZ] = { X_probe_location, Y_probe_location, LOGICAL_Z_POSITION(0) };
  4033. if (!position_is_reachable(pos, true)) return;
  4034. bool stow = code_seen('S') ? code_value_bool() : true;
  4035. // Disable leveling so the planner won't mess with us
  4036. #if PLANNER_LEVELING
  4037. set_bed_leveling_enabled(false);
  4038. #endif
  4039. setup_for_endstop_or_probe_move();
  4040. float measured_z = probe_pt(X_probe_location, Y_probe_location, stow, 1);
  4041. SERIAL_PROTOCOLPGM("Bed X: ");
  4042. SERIAL_PROTOCOL(FIXFLOAT(X_probe_location));
  4043. SERIAL_PROTOCOLPGM(" Y: ");
  4044. SERIAL_PROTOCOL(FIXFLOAT(Y_probe_location));
  4045. SERIAL_PROTOCOLPGM(" Z: ");
  4046. SERIAL_PROTOCOLLN(FIXFLOAT(measured_z));
  4047. clean_up_after_endstop_or_probe_move();
  4048. report_current_position();
  4049. }
  4050. #if ENABLED(Z_PROBE_SLED)
  4051. /**
  4052. * G31: Deploy the Z probe
  4053. */
  4054. inline void gcode_G31() { DEPLOY_PROBE(); }
  4055. /**
  4056. * G32: Stow the Z probe
  4057. */
  4058. inline void gcode_G32() { STOW_PROBE(); }
  4059. #endif // Z_PROBE_SLED
  4060. #endif // HAS_BED_PROBE
  4061. #if ENABLED(G38_PROBE_TARGET)
  4062. static bool G38_run_probe() {
  4063. bool G38_pass_fail = false;
  4064. // Get direction of move and retract
  4065. float retract_mm[XYZ];
  4066. LOOP_XYZ(i) {
  4067. float dist = destination[i] - current_position[i];
  4068. retract_mm[i] = fabs(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm((AxisEnum)i) * (dist > 0 ? -1 : 1);
  4069. }
  4070. stepper.synchronize(); // wait until the machine is idle
  4071. // Move until destination reached or target hit
  4072. endstops.enable(true);
  4073. G38_move = true;
  4074. G38_endstop_hit = false;
  4075. prepare_move_to_destination();
  4076. stepper.synchronize();
  4077. G38_move = false;
  4078. endstops.hit_on_purpose();
  4079. set_current_from_steppers_for_axis(ALL_AXES);
  4080. SYNC_PLAN_POSITION_KINEMATIC();
  4081. if (G38_endstop_hit) {
  4082. G38_pass_fail = true;
  4083. #if ENABLED(PROBE_DOUBLE_TOUCH)
  4084. // Move away by the retract distance
  4085. set_destination_to_current();
  4086. LOOP_XYZ(i) destination[i] += retract_mm[i];
  4087. endstops.enable(false);
  4088. prepare_move_to_destination();
  4089. stepper.synchronize();
  4090. feedrate_mm_s /= 4;
  4091. // Bump the target more slowly
  4092. LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
  4093. endstops.enable(true);
  4094. G38_move = true;
  4095. prepare_move_to_destination();
  4096. stepper.synchronize();
  4097. G38_move = false;
  4098. set_current_from_steppers_for_axis(ALL_AXES);
  4099. SYNC_PLAN_POSITION_KINEMATIC();
  4100. #endif
  4101. }
  4102. endstops.hit_on_purpose();
  4103. endstops.not_homing();
  4104. return G38_pass_fail;
  4105. }
  4106. /**
  4107. * G38.2 - probe toward workpiece, stop on contact, signal error if failure
  4108. * G38.3 - probe toward workpiece, stop on contact
  4109. *
  4110. * Like G28 except uses Z min probe for all axes
  4111. */
  4112. inline void gcode_G38(bool is_38_2) {
  4113. // Get X Y Z E F
  4114. gcode_get_destination();
  4115. setup_for_endstop_or_probe_move();
  4116. // If any axis has enough movement, do the move
  4117. LOOP_XYZ(i)
  4118. if (fabs(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
  4119. if (!code_seen('F')) feedrate_mm_s = homing_feedrate_mm_s[i];
  4120. // If G38.2 fails throw an error
  4121. if (!G38_run_probe() && is_38_2) {
  4122. SERIAL_ERROR_START;
  4123. SERIAL_ERRORLNPGM("Failed to reach target");
  4124. }
  4125. break;
  4126. }
  4127. clean_up_after_endstop_or_probe_move();
  4128. }
  4129. #endif // G38_PROBE_TARGET
  4130. /**
  4131. * G92: Set current position to given X Y Z E
  4132. */
  4133. inline void gcode_G92() {
  4134. bool didXYZ = false,
  4135. didE = code_seen('E');
  4136. if (!didE) stepper.synchronize();
  4137. LOOP_XYZE(i) {
  4138. if (code_seen(axis_codes[i])) {
  4139. #if IS_SCARA
  4140. current_position[i] = code_value_axis_units(i);
  4141. if (i != E_AXIS) didXYZ = true;
  4142. #else
  4143. #if DISABLED(NO_WORKSPACE_OFFSETS)
  4144. float p = current_position[i];
  4145. #endif
  4146. float v = code_value_axis_units(i);
  4147. current_position[i] = v;
  4148. if (i != E_AXIS) {
  4149. didXYZ = true;
  4150. #if DISABLED(NO_WORKSPACE_OFFSETS)
  4151. position_shift[i] += v - p; // Offset the coordinate space
  4152. update_software_endstops((AxisEnum)i);
  4153. #endif
  4154. }
  4155. #endif
  4156. }
  4157. }
  4158. if (didXYZ)
  4159. SYNC_PLAN_POSITION_KINEMATIC();
  4160. else if (didE)
  4161. sync_plan_position_e();
  4162. report_current_position();
  4163. }
  4164. #if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
  4165. /**
  4166. * M0: Unconditional stop - Wait for user button press on LCD
  4167. * M1: Conditional stop - Wait for user button press on LCD
  4168. */
  4169. inline void gcode_M0_M1() {
  4170. char* args = current_command_args;
  4171. millis_t codenum = 0;
  4172. bool hasP = false, hasS = false;
  4173. if (code_seen('P')) {
  4174. codenum = code_value_millis(); // milliseconds to wait
  4175. hasP = codenum > 0;
  4176. }
  4177. if (code_seen('S')) {
  4178. codenum = code_value_millis_from_seconds(); // seconds to wait
  4179. hasS = codenum > 0;
  4180. }
  4181. #if ENABLED(ULTIPANEL)
  4182. if (!hasP && !hasS && *args != '\0')
  4183. lcd_setstatus(args, true);
  4184. else {
  4185. LCD_MESSAGEPGM(MSG_USERWAIT);
  4186. #if ENABLED(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
  4187. dontExpireStatus();
  4188. #endif
  4189. }
  4190. #else
  4191. if (!hasP && !hasS && *args != '\0') {
  4192. SERIAL_ECHO_START;
  4193. SERIAL_ECHOLN(args);
  4194. }
  4195. #endif
  4196. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4197. wait_for_user = true;
  4198. stepper.synchronize();
  4199. refresh_cmd_timeout();
  4200. if (codenum > 0) {
  4201. codenum += previous_cmd_ms; // wait until this time for a click
  4202. while (PENDING(millis(), codenum) && wait_for_user) idle();
  4203. }
  4204. else {
  4205. #if ENABLED(ULTIPANEL)
  4206. if (lcd_detected()) {
  4207. while (wait_for_user) idle();
  4208. IS_SD_PRINTING ? LCD_MESSAGEPGM(MSG_RESUMING) : LCD_MESSAGEPGM(WELCOME_MSG);
  4209. }
  4210. #else
  4211. while (wait_for_user) idle();
  4212. #endif
  4213. }
  4214. wait_for_user = false;
  4215. KEEPALIVE_STATE(IN_HANDLER);
  4216. }
  4217. #endif // EMERGENCY_PARSER || ULTIPANEL
  4218. /**
  4219. * M17: Enable power on all stepper motors
  4220. */
  4221. inline void gcode_M17() {
  4222. LCD_MESSAGEPGM(MSG_NO_MOVE);
  4223. enable_all_steppers();
  4224. }
  4225. #if IS_KINEMATIC
  4226. #define RUNPLAN(RATE_MM_S) planner.buffer_line_kinematic(destination, RATE_MM_S, active_extruder)
  4227. #else
  4228. #define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S)
  4229. #endif
  4230. #if ENABLED(PARK_HEAD_ON_PAUSE)
  4231. float resume_position[XYZE];
  4232. bool move_away_flag = false;
  4233. inline void move_back_on_resume() {
  4234. if (!move_away_flag) return;
  4235. move_away_flag = false;
  4236. // Set extruder to saved position
  4237. destination[E_AXIS] = current_position[E_AXIS] = resume_position[E_AXIS];
  4238. planner.set_e_position_mm(current_position[E_AXIS]);
  4239. #if IS_KINEMATIC
  4240. // Move XYZ to starting position
  4241. planner.buffer_line_kinematic(lastpos, FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
  4242. #else
  4243. // Move XY to starting position, then Z
  4244. destination[X_AXIS] = resume_position[X_AXIS];
  4245. destination[Y_AXIS] = resume_position[Y_AXIS];
  4246. RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
  4247. destination[Z_AXIS] = resume_position[Z_AXIS];
  4248. RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
  4249. #endif
  4250. stepper.synchronize();
  4251. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  4252. filament_ran_out = false;
  4253. #endif
  4254. set_current_to_destination();
  4255. }
  4256. #endif // PARK_HEAD_ON_PAUSE
  4257. #if ENABLED(SDSUPPORT)
  4258. /**
  4259. * M20: List SD card to serial output
  4260. */
  4261. inline void gcode_M20() {
  4262. SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
  4263. card.ls();
  4264. SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
  4265. }
  4266. /**
  4267. * M21: Init SD Card
  4268. */
  4269. inline void gcode_M21() { card.initsd(); }
  4270. /**
  4271. * M22: Release SD Card
  4272. */
  4273. inline void gcode_M22() { card.release(); }
  4274. /**
  4275. * M23: Open a file
  4276. */
  4277. inline void gcode_M23() { card.openFile(current_command_args, true); }
  4278. /**
  4279. * M24: Start or Resume SD Print
  4280. */
  4281. inline void gcode_M24() {
  4282. #if ENABLED(PARK_HEAD_ON_PAUSE)
  4283. move_back_on_resume();
  4284. #endif
  4285. card.startFileprint();
  4286. print_job_timer.start();
  4287. }
  4288. /**
  4289. * M25: Pause SD Print
  4290. */
  4291. inline void gcode_M25() {
  4292. card.pauseSDPrint();
  4293. print_job_timer.pause();
  4294. #if ENABLED(PARK_HEAD_ON_PAUSE)
  4295. enqueue_and_echo_commands_P(PSTR("M125")); // Must be enqueued with pauseSDPrint set to be last in the buffer
  4296. #endif
  4297. }
  4298. /**
  4299. * M26: Set SD Card file index
  4300. */
  4301. inline void gcode_M26() {
  4302. if (card.cardOK && code_seen('S'))
  4303. card.setIndex(code_value_long());
  4304. }
  4305. /**
  4306. * M27: Get SD Card status
  4307. */
  4308. inline void gcode_M27() { card.getStatus(); }
  4309. /**
  4310. * M28: Start SD Write
  4311. */
  4312. inline void gcode_M28() { card.openFile(current_command_args, false); }
  4313. /**
  4314. * M29: Stop SD Write
  4315. * Processed in write to file routine above
  4316. */
  4317. inline void gcode_M29() {
  4318. // card.saving = false;
  4319. }
  4320. /**
  4321. * M30 <filename>: Delete SD Card file
  4322. */
  4323. inline void gcode_M30() {
  4324. if (card.cardOK) {
  4325. card.closefile();
  4326. card.removeFile(current_command_args);
  4327. }
  4328. }
  4329. #endif // SDSUPPORT
  4330. /**
  4331. * M31: Get the time since the start of SD Print (or last M109)
  4332. */
  4333. inline void gcode_M31() {
  4334. char buffer[21];
  4335. duration_t elapsed = print_job_timer.duration();
  4336. elapsed.toString(buffer);
  4337. lcd_setstatus(buffer);
  4338. SERIAL_ECHO_START;
  4339. SERIAL_ECHOLNPAIR("Print time: ", buffer);
  4340. #if ENABLED(AUTOTEMP)
  4341. thermalManager.autotempShutdown();
  4342. #endif
  4343. }
  4344. #if ENABLED(SDSUPPORT)
  4345. /**
  4346. * M32: Select file and start SD Print
  4347. */
  4348. inline void gcode_M32() {
  4349. if (card.sdprinting)
  4350. stepper.synchronize();
  4351. char* namestartpos = strchr(current_command_args, '!'); // Find ! to indicate filename string start.
  4352. if (!namestartpos)
  4353. namestartpos = current_command_args; // Default name position, 4 letters after the M
  4354. else
  4355. namestartpos++; //to skip the '!'
  4356. bool call_procedure = code_seen('P') && (seen_pointer < namestartpos);
  4357. if (card.cardOK) {
  4358. card.openFile(namestartpos, true, call_procedure);
  4359. if (code_seen('S') && seen_pointer < namestartpos) // "S" (must occur _before_ the filename!)
  4360. card.setIndex(code_value_long());
  4361. card.startFileprint();
  4362. // Procedure calls count as normal print time.
  4363. if (!call_procedure) print_job_timer.start();
  4364. }
  4365. }
  4366. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  4367. /**
  4368. * M33: Get the long full path of a file or folder
  4369. *
  4370. * Parameters:
  4371. * <dospath> Case-insensitive DOS-style path to a file or folder
  4372. *
  4373. * Example:
  4374. * M33 miscel~1/armchair/armcha~1.gco
  4375. *
  4376. * Output:
  4377. * /Miscellaneous/Armchair/Armchair.gcode
  4378. */
  4379. inline void gcode_M33() {
  4380. card.printLongPath(current_command_args);
  4381. }
  4382. #endif
  4383. #if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
  4384. /**
  4385. * M34: Set SD Card Sorting Options
  4386. */
  4387. inline void gcode_M34() {
  4388. if (code_seen('S')) card.setSortOn(code_value_bool());
  4389. if (code_seen('F')) {
  4390. int v = code_value_long();
  4391. card.setSortFolders(v < 0 ? -1 : v > 0 ? 1 : 0);
  4392. }
  4393. //if (code_seen('R')) card.setSortReverse(code_value_bool());
  4394. }
  4395. #endif // SDCARD_SORT_ALPHA && SDSORT_GCODE
  4396. /**
  4397. * M928: Start SD Write
  4398. */
  4399. inline void gcode_M928() {
  4400. card.openLogFile(current_command_args);
  4401. }
  4402. #endif // SDSUPPORT
  4403. /**
  4404. * Sensitive pin test for M42, M226
  4405. */
  4406. static bool pin_is_protected(uint8_t pin) {
  4407. static const int sensitive_pins[] = SENSITIVE_PINS;
  4408. for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
  4409. if (sensitive_pins[i] == pin) return true;
  4410. return false;
  4411. }
  4412. /**
  4413. * M42: Change pin status via GCode
  4414. *
  4415. * P<pin> Pin number (LED if omitted)
  4416. * S<byte> Pin status from 0 - 255
  4417. */
  4418. inline void gcode_M42() {
  4419. if (!code_seen('S')) return;
  4420. int pin_status = code_value_int();
  4421. if (!WITHIN(pin_status, 0, 255)) return;
  4422. int pin_number = code_seen('P') ? code_value_int() : LED_PIN;
  4423. if (pin_number < 0) return;
  4424. if (pin_is_protected(pin_number)) {
  4425. SERIAL_ERROR_START;
  4426. SERIAL_ERRORLNPGM(MSG_ERR_PROTECTED_PIN);
  4427. return;
  4428. }
  4429. pinMode(pin_number, OUTPUT);
  4430. digitalWrite(pin_number, pin_status);
  4431. analogWrite(pin_number, pin_status);
  4432. #if FAN_COUNT > 0
  4433. switch (pin_number) {
  4434. #if HAS_FAN0
  4435. case FAN_PIN: fanSpeeds[0] = pin_status; break;
  4436. #endif
  4437. #if HAS_FAN1
  4438. case FAN1_PIN: fanSpeeds[1] = pin_status; break;
  4439. #endif
  4440. #if HAS_FAN2
  4441. case FAN2_PIN: fanSpeeds[2] = pin_status; break;
  4442. #endif
  4443. }
  4444. #endif
  4445. }
  4446. #if ENABLED(PINS_DEBUGGING)
  4447. #include "pinsDebug.h"
  4448. inline void toggle_pins() {
  4449. int pin, j, start = 0, I_flag = 0, end = NUM_DIGITAL_PINS - 1, wait = 500, repeat = 1;
  4450. if (code_seen('R'))
  4451. repeat = code_value_int();
  4452. if (code_seen('S'))
  4453. start = code_value_int();
  4454. if (code_seen('E'))
  4455. end = code_value_int();
  4456. if (code_seen('I') )
  4457. I_flag++;
  4458. if (code_seen('W'))
  4459. wait = code_value_int();
  4460. for(pin = start; pin <= end; pin++) {
  4461. if ( I_flag == 0 && pin_is_protected(pin)) {
  4462. SERIAL_ECHOPAIR("Sensitive Pin: ", pin);
  4463. SERIAL_ECHOPGM(" untouched.\n");
  4464. }
  4465. else {
  4466. SERIAL_ECHOPAIR("Pulsing Pin: ", pin);
  4467. pinMode(pin, OUTPUT);
  4468. for(j = 0; j < repeat; j++) {
  4469. digitalWrite(pin, 0);
  4470. idle();
  4471. delay(wait);
  4472. digitalWrite(pin, 1);
  4473. idle();
  4474. delay(wait);
  4475. digitalWrite(pin, 0);
  4476. idle();
  4477. delay(wait);
  4478. }
  4479. }
  4480. SERIAL_ECHOPGM("\n");
  4481. }
  4482. SERIAL_ECHOPGM("Done\n");
  4483. return;
  4484. } // toggle pin(s)
  4485. inline void servo_probe_test(){
  4486. #if !(NUM_SERVOS >= 1 && HAS_SERVO_0)
  4487. SERIAL_ERROR_START;
  4488. SERIAL_ERRORLNPGM("SERVO not setup");
  4489. #else
  4490. #if !defined(z_servo_angle)
  4491. const int z_servo_angle[2] = Z_SERVO_ANGLES;
  4492. #endif
  4493. uint8_t probe_index = code_seen('P') ? code_value_byte() : 0;
  4494. SERIAL_PROTOCOLLNPGM("Servo probe test");
  4495. SERIAL_PROTOCOLLNPAIR(". using index: ", probe_index);
  4496. SERIAL_PROTOCOLLNPAIR(". deploy angle: ", z_servo_angle[0]);
  4497. SERIAL_PROTOCOLLNPAIR(". stow angle: ", z_servo_angle[1]);
  4498. bool probe_inverting;
  4499. #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
  4500. #define PROBE_TEST_PIN Z_MIN_PIN
  4501. SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN pin: ", PROBE_TEST_PIN);
  4502. SERIAL_PROTOCOLLNPGM(". uses Z_MIN_ENDSTOP_INVERTING (ignores Z_MIN_PROBE_ENDSTOP_INVERTING)");
  4503. SERIAL_PROTOCOLPGM(". Z_MIN_ENDSTOP_INVERTING: ");
  4504. if (Z_MIN_ENDSTOP_INVERTING) SERIAL_PROTOCOLLNPGM("true");
  4505. else SERIAL_PROTOCOLLNPGM("false");
  4506. probe_inverting = Z_MIN_ENDSTOP_INVERTING;
  4507. #elif ENABLED(Z_MIN_PROBE_ENDSTOP)
  4508. #define PROBE_TEST_PIN Z_MIN_PROBE_PIN
  4509. SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN_PROBE_PIN: ", PROBE_TEST_PIN);
  4510. SERIAL_PROTOCOLLNPGM(". uses Z_MIN_PROBE_ENDSTOP_INVERTING (ignores Z_MIN_ENDSTOP_INVERTING)");
  4511. SERIAL_PROTOCOLPGM(". Z_MIN_PROBE_ENDSTOP_INVERTING: ");
  4512. if (Z_MIN_PROBE_ENDSTOP_INVERTING) SERIAL_PROTOCOLLNPGM("true");
  4513. else SERIAL_PROTOCOLLNPGM("false");
  4514. probe_inverting = Z_MIN_PROBE_ENDSTOP_INVERTING;
  4515. #else
  4516. #error "ERROR - probe pin not defined - strange, SANITY_CHECK should have caught this"
  4517. #endif
  4518. SERIAL_PROTOCOLLNPGM(". deploy & stow 4 times");
  4519. pinMode(PROBE_TEST_PIN, INPUT_PULLUP);
  4520. bool deploy_state;
  4521. bool stow_state;
  4522. for (uint8_t i = 0; i < 4; i++) {
  4523. servo[probe_index].move(z_servo_angle[0]); //deploy
  4524. safe_delay(500);
  4525. deploy_state = digitalRead(PROBE_TEST_PIN);
  4526. servo[probe_index].move(z_servo_angle[1]); //stow
  4527. safe_delay(500);
  4528. stow_state = digitalRead(PROBE_TEST_PIN);
  4529. }
  4530. if (probe_inverting != deploy_state) SERIAL_PROTOCOLLNPGM("WARNING - INVERTING setting probably backwards");
  4531. refresh_cmd_timeout();
  4532. if (deploy_state != stow_state) {
  4533. SERIAL_PROTOCOLLNPGM("TLTouch detected"); // BLTouch clone?
  4534. if (deploy_state) {
  4535. SERIAL_PROTOCOLLNPGM(". DEPLOYED state: HIGH (logic 1)");
  4536. SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: LOW (logic 0)");
  4537. }
  4538. else {
  4539. SERIAL_PROTOCOLLNPGM(". DEPLOYED state: LOW (logic 0)");
  4540. SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: HIGH (logic 1)");
  4541. }
  4542. }
  4543. else { // measure active signal length
  4544. servo[probe_index].move(z_servo_angle[0]); //deploy
  4545. safe_delay(500);
  4546. SERIAL_PROTOCOLLNPGM("please trigger probe");
  4547. uint16_t probe_counter = 0;
  4548. for (uint16_t j = 0; j < 500*30 && probe_counter == 0 ; j++) { // allow 30 seconds max for operator to trigger probe
  4549. safe_delay(2);
  4550. if ( 0 == j%(500*1)) {refresh_cmd_timeout(); watchdog_reset();} // beat the dog every 45 seconds
  4551. if (deploy_state != digitalRead(PROBE_TEST_PIN)) { // probe triggered
  4552. for (probe_counter = 1; probe_counter < 50 && (deploy_state != digitalRead(PROBE_TEST_PIN)); probe_counter ++) {
  4553. safe_delay(2);
  4554. }
  4555. if (probe_counter == 50) {
  4556. SERIAL_PROTOCOLLNPGM("Z Servo Probe detected"); // >= 100mS active time
  4557. }
  4558. else if (probe_counter >= 2 ) {
  4559. SERIAL_PROTOCOLLNPAIR("BLTouch compatible probe detected - pulse width (+/- 4mS): ", probe_counter * 2 ); // allow 4 - 100mS pulse
  4560. }
  4561. else {
  4562. SERIAL_PROTOCOLLNPGM("noise detected - please re-run test"); // less than 2mS pulse
  4563. }
  4564. servo[probe_index].move(z_servo_angle[1]); //stow
  4565. } // pulse detected
  4566. } // for loop waiting for trigger
  4567. if (probe_counter == 0) SERIAL_PROTOCOLLNPGM("trigger not detected");
  4568. } // measure active signal length
  4569. #endif
  4570. } // servo_probe_test
  4571. /**
  4572. * M43: Pin debug - report pin state, watch pins, toggle pins and servo probe test/report
  4573. *
  4574. * M43 - report name and state of pin(s)
  4575. * P<pin> Pin to read or watch. If omitted, reads all pins.
  4576. * I Flag to ignore Marlin's pin protection.
  4577. *
  4578. * M43 W - Watch pins -reporting changes- until reset, click, or M108.
  4579. * P<pin> Pin to read or watch. If omitted, read/watch all pins.
  4580. * I Flag to ignore Marlin's pin protection.
  4581. *
  4582. * M43 E<bool> - Enable / disable background endstop monitoring
  4583. * - Machine continues to operate
  4584. * - Reports changes to endstops
  4585. * - Toggles LED when an endstop changes
  4586. * - Can not reliably catch the 5mS pulse from BLTouch type probes
  4587. *
  4588. * M43 T - Toggle pin(s) and report which pin is being toggled
  4589. * S<pin> - Start Pin number. If not given, will default to 0
  4590. * L<pin> - End Pin number. If not given, will default to last pin defined for this board
  4591. * I - Flag to ignore Marlin's pin protection. Use with caution!!!!
  4592. * R - Repeat pulses on each pin this number of times before continueing to next pin
  4593. * W - Wait time (in miliseconds) between pulses. If not given will default to 500
  4594. *
  4595. * M43 S - Servo probe test
  4596. * P<index> - Probe index (optional - defaults to 0
  4597. */
  4598. inline void gcode_M43() {
  4599. if (code_seen('T')) { // must be first ot else it's "S" and "E" parameters will execute endstop or servo test
  4600. toggle_pins();
  4601. return;
  4602. }
  4603. // Enable or disable endstop monitoring
  4604. if (code_seen('E')) {
  4605. endstop_monitor_flag = code_value_bool();
  4606. SERIAL_PROTOCOLPGM("endstop monitor ");
  4607. SERIAL_PROTOCOL(endstop_monitor_flag ? "en" : "dis");
  4608. SERIAL_PROTOCOLLNPGM("abled");
  4609. return;
  4610. }
  4611. if (code_seen('S')) {
  4612. servo_probe_test();
  4613. return;
  4614. }
  4615. // Get the range of pins to test or watch
  4616. int first_pin = 0, last_pin = NUM_DIGITAL_PINS - 1;
  4617. if (code_seen('P')) {
  4618. first_pin = last_pin = code_value_byte();
  4619. if (first_pin > NUM_DIGITAL_PINS - 1) return;
  4620. }
  4621. bool ignore_protection = code_seen('I');
  4622. // Watch until click, M108, or reset
  4623. if (code_seen('W')) { // watch digital pins
  4624. SERIAL_PROTOCOLLNPGM("Watching pins");
  4625. byte pin_state[last_pin - first_pin + 1];
  4626. for (int8_t pin = first_pin; pin <= last_pin; pin++) {
  4627. if (pin_is_protected(pin) && !ignore_protection) continue;
  4628. pinMode(pin, INPUT_PULLUP);
  4629. // if (IS_ANALOG(pin))
  4630. // pin_state[pin - first_pin] = analogRead(pin - analogInputToDigitalPin(0)); // int16_t pin_state[...]
  4631. // else
  4632. pin_state[pin - first_pin] = digitalRead(pin);
  4633. }
  4634. #if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
  4635. wait_for_user = true;
  4636. #endif
  4637. for(;;) {
  4638. for (int8_t pin = first_pin; pin <= last_pin; pin++) {
  4639. if (pin_is_protected(pin)) continue;
  4640. byte val;
  4641. // if (IS_ANALOG(pin))
  4642. // val = analogRead(pin - analogInputToDigitalPin(0)); // int16_t val
  4643. // else
  4644. val = digitalRead(pin);
  4645. if (val != pin_state[pin - first_pin]) {
  4646. report_pin_state(pin);
  4647. pin_state[pin - first_pin] = val;
  4648. }
  4649. }
  4650. #if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
  4651. if (!wait_for_user) break;
  4652. #endif
  4653. safe_delay(500);
  4654. }
  4655. return;
  4656. }
  4657. // Report current state of selected pin(s)
  4658. for (uint8_t pin = first_pin; pin <= last_pin; pin++)
  4659. report_pin_state_extended(pin, ignore_protection);
  4660. }
  4661. #endif // PINS_DEBUGGING
  4662. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  4663. /**
  4664. * M48: Z probe repeatability measurement function.
  4665. *
  4666. * Usage:
  4667. * M48 <P#> <X#> <Y#> <V#> <E> <L#>
  4668. * P = Number of sampled points (4-50, default 10)
  4669. * X = Sample X position
  4670. * Y = Sample Y position
  4671. * V = Verbose level (0-4, default=1)
  4672. * E = Engage Z probe for each reading
  4673. * L = Number of legs of movement before probe
  4674. * S = Schizoid (Or Star if you prefer)
  4675. *
  4676. * This function assumes the bed has been homed. Specifically, that a G28 command
  4677. * as been issued prior to invoking the M48 Z probe repeatability measurement function.
  4678. * Any information generated by a prior G29 Bed leveling command will be lost and need to be
  4679. * regenerated.
  4680. */
  4681. inline void gcode_M48() {
  4682. #if ENABLED(AUTO_BED_LEVELING_UBL)
  4683. bool bed_leveling_state_at_entry=0;
  4684. bed_leveling_state_at_entry = ubl.state.active;
  4685. #endif
  4686. if (axis_unhomed_error(true, true, true)) return;
  4687. int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
  4688. if (!WITHIN(verbose_level, 0, 4)) {
  4689. SERIAL_PROTOCOLLNPGM("?Verbose Level not plausible (0-4).");
  4690. return;
  4691. }
  4692. if (verbose_level > 0)
  4693. SERIAL_PROTOCOLLNPGM("M48 Z-Probe Repeatability Test");
  4694. int8_t n_samples = code_seen('P') ? code_value_byte() : 10;
  4695. if (!WITHIN(n_samples, 4, 50)) {
  4696. SERIAL_PROTOCOLLNPGM("?Sample size not plausible (4-50).");
  4697. return;
  4698. }
  4699. float X_current = current_position[X_AXIS],
  4700. Y_current = current_position[Y_AXIS];
  4701. bool stow_probe_after_each = code_seen('E');
  4702. float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : X_current + X_PROBE_OFFSET_FROM_EXTRUDER;
  4703. #if DISABLED(DELTA)
  4704. if (!WITHIN(X_probe_location, LOGICAL_X_POSITION(MIN_PROBE_X), LOGICAL_X_POSITION(MAX_PROBE_X))) {
  4705. out_of_range_error(PSTR("X"));
  4706. return;
  4707. }
  4708. #endif
  4709. float Y_probe_location = code_seen('Y') ? code_value_axis_units(Y_AXIS) : Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER;
  4710. #if DISABLED(DELTA)
  4711. if (!WITHIN(Y_probe_location, LOGICAL_Y_POSITION(MIN_PROBE_Y), LOGICAL_Y_POSITION(MAX_PROBE_Y))) {
  4712. out_of_range_error(PSTR("Y"));
  4713. return;
  4714. }
  4715. #else
  4716. float pos[XYZ] = { X_probe_location, Y_probe_location, 0 };
  4717. if (!position_is_reachable(pos, true)) {
  4718. SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius.");
  4719. return;
  4720. }
  4721. #endif
  4722. bool seen_L = code_seen('L');
  4723. uint8_t n_legs = seen_L ? code_value_byte() : 0;
  4724. if (n_legs > 15) {
  4725. SERIAL_PROTOCOLLNPGM("?Number of legs in movement not plausible (0-15).");
  4726. return;
  4727. }
  4728. if (n_legs == 1) n_legs = 2;
  4729. bool schizoid_flag = code_seen('S');
  4730. if (schizoid_flag && !seen_L) n_legs = 7;
  4731. /**
  4732. * Now get everything to the specified probe point So we can safely do a
  4733. * probe to get us close to the bed. If the Z-Axis is far from the bed,
  4734. * we don't want to use that as a starting point for each probe.
  4735. */
  4736. if (verbose_level > 2)
  4737. SERIAL_PROTOCOLLNPGM("Positioning the probe...");
  4738. // Disable bed level correction in M48 because we want the raw data when we probe
  4739. #if HAS_ABL
  4740. const bool abl_was_enabled = planner.abl_enabled;
  4741. set_bed_leveling_enabled(false);
  4742. #endif
  4743. setup_for_endstop_or_probe_move();
  4744. // Move to the first point, deploy, and probe
  4745. probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
  4746. randomSeed(millis());
  4747. double mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
  4748. for (uint8_t n = 0; n < n_samples; n++) {
  4749. if (n_legs) {
  4750. int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
  4751. float angle = random(0.0, 360.0),
  4752. radius = random(
  4753. #if ENABLED(DELTA)
  4754. DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3
  4755. #else
  4756. 5, X_MAX_LENGTH / 8
  4757. #endif
  4758. );
  4759. if (verbose_level > 3) {
  4760. SERIAL_ECHOPAIR("Starting radius: ", radius);
  4761. SERIAL_ECHOPAIR(" angle: ", angle);
  4762. SERIAL_ECHOPGM(" Direction: ");
  4763. if (dir > 0) SERIAL_ECHOPGM("Counter-");
  4764. SERIAL_ECHOLNPGM("Clockwise");
  4765. }
  4766. for (uint8_t l = 0; l < n_legs - 1; l++) {
  4767. double delta_angle;
  4768. if (schizoid_flag)
  4769. // The points of a 5 point star are 72 degrees apart. We need to
  4770. // skip a point and go to the next one on the star.
  4771. delta_angle = dir * 2.0 * 72.0;
  4772. else
  4773. // If we do this line, we are just trying to move further
  4774. // around the circle.
  4775. delta_angle = dir * (float) random(25, 45);
  4776. angle += delta_angle;
  4777. while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
  4778. angle -= 360.0; // Arduino documentation says the trig functions should not be given values
  4779. while (angle < 0.0) // outside of this range. It looks like they behave correctly with
  4780. angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
  4781. X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
  4782. Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
  4783. #if DISABLED(DELTA)
  4784. X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
  4785. Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
  4786. #else
  4787. // If we have gone out too far, we can do a simple fix and scale the numbers
  4788. // back in closer to the origin.
  4789. while (HYPOT(X_current, Y_current) > DELTA_PROBEABLE_RADIUS) {
  4790. X_current /= 1.25;
  4791. Y_current /= 1.25;
  4792. if (verbose_level > 3) {
  4793. SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
  4794. SERIAL_ECHOLNPAIR(", ", Y_current);
  4795. }
  4796. }
  4797. #endif
  4798. if (verbose_level > 3) {
  4799. SERIAL_PROTOCOLPGM("Going to:");
  4800. SERIAL_ECHOPAIR(" X", X_current);
  4801. SERIAL_ECHOPAIR(" Y", Y_current);
  4802. SERIAL_ECHOLNPAIR(" Z", current_position[Z_AXIS]);
  4803. }
  4804. do_blocking_move_to_xy(X_current, Y_current);
  4805. } // n_legs loop
  4806. } // n_legs
  4807. // Probe a single point
  4808. sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, 0);
  4809. /**
  4810. * Get the current mean for the data points we have so far
  4811. */
  4812. double sum = 0.0;
  4813. for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
  4814. mean = sum / (n + 1);
  4815. NOMORE(min, sample_set[n]);
  4816. NOLESS(max, sample_set[n]);
  4817. /**
  4818. * Now, use that mean to calculate the standard deviation for the
  4819. * data points we have so far
  4820. */
  4821. sum = 0.0;
  4822. for (uint8_t j = 0; j <= n; j++)
  4823. sum += sq(sample_set[j] - mean);
  4824. sigma = sqrt(sum / (n + 1));
  4825. if (verbose_level > 0) {
  4826. if (verbose_level > 1) {
  4827. SERIAL_PROTOCOL(n + 1);
  4828. SERIAL_PROTOCOLPGM(" of ");
  4829. SERIAL_PROTOCOL((int)n_samples);
  4830. SERIAL_PROTOCOLPGM(": z: ");
  4831. SERIAL_PROTOCOL_F(sample_set[n], 3);
  4832. if (verbose_level > 2) {
  4833. SERIAL_PROTOCOLPGM(" mean: ");
  4834. SERIAL_PROTOCOL_F(mean, 4);
  4835. SERIAL_PROTOCOLPGM(" sigma: ");
  4836. SERIAL_PROTOCOL_F(sigma, 6);
  4837. SERIAL_PROTOCOLPGM(" min: ");
  4838. SERIAL_PROTOCOL_F(min, 3);
  4839. SERIAL_PROTOCOLPGM(" max: ");
  4840. SERIAL_PROTOCOL_F(max, 3);
  4841. SERIAL_PROTOCOLPGM(" range: ");
  4842. SERIAL_PROTOCOL_F(max-min, 3);
  4843. }
  4844. SERIAL_EOL;
  4845. }
  4846. }
  4847. } // End of probe loop
  4848. if (STOW_PROBE()) return;
  4849. SERIAL_PROTOCOLPGM("Finished!");
  4850. SERIAL_EOL;
  4851. if (verbose_level > 0) {
  4852. SERIAL_PROTOCOLPGM("Mean: ");
  4853. SERIAL_PROTOCOL_F(mean, 6);
  4854. SERIAL_PROTOCOLPGM(" Min: ");
  4855. SERIAL_PROTOCOL_F(min, 3);
  4856. SERIAL_PROTOCOLPGM(" Max: ");
  4857. SERIAL_PROTOCOL_F(max, 3);
  4858. SERIAL_PROTOCOLPGM(" Range: ");
  4859. SERIAL_PROTOCOL_F(max-min, 3);
  4860. SERIAL_EOL;
  4861. }
  4862. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  4863. SERIAL_PROTOCOL_F(sigma, 6);
  4864. SERIAL_EOL;
  4865. SERIAL_EOL;
  4866. clean_up_after_endstop_or_probe_move();
  4867. // Re-enable bed level correction if it has been on
  4868. #if HAS_ABL
  4869. set_bed_leveling_enabled(abl_was_enabled);
  4870. #endif
  4871. #if ENABLED(AUTO_BED_LEVELING_UBL)
  4872. set_bed_leveling_enabled(bed_leveling_state_at_entry);
  4873. ubl.state.active = bed_leveling_state_at_entry;
  4874. #endif
  4875. report_current_position();
  4876. }
  4877. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  4878. #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_EDITING)
  4879. inline void gcode_M49() {
  4880. ubl.g26_debug_flag = !ubl.g26_debug_flag;
  4881. SERIAL_PROTOCOLPGM("UBL Debug Flag turned ");
  4882. serialprintPGM(ubl.g26_debug_flag ? PSTR("on.") : PSTR("off."));
  4883. }
  4884. #endif // AUTO_BED_LEVELING_UBL && UBL_G26_MESH_EDITING
  4885. /**
  4886. * M75: Start print timer
  4887. */
  4888. inline void gcode_M75() { print_job_timer.start(); }
  4889. /**
  4890. * M76: Pause print timer
  4891. */
  4892. inline void gcode_M76() { print_job_timer.pause(); }
  4893. /**
  4894. * M77: Stop print timer
  4895. */
  4896. inline void gcode_M77() { print_job_timer.stop(); }
  4897. #if ENABLED(PRINTCOUNTER)
  4898. /**
  4899. * M78: Show print statistics
  4900. */
  4901. inline void gcode_M78() {
  4902. // "M78 S78" will reset the statistics
  4903. if (code_seen('S') && code_value_int() == 78)
  4904. print_job_timer.initStats();
  4905. else
  4906. print_job_timer.showStats();
  4907. }
  4908. #endif
  4909. /**
  4910. * M104: Set hot end temperature
  4911. */
  4912. inline void gcode_M104() {
  4913. if (get_target_extruder_from_command(104)) return;
  4914. if (DEBUGGING(DRYRUN)) return;
  4915. #if ENABLED(SINGLENOZZLE)
  4916. if (target_extruder != active_extruder) return;
  4917. #endif
  4918. if (code_seen('S')) {
  4919. thermalManager.setTargetHotend(code_value_temp_abs(), target_extruder);
  4920. #if ENABLED(DUAL_X_CARRIAGE)
  4921. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  4922. thermalManager.setTargetHotend(code_value_temp_abs() == 0.0 ? 0.0 : code_value_temp_abs() + duplicate_extruder_temp_offset, 1);
  4923. #endif
  4924. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  4925. /**
  4926. * Stop the timer at the end of print, starting is managed by
  4927. * 'heat and wait' M109.
  4928. * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
  4929. * stand by mode, for instance in a dual extruder setup, without affecting
  4930. * the running print timer.
  4931. */
  4932. if (code_value_temp_abs() <= (EXTRUDE_MINTEMP)/2) {
  4933. print_job_timer.stop();
  4934. LCD_MESSAGEPGM(WELCOME_MSG);
  4935. }
  4936. #endif
  4937. if (code_value_temp_abs() > thermalManager.degHotend(target_extruder)) lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
  4938. }
  4939. #if ENABLED(AUTOTEMP)
  4940. planner.autotemp_M104_M109();
  4941. #endif
  4942. }
  4943. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  4944. void print_heaterstates() {
  4945. #if HAS_TEMP_HOTEND
  4946. SERIAL_PROTOCOLPGM(" T:");
  4947. SERIAL_PROTOCOL_F(thermalManager.degHotend(target_extruder), 1);
  4948. SERIAL_PROTOCOLPGM(" /");
  4949. SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(target_extruder), 1);
  4950. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  4951. SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_raw[target_extruder] / OVERSAMPLENR);
  4952. SERIAL_PROTOCOLCHAR(')');
  4953. #endif
  4954. #endif
  4955. #if HAS_TEMP_BED
  4956. SERIAL_PROTOCOLPGM(" B:");
  4957. SERIAL_PROTOCOL_F(thermalManager.degBed(), 1);
  4958. SERIAL_PROTOCOLPGM(" /");
  4959. SERIAL_PROTOCOL_F(thermalManager.degTargetBed(), 1);
  4960. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  4961. SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_bed_raw / OVERSAMPLENR);
  4962. SERIAL_PROTOCOLCHAR(')');
  4963. #endif
  4964. #endif
  4965. #if HOTENDS > 1
  4966. HOTEND_LOOP() {
  4967. SERIAL_PROTOCOLPAIR(" T", e);
  4968. SERIAL_PROTOCOLCHAR(':');
  4969. SERIAL_PROTOCOL_F(thermalManager.degHotend(e), 1);
  4970. SERIAL_PROTOCOLPGM(" /");
  4971. SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(e), 1);
  4972. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  4973. SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_raw[e] / OVERSAMPLENR);
  4974. SERIAL_PROTOCOLCHAR(')');
  4975. #endif
  4976. }
  4977. #endif
  4978. SERIAL_PROTOCOLPGM(" @:");
  4979. SERIAL_PROTOCOL(thermalManager.getHeaterPower(target_extruder));
  4980. #if HAS_TEMP_BED
  4981. SERIAL_PROTOCOLPGM(" B@:");
  4982. SERIAL_PROTOCOL(thermalManager.getHeaterPower(-1));
  4983. #endif
  4984. #if HOTENDS > 1
  4985. HOTEND_LOOP() {
  4986. SERIAL_PROTOCOLPAIR(" @", e);
  4987. SERIAL_PROTOCOLCHAR(':');
  4988. SERIAL_PROTOCOL(thermalManager.getHeaterPower(e));
  4989. }
  4990. #endif
  4991. }
  4992. #endif
  4993. /**
  4994. * M105: Read hot end and bed temperature
  4995. */
  4996. inline void gcode_M105() {
  4997. if (get_target_extruder_from_command(105)) return;
  4998. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  4999. SERIAL_PROTOCOLPGM(MSG_OK);
  5000. print_heaterstates();
  5001. #else // !HAS_TEMP_HOTEND && !HAS_TEMP_BED
  5002. SERIAL_ERROR_START;
  5003. SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
  5004. #endif
  5005. SERIAL_EOL;
  5006. }
  5007. #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
  5008. static uint8_t auto_report_temp_interval;
  5009. static millis_t next_temp_report_ms;
  5010. /**
  5011. * M155: Set temperature auto-report interval. M155 S<seconds>
  5012. */
  5013. inline void gcode_M155() {
  5014. if (code_seen('S')) {
  5015. auto_report_temp_interval = code_value_byte();
  5016. NOMORE(auto_report_temp_interval, 60);
  5017. next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval;
  5018. }
  5019. }
  5020. inline void auto_report_temperatures() {
  5021. if (auto_report_temp_interval && ELAPSED(millis(), next_temp_report_ms)) {
  5022. next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval;
  5023. print_heaterstates();
  5024. SERIAL_EOL;
  5025. }
  5026. }
  5027. #endif // AUTO_REPORT_TEMPERATURES
  5028. #if FAN_COUNT > 0
  5029. /**
  5030. * M106: Set Fan Speed
  5031. *
  5032. * S<int> Speed between 0-255
  5033. * P<index> Fan index, if more than one fan
  5034. */
  5035. inline void gcode_M106() {
  5036. uint16_t s = code_seen('S') ? code_value_ushort() : 255,
  5037. p = code_seen('P') ? code_value_ushort() : 0;
  5038. NOMORE(s, 255);
  5039. if (p < FAN_COUNT) fanSpeeds[p] = s;
  5040. }
  5041. /**
  5042. * M107: Fan Off
  5043. */
  5044. inline void gcode_M107() {
  5045. uint16_t p = code_seen('P') ? code_value_ushort() : 0;
  5046. if (p < FAN_COUNT) fanSpeeds[p] = 0;
  5047. }
  5048. #endif // FAN_COUNT > 0
  5049. #if DISABLED(EMERGENCY_PARSER)
  5050. /**
  5051. * M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
  5052. */
  5053. inline void gcode_M108() { wait_for_heatup = false; }
  5054. /**
  5055. * M112: Emergency Stop
  5056. */
  5057. inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
  5058. /**
  5059. * M410: Quickstop - Abort all planned moves
  5060. *
  5061. * This will stop the carriages mid-move, so most likely they
  5062. * will be out of sync with the stepper position after this.
  5063. */
  5064. inline void gcode_M410() { quickstop_stepper(); }
  5065. #endif
  5066. #ifndef MIN_COOLING_SLOPE_DEG
  5067. #define MIN_COOLING_SLOPE_DEG 1.50
  5068. #endif
  5069. #ifndef MIN_COOLING_SLOPE_TIME
  5070. #define MIN_COOLING_SLOPE_TIME 60
  5071. #endif
  5072. /**
  5073. * M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
  5074. * Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
  5075. */
  5076. inline void gcode_M109() {
  5077. if (get_target_extruder_from_command(109)) return;
  5078. if (DEBUGGING(DRYRUN)) return;
  5079. #if ENABLED(SINGLENOZZLE)
  5080. if (target_extruder != active_extruder) return;
  5081. #endif
  5082. bool no_wait_for_cooling = code_seen('S');
  5083. if (no_wait_for_cooling || code_seen('R')) {
  5084. thermalManager.setTargetHotend(code_value_temp_abs(), target_extruder);
  5085. #if ENABLED(DUAL_X_CARRIAGE)
  5086. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  5087. thermalManager.setTargetHotend(code_value_temp_abs() == 0.0 ? 0.0 : code_value_temp_abs() + duplicate_extruder_temp_offset, 1);
  5088. #endif
  5089. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  5090. /**
  5091. * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
  5092. * stand by mode, for instance in a dual extruder setup, without affecting
  5093. * the running print timer.
  5094. */
  5095. if (code_value_temp_abs() <= (EXTRUDE_MINTEMP)/2) {
  5096. print_job_timer.stop();
  5097. LCD_MESSAGEPGM(WELCOME_MSG);
  5098. }
  5099. /**
  5100. * We do not check if the timer is already running because this check will
  5101. * be done for us inside the Stopwatch::start() method thus a running timer
  5102. * will not restart.
  5103. */
  5104. else print_job_timer.start();
  5105. #endif
  5106. if (thermalManager.isHeatingHotend(target_extruder)) lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
  5107. }
  5108. #if ENABLED(AUTOTEMP)
  5109. planner.autotemp_M104_M109();
  5110. #endif
  5111. #if TEMP_RESIDENCY_TIME > 0
  5112. millis_t residency_start_ms = 0;
  5113. // Loop until the temperature has stabilized
  5114. #define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL))
  5115. #else
  5116. // Loop until the temperature is very close target
  5117. #define TEMP_CONDITIONS (wants_to_cool ? thermalManager.isCoolingHotend(target_extruder) : thermalManager.isHeatingHotend(target_extruder))
  5118. #endif //TEMP_RESIDENCY_TIME > 0
  5119. float theTarget = -1.0, old_temp = 9999.0;
  5120. bool wants_to_cool = false;
  5121. wait_for_heatup = true;
  5122. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  5123. KEEPALIVE_STATE(NOT_BUSY);
  5124. do {
  5125. // Target temperature might be changed during the loop
  5126. if (theTarget != thermalManager.degTargetHotend(target_extruder)) {
  5127. wants_to_cool = thermalManager.isCoolingHotend(target_extruder);
  5128. theTarget = thermalManager.degTargetHotend(target_extruder);
  5129. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  5130. if (no_wait_for_cooling && wants_to_cool) break;
  5131. }
  5132. now = millis();
  5133. if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting
  5134. next_temp_ms = now + 1000UL;
  5135. print_heaterstates();
  5136. #if TEMP_RESIDENCY_TIME > 0
  5137. SERIAL_PROTOCOLPGM(" W:");
  5138. if (residency_start_ms) {
  5139. long rem = (((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
  5140. SERIAL_PROTOCOLLN(rem);
  5141. }
  5142. else {
  5143. SERIAL_PROTOCOLLNPGM("?");
  5144. }
  5145. #else
  5146. SERIAL_EOL;
  5147. #endif
  5148. }
  5149. idle();
  5150. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  5151. float temp = thermalManager.degHotend(target_extruder);
  5152. #if TEMP_RESIDENCY_TIME > 0
  5153. float temp_diff = fabs(theTarget - temp);
  5154. if (!residency_start_ms) {
  5155. // Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
  5156. if (temp_diff < TEMP_WINDOW) residency_start_ms = now;
  5157. }
  5158. else if (temp_diff > TEMP_HYSTERESIS) {
  5159. // Restart the timer whenever the temperature falls outside the hysteresis.
  5160. residency_start_ms = now;
  5161. }
  5162. #endif //TEMP_RESIDENCY_TIME > 0
  5163. // Prevent a wait-forever situation if R is misused i.e. M109 R0
  5164. if (wants_to_cool) {
  5165. // break after MIN_COOLING_SLOPE_TIME seconds
  5166. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG
  5167. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  5168. if (old_temp - temp < MIN_COOLING_SLOPE_DEG) break;
  5169. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME;
  5170. old_temp = temp;
  5171. }
  5172. }
  5173. } while (wait_for_heatup && TEMP_CONDITIONS);
  5174. if (wait_for_heatup) LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
  5175. KEEPALIVE_STATE(IN_HANDLER);
  5176. }
  5177. #if HAS_TEMP_BED
  5178. #ifndef MIN_COOLING_SLOPE_DEG_BED
  5179. #define MIN_COOLING_SLOPE_DEG_BED 1.50
  5180. #endif
  5181. #ifndef MIN_COOLING_SLOPE_TIME_BED
  5182. #define MIN_COOLING_SLOPE_TIME_BED 60
  5183. #endif
  5184. /**
  5185. * M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  5186. * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  5187. */
  5188. inline void gcode_M190() {
  5189. if (DEBUGGING(DRYRUN)) return;
  5190. LCD_MESSAGEPGM(MSG_BED_HEATING);
  5191. bool no_wait_for_cooling = code_seen('S');
  5192. if (no_wait_for_cooling || code_seen('R')) {
  5193. thermalManager.setTargetBed(code_value_temp_abs());
  5194. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  5195. if (code_value_temp_abs() > BED_MINTEMP) {
  5196. /**
  5197. * We start the timer when 'heating and waiting' command arrives, LCD
  5198. * functions never wait. Cooling down managed by extruders.
  5199. *
  5200. * We do not check if the timer is already running because this check will
  5201. * be done for us inside the Stopwatch::start() method thus a running timer
  5202. * will not restart.
  5203. */
  5204. print_job_timer.start();
  5205. }
  5206. #endif
  5207. }
  5208. #if TEMP_BED_RESIDENCY_TIME > 0
  5209. millis_t residency_start_ms = 0;
  5210. // Loop until the temperature has stabilized
  5211. #define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL))
  5212. #else
  5213. // Loop until the temperature is very close target
  5214. #define TEMP_BED_CONDITIONS (wants_to_cool ? thermalManager.isCoolingBed() : thermalManager.isHeatingBed())
  5215. #endif //TEMP_BED_RESIDENCY_TIME > 0
  5216. float theTarget = -1.0, old_temp = 9999.0;
  5217. bool wants_to_cool = false;
  5218. wait_for_heatup = true;
  5219. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  5220. KEEPALIVE_STATE(NOT_BUSY);
  5221. target_extruder = active_extruder; // for print_heaterstates
  5222. do {
  5223. // Target temperature might be changed during the loop
  5224. if (theTarget != thermalManager.degTargetBed()) {
  5225. wants_to_cool = thermalManager.isCoolingBed();
  5226. theTarget = thermalManager.degTargetBed();
  5227. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  5228. if (no_wait_for_cooling && wants_to_cool) break;
  5229. }
  5230. now = millis();
  5231. if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up.
  5232. next_temp_ms = now + 1000UL;
  5233. print_heaterstates();
  5234. #if TEMP_BED_RESIDENCY_TIME > 0
  5235. SERIAL_PROTOCOLPGM(" W:");
  5236. if (residency_start_ms) {
  5237. long rem = (((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
  5238. SERIAL_PROTOCOLLN(rem);
  5239. }
  5240. else {
  5241. SERIAL_PROTOCOLLNPGM("?");
  5242. }
  5243. #else
  5244. SERIAL_EOL;
  5245. #endif
  5246. }
  5247. idle();
  5248. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  5249. float temp = thermalManager.degBed();
  5250. #if TEMP_BED_RESIDENCY_TIME > 0
  5251. float temp_diff = fabs(theTarget - temp);
  5252. if (!residency_start_ms) {
  5253. // Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
  5254. if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = now;
  5255. }
  5256. else if (temp_diff > TEMP_BED_HYSTERESIS) {
  5257. // Restart the timer whenever the temperature falls outside the hysteresis.
  5258. residency_start_ms = now;
  5259. }
  5260. #endif //TEMP_BED_RESIDENCY_TIME > 0
  5261. // Prevent a wait-forever situation if R is misused i.e. M190 R0
  5262. if (wants_to_cool) {
  5263. // break after MIN_COOLING_SLOPE_TIME_BED seconds
  5264. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED
  5265. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  5266. if (old_temp - temp < MIN_COOLING_SLOPE_DEG_BED) break;
  5267. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME_BED;
  5268. old_temp = temp;
  5269. }
  5270. }
  5271. } while (wait_for_heatup && TEMP_BED_CONDITIONS);
  5272. if (wait_for_heatup) LCD_MESSAGEPGM(MSG_BED_DONE);
  5273. KEEPALIVE_STATE(IN_HANDLER);
  5274. }
  5275. #endif // HAS_TEMP_BED
  5276. /**
  5277. * M110: Set Current Line Number
  5278. */
  5279. inline void gcode_M110() {
  5280. if (code_seen('N')) gcode_LastN = code_value_long();
  5281. }
  5282. /**
  5283. * M111: Set the debug level
  5284. */
  5285. inline void gcode_M111() {
  5286. marlin_debug_flags = code_seen('S') ? code_value_byte() : (uint8_t) DEBUG_NONE;
  5287. const static char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO;
  5288. const static char str_debug_2[] PROGMEM = MSG_DEBUG_INFO;
  5289. const static char str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS;
  5290. const static char str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN;
  5291. const static char str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION;
  5292. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5293. const static char str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING;
  5294. #endif
  5295. const static char* const debug_strings[] PROGMEM = {
  5296. str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16,
  5297. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5298. str_debug_32
  5299. #endif
  5300. };
  5301. SERIAL_ECHO_START;
  5302. SERIAL_ECHOPGM(MSG_DEBUG_PREFIX);
  5303. if (marlin_debug_flags) {
  5304. uint8_t comma = 0;
  5305. for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
  5306. if (TEST(marlin_debug_flags, i)) {
  5307. if (comma++) SERIAL_CHAR(',');
  5308. serialprintPGM((char*)pgm_read_word(&(debug_strings[i])));
  5309. }
  5310. }
  5311. }
  5312. else {
  5313. SERIAL_ECHOPGM(MSG_DEBUG_OFF);
  5314. }
  5315. SERIAL_EOL;
  5316. }
  5317. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  5318. /**
  5319. * M113: Get or set Host Keepalive interval (0 to disable)
  5320. *
  5321. * S<seconds> Optional. Set the keepalive interval.
  5322. */
  5323. inline void gcode_M113() {
  5324. if (code_seen('S')) {
  5325. host_keepalive_interval = code_value_byte();
  5326. NOMORE(host_keepalive_interval, 60);
  5327. }
  5328. else {
  5329. SERIAL_ECHO_START;
  5330. SERIAL_ECHOLNPAIR("M113 S", (unsigned long)host_keepalive_interval);
  5331. }
  5332. }
  5333. #endif
  5334. #if ENABLED(BARICUDA)
  5335. #if HAS_HEATER_1
  5336. /**
  5337. * M126: Heater 1 valve open
  5338. */
  5339. inline void gcode_M126() { baricuda_valve_pressure = code_seen('S') ? code_value_byte() : 255; }
  5340. /**
  5341. * M127: Heater 1 valve close
  5342. */
  5343. inline void gcode_M127() { baricuda_valve_pressure = 0; }
  5344. #endif
  5345. #if HAS_HEATER_2
  5346. /**
  5347. * M128: Heater 2 valve open
  5348. */
  5349. inline void gcode_M128() { baricuda_e_to_p_pressure = code_seen('S') ? code_value_byte() : 255; }
  5350. /**
  5351. * M129: Heater 2 valve close
  5352. */
  5353. inline void gcode_M129() { baricuda_e_to_p_pressure = 0; }
  5354. #endif
  5355. #endif //BARICUDA
  5356. /**
  5357. * M140: Set bed temperature
  5358. */
  5359. inline void gcode_M140() {
  5360. if (DEBUGGING(DRYRUN)) return;
  5361. if (code_seen('S')) thermalManager.setTargetBed(code_value_temp_abs());
  5362. }
  5363. #if ENABLED(ULTIPANEL)
  5364. /**
  5365. * M145: Set the heatup state for a material in the LCD menu
  5366. * S<material> (0=PLA, 1=ABS)
  5367. * H<hotend temp>
  5368. * B<bed temp>
  5369. * F<fan speed>
  5370. */
  5371. inline void gcode_M145() {
  5372. uint8_t material = code_seen('S') ? (uint8_t)code_value_int() : 0;
  5373. if (material >= COUNT(lcd_preheat_hotend_temp)) {
  5374. SERIAL_ERROR_START;
  5375. SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
  5376. }
  5377. else {
  5378. int v;
  5379. if (code_seen('H')) {
  5380. v = code_value_int();
  5381. lcd_preheat_hotend_temp[material] = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
  5382. }
  5383. if (code_seen('F')) {
  5384. v = code_value_int();
  5385. lcd_preheat_fan_speed[material] = constrain(v, 0, 255);
  5386. }
  5387. #if TEMP_SENSOR_BED != 0
  5388. if (code_seen('B')) {
  5389. v = code_value_int();
  5390. lcd_preheat_bed_temp[material] = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
  5391. }
  5392. #endif
  5393. }
  5394. }
  5395. #endif // ULTIPANEL
  5396. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  5397. /**
  5398. * M149: Set temperature units
  5399. */
  5400. inline void gcode_M149() {
  5401. if (code_seen('C')) set_input_temp_units(TEMPUNIT_C);
  5402. else if (code_seen('K')) set_input_temp_units(TEMPUNIT_K);
  5403. else if (code_seen('F')) set_input_temp_units(TEMPUNIT_F);
  5404. }
  5405. #endif
  5406. #if HAS_POWER_SWITCH
  5407. /**
  5408. * M80: Turn on Power Supply
  5409. */
  5410. inline void gcode_M80() {
  5411. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND
  5412. /**
  5413. * If you have a switch on suicide pin, this is useful
  5414. * if you want to start another print with suicide feature after
  5415. * a print without suicide...
  5416. */
  5417. #if HAS_SUICIDE
  5418. OUT_WRITE(SUICIDE_PIN, HIGH);
  5419. #endif
  5420. #if ENABLED(ULTIPANEL)
  5421. powersupply = true;
  5422. LCD_MESSAGEPGM(WELCOME_MSG);
  5423. lcd_update();
  5424. #endif
  5425. }
  5426. #endif // HAS_POWER_SWITCH
  5427. /**
  5428. * M81: Turn off Power, including Power Supply, if there is one.
  5429. *
  5430. * This code should ALWAYS be available for EMERGENCY SHUTDOWN!
  5431. */
  5432. inline void gcode_M81() {
  5433. thermalManager.disable_all_heaters();
  5434. stepper.finish_and_disable();
  5435. #if FAN_COUNT > 0
  5436. #if FAN_COUNT > 1
  5437. for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
  5438. #else
  5439. fanSpeeds[0] = 0;
  5440. #endif
  5441. #endif
  5442. safe_delay(1000); // Wait 1 second before switching off
  5443. #if HAS_SUICIDE
  5444. stepper.synchronize();
  5445. suicide();
  5446. #elif HAS_POWER_SWITCH
  5447. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  5448. #endif
  5449. #if ENABLED(ULTIPANEL)
  5450. #if HAS_POWER_SWITCH
  5451. powersupply = false;
  5452. #endif
  5453. LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
  5454. lcd_update();
  5455. #endif
  5456. }
  5457. /**
  5458. * M82: Set E codes absolute (default)
  5459. */
  5460. inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
  5461. /**
  5462. * M83: Set E codes relative while in Absolute Coordinates (G90) mode
  5463. */
  5464. inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; }
  5465. /**
  5466. * M18, M84: Disable all stepper motors
  5467. */
  5468. inline void gcode_M18_M84() {
  5469. if (code_seen('S')) {
  5470. stepper_inactive_time = code_value_millis_from_seconds();
  5471. }
  5472. else {
  5473. bool all_axis = !((code_seen('X')) || (code_seen('Y')) || (code_seen('Z')) || (code_seen('E')));
  5474. if (all_axis) {
  5475. stepper.finish_and_disable();
  5476. }
  5477. else {
  5478. stepper.synchronize();
  5479. if (code_seen('X')) disable_x();
  5480. if (code_seen('Y')) disable_y();
  5481. if (code_seen('Z')) disable_z();
  5482. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  5483. if (code_seen('E')) disable_e_steppers();
  5484. #endif
  5485. }
  5486. }
  5487. }
  5488. /**
  5489. * M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  5490. */
  5491. inline void gcode_M85() {
  5492. if (code_seen('S')) max_inactive_time = code_value_millis_from_seconds();
  5493. }
  5494. /**
  5495. * Multi-stepper support for M92, M201, M203
  5496. */
  5497. #if ENABLED(DISTINCT_E_FACTORS)
  5498. #define GET_TARGET_EXTRUDER(CMD) if (get_target_extruder_from_command(CMD)) return
  5499. #define TARGET_EXTRUDER target_extruder
  5500. #else
  5501. #define GET_TARGET_EXTRUDER(CMD) NOOP
  5502. #define TARGET_EXTRUDER 0
  5503. #endif
  5504. /**
  5505. * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
  5506. * (Follows the same syntax as G92)
  5507. *
  5508. * With multiple extruders use T to specify which one.
  5509. */
  5510. inline void gcode_M92() {
  5511. GET_TARGET_EXTRUDER(92);
  5512. LOOP_XYZE(i) {
  5513. if (code_seen(axis_codes[i])) {
  5514. if (i == E_AXIS) {
  5515. float value = code_value_per_axis_unit(E_AXIS + TARGET_EXTRUDER);
  5516. if (value < 20.0) {
  5517. float factor = planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] / value; // increase e constants if M92 E14 is given for netfab.
  5518. planner.max_jerk[E_AXIS] *= factor;
  5519. planner.max_feedrate_mm_s[E_AXIS + TARGET_EXTRUDER] *= factor;
  5520. planner.max_acceleration_steps_per_s2[E_AXIS + TARGET_EXTRUDER] *= factor;
  5521. }
  5522. planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] = value;
  5523. }
  5524. else {
  5525. planner.axis_steps_per_mm[i] = code_value_per_axis_unit(i);
  5526. }
  5527. }
  5528. }
  5529. planner.refresh_positioning();
  5530. }
  5531. /**
  5532. * Output the current position to serial
  5533. */
  5534. static void report_current_position() {
  5535. SERIAL_PROTOCOLPGM("X:");
  5536. SERIAL_PROTOCOL(current_position[X_AXIS]);
  5537. SERIAL_PROTOCOLPGM(" Y:");
  5538. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  5539. SERIAL_PROTOCOLPGM(" Z:");
  5540. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  5541. SERIAL_PROTOCOLPGM(" E:");
  5542. SERIAL_PROTOCOL(current_position[E_AXIS]);
  5543. stepper.report_positions();
  5544. #if IS_SCARA
  5545. SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_degrees(A_AXIS));
  5546. SERIAL_PROTOCOLLNPAIR(" Psi+Theta:", stepper.get_axis_position_degrees(B_AXIS));
  5547. SERIAL_EOL;
  5548. #endif
  5549. }
  5550. /**
  5551. * M114: Output current position to serial port
  5552. */
  5553. inline void gcode_M114() { stepper.synchronize(); report_current_position(); }
  5554. /**
  5555. * M115: Capabilities string
  5556. */
  5557. inline void gcode_M115() {
  5558. SERIAL_PROTOCOLLNPGM(MSG_M115_REPORT);
  5559. #if ENABLED(EXTENDED_CAPABILITIES_REPORT)
  5560. // EEPROM (M500, M501)
  5561. #if ENABLED(EEPROM_SETTINGS)
  5562. SERIAL_PROTOCOLLNPGM("Cap:EEPROM:1");
  5563. #else
  5564. SERIAL_PROTOCOLLNPGM("Cap:EEPROM:0");
  5565. #endif
  5566. // AUTOREPORT_TEMP (M155)
  5567. #if ENABLED(AUTO_REPORT_TEMPERATURES)
  5568. SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:1");
  5569. #else
  5570. SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:0");
  5571. #endif
  5572. // PROGRESS (M530 S L, M531 <file>, M532 X L)
  5573. SERIAL_PROTOCOLLNPGM("Cap:PROGRESS:0");
  5574. // AUTOLEVEL (G29)
  5575. #if HAS_ABL
  5576. SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:1");
  5577. #else
  5578. SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:0");
  5579. #endif
  5580. // Z_PROBE (G30)
  5581. #if HAS_BED_PROBE
  5582. SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:1");
  5583. #else
  5584. SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:0");
  5585. #endif
  5586. // MESH_REPORT (M420 V)
  5587. #if PLANNER_LEVELING
  5588. SERIAL_PROTOCOLLNPGM("Cap:LEVELING_DATA:1");
  5589. #else
  5590. SERIAL_PROTOCOLLNPGM("Cap:LEVELING_DATA:0");
  5591. #endif
  5592. // SOFTWARE_POWER (G30)
  5593. #if HAS_POWER_SWITCH
  5594. SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:1");
  5595. #else
  5596. SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:0");
  5597. #endif
  5598. // TOGGLE_LIGHTS (M355)
  5599. #if HAS_CASE_LIGHT
  5600. SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:1");
  5601. #else
  5602. SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:0");
  5603. #endif
  5604. // EMERGENCY_PARSER (M108, M112, M410)
  5605. #if ENABLED(EMERGENCY_PARSER)
  5606. SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:1");
  5607. #else
  5608. SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:0");
  5609. #endif
  5610. #endif // EXTENDED_CAPABILITIES_REPORT
  5611. }
  5612. /**
  5613. * M117: Set LCD Status Message
  5614. */
  5615. inline void gcode_M117() {
  5616. lcd_setstatus(current_command_args);
  5617. }
  5618. /**
  5619. * M119: Output endstop states to serial output
  5620. */
  5621. inline void gcode_M119() { endstops.M119(); }
  5622. /**
  5623. * M120: Enable endstops and set non-homing endstop state to "enabled"
  5624. */
  5625. inline void gcode_M120() { endstops.enable_globally(true); }
  5626. /**
  5627. * M121: Disable endstops and set non-homing endstop state to "disabled"
  5628. */
  5629. inline void gcode_M121() { endstops.enable_globally(false); }
  5630. #if ENABLED(PARK_HEAD_ON_PAUSE)
  5631. /**
  5632. * M125: Store current position and move to filament change position.
  5633. * Called on pause (by M25) to prevent material leaking onto the
  5634. * object. On resume (M24) the head will be moved back and the
  5635. * print will resume.
  5636. *
  5637. * If Marlin is compiled without SD Card support, M125 can be
  5638. * used directly to pause the print and move to park position,
  5639. * resuming with a button click or M108.
  5640. *
  5641. * L = override retract length
  5642. * X = override X
  5643. * Y = override Y
  5644. * Z = override Z raise
  5645. */
  5646. inline void gcode_M125() {
  5647. if (move_away_flag) return; // already paused
  5648. const bool job_running = print_job_timer.isRunning();
  5649. // there are blocks after this one, or sd printing
  5650. move_away_flag = job_running || planner.blocks_queued()
  5651. #if ENABLED(SDSUPPORT)
  5652. || card.sdprinting
  5653. #endif
  5654. ;
  5655. if (!move_away_flag) return; // nothing to pause
  5656. // M125 can be used to pause a print too
  5657. #if ENABLED(SDSUPPORT)
  5658. card.pauseSDPrint();
  5659. #endif
  5660. print_job_timer.pause();
  5661. // Save current position
  5662. COPY(resume_position, current_position);
  5663. set_destination_to_current();
  5664. // Initial retract before move to filament change position
  5665. destination[E_AXIS] += code_seen('L') ? code_value_axis_units(E_AXIS) : 0
  5666. #if defined(FILAMENT_CHANGE_RETRACT_LENGTH) && FILAMENT_CHANGE_RETRACT_LENGTH > 0
  5667. - (FILAMENT_CHANGE_RETRACT_LENGTH)
  5668. #endif
  5669. ;
  5670. RUNPLAN(FILAMENT_CHANGE_RETRACT_FEEDRATE);
  5671. // Lift Z axis
  5672. const float z_lift = code_seen('Z') ? code_value_axis_units(Z_AXIS) :
  5673. #if defined(FILAMENT_CHANGE_Z_ADD) && FILAMENT_CHANGE_Z_ADD > 0
  5674. FILAMENT_CHANGE_Z_ADD
  5675. #else
  5676. 0
  5677. #endif
  5678. ;
  5679. if (z_lift > 0) {
  5680. destination[Z_AXIS] += z_lift;
  5681. NOMORE(destination[Z_AXIS], Z_MAX_POS);
  5682. RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
  5683. }
  5684. // Move XY axes to filament change position or given position
  5685. destination[X_AXIS] = code_seen('X') ? code_value_axis_units(X_AXIS) : 0
  5686. #ifdef FILAMENT_CHANGE_X_POS
  5687. + FILAMENT_CHANGE_X_POS
  5688. #endif
  5689. ;
  5690. destination[Y_AXIS] = code_seen('Y') ? code_value_axis_units(Y_AXIS) : 0
  5691. #ifdef FILAMENT_CHANGE_Y_POS
  5692. + FILAMENT_CHANGE_Y_POS
  5693. #endif
  5694. ;
  5695. #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE)
  5696. if (active_extruder > 0) {
  5697. if (!code_seen('X')) destination[X_AXIS] += hotend_offset[X_AXIS][active_extruder];
  5698. if (!code_seen('Y')) destination[Y_AXIS] += hotend_offset[Y_AXIS][active_extruder];
  5699. }
  5700. #endif
  5701. clamp_to_software_endstops(destination);
  5702. RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
  5703. set_current_to_destination();
  5704. stepper.synchronize();
  5705. disable_e_steppers();
  5706. #if DISABLED(SDSUPPORT)
  5707. // Wait for lcd click or M108
  5708. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5709. wait_for_user = true;
  5710. while (wait_for_user) idle();
  5711. KEEPALIVE_STATE(IN_HANDLER);
  5712. // Return to print position and continue
  5713. move_back_on_resume();
  5714. if (job_running) print_job_timer.start();
  5715. move_away_flag = false;
  5716. #endif
  5717. }
  5718. #endif // PARK_HEAD_ON_PAUSE
  5719. #if ENABLED(BLINKM) || ENABLED(RGB_LED)
  5720. void set_led_color(const uint8_t r, const uint8_t g, const uint8_t b) {
  5721. #if ENABLED(BLINKM)
  5722. // This variant uses i2c to send the RGB components to the device.
  5723. SendColors(r, g, b);
  5724. #else
  5725. // This variant uses 3 separate pins for the RGB components.
  5726. // If the pins can do PWM then their intensity will be set.
  5727. digitalWrite(RGB_LED_R_PIN, r ? HIGH : LOW);
  5728. digitalWrite(RGB_LED_G_PIN, g ? HIGH : LOW);
  5729. digitalWrite(RGB_LED_B_PIN, b ? HIGH : LOW);
  5730. analogWrite(RGB_LED_R_PIN, r);
  5731. analogWrite(RGB_LED_G_PIN, g);
  5732. analogWrite(RGB_LED_B_PIN, b);
  5733. #endif
  5734. }
  5735. /**
  5736. * M150: Set Status LED Color - Use R-U-B for R-G-B
  5737. *
  5738. * Always sets all 3 components. If a component is left out, set to 0.
  5739. *
  5740. * Examples:
  5741. *
  5742. * M150 R255 ; Turn LED red
  5743. * M150 R255 U127 ; Turn LED orange (PWM only)
  5744. * M150 ; Turn LED off
  5745. * M150 R U B ; Turn LED white
  5746. *
  5747. */
  5748. inline void gcode_M150() {
  5749. set_led_color(
  5750. code_seen('R') ? (code_has_value() ? code_value_byte() : 255) : 0,
  5751. code_seen('U') ? (code_has_value() ? code_value_byte() : 255) : 0,
  5752. code_seen('B') ? (code_has_value() ? code_value_byte() : 255) : 0
  5753. );
  5754. }
  5755. #endif // BLINKM || RGB_LED
  5756. /**
  5757. * M200: Set filament diameter and set E axis units to cubic units
  5758. *
  5759. * T<extruder> - Optional extruder number. Current extruder if omitted.
  5760. * D<linear> - Diameter of the filament. Use "D0" to switch back to linear units on the E axis.
  5761. */
  5762. inline void gcode_M200() {
  5763. if (get_target_extruder_from_command(200)) return;
  5764. if (code_seen('D')) {
  5765. // setting any extruder filament size disables volumetric on the assumption that
  5766. // slicers either generate in extruder values as cubic mm or as as filament feeds
  5767. // for all extruders
  5768. volumetric_enabled = (code_value_linear_units() != 0.0);
  5769. if (volumetric_enabled) {
  5770. filament_size[target_extruder] = code_value_linear_units();
  5771. // make sure all extruders have some sane value for the filament size
  5772. for (uint8_t i = 0; i < COUNT(filament_size); i++)
  5773. if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
  5774. }
  5775. }
  5776. else {
  5777. //reserved for setting filament diameter via UFID or filament measuring device
  5778. return;
  5779. }
  5780. calculate_volumetric_multipliers();
  5781. }
  5782. /**
  5783. * M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  5784. *
  5785. * With multiple extruders use T to specify which one.
  5786. */
  5787. inline void gcode_M201() {
  5788. GET_TARGET_EXTRUDER(201);
  5789. LOOP_XYZE(i) {
  5790. if (code_seen(axis_codes[i])) {
  5791. const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
  5792. planner.max_acceleration_mm_per_s2[a] = code_value_axis_units(a);
  5793. }
  5794. }
  5795. // steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
  5796. planner.reset_acceleration_rates();
  5797. }
  5798. #if 0 // Not used for Sprinter/grbl gen6
  5799. inline void gcode_M202() {
  5800. LOOP_XYZE(i) {
  5801. if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value_axis_units(i) * planner.axis_steps_per_mm[i];
  5802. }
  5803. }
  5804. #endif
  5805. /**
  5806. * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
  5807. *
  5808. * With multiple extruders use T to specify which one.
  5809. */
  5810. inline void gcode_M203() {
  5811. GET_TARGET_EXTRUDER(203);
  5812. LOOP_XYZE(i)
  5813. if (code_seen(axis_codes[i])) {
  5814. const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
  5815. planner.max_feedrate_mm_s[a] = code_value_axis_units(a);
  5816. }
  5817. }
  5818. /**
  5819. * M204: Set Accelerations in units/sec^2 (M204 P1200 R3000 T3000)
  5820. *
  5821. * P = Printing moves
  5822. * R = Retract only (no X, Y, Z) moves
  5823. * T = Travel (non printing) moves
  5824. *
  5825. * Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
  5826. */
  5827. inline void gcode_M204() {
  5828. if (code_seen('S')) { // Kept for legacy compatibility. Should NOT BE USED for new developments.
  5829. planner.travel_acceleration = planner.acceleration = code_value_linear_units();
  5830. SERIAL_ECHOLNPAIR("Setting Print and Travel Acceleration: ", planner.acceleration);
  5831. }
  5832. if (code_seen('P')) {
  5833. planner.acceleration = code_value_linear_units();
  5834. SERIAL_ECHOLNPAIR("Setting Print Acceleration: ", planner.acceleration);
  5835. }
  5836. if (code_seen('R')) {
  5837. planner.retract_acceleration = code_value_linear_units();
  5838. SERIAL_ECHOLNPAIR("Setting Retract Acceleration: ", planner.retract_acceleration);
  5839. }
  5840. if (code_seen('T')) {
  5841. planner.travel_acceleration = code_value_linear_units();
  5842. SERIAL_ECHOLNPAIR("Setting Travel Acceleration: ", planner.travel_acceleration);
  5843. }
  5844. }
  5845. /**
  5846. * M205: Set Advanced Settings
  5847. *
  5848. * S = Min Feed Rate (units/s)
  5849. * T = Min Travel Feed Rate (units/s)
  5850. * B = Min Segment Time (µs)
  5851. * X = Max X Jerk (units/sec^2)
  5852. * Y = Max Y Jerk (units/sec^2)
  5853. * Z = Max Z Jerk (units/sec^2)
  5854. * E = Max E Jerk (units/sec^2)
  5855. */
  5856. inline void gcode_M205() {
  5857. if (code_seen('S')) planner.min_feedrate_mm_s = code_value_linear_units();
  5858. if (code_seen('T')) planner.min_travel_feedrate_mm_s = code_value_linear_units();
  5859. if (code_seen('B')) planner.min_segment_time = code_value_millis();
  5860. if (code_seen('X')) planner.max_jerk[X_AXIS] = code_value_axis_units(X_AXIS);
  5861. if (code_seen('Y')) planner.max_jerk[Y_AXIS] = code_value_axis_units(Y_AXIS);
  5862. if (code_seen('Z')) planner.max_jerk[Z_AXIS] = code_value_axis_units(Z_AXIS);
  5863. if (code_seen('E')) planner.max_jerk[E_AXIS] = code_value_axis_units(E_AXIS);
  5864. }
  5865. #if DISABLED(NO_WORKSPACE_OFFSETS)
  5866. /**
  5867. * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
  5868. */
  5869. inline void gcode_M206() {
  5870. LOOP_XYZ(i)
  5871. if (code_seen(axis_codes[i]))
  5872. set_home_offset((AxisEnum)i, code_value_axis_units(i));
  5873. #if ENABLED(MORGAN_SCARA)
  5874. if (code_seen('T')) set_home_offset(A_AXIS, code_value_axis_units(A_AXIS)); // Theta
  5875. if (code_seen('P')) set_home_offset(B_AXIS, code_value_axis_units(B_AXIS)); // Psi
  5876. #endif
  5877. SYNC_PLAN_POSITION_KINEMATIC();
  5878. report_current_position();
  5879. }
  5880. #endif // NO_WORKSPACE_OFFSETS
  5881. #if ENABLED(DELTA)
  5882. /**
  5883. * M665: Set delta configurations
  5884. *
  5885. * L = diagonal rod
  5886. * R = delta radius
  5887. * S = segments per second
  5888. * A = Alpha (Tower 1) diagonal rod trim
  5889. * B = Beta (Tower 2) diagonal rod trim
  5890. * C = Gamma (Tower 3) diagonal rod trim
  5891. */
  5892. inline void gcode_M665() {
  5893. if (code_seen('L')) delta_diagonal_rod = code_value_linear_units();
  5894. if (code_seen('R')) delta_radius = code_value_linear_units();
  5895. if (code_seen('S')) delta_segments_per_second = code_value_float();
  5896. if (code_seen('A')) delta_diagonal_rod_trim[A_AXIS] = code_value_linear_units();
  5897. if (code_seen('B')) delta_diagonal_rod_trim[B_AXIS] = code_value_linear_units();
  5898. if (code_seen('C')) delta_diagonal_rod_trim[C_AXIS] = code_value_linear_units();
  5899. if (code_seen('I')) delta_tower_angle_trim[A_AXIS] = code_value_linear_units();
  5900. if (code_seen('J')) delta_tower_angle_trim[B_AXIS] = code_value_linear_units();
  5901. if (code_seen('K')) delta_tower_angle_trim[C_AXIS] = code_value_linear_units();
  5902. recalc_delta_settings(delta_radius, delta_diagonal_rod);
  5903. }
  5904. /**
  5905. * M666: Set delta endstop adjustment
  5906. */
  5907. inline void gcode_M666() {
  5908. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5909. if (DEBUGGING(LEVELING)) {
  5910. SERIAL_ECHOLNPGM(">>> gcode_M666");
  5911. }
  5912. #endif
  5913. LOOP_XYZ(i) {
  5914. if (code_seen(axis_codes[i])) {
  5915. endstop_adj[i] = code_value_axis_units(i);
  5916. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5917. if (DEBUGGING(LEVELING)) {
  5918. SERIAL_ECHOPAIR("endstop_adj[", axis_codes[i]);
  5919. SERIAL_ECHOLNPAIR("] = ", endstop_adj[i]);
  5920. }
  5921. #endif
  5922. }
  5923. }
  5924. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5925. if (DEBUGGING(LEVELING)) {
  5926. SERIAL_ECHOLNPGM("<<< gcode_M666");
  5927. }
  5928. #endif
  5929. }
  5930. #elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
  5931. /**
  5932. * M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
  5933. */
  5934. inline void gcode_M666() {
  5935. if (code_seen('Z')) z_endstop_adj = code_value_axis_units(Z_AXIS);
  5936. SERIAL_ECHOLNPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj);
  5937. }
  5938. #endif // !DELTA && Z_DUAL_ENDSTOPS
  5939. #if ENABLED(FWRETRACT)
  5940. /**
  5941. * M207: Set firmware retraction values
  5942. *
  5943. * S[+units] retract_length
  5944. * W[+units] retract_length_swap (multi-extruder)
  5945. * F[units/min] retract_feedrate_mm_s
  5946. * Z[units] retract_zlift
  5947. */
  5948. inline void gcode_M207() {
  5949. if (code_seen('S')) retract_length = code_value_axis_units(E_AXIS);
  5950. if (code_seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
  5951. if (code_seen('Z')) retract_zlift = code_value_axis_units(Z_AXIS);
  5952. #if EXTRUDERS > 1
  5953. if (code_seen('W')) retract_length_swap = code_value_axis_units(E_AXIS);
  5954. #endif
  5955. }
  5956. /**
  5957. * M208: Set firmware un-retraction values
  5958. *
  5959. * S[+units] retract_recover_length (in addition to M207 S*)
  5960. * W[+units] retract_recover_length_swap (multi-extruder)
  5961. * F[units/min] retract_recover_feedrate_mm_s
  5962. */
  5963. inline void gcode_M208() {
  5964. if (code_seen('S')) retract_recover_length = code_value_axis_units(E_AXIS);
  5965. if (code_seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
  5966. #if EXTRUDERS > 1
  5967. if (code_seen('W')) retract_recover_length_swap = code_value_axis_units(E_AXIS);
  5968. #endif
  5969. }
  5970. /**
  5971. * M209: Enable automatic retract (M209 S1)
  5972. * For slicers that don't support G10/11, reversed extrude-only
  5973. * moves will be classified as retraction.
  5974. */
  5975. inline void gcode_M209() {
  5976. if (code_seen('S')) {
  5977. autoretract_enabled = code_value_bool();
  5978. for (int i = 0; i < EXTRUDERS; i++) retracted[i] = false;
  5979. }
  5980. }
  5981. #endif // FWRETRACT
  5982. /**
  5983. * M211: Enable, Disable, and/or Report software endstops
  5984. *
  5985. * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
  5986. */
  5987. inline void gcode_M211() {
  5988. SERIAL_ECHO_START;
  5989. #if HAS_SOFTWARE_ENDSTOPS
  5990. if (code_seen('S')) soft_endstops_enabled = code_value_bool();
  5991. SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
  5992. serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF));
  5993. #else
  5994. SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
  5995. SERIAL_ECHOPGM(MSG_OFF);
  5996. #endif
  5997. SERIAL_ECHOPGM(MSG_SOFT_MIN);
  5998. SERIAL_ECHOPAIR( MSG_X, soft_endstop_min[X_AXIS]);
  5999. SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_min[Y_AXIS]);
  6000. SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_min[Z_AXIS]);
  6001. SERIAL_ECHOPGM(MSG_SOFT_MAX);
  6002. SERIAL_ECHOPAIR( MSG_X, soft_endstop_max[X_AXIS]);
  6003. SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]);
  6004. SERIAL_ECHOLNPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]);
  6005. }
  6006. #if HOTENDS > 1
  6007. /**
  6008. * M218 - set hotend offset (in linear units)
  6009. *
  6010. * T<tool>
  6011. * X<xoffset>
  6012. * Y<yoffset>
  6013. * Z<zoffset> - Available with DUAL_X_CARRIAGE and SWITCHING_EXTRUDER
  6014. */
  6015. inline void gcode_M218() {
  6016. if (get_target_extruder_from_command(218) || target_extruder == 0) return;
  6017. if (code_seen('X')) hotend_offset[X_AXIS][target_extruder] = code_value_axis_units(X_AXIS);
  6018. if (code_seen('Y')) hotend_offset[Y_AXIS][target_extruder] = code_value_axis_units(Y_AXIS);
  6019. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
  6020. if (code_seen('Z')) hotend_offset[Z_AXIS][target_extruder] = code_value_axis_units(Z_AXIS);
  6021. #endif
  6022. SERIAL_ECHO_START;
  6023. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  6024. HOTEND_LOOP() {
  6025. SERIAL_CHAR(' ');
  6026. SERIAL_ECHO(hotend_offset[X_AXIS][e]);
  6027. SERIAL_CHAR(',');
  6028. SERIAL_ECHO(hotend_offset[Y_AXIS][e]);
  6029. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
  6030. SERIAL_CHAR(',');
  6031. SERIAL_ECHO(hotend_offset[Z_AXIS][e]);
  6032. #endif
  6033. }
  6034. SERIAL_EOL;
  6035. }
  6036. #endif // HOTENDS > 1
  6037. /**
  6038. * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
  6039. */
  6040. inline void gcode_M220() {
  6041. if (code_seen('S')) feedrate_percentage = code_value_int();
  6042. }
  6043. /**
  6044. * M221: Set extrusion percentage (M221 T0 S95)
  6045. */
  6046. inline void gcode_M221() {
  6047. if (get_target_extruder_from_command(221)) return;
  6048. if (code_seen('S'))
  6049. flow_percentage[target_extruder] = code_value_int();
  6050. }
  6051. /**
  6052. * M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
  6053. */
  6054. inline void gcode_M226() {
  6055. if (code_seen('P')) {
  6056. int pin_number = code_value_int(),
  6057. pin_state = code_seen('S') ? code_value_int() : -1; // required pin state - default is inverted
  6058. if (pin_state >= -1 && pin_state <= 1 && pin_number > -1 && !pin_is_protected(pin_number)) {
  6059. int target = LOW;
  6060. stepper.synchronize();
  6061. pinMode(pin_number, INPUT);
  6062. switch (pin_state) {
  6063. case 1:
  6064. target = HIGH;
  6065. break;
  6066. case 0:
  6067. target = LOW;
  6068. break;
  6069. case -1:
  6070. target = !digitalRead(pin_number);
  6071. break;
  6072. }
  6073. while (digitalRead(pin_number) != target) idle();
  6074. } // pin_state -1 0 1 && pin_number > -1
  6075. } // code_seen('P')
  6076. }
  6077. #if ENABLED(EXPERIMENTAL_I2CBUS)
  6078. /**
  6079. * M260: Send data to a I2C slave device
  6080. *
  6081. * This is a PoC, the formating and arguments for the GCODE will
  6082. * change to be more compatible, the current proposal is:
  6083. *
  6084. * M260 A<slave device address base 10> ; Sets the I2C slave address the data will be sent to
  6085. *
  6086. * M260 B<byte-1 value in base 10>
  6087. * M260 B<byte-2 value in base 10>
  6088. * M260 B<byte-3 value in base 10>
  6089. *
  6090. * M260 S1 ; Send the buffered data and reset the buffer
  6091. * M260 R1 ; Reset the buffer without sending data
  6092. *
  6093. */
  6094. inline void gcode_M260() {
  6095. // Set the target address
  6096. if (code_seen('A')) i2c.address(code_value_byte());
  6097. // Add a new byte to the buffer
  6098. if (code_seen('B')) i2c.addbyte(code_value_byte());
  6099. // Flush the buffer to the bus
  6100. if (code_seen('S')) i2c.send();
  6101. // Reset and rewind the buffer
  6102. else if (code_seen('R')) i2c.reset();
  6103. }
  6104. /**
  6105. * M261: Request X bytes from I2C slave device
  6106. *
  6107. * Usage: M261 A<slave device address base 10> B<number of bytes>
  6108. */
  6109. inline void gcode_M261() {
  6110. if (code_seen('A')) i2c.address(code_value_byte());
  6111. uint8_t bytes = code_seen('B') ? code_value_byte() : 1;
  6112. if (i2c.addr && bytes && bytes <= TWIBUS_BUFFER_SIZE) {
  6113. i2c.relay(bytes);
  6114. }
  6115. else {
  6116. SERIAL_ERROR_START;
  6117. SERIAL_ERRORLN("Bad i2c request");
  6118. }
  6119. }
  6120. #endif // EXPERIMENTAL_I2CBUS
  6121. #if HAS_SERVOS
  6122. /**
  6123. * M280: Get or set servo position. P<index> [S<angle>]
  6124. */
  6125. inline void gcode_M280() {
  6126. if (!code_seen('P')) return;
  6127. int servo_index = code_value_int();
  6128. if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) {
  6129. if (code_seen('S'))
  6130. MOVE_SERVO(servo_index, code_value_int());
  6131. else {
  6132. SERIAL_ECHO_START;
  6133. SERIAL_ECHOPAIR(" Servo ", servo_index);
  6134. SERIAL_ECHOLNPAIR(": ", servo[servo_index].read());
  6135. }
  6136. }
  6137. else {
  6138. SERIAL_ERROR_START;
  6139. SERIAL_ECHOPAIR("Servo ", servo_index);
  6140. SERIAL_ECHOLNPGM(" out of range");
  6141. }
  6142. }
  6143. #endif // HAS_SERVOS
  6144. #if HAS_BUZZER
  6145. /**
  6146. * M300: Play beep sound S<frequency Hz> P<duration ms>
  6147. */
  6148. inline void gcode_M300() {
  6149. uint16_t const frequency = code_seen('S') ? code_value_ushort() : 260;
  6150. uint16_t duration = code_seen('P') ? code_value_ushort() : 1000;
  6151. // Limits the tone duration to 0-5 seconds.
  6152. NOMORE(duration, 5000);
  6153. BUZZ(duration, frequency);
  6154. }
  6155. #endif // HAS_BUZZER
  6156. #if ENABLED(PIDTEMP)
  6157. /**
  6158. * M301: Set PID parameters P I D (and optionally C, L)
  6159. *
  6160. * P[float] Kp term
  6161. * I[float] Ki term (unscaled)
  6162. * D[float] Kd term (unscaled)
  6163. *
  6164. * With PID_EXTRUSION_SCALING:
  6165. *
  6166. * C[float] Kc term
  6167. * L[float] LPQ length
  6168. */
  6169. inline void gcode_M301() {
  6170. // multi-extruder PID patch: M301 updates or prints a single extruder's PID values
  6171. // default behaviour (omitting E parameter) is to update for extruder 0 only
  6172. int e = code_seen('E') ? code_value_int() : 0; // extruder being updated
  6173. if (e < HOTENDS) { // catch bad input value
  6174. if (code_seen('P')) PID_PARAM(Kp, e) = code_value_float();
  6175. if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value_float());
  6176. if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value_float());
  6177. #if ENABLED(PID_EXTRUSION_SCALING)
  6178. if (code_seen('C')) PID_PARAM(Kc, e) = code_value_float();
  6179. if (code_seen('L')) lpq_len = code_value_float();
  6180. NOMORE(lpq_len, LPQ_MAX_LEN);
  6181. #endif
  6182. thermalManager.updatePID();
  6183. SERIAL_ECHO_START;
  6184. #if ENABLED(PID_PARAMS_PER_HOTEND)
  6185. SERIAL_ECHOPAIR(" e:", e); // specify extruder in serial output
  6186. #endif // PID_PARAMS_PER_HOTEND
  6187. SERIAL_ECHOPAIR(" p:", PID_PARAM(Kp, e));
  6188. SERIAL_ECHOPAIR(" i:", unscalePID_i(PID_PARAM(Ki, e)));
  6189. SERIAL_ECHOPAIR(" d:", unscalePID_d(PID_PARAM(Kd, e)));
  6190. #if ENABLED(PID_EXTRUSION_SCALING)
  6191. //Kc does not have scaling applied above, or in resetting defaults
  6192. SERIAL_ECHOPAIR(" c:", PID_PARAM(Kc, e));
  6193. #endif
  6194. SERIAL_EOL;
  6195. }
  6196. else {
  6197. SERIAL_ERROR_START;
  6198. SERIAL_ERRORLN(MSG_INVALID_EXTRUDER);
  6199. }
  6200. }
  6201. #endif // PIDTEMP
  6202. #if ENABLED(PIDTEMPBED)
  6203. inline void gcode_M304() {
  6204. if (code_seen('P')) thermalManager.bedKp = code_value_float();
  6205. if (code_seen('I')) thermalManager.bedKi = scalePID_i(code_value_float());
  6206. if (code_seen('D')) thermalManager.bedKd = scalePID_d(code_value_float());
  6207. thermalManager.updatePID();
  6208. SERIAL_ECHO_START;
  6209. SERIAL_ECHOPAIR(" p:", thermalManager.bedKp);
  6210. SERIAL_ECHOPAIR(" i:", unscalePID_i(thermalManager.bedKi));
  6211. SERIAL_ECHOLNPAIR(" d:", unscalePID_d(thermalManager.bedKd));
  6212. }
  6213. #endif // PIDTEMPBED
  6214. #if defined(CHDK) || HAS_PHOTOGRAPH
  6215. /**
  6216. * M240: Trigger a camera by emulating a Canon RC-1
  6217. * See http://www.doc-diy.net/photo/rc-1_hacked/
  6218. */
  6219. inline void gcode_M240() {
  6220. #ifdef CHDK
  6221. OUT_WRITE(CHDK, HIGH);
  6222. chdkHigh = millis();
  6223. chdkActive = true;
  6224. #elif HAS_PHOTOGRAPH
  6225. const uint8_t NUM_PULSES = 16;
  6226. const float PULSE_LENGTH = 0.01524;
  6227. for (int i = 0; i < NUM_PULSES; i++) {
  6228. WRITE(PHOTOGRAPH_PIN, HIGH);
  6229. _delay_ms(PULSE_LENGTH);
  6230. WRITE(PHOTOGRAPH_PIN, LOW);
  6231. _delay_ms(PULSE_LENGTH);
  6232. }
  6233. delay(7.33);
  6234. for (int i = 0; i < NUM_PULSES; i++) {
  6235. WRITE(PHOTOGRAPH_PIN, HIGH);
  6236. _delay_ms(PULSE_LENGTH);
  6237. WRITE(PHOTOGRAPH_PIN, LOW);
  6238. _delay_ms(PULSE_LENGTH);
  6239. }
  6240. #endif // !CHDK && HAS_PHOTOGRAPH
  6241. }
  6242. #endif // CHDK || PHOTOGRAPH_PIN
  6243. #if HAS_LCD_CONTRAST
  6244. /**
  6245. * M250: Read and optionally set the LCD contrast
  6246. */
  6247. inline void gcode_M250() {
  6248. if (code_seen('C')) set_lcd_contrast(code_value_int());
  6249. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  6250. SERIAL_PROTOCOL(lcd_contrast);
  6251. SERIAL_EOL;
  6252. }
  6253. #endif // HAS_LCD_CONTRAST
  6254. #if ENABLED(PREVENT_COLD_EXTRUSION)
  6255. /**
  6256. * M302: Allow cold extrudes, or set the minimum extrude temperature
  6257. *
  6258. * S<temperature> sets the minimum extrude temperature
  6259. * P<bool> enables (1) or disables (0) cold extrusion
  6260. *
  6261. * Examples:
  6262. *
  6263. * M302 ; report current cold extrusion state
  6264. * M302 P0 ; enable cold extrusion checking
  6265. * M302 P1 ; disables cold extrusion checking
  6266. * M302 S0 ; always allow extrusion (disables checking)
  6267. * M302 S170 ; only allow extrusion above 170
  6268. * M302 S170 P1 ; set min extrude temp to 170 but leave disabled
  6269. */
  6270. inline void gcode_M302() {
  6271. bool seen_S = code_seen('S');
  6272. if (seen_S) {
  6273. thermalManager.extrude_min_temp = code_value_temp_abs();
  6274. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0);
  6275. }
  6276. if (code_seen('P'))
  6277. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0) || code_value_bool();
  6278. else if (!seen_S) {
  6279. // Report current state
  6280. SERIAL_ECHO_START;
  6281. SERIAL_ECHOPAIR("Cold extrudes are ", (thermalManager.allow_cold_extrude ? "en" : "dis"));
  6282. SERIAL_ECHOPAIR("abled (min temp ", int(thermalManager.extrude_min_temp + 0.5));
  6283. SERIAL_ECHOLNPGM("C)");
  6284. }
  6285. }
  6286. #endif // PREVENT_COLD_EXTRUSION
  6287. /**
  6288. * M303: PID relay autotune
  6289. *
  6290. * S<temperature> sets the target temperature. (default 150C)
  6291. * E<extruder> (-1 for the bed) (default 0)
  6292. * C<cycles>
  6293. * U<bool> with a non-zero value will apply the result to current settings
  6294. */
  6295. inline void gcode_M303() {
  6296. #if HAS_PID_HEATING
  6297. int e = code_seen('E') ? code_value_int() : 0;
  6298. int c = code_seen('C') ? code_value_int() : 5;
  6299. bool u = code_seen('U') && code_value_bool();
  6300. float temp = code_seen('S') ? code_value_temp_abs() : (e < 0 ? 70.0 : 150.0);
  6301. if (WITHIN(e, 0, HOTENDS - 1))
  6302. target_extruder = e;
  6303. KEEPALIVE_STATE(NOT_BUSY); // don't send "busy: processing" messages during autotune output
  6304. thermalManager.PID_autotune(temp, e, c, u);
  6305. KEEPALIVE_STATE(IN_HANDLER);
  6306. #else
  6307. SERIAL_ERROR_START;
  6308. SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
  6309. #endif
  6310. }
  6311. #if ENABLED(MORGAN_SCARA)
  6312. bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) {
  6313. if (IsRunning()) {
  6314. forward_kinematics_SCARA(delta_a, delta_b);
  6315. destination[X_AXIS] = LOGICAL_X_POSITION(cartes[X_AXIS]);
  6316. destination[Y_AXIS] = LOGICAL_Y_POSITION(cartes[Y_AXIS]);
  6317. destination[Z_AXIS] = current_position[Z_AXIS];
  6318. prepare_move_to_destination();
  6319. return true;
  6320. }
  6321. return false;
  6322. }
  6323. /**
  6324. * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  6325. */
  6326. inline bool gcode_M360() {
  6327. SERIAL_ECHOLNPGM(" Cal: Theta 0");
  6328. return SCARA_move_to_cal(0, 120);
  6329. }
  6330. /**
  6331. * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  6332. */
  6333. inline bool gcode_M361() {
  6334. SERIAL_ECHOLNPGM(" Cal: Theta 90");
  6335. return SCARA_move_to_cal(90, 130);
  6336. }
  6337. /**
  6338. * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  6339. */
  6340. inline bool gcode_M362() {
  6341. SERIAL_ECHOLNPGM(" Cal: Psi 0");
  6342. return SCARA_move_to_cal(60, 180);
  6343. }
  6344. /**
  6345. * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  6346. */
  6347. inline bool gcode_M363() {
  6348. SERIAL_ECHOLNPGM(" Cal: Psi 90");
  6349. return SCARA_move_to_cal(50, 90);
  6350. }
  6351. /**
  6352. * M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  6353. */
  6354. inline bool gcode_M364() {
  6355. SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
  6356. return SCARA_move_to_cal(45, 135);
  6357. }
  6358. #endif // SCARA
  6359. #if ENABLED(EXT_SOLENOID)
  6360. void enable_solenoid(uint8_t num) {
  6361. switch (num) {
  6362. case 0:
  6363. OUT_WRITE(SOL0_PIN, HIGH);
  6364. break;
  6365. #if HAS_SOLENOID_1
  6366. case 1:
  6367. OUT_WRITE(SOL1_PIN, HIGH);
  6368. break;
  6369. #endif
  6370. #if HAS_SOLENOID_2
  6371. case 2:
  6372. OUT_WRITE(SOL2_PIN, HIGH);
  6373. break;
  6374. #endif
  6375. #if HAS_SOLENOID_3
  6376. case 3:
  6377. OUT_WRITE(SOL3_PIN, HIGH);
  6378. break;
  6379. #endif
  6380. default:
  6381. SERIAL_ECHO_START;
  6382. SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
  6383. break;
  6384. }
  6385. }
  6386. void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
  6387. void disable_all_solenoids() {
  6388. OUT_WRITE(SOL0_PIN, LOW);
  6389. OUT_WRITE(SOL1_PIN, LOW);
  6390. OUT_WRITE(SOL2_PIN, LOW);
  6391. OUT_WRITE(SOL3_PIN, LOW);
  6392. }
  6393. /**
  6394. * M380: Enable solenoid on the active extruder
  6395. */
  6396. inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
  6397. /**
  6398. * M381: Disable all solenoids
  6399. */
  6400. inline void gcode_M381() { disable_all_solenoids(); }
  6401. #endif // EXT_SOLENOID
  6402. /**
  6403. * M400: Finish all moves
  6404. */
  6405. inline void gcode_M400() { stepper.synchronize(); }
  6406. #if HAS_BED_PROBE
  6407. /**
  6408. * M401: Engage Z Servo endstop if available
  6409. */
  6410. inline void gcode_M401() { DEPLOY_PROBE(); }
  6411. /**
  6412. * M402: Retract Z Servo endstop if enabled
  6413. */
  6414. inline void gcode_M402() { STOW_PROBE(); }
  6415. #endif // HAS_BED_PROBE
  6416. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  6417. /**
  6418. * M404: Display or set (in current units) the nominal filament width (3mm, 1.75mm ) W<3.0>
  6419. */
  6420. inline void gcode_M404() {
  6421. if (code_seen('W')) {
  6422. filament_width_nominal = code_value_linear_units();
  6423. }
  6424. else {
  6425. SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
  6426. SERIAL_PROTOCOLLN(filament_width_nominal);
  6427. }
  6428. }
  6429. /**
  6430. * M405: Turn on filament sensor for control
  6431. */
  6432. inline void gcode_M405() {
  6433. // This is technically a linear measurement, but since it's quantized to centimeters and is a different unit than
  6434. // everything else, it uses code_value_int() instead of code_value_linear_units().
  6435. if (code_seen('D')) meas_delay_cm = code_value_int();
  6436. NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY);
  6437. if (filwidth_delay_index[1] == -1) { // Initialize the ring buffer if not done since startup
  6438. int temp_ratio = thermalManager.widthFil_to_size_ratio();
  6439. for (uint8_t i = 0; i < COUNT(measurement_delay); ++i)
  6440. measurement_delay[i] = temp_ratio - 100; // Subtract 100 to scale within a signed byte
  6441. filwidth_delay_index[0] = filwidth_delay_index[1] = 0;
  6442. }
  6443. filament_sensor = true;
  6444. //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  6445. //SERIAL_PROTOCOL(filament_width_meas);
  6446. //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
  6447. //SERIAL_PROTOCOL(flow_percentage[active_extruder]);
  6448. }
  6449. /**
  6450. * M406: Turn off filament sensor for control
  6451. */
  6452. inline void gcode_M406() { filament_sensor = false; }
  6453. /**
  6454. * M407: Get measured filament diameter on serial output
  6455. */
  6456. inline void gcode_M407() {
  6457. SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  6458. SERIAL_PROTOCOLLN(filament_width_meas);
  6459. }
  6460. #endif // FILAMENT_WIDTH_SENSOR
  6461. void quickstop_stepper() {
  6462. stepper.quick_stop();
  6463. stepper.synchronize();
  6464. set_current_from_steppers_for_axis(ALL_AXES);
  6465. SYNC_PLAN_POSITION_KINEMATIC();
  6466. }
  6467. #if PLANNER_LEVELING
  6468. /**
  6469. * M420: Enable/Disable Bed Leveling and/or set the Z fade height.
  6470. *
  6471. * S[bool] Turns leveling on or off
  6472. * Z[height] Sets the Z fade height (0 or none to disable)
  6473. * V[bool] Verbose - Print the leveling grid
  6474. *
  6475. * With AUTO_BED_LEVELING_UBL only:
  6476. *
  6477. * L[index] Load UBL mesh from index (0 is default)
  6478. */
  6479. inline void gcode_M420() {
  6480. #if ENABLED(AUTO_BED_LEVELING_UBL)
  6481. // L to load a mesh from the EEPROM
  6482. if (code_seen('L')) {
  6483. const int8_t storage_slot = code_has_value() ? code_value_int() : ubl.state.eeprom_storage_slot;
  6484. const int16_t j = (UBL_LAST_EEPROM_INDEX - ubl.eeprom_start) / sizeof(ubl.z_values);
  6485. if (!WITHIN(storage_slot, 0, j - 1) || ubl.eeprom_start <= 0) {
  6486. SERIAL_PROTOCOLLNPGM("?EEPROM storage not available for use.\n");
  6487. return;
  6488. }
  6489. ubl.load_mesh(storage_slot);
  6490. if (storage_slot != ubl.state.eeprom_storage_slot) ubl.store_state();
  6491. ubl.state.eeprom_storage_slot = storage_slot;
  6492. }
  6493. #endif // AUTO_BED_LEVELING_UBL
  6494. // V to print the matrix or mesh
  6495. if (code_seen('V')) {
  6496. #if ABL_PLANAR
  6497. planner.bed_level_matrix.debug("Bed Level Correction Matrix:");
  6498. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  6499. if (bilinear_grid_spacing[X_AXIS]) {
  6500. print_bilinear_leveling_grid();
  6501. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  6502. bed_level_virt_print();
  6503. #endif
  6504. }
  6505. #elif ENABLED(MESH_BED_LEVELING)
  6506. if (mbl.has_mesh()) {
  6507. SERIAL_ECHOLNPGM("Mesh Bed Level data:");
  6508. mbl_mesh_report();
  6509. }
  6510. #endif
  6511. }
  6512. #if ENABLED(AUTO_BED_LEVELING_UBL)
  6513. // L to load a mesh from the EEPROM
  6514. if (code_seen('L') || code_seen('V')) {
  6515. ubl.display_map(0); // Currently only supports one map type
  6516. SERIAL_ECHOLNPAIR("UBL_MESH_VALID = ", UBL_MESH_VALID);
  6517. SERIAL_ECHOLNPAIR("eeprom_storage_slot = ", ubl.state.eeprom_storage_slot);
  6518. }
  6519. #endif
  6520. bool to_enable = false;
  6521. if (code_seen('S')) {
  6522. to_enable = code_value_bool();
  6523. set_bed_leveling_enabled(to_enable);
  6524. }
  6525. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  6526. if (code_seen('Z')) set_z_fade_height(code_value_linear_units());
  6527. #endif
  6528. const bool new_status =
  6529. #if ENABLED(MESH_BED_LEVELING)
  6530. mbl.active()
  6531. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  6532. ubl.state.active
  6533. #else
  6534. planner.abl_enabled
  6535. #endif
  6536. ;
  6537. if (to_enable && !new_status) {
  6538. SERIAL_ERROR_START;
  6539. SERIAL_ERRORLNPGM(MSG_ERR_M420_FAILED);
  6540. }
  6541. SERIAL_ECHO_START;
  6542. SERIAL_ECHOLNPAIR("Bed Leveling ", new_status ? MSG_ON : MSG_OFF);
  6543. }
  6544. #endif
  6545. #if ENABLED(MESH_BED_LEVELING)
  6546. /**
  6547. * M421: Set a single Mesh Bed Leveling Z coordinate
  6548. * Use either 'M421 X<linear> Y<linear> Z<linear>' or 'M421 I<xindex> J<yindex> Z<linear>'
  6549. */
  6550. inline void gcode_M421() {
  6551. int8_t px = 0, py = 0;
  6552. float z = 0;
  6553. bool hasX, hasY, hasZ, hasI, hasJ;
  6554. if ((hasX = code_seen('X'))) px = mbl.probe_index_x(code_value_axis_units(X_AXIS));
  6555. if ((hasY = code_seen('Y'))) py = mbl.probe_index_y(code_value_axis_units(Y_AXIS));
  6556. if ((hasI = code_seen('I'))) px = code_value_axis_units(X_AXIS);
  6557. if ((hasJ = code_seen('J'))) py = code_value_axis_units(Y_AXIS);
  6558. if ((hasZ = code_seen('Z'))) z = code_value_axis_units(Z_AXIS);
  6559. if (hasX && hasY && hasZ) {
  6560. if (px >= 0 && py >= 0)
  6561. mbl.set_z(px, py, z);
  6562. else {
  6563. SERIAL_ERROR_START;
  6564. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  6565. }
  6566. }
  6567. else if (hasI && hasJ && hasZ) {
  6568. if (WITHIN(px, 0, GRID_MAX_POINTS_X - 1) && WITHIN(py, 0, GRID_MAX_POINTS_Y - 1))
  6569. mbl.set_z(px, py, z);
  6570. else {
  6571. SERIAL_ERROR_START;
  6572. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  6573. }
  6574. }
  6575. else {
  6576. SERIAL_ERROR_START;
  6577. SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
  6578. }
  6579. }
  6580. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  6581. /**
  6582. * M421: Set a single Mesh Bed Leveling Z coordinate
  6583. *
  6584. * M421 I<xindex> J<yindex> Z<linear>
  6585. */
  6586. inline void gcode_M421() {
  6587. int8_t px = 0, py = 0;
  6588. float z = 0;
  6589. bool hasI, hasJ, hasZ;
  6590. if ((hasI = code_seen('I'))) px = code_value_axis_units(X_AXIS);
  6591. if ((hasJ = code_seen('J'))) py = code_value_axis_units(Y_AXIS);
  6592. if ((hasZ = code_seen('Z'))) z = code_value_axis_units(Z_AXIS);
  6593. if (hasI && hasJ && hasZ) {
  6594. if (WITHIN(px, 0, GRID_MAX_POINTS_X - 1) && WITHIN(py, 0, GRID_MAX_POINTS_X - 1)) {
  6595. bed_level_grid[px][py] = z;
  6596. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  6597. bed_level_virt_interpolate();
  6598. #endif
  6599. }
  6600. else {
  6601. SERIAL_ERROR_START;
  6602. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  6603. }
  6604. }
  6605. else {
  6606. SERIAL_ERROR_START;
  6607. SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
  6608. }
  6609. }
  6610. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  6611. /**
  6612. * M421: Set a single Mesh Bed Leveling Z coordinate
  6613. *
  6614. * M421 I<xindex> J<yindex> Z<linear>
  6615. */
  6616. inline void gcode_M421() {
  6617. int8_t px = 0, py = 0;
  6618. float z = 0;
  6619. bool hasI, hasJ, hasZ;
  6620. if ((hasI = code_seen('I'))) px = code_value_axis_units(X_AXIS);
  6621. if ((hasJ = code_seen('J'))) py = code_value_axis_units(Y_AXIS);
  6622. if ((hasZ = code_seen('Z'))) z = code_value_axis_units(Z_AXIS);
  6623. if (hasI && hasJ && hasZ) {
  6624. if (WITHIN(px, 0, GRID_MAX_POINTS_Y - 1) && WITHIN(py, 0, GRID_MAX_POINTS_Y - 1)) {
  6625. ubl.z_values[px][py] = z;
  6626. }
  6627. else {
  6628. SERIAL_ERROR_START;
  6629. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  6630. }
  6631. }
  6632. else {
  6633. SERIAL_ERROR_START;
  6634. SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
  6635. }
  6636. }
  6637. #endif
  6638. #if DISABLED(NO_WORKSPACE_OFFSETS)
  6639. /**
  6640. * M428: Set home_offset based on the distance between the
  6641. * current_position and the nearest "reference point."
  6642. * If an axis is past center its endstop position
  6643. * is the reference-point. Otherwise it uses 0. This allows
  6644. * the Z offset to be set near the bed when using a max endstop.
  6645. *
  6646. * M428 can't be used more than 2cm away from 0 or an endstop.
  6647. *
  6648. * Use M206 to set these values directly.
  6649. */
  6650. inline void gcode_M428() {
  6651. bool err = false;
  6652. LOOP_XYZ(i) {
  6653. if (axis_homed[i]) {
  6654. float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos((AxisEnum)i) : 0,
  6655. diff = current_position[i] - LOGICAL_POSITION(base, i);
  6656. if (WITHIN(diff, -20, 20)) {
  6657. set_home_offset((AxisEnum)i, home_offset[i] - diff);
  6658. }
  6659. else {
  6660. SERIAL_ERROR_START;
  6661. SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
  6662. LCD_ALERTMESSAGEPGM("Err: Too far!");
  6663. BUZZ(200, 40);
  6664. err = true;
  6665. break;
  6666. }
  6667. }
  6668. }
  6669. if (!err) {
  6670. SYNC_PLAN_POSITION_KINEMATIC();
  6671. report_current_position();
  6672. LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
  6673. BUZZ(100, 659);
  6674. BUZZ(100, 698);
  6675. }
  6676. }
  6677. #endif // NO_WORKSPACE_OFFSETS
  6678. /**
  6679. * M500: Store settings in EEPROM
  6680. */
  6681. inline void gcode_M500() {
  6682. (void)Config_StoreSettings();
  6683. }
  6684. /**
  6685. * M501: Read settings from EEPROM
  6686. */
  6687. inline void gcode_M501() {
  6688. (void)Config_RetrieveSettings();
  6689. }
  6690. /**
  6691. * M502: Revert to default settings
  6692. */
  6693. inline void gcode_M502() {
  6694. (void)Config_ResetDefault();
  6695. }
  6696. /**
  6697. * M503: print settings currently in memory
  6698. */
  6699. inline void gcode_M503() {
  6700. (void)Config_PrintSettings(code_seen('S') && !code_value_bool());
  6701. }
  6702. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  6703. /**
  6704. * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
  6705. */
  6706. inline void gcode_M540() {
  6707. if (code_seen('S')) stepper.abort_on_endstop_hit = code_value_bool();
  6708. }
  6709. #endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  6710. #if HAS_BED_PROBE
  6711. inline void gcode_M851() {
  6712. SERIAL_ECHO_START;
  6713. SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
  6714. SERIAL_CHAR(' ');
  6715. if (code_seen('Z')) {
  6716. float value = code_value_axis_units(Z_AXIS);
  6717. if (WITHIN(value, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX)) {
  6718. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  6719. // Correct bilinear grid for new probe offset
  6720. const float diff = value - zprobe_zoffset;
  6721. if (diff) {
  6722. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
  6723. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
  6724. bed_level_grid[x][y] += diff;
  6725. }
  6726. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  6727. bed_level_virt_interpolate();
  6728. #endif
  6729. #endif
  6730. zprobe_zoffset = value;
  6731. SERIAL_ECHO(zprobe_zoffset);
  6732. }
  6733. else {
  6734. SERIAL_ECHOPAIR(MSG_Z_MIN, Z_PROBE_OFFSET_RANGE_MIN);
  6735. SERIAL_CHAR(' ');
  6736. SERIAL_ECHOPAIR(MSG_Z_MAX, Z_PROBE_OFFSET_RANGE_MAX);
  6737. }
  6738. }
  6739. else {
  6740. SERIAL_ECHOPAIR(": ", zprobe_zoffset);
  6741. }
  6742. SERIAL_EOL;
  6743. }
  6744. #endif // HAS_BED_PROBE
  6745. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  6746. void filament_change_beep(const bool init=false) {
  6747. static millis_t next_buzz = 0;
  6748. static uint16_t runout_beep = 0;
  6749. if (init) next_buzz = runout_beep = 0;
  6750. const millis_t ms = millis();
  6751. if (ELAPSED(ms, next_buzz)) {
  6752. if (runout_beep <= FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS + 5) { // Only beep as long as we're supposed to
  6753. next_buzz = ms + (runout_beep <= FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS ? 2500 : 400);
  6754. BUZZ(300, 2000);
  6755. runout_beep++;
  6756. }
  6757. }
  6758. }
  6759. static bool busy_doing_M600 = false;
  6760. /**
  6761. * M600: Pause for filament change
  6762. *
  6763. * E[distance] - Retract the filament this far (negative value)
  6764. * Z[distance] - Move the Z axis by this distance
  6765. * X[position] - Move to this X position, with Y
  6766. * Y[position] - Move to this Y position, with X
  6767. * L[distance] - Retract distance for removal (manual reload)
  6768. *
  6769. * Default values are used for omitted arguments.
  6770. *
  6771. */
  6772. inline void gcode_M600() {
  6773. if (!DEBUGGING(DRYRUN) && thermalManager.tooColdToExtrude(active_extruder)) {
  6774. SERIAL_ERROR_START;
  6775. SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
  6776. return;
  6777. }
  6778. busy_doing_M600 = true; // Stepper Motors can't timeout when this is set
  6779. // Pause the print job timer
  6780. const bool job_running = print_job_timer.isRunning();
  6781. print_job_timer.pause();
  6782. // Show initial message and wait for synchronize steppers
  6783. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INIT);
  6784. stepper.synchronize();
  6785. // Save current position of all axes
  6786. float lastpos[XYZE];
  6787. COPY(lastpos, current_position);
  6788. set_destination_to_current();
  6789. // Initial retract before move to filament change position
  6790. destination[E_AXIS] += code_seen('E') ? code_value_axis_units(E_AXIS) : 0
  6791. #if defined(FILAMENT_CHANGE_RETRACT_LENGTH) && FILAMENT_CHANGE_RETRACT_LENGTH > 0
  6792. - (FILAMENT_CHANGE_RETRACT_LENGTH)
  6793. #endif
  6794. ;
  6795. RUNPLAN(FILAMENT_CHANGE_RETRACT_FEEDRATE);
  6796. // Lift Z axis
  6797. float z_lift = code_seen('Z') ? code_value_axis_units(Z_AXIS) :
  6798. #if defined(FILAMENT_CHANGE_Z_ADD) && FILAMENT_CHANGE_Z_ADD > 0
  6799. FILAMENT_CHANGE_Z_ADD
  6800. #else
  6801. 0
  6802. #endif
  6803. ;
  6804. if (z_lift > 0) {
  6805. destination[Z_AXIS] += z_lift;
  6806. NOMORE(destination[Z_AXIS], Z_MAX_POS);
  6807. RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
  6808. }
  6809. // Move XY axes to filament exchange position
  6810. if (code_seen('X')) destination[X_AXIS] = code_value_axis_units(X_AXIS);
  6811. #ifdef FILAMENT_CHANGE_X_POS
  6812. else destination[X_AXIS] = FILAMENT_CHANGE_X_POS;
  6813. #endif
  6814. if (code_seen('Y')) destination[Y_AXIS] = code_value_axis_units(Y_AXIS);
  6815. #ifdef FILAMENT_CHANGE_Y_POS
  6816. else destination[Y_AXIS] = FILAMENT_CHANGE_Y_POS;
  6817. #endif
  6818. RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
  6819. stepper.synchronize();
  6820. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_UNLOAD);
  6821. idle();
  6822. // Unload filament
  6823. destination[E_AXIS] += code_seen('L') ? code_value_axis_units(E_AXIS) : 0
  6824. #if FILAMENT_CHANGE_UNLOAD_LENGTH > 0
  6825. - (FILAMENT_CHANGE_UNLOAD_LENGTH)
  6826. #endif
  6827. ;
  6828. RUNPLAN(FILAMENT_CHANGE_UNLOAD_FEEDRATE);
  6829. // Synchronize steppers and then disable extruders steppers for manual filament changing
  6830. stepper.synchronize();
  6831. disable_e_steppers();
  6832. safe_delay(100);
  6833. const millis_t nozzle_timeout = millis() + (millis_t)(FILAMENT_CHANGE_NOZZLE_TIMEOUT) * 1000UL;
  6834. bool nozzle_timed_out = false;
  6835. float temps[4];
  6836. // Wait for filament insert by user and press button
  6837. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INSERT);
  6838. #if HAS_BUZZER
  6839. filament_change_beep(true);
  6840. #endif
  6841. idle();
  6842. HOTEND_LOOP() temps[e] = thermalManager.target_temperature[e]; // Save nozzle temps
  6843. KEEPALIVE_STATE(PAUSED_FOR_USER);
  6844. wait_for_user = true; // LCD click or M108 will clear this
  6845. while (wait_for_user) {
  6846. if (nozzle_timed_out)
  6847. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_CLICK_TO_HEAT_NOZZLE);
  6848. #if HAS_BUZZER
  6849. filament_change_beep();
  6850. #endif
  6851. if (!nozzle_timed_out && ELAPSED(millis(), nozzle_timeout)) {
  6852. nozzle_timed_out = true; // on nozzle timeout remember the nozzles need to be reheated
  6853. HOTEND_LOOP() thermalManager.setTargetHotend(0, e); // Turn off all the nozzles
  6854. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_CLICK_TO_HEAT_NOZZLE);
  6855. }
  6856. idle(true);
  6857. }
  6858. KEEPALIVE_STATE(IN_HANDLER);
  6859. if (nozzle_timed_out) // Turn nozzles back on if they were turned off
  6860. HOTEND_LOOP() thermalManager.setTargetHotend(temps[e], e);
  6861. // Show "wait for heating"
  6862. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_WAIT_FOR_NOZZLES_TO_HEAT);
  6863. wait_for_heatup = true;
  6864. while (wait_for_heatup) {
  6865. idle();
  6866. wait_for_heatup = false;
  6867. HOTEND_LOOP() {
  6868. if (abs(thermalManager.degHotend(e) - temps[e]) > 3) {
  6869. wait_for_heatup = true;
  6870. break;
  6871. }
  6872. }
  6873. }
  6874. // Show "insert filament"
  6875. if (nozzle_timed_out)
  6876. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INSERT);
  6877. #if HAS_BUZZER
  6878. filament_change_beep(true);
  6879. #endif
  6880. KEEPALIVE_STATE(PAUSED_FOR_USER);
  6881. wait_for_user = true; // LCD click or M108 will clear this
  6882. while (wait_for_user && nozzle_timed_out) {
  6883. #if HAS_BUZZER
  6884. filament_change_beep();
  6885. #endif
  6886. idle(true);
  6887. }
  6888. KEEPALIVE_STATE(IN_HANDLER);
  6889. // Show "load" message
  6890. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_LOAD);
  6891. // Load filament
  6892. destination[E_AXIS] += code_seen('L') ? -code_value_axis_units(E_AXIS) : 0
  6893. #if FILAMENT_CHANGE_LOAD_LENGTH > 0
  6894. + FILAMENT_CHANGE_LOAD_LENGTH
  6895. #endif
  6896. ;
  6897. RUNPLAN(FILAMENT_CHANGE_LOAD_FEEDRATE);
  6898. stepper.synchronize();
  6899. #if defined(FILAMENT_CHANGE_EXTRUDE_LENGTH) && FILAMENT_CHANGE_EXTRUDE_LENGTH > 0
  6900. do {
  6901. // "Wait for filament extrude"
  6902. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_EXTRUDE);
  6903. // Extrude filament to get into hotend
  6904. destination[E_AXIS] += FILAMENT_CHANGE_EXTRUDE_LENGTH;
  6905. RUNPLAN(FILAMENT_CHANGE_EXTRUDE_FEEDRATE);
  6906. stepper.synchronize();
  6907. // Show "Extrude More" / "Resume" menu and wait for reply
  6908. KEEPALIVE_STATE(PAUSED_FOR_USER);
  6909. wait_for_user = false;
  6910. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_OPTION);
  6911. while (filament_change_menu_response == FILAMENT_CHANGE_RESPONSE_WAIT_FOR) idle(true);
  6912. KEEPALIVE_STATE(IN_HANDLER);
  6913. // Keep looping if "Extrude More" was selected
  6914. } while (filament_change_menu_response == FILAMENT_CHANGE_RESPONSE_EXTRUDE_MORE);
  6915. #endif
  6916. // "Wait for print to resume"
  6917. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_RESUME);
  6918. // Set extruder to saved position
  6919. destination[E_AXIS] = current_position[E_AXIS] = lastpos[E_AXIS];
  6920. planner.set_e_position_mm(current_position[E_AXIS]);
  6921. #if IS_KINEMATIC
  6922. // Move XYZ to starting position
  6923. planner.buffer_line_kinematic(lastpos, FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
  6924. #else
  6925. // Move XY to starting position, then Z
  6926. destination[X_AXIS] = lastpos[X_AXIS];
  6927. destination[Y_AXIS] = lastpos[Y_AXIS];
  6928. RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
  6929. destination[Z_AXIS] = lastpos[Z_AXIS];
  6930. RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
  6931. #endif
  6932. stepper.synchronize();
  6933. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  6934. filament_ran_out = false;
  6935. #endif
  6936. // Show status screen
  6937. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_STATUS);
  6938. // Resume the print job timer if it was running
  6939. if (job_running) print_job_timer.start();
  6940. busy_doing_M600 = false; // Allow Stepper Motors to be turned off during inactivity
  6941. }
  6942. #endif // FILAMENT_CHANGE_FEATURE
  6943. #if ENABLED(DUAL_X_CARRIAGE)
  6944. /**
  6945. * M605: Set dual x-carriage movement mode
  6946. *
  6947. * M605 S0: Full control mode. The slicer has full control over x-carriage movement
  6948. * M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
  6949. * M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
  6950. * units x-offset and an optional differential hotend temperature of
  6951. * mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
  6952. * the first with a spacing of 100mm in the x direction and 2 degrees hotter.
  6953. *
  6954. * Note: the X axis should be homed after changing dual x-carriage mode.
  6955. */
  6956. inline void gcode_M605() {
  6957. stepper.synchronize();
  6958. if (code_seen('S')) dual_x_carriage_mode = (DualXMode)code_value_byte();
  6959. switch (dual_x_carriage_mode) {
  6960. case DXC_FULL_CONTROL_MODE:
  6961. case DXC_AUTO_PARK_MODE:
  6962. break;
  6963. case DXC_DUPLICATION_MODE:
  6964. if (code_seen('X')) duplicate_extruder_x_offset = max(code_value_axis_units(X_AXIS), X2_MIN_POS - x_home_pos(0));
  6965. if (code_seen('R')) duplicate_extruder_temp_offset = code_value_temp_diff();
  6966. SERIAL_ECHO_START;
  6967. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  6968. SERIAL_CHAR(' ');
  6969. SERIAL_ECHO(hotend_offset[X_AXIS][0]);
  6970. SERIAL_CHAR(',');
  6971. SERIAL_ECHO(hotend_offset[Y_AXIS][0]);
  6972. SERIAL_CHAR(' ');
  6973. SERIAL_ECHO(duplicate_extruder_x_offset);
  6974. SERIAL_CHAR(',');
  6975. SERIAL_ECHOLN(hotend_offset[Y_AXIS][1]);
  6976. break;
  6977. default:
  6978. dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  6979. break;
  6980. }
  6981. active_extruder_parked = false;
  6982. extruder_duplication_enabled = false;
  6983. delayed_move_time = 0;
  6984. }
  6985. #elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  6986. inline void gcode_M605() {
  6987. stepper.synchronize();
  6988. extruder_duplication_enabled = code_seen('S') && code_value_int() == 2;
  6989. SERIAL_ECHO_START;
  6990. SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
  6991. }
  6992. #endif // DUAL_NOZZLE_DUPLICATION_MODE
  6993. #if ENABLED(LIN_ADVANCE)
  6994. /**
  6995. * M905: Set advance factor
  6996. */
  6997. inline void gcode_M905() {
  6998. stepper.synchronize();
  6999. const float newK = code_seen('K') ? code_value_float() : -1,
  7000. newD = code_seen('D') ? code_value_float() : -1,
  7001. newW = code_seen('W') ? code_value_float() : -1,
  7002. newH = code_seen('H') ? code_value_float() : -1;
  7003. if (newK >= 0.0) planner.set_extruder_advance_k(newK);
  7004. SERIAL_ECHO_START;
  7005. SERIAL_ECHOLNPAIR("Advance factor: ", planner.get_extruder_advance_k());
  7006. if (newD >= 0 || newW >= 0 || newH >= 0) {
  7007. const float ratio = (!newD || !newW || !newH) ? 0 : (newW * newH) / (sq(newD * 0.5) * M_PI);
  7008. planner.set_advance_ed_ratio(ratio);
  7009. SERIAL_ECHO_START;
  7010. SERIAL_ECHOPGM("E/D ratio: ");
  7011. if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Automatic");
  7012. }
  7013. }
  7014. #endif // LIN_ADVANCE
  7015. #if ENABLED(HAVE_TMC2130)
  7016. static void tmc2130_print_current(const int mA, const char name) {
  7017. SERIAL_CHAR(name);
  7018. SERIAL_ECHOPGM(" axis driver current: ");
  7019. SERIAL_ECHOLN(mA);
  7020. }
  7021. static void tmc2130_set_current(const int mA, TMC2130Stepper &st, const char name) {
  7022. tmc2130_print_current(mA, name);
  7023. st.setCurrent(mA, 0.11, 0.5);
  7024. }
  7025. static void tmc2130_get_current(TMC2130Stepper &st, const char name) {
  7026. tmc2130_print_current(st.getCurrent(), name);
  7027. }
  7028. static void tmc2130_report_otpw(TMC2130Stepper &st, const char name) {
  7029. SERIAL_CHAR(name);
  7030. SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
  7031. serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
  7032. }
  7033. static void tmc2130_clear_otpw(TMC2130Stepper &st, const char name) {
  7034. st.clear_otpw();
  7035. SERIAL_CHAR(name);
  7036. SERIAL_ECHOLNPGM(" prewarn flag cleared");
  7037. }
  7038. /**
  7039. * M906: Set motor current in milliamps using axis codes X, Y, Z, E
  7040. *
  7041. * Report driver currents when no axis specified
  7042. */
  7043. inline void gcode_M906() {
  7044. uint16_t values[XYZE];
  7045. LOOP_XYZE(i)
  7046. values[i] = code_seen(axis_codes[i]) ? code_value_int() : 0;
  7047. #if ENABLED(X_IS_TMC2130)
  7048. if (values[X_AXIS]) tmc2130_set_current(values[X_AXIS], stepperX, 'X');
  7049. else tmc2130_get_current(stepperX, 'X');
  7050. #endif
  7051. #if ENABLED(Y_IS_TMC2130)
  7052. if (values[Y_AXIS]) tmc2130_set_current(values[Y_AXIS], stepperY, 'Y');
  7053. else tmc2130_get_current(stepperY, 'Y');
  7054. #endif
  7055. #if ENABLED(Z_IS_TMC2130)
  7056. if (values[Z_AXIS]) tmc2130_set_current(values[Z_AXIS], stepperZ, 'Z');
  7057. else tmc2130_get_current(stepperZ, 'Z');
  7058. #endif
  7059. #if ENABLED(E0_IS_TMC2130)
  7060. if (values[E_AXIS]) tmc2130_set_current(values[E_AXIS], stepperE0, 'E');
  7061. else tmc2130_get_current(stepperE0, 'E');
  7062. #endif
  7063. }
  7064. /**
  7065. * M911: Report TMC2130 stepper driver overtemperature pre-warn flag
  7066. * The flag is held by the library and persist until manually cleared by M912
  7067. */
  7068. inline void gcode_M911() {
  7069. #if ENABLED(X_IS_TMC2130)
  7070. tmc2130_report_otpw(stepperX, 'X');
  7071. #endif
  7072. #if ENABLED(Y_IS_TMC2130)
  7073. tmc2130_report_otpw(stepperY, 'Y');
  7074. #endif
  7075. #if ENABLED(Z_IS_TMC2130)
  7076. tmc2130_report_otpw(stepperZ, 'Z');
  7077. #endif
  7078. #if ENABLED(E0_IS_TMC2130)
  7079. tmc2130_report_otpw(stepperE0, 'E');
  7080. #endif
  7081. }
  7082. /**
  7083. * M912: Clear TMC2130 stepper driver overtemperature pre-warn flag held by the library
  7084. */
  7085. inline void gcode_M912() {
  7086. #if ENABLED(X_IS_TMC2130)
  7087. if (code_seen('X')) tmc2130_clear_otpw(stepperX, 'X');
  7088. #endif
  7089. #if ENABLED(Y_IS_TMC2130)
  7090. if (code_seen('Y')) tmc2130_clear_otpw(stepperY, 'Y');
  7091. #endif
  7092. #if ENABLED(Z_IS_TMC2130)
  7093. if (code_seen('Z')) tmc2130_clear_otpw(stepperZ, 'Z');
  7094. #endif
  7095. #if ENABLED(E0_IS_TMC2130)
  7096. if (code_seen('E')) tmc2130_clear_otpw(stepperE0, 'E');
  7097. #endif
  7098. }
  7099. #endif // HAVE_TMC2130
  7100. /**
  7101. * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
  7102. */
  7103. inline void gcode_M907() {
  7104. #if HAS_DIGIPOTSS
  7105. LOOP_XYZE(i)
  7106. if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
  7107. if (code_seen('B')) stepper.digipot_current(4, code_value_int());
  7108. if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int());
  7109. #elif HAS_MOTOR_CURRENT_PWM
  7110. #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
  7111. if (code_seen('X')) stepper.digipot_current(0, code_value_int());
  7112. #endif
  7113. #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
  7114. if (code_seen('Z')) stepper.digipot_current(1, code_value_int());
  7115. #endif
  7116. #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
  7117. if (code_seen('E')) stepper.digipot_current(2, code_value_int());
  7118. #endif
  7119. #endif
  7120. #if ENABLED(DIGIPOT_I2C)
  7121. // this one uses actual amps in floating point
  7122. LOOP_XYZE(i) if (code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value_float());
  7123. // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
  7124. for (int i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (code_seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, code_value_float());
  7125. #endif
  7126. #if ENABLED(DAC_STEPPER_CURRENT)
  7127. if (code_seen('S')) {
  7128. float dac_percent = code_value_float();
  7129. for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
  7130. }
  7131. LOOP_XYZE(i) if (code_seen(axis_codes[i])) dac_current_percent(i, code_value_float());
  7132. #endif
  7133. }
  7134. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  7135. /**
  7136. * M908: Control digital trimpot directly (M908 P<pin> S<current>)
  7137. */
  7138. inline void gcode_M908() {
  7139. #if HAS_DIGIPOTSS
  7140. stepper.digitalPotWrite(
  7141. code_seen('P') ? code_value_int() : 0,
  7142. code_seen('S') ? code_value_int() : 0
  7143. );
  7144. #endif
  7145. #ifdef DAC_STEPPER_CURRENT
  7146. dac_current_raw(
  7147. code_seen('P') ? code_value_byte() : -1,
  7148. code_seen('S') ? code_value_ushort() : 0
  7149. );
  7150. #endif
  7151. }
  7152. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  7153. inline void gcode_M909() { dac_print_values(); }
  7154. inline void gcode_M910() { dac_commit_eeprom(); }
  7155. #endif
  7156. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  7157. #if HAS_MICROSTEPS
  7158. // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  7159. inline void gcode_M350() {
  7160. if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.microstep_mode(i, code_value_byte());
  7161. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_mode(i, code_value_byte());
  7162. if (code_seen('B')) stepper.microstep_mode(4, code_value_byte());
  7163. stepper.microstep_readings();
  7164. }
  7165. /**
  7166. * M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
  7167. * S# determines MS1 or MS2, X# sets the pin high/low.
  7168. */
  7169. inline void gcode_M351() {
  7170. if (code_seen('S')) switch (code_value_byte()) {
  7171. case 1:
  7172. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, code_value_byte(), -1);
  7173. if (code_seen('B')) stepper.microstep_ms(4, code_value_byte(), -1);
  7174. break;
  7175. case 2:
  7176. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, -1, code_value_byte());
  7177. if (code_seen('B')) stepper.microstep_ms(4, -1, code_value_byte());
  7178. break;
  7179. }
  7180. stepper.microstep_readings();
  7181. }
  7182. #endif // HAS_MICROSTEPS
  7183. #if HAS_CASE_LIGHT
  7184. uint8_t case_light_brightness = 255;
  7185. void update_case_light() {
  7186. digitalWrite(CASE_LIGHT_PIN, case_light_on != INVERT_CASE_LIGHT ? HIGH : LOW);
  7187. analogWrite(CASE_LIGHT_PIN, case_light_on != INVERT_CASE_LIGHT ? case_light_brightness : 0);
  7188. }
  7189. #endif // HAS_CASE_LIGHT
  7190. /**
  7191. * M355: Turn case lights on/off and set brightness
  7192. *
  7193. * S<bool> Turn case light on or off
  7194. * P<byte> Set case light brightness (PWM pin required)
  7195. */
  7196. inline void gcode_M355() {
  7197. #if HAS_CASE_LIGHT
  7198. if (code_seen('P')) case_light_brightness = code_value_byte();
  7199. if (code_seen('S')) case_light_on = code_value_bool();
  7200. update_case_light();
  7201. SERIAL_ECHO_START;
  7202. SERIAL_ECHOPGM("Case lights ");
  7203. case_light_on ? SERIAL_ECHOLNPGM("on") : SERIAL_ECHOLNPGM("off");
  7204. #else
  7205. SERIAL_ERROR_START;
  7206. SERIAL_ERRORLNPGM(MSG_ERR_M355_NONE);
  7207. #endif // HAS_CASE_LIGHT
  7208. }
  7209. #if ENABLED(MIXING_EXTRUDER)
  7210. /**
  7211. * M163: Set a single mix factor for a mixing extruder
  7212. * This is called "weight" by some systems.
  7213. *
  7214. * S[index] The channel index to set
  7215. * P[float] The mix value
  7216. *
  7217. */
  7218. inline void gcode_M163() {
  7219. int mix_index = code_seen('S') ? code_value_int() : 0;
  7220. if (mix_index < MIXING_STEPPERS) {
  7221. float mix_value = code_seen('P') ? code_value_float() : 0.0;
  7222. NOLESS(mix_value, 0.0);
  7223. mixing_factor[mix_index] = RECIPROCAL(mix_value);
  7224. }
  7225. }
  7226. #if MIXING_VIRTUAL_TOOLS > 1
  7227. /**
  7228. * M164: Store the current mix factors as a virtual tool.
  7229. *
  7230. * S[index] The virtual tool to store
  7231. *
  7232. */
  7233. inline void gcode_M164() {
  7234. int tool_index = code_seen('S') ? code_value_int() : 0;
  7235. if (tool_index < MIXING_VIRTUAL_TOOLS) {
  7236. normalize_mix();
  7237. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  7238. mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i];
  7239. }
  7240. }
  7241. #endif
  7242. #if ENABLED(DIRECT_MIXING_IN_G1)
  7243. /**
  7244. * M165: Set multiple mix factors for a mixing extruder.
  7245. * Factors that are left out will be set to 0.
  7246. * All factors together must add up to 1.0.
  7247. *
  7248. * A[factor] Mix factor for extruder stepper 1
  7249. * B[factor] Mix factor for extruder stepper 2
  7250. * C[factor] Mix factor for extruder stepper 3
  7251. * D[factor] Mix factor for extruder stepper 4
  7252. * H[factor] Mix factor for extruder stepper 5
  7253. * I[factor] Mix factor for extruder stepper 6
  7254. *
  7255. */
  7256. inline void gcode_M165() { gcode_get_mix(); }
  7257. #endif
  7258. #endif // MIXING_EXTRUDER
  7259. /**
  7260. * M999: Restart after being stopped
  7261. *
  7262. * Default behaviour is to flush the serial buffer and request
  7263. * a resend to the host starting on the last N line received.
  7264. *
  7265. * Sending "M999 S1" will resume printing without flushing the
  7266. * existing command buffer.
  7267. *
  7268. */
  7269. inline void gcode_M999() {
  7270. Running = true;
  7271. lcd_reset_alert_level();
  7272. if (code_seen('S') && code_value_bool()) return;
  7273. // gcode_LastN = Stopped_gcode_LastN;
  7274. FlushSerialRequestResend();
  7275. }
  7276. #if ENABLED(SWITCHING_EXTRUDER)
  7277. inline void move_extruder_servo(uint8_t e) {
  7278. const int angles[2] = SWITCHING_EXTRUDER_SERVO_ANGLES;
  7279. MOVE_SERVO(SWITCHING_EXTRUDER_SERVO_NR, angles[e]);
  7280. safe_delay(500);
  7281. }
  7282. #endif
  7283. inline void invalid_extruder_error(const uint8_t &e) {
  7284. SERIAL_ECHO_START;
  7285. SERIAL_CHAR('T');
  7286. SERIAL_ECHO_F(e, DEC);
  7287. SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
  7288. }
  7289. /**
  7290. * Perform a tool-change, which may result in moving the
  7291. * previous tool out of the way and the new tool into place.
  7292. */
  7293. void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
  7294. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  7295. if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
  7296. return invalid_extruder_error(tmp_extruder);
  7297. // T0-Tnnn: Switch virtual tool by changing the mix
  7298. for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
  7299. mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
  7300. #else //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  7301. #if HOTENDS > 1
  7302. if (tmp_extruder >= EXTRUDERS)
  7303. return invalid_extruder_error(tmp_extruder);
  7304. const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
  7305. feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  7306. if (tmp_extruder != active_extruder) {
  7307. if (!no_move && axis_unhomed_error(true, true, true)) {
  7308. SERIAL_ECHOLNPGM("No move on toolchange");
  7309. no_move = true;
  7310. }
  7311. // Save current position to destination, for use later
  7312. set_destination_to_current();
  7313. #if ENABLED(DUAL_X_CARRIAGE)
  7314. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7315. if (DEBUGGING(LEVELING)) {
  7316. SERIAL_ECHOPGM("Dual X Carriage Mode ");
  7317. switch (dual_x_carriage_mode) {
  7318. case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
  7319. case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
  7320. case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
  7321. }
  7322. }
  7323. #endif
  7324. const float xhome = x_home_pos(active_extruder);
  7325. if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
  7326. && IsRunning()
  7327. && (delayed_move_time || current_position[X_AXIS] != xhome)
  7328. ) {
  7329. float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT;
  7330. #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
  7331. NOMORE(raised_z, soft_endstop_max[Z_AXIS]);
  7332. #endif
  7333. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7334. if (DEBUGGING(LEVELING)) {
  7335. SERIAL_ECHOLNPAIR("Raise to ", raised_z);
  7336. SERIAL_ECHOLNPAIR("MoveX to ", xhome);
  7337. SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
  7338. }
  7339. #endif
  7340. // Park old head: 1) raise 2) move to park position 3) lower
  7341. for (uint8_t i = 0; i < 3; i++)
  7342. planner.buffer_line(
  7343. i == 0 ? current_position[X_AXIS] : xhome,
  7344. current_position[Y_AXIS],
  7345. i == 2 ? current_position[Z_AXIS] : raised_z,
  7346. current_position[E_AXIS],
  7347. planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
  7348. active_extruder
  7349. );
  7350. stepper.synchronize();
  7351. }
  7352. // Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
  7353. current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
  7354. current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
  7355. // Activate the new extruder
  7356. active_extruder = tmp_extruder;
  7357. // This function resets the max/min values - the current position may be overwritten below.
  7358. set_axis_is_at_home(X_AXIS);
  7359. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7360. if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
  7361. #endif
  7362. // Only when auto-parking are carriages safe to move
  7363. if (dual_x_carriage_mode != DXC_AUTO_PARK_MODE) no_move = true;
  7364. switch (dual_x_carriage_mode) {
  7365. case DXC_FULL_CONTROL_MODE:
  7366. // New current position is the position of the activated extruder
  7367. current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
  7368. // Save the inactive extruder's position (from the old current_position)
  7369. inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
  7370. break;
  7371. case DXC_AUTO_PARK_MODE:
  7372. // record raised toolhead position for use by unpark
  7373. COPY(raised_parked_position, current_position);
  7374. raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
  7375. #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
  7376. NOMORE(raised_parked_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
  7377. #endif
  7378. active_extruder_parked = true;
  7379. delayed_move_time = 0;
  7380. break;
  7381. case DXC_DUPLICATION_MODE:
  7382. // If the new extruder is the left one, set it "parked"
  7383. // This triggers the second extruder to move into the duplication position
  7384. active_extruder_parked = (active_extruder == 0);
  7385. if (active_extruder_parked)
  7386. current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
  7387. else
  7388. current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
  7389. inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
  7390. extruder_duplication_enabled = false;
  7391. break;
  7392. }
  7393. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7394. if (DEBUGGING(LEVELING)) {
  7395. SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
  7396. DEBUG_POS("New extruder (parked)", current_position);
  7397. }
  7398. #endif
  7399. // No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
  7400. #else // !DUAL_X_CARRIAGE
  7401. #if ENABLED(SWITCHING_EXTRUDER)
  7402. // <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
  7403. const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
  7404. z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
  7405. // Always raise by some amount (destination copied from current_position earlier)
  7406. current_position[Z_AXIS] += z_raise;
  7407. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
  7408. stepper.synchronize();
  7409. move_extruder_servo(active_extruder);
  7410. #endif
  7411. /**
  7412. * Set current_position to the position of the new nozzle.
  7413. * Offsets are based on linear distance, so we need to get
  7414. * the resulting position in coordinate space.
  7415. *
  7416. * - With grid or 3-point leveling, offset XYZ by a tilted vector
  7417. * - With mesh leveling, update Z for the new position
  7418. * - Otherwise, just use the raw linear distance
  7419. *
  7420. * Software endstops are altered here too. Consider a case where:
  7421. * E0 at X=0 ... E1 at X=10
  7422. * When we switch to E1 now X=10, but E1 can't move left.
  7423. * To express this we apply the change in XY to the software endstops.
  7424. * E1 can move farther right than E0, so the right limit is extended.
  7425. *
  7426. * Note that we don't adjust the Z software endstops. Why not?
  7427. * Consider a case where Z=0 (here) and switching to E1 makes Z=1
  7428. * because the bed is 1mm lower at the new position. As long as
  7429. * the first nozzle is out of the way, the carriage should be
  7430. * allowed to move 1mm lower. This technically "breaks" the
  7431. * Z software endstop. But this is technically correct (and
  7432. * there is no viable alternative).
  7433. */
  7434. #if ABL_PLANAR
  7435. // Offset extruder, make sure to apply the bed level rotation matrix
  7436. vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
  7437. hotend_offset[Y_AXIS][tmp_extruder],
  7438. 0),
  7439. act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
  7440. hotend_offset[Y_AXIS][active_extruder],
  7441. 0),
  7442. offset_vec = tmp_offset_vec - act_offset_vec;
  7443. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7444. if (DEBUGGING(LEVELING)) {
  7445. tmp_offset_vec.debug("tmp_offset_vec");
  7446. act_offset_vec.debug("act_offset_vec");
  7447. offset_vec.debug("offset_vec (BEFORE)");
  7448. }
  7449. #endif
  7450. offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
  7451. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7452. if (DEBUGGING(LEVELING)) offset_vec.debug("offset_vec (AFTER)");
  7453. #endif
  7454. // Adjustments to the current position
  7455. const float xydiff[2] = { offset_vec.x, offset_vec.y };
  7456. current_position[Z_AXIS] += offset_vec.z;
  7457. #else // !ABL_PLANAR
  7458. const float xydiff[2] = {
  7459. hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
  7460. hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
  7461. };
  7462. #if ENABLED(MESH_BED_LEVELING)
  7463. if (mbl.active()) {
  7464. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7465. if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before MBL: ", current_position[Z_AXIS]);
  7466. #endif
  7467. float x2 = current_position[X_AXIS] + xydiff[X_AXIS],
  7468. y2 = current_position[Y_AXIS] + xydiff[Y_AXIS],
  7469. z1 = current_position[Z_AXIS], z2 = z1;
  7470. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], z1);
  7471. planner.apply_leveling(x2, y2, z2);
  7472. current_position[Z_AXIS] += z2 - z1;
  7473. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7474. if (DEBUGGING(LEVELING))
  7475. SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]);
  7476. #endif
  7477. }
  7478. #endif // MESH_BED_LEVELING
  7479. #endif // !HAS_ABL
  7480. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7481. if (DEBUGGING(LEVELING)) {
  7482. SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
  7483. SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
  7484. SERIAL_ECHOLNPGM(" }");
  7485. }
  7486. #endif
  7487. // The newly-selected extruder XY is actually at...
  7488. current_position[X_AXIS] += xydiff[X_AXIS];
  7489. current_position[Y_AXIS] += xydiff[Y_AXIS];
  7490. #if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE)
  7491. for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
  7492. #if DISABLED(NO_WORKSPACE_OFFSETS)
  7493. position_shift[i] += xydiff[i];
  7494. #endif
  7495. update_software_endstops((AxisEnum)i);
  7496. }
  7497. #endif
  7498. // Set the new active extruder
  7499. active_extruder = tmp_extruder;
  7500. #endif // !DUAL_X_CARRIAGE
  7501. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7502. if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
  7503. #endif
  7504. // Tell the planner the new "current position"
  7505. SYNC_PLAN_POSITION_KINEMATIC();
  7506. // Move to the "old position" (move the extruder into place)
  7507. if (!no_move && IsRunning()) {
  7508. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7509. if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
  7510. #endif
  7511. prepare_move_to_destination();
  7512. }
  7513. #if ENABLED(SWITCHING_EXTRUDER)
  7514. // Move back down, if needed. (Including when the new tool is higher.)
  7515. if (z_raise != z_diff) {
  7516. destination[Z_AXIS] += z_diff;
  7517. feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS];
  7518. prepare_move_to_destination();
  7519. }
  7520. #endif
  7521. } // (tmp_extruder != active_extruder)
  7522. stepper.synchronize();
  7523. #if ENABLED(EXT_SOLENOID)
  7524. disable_all_solenoids();
  7525. enable_solenoid_on_active_extruder();
  7526. #endif // EXT_SOLENOID
  7527. feedrate_mm_s = old_feedrate_mm_s;
  7528. #else // HOTENDS <= 1
  7529. // Set the new active extruder
  7530. active_extruder = tmp_extruder;
  7531. UNUSED(fr_mm_s);
  7532. UNUSED(no_move);
  7533. #endif // HOTENDS <= 1
  7534. SERIAL_ECHO_START;
  7535. SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, (int)active_extruder);
  7536. #endif //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  7537. }
  7538. /**
  7539. * T0-T3: Switch tool, usually switching extruders
  7540. *
  7541. * F[units/min] Set the movement feedrate
  7542. * S1 Don't move the tool in XY after change
  7543. */
  7544. inline void gcode_T(uint8_t tmp_extruder) {
  7545. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7546. if (DEBUGGING(LEVELING)) {
  7547. SERIAL_ECHOPAIR(">>> gcode_T(", tmp_extruder);
  7548. SERIAL_CHAR(')');
  7549. SERIAL_EOL;
  7550. DEBUG_POS("BEFORE", current_position);
  7551. }
  7552. #endif
  7553. #if HOTENDS == 1 || (ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1)
  7554. tool_change(tmp_extruder);
  7555. #elif HOTENDS > 1
  7556. tool_change(
  7557. tmp_extruder,
  7558. code_seen('F') ? MMM_TO_MMS(code_value_axis_units(X_AXIS)) : 0.0,
  7559. (tmp_extruder == active_extruder) || (code_seen('S') && code_value_bool())
  7560. );
  7561. #endif
  7562. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7563. if (DEBUGGING(LEVELING)) {
  7564. DEBUG_POS("AFTER", current_position);
  7565. SERIAL_ECHOLNPGM("<<< gcode_T");
  7566. }
  7567. #endif
  7568. }
  7569. /**
  7570. * Process a single command and dispatch it to its handler
  7571. * This is called from the main loop()
  7572. */
  7573. void process_next_command() {
  7574. current_command = command_queue[cmd_queue_index_r];
  7575. if (DEBUGGING(ECHO)) {
  7576. SERIAL_ECHO_START;
  7577. SERIAL_ECHOLN(current_command);
  7578. }
  7579. // Sanitize the current command:
  7580. // - Skip leading spaces
  7581. // - Bypass N[-0-9][0-9]*[ ]*
  7582. // - Overwrite * with nul to mark the end
  7583. while (*current_command == ' ') ++current_command;
  7584. if (*current_command == 'N' && NUMERIC_SIGNED(current_command[1])) {
  7585. current_command += 2; // skip N[-0-9]
  7586. while (NUMERIC(*current_command)) ++current_command; // skip [0-9]*
  7587. while (*current_command == ' ') ++current_command; // skip [ ]*
  7588. }
  7589. char* starpos = strchr(current_command, '*'); // * should always be the last parameter
  7590. if (starpos) while (*starpos == ' ' || *starpos == '*') *starpos-- = '\0'; // nullify '*' and ' '
  7591. char *cmd_ptr = current_command;
  7592. // Get the command code, which must be G, M, or T
  7593. char command_code = *cmd_ptr++;
  7594. // Skip spaces to get the numeric part
  7595. while (*cmd_ptr == ' ') cmd_ptr++;
  7596. // Allow for decimal point in command
  7597. #if ENABLED(G38_PROBE_TARGET)
  7598. uint8_t subcode = 0;
  7599. #endif
  7600. uint16_t codenum = 0; // define ahead of goto
  7601. // Bail early if there's no code
  7602. bool code_is_good = NUMERIC(*cmd_ptr);
  7603. if (!code_is_good) goto ExitUnknownCommand;
  7604. // Get and skip the code number
  7605. do {
  7606. codenum = (codenum * 10) + (*cmd_ptr - '0');
  7607. cmd_ptr++;
  7608. } while (NUMERIC(*cmd_ptr));
  7609. // Allow for decimal point in command
  7610. #if ENABLED(G38_PROBE_TARGET)
  7611. if (*cmd_ptr == '.') {
  7612. cmd_ptr++;
  7613. while (NUMERIC(*cmd_ptr))
  7614. subcode = (subcode * 10) + (*cmd_ptr++ - '0');
  7615. }
  7616. #endif
  7617. // Skip all spaces to get to the first argument, or nul
  7618. while (*cmd_ptr == ' ') cmd_ptr++;
  7619. // The command's arguments (if any) start here, for sure!
  7620. current_command_args = cmd_ptr;
  7621. KEEPALIVE_STATE(IN_HANDLER);
  7622. // Handle a known G, M, or T
  7623. switch (command_code) {
  7624. case 'G': switch (codenum) {
  7625. // G0, G1
  7626. case 0:
  7627. case 1:
  7628. #if IS_SCARA
  7629. gcode_G0_G1(codenum == 0);
  7630. #else
  7631. gcode_G0_G1();
  7632. #endif
  7633. break;
  7634. // G2, G3
  7635. #if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
  7636. case 2: // G2 - CW ARC
  7637. case 3: // G3 - CCW ARC
  7638. gcode_G2_G3(codenum == 2);
  7639. break;
  7640. #endif
  7641. // G4 Dwell
  7642. case 4:
  7643. gcode_G4();
  7644. break;
  7645. #if ENABLED(BEZIER_CURVE_SUPPORT)
  7646. // G5
  7647. case 5: // G5 - Cubic B_spline
  7648. gcode_G5();
  7649. break;
  7650. #endif // BEZIER_CURVE_SUPPORT
  7651. #if ENABLED(FWRETRACT)
  7652. case 10: // G10: retract
  7653. case 11: // G11: retract_recover
  7654. gcode_G10_G11(codenum == 10);
  7655. break;
  7656. #endif // FWRETRACT
  7657. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  7658. case 12:
  7659. gcode_G12(); // G12: Nozzle Clean
  7660. break;
  7661. #endif // NOZZLE_CLEAN_FEATURE
  7662. #if ENABLED(INCH_MODE_SUPPORT)
  7663. case 20: //G20: Inch Mode
  7664. gcode_G20();
  7665. break;
  7666. case 21: //G21: MM Mode
  7667. gcode_G21();
  7668. break;
  7669. #endif // INCH_MODE_SUPPORT
  7670. #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_EDITING)
  7671. case 26: // G26: Mesh Validation Pattern generation
  7672. gcode_G26();
  7673. break;
  7674. #endif // AUTO_BED_LEVELING_UBL
  7675. #if ENABLED(NOZZLE_PARK_FEATURE)
  7676. case 27: // G27: Nozzle Park
  7677. gcode_G27();
  7678. break;
  7679. #endif // NOZZLE_PARK_FEATURE
  7680. case 28: // G28: Home all axes, one at a time
  7681. gcode_G28();
  7682. break;
  7683. #if PLANNER_LEVELING || ENABLED(AUTO_BED_LEVELING_UBL)
  7684. case 29: // G29 Detailed Z probe, probes the bed at 3 or more points,
  7685. // or provides access to the UBL System if enabled.
  7686. gcode_G29();
  7687. break;
  7688. #endif // PLANNER_LEVELING
  7689. #if HAS_BED_PROBE
  7690. case 30: // G30 Single Z probe
  7691. gcode_G30();
  7692. break;
  7693. #if ENABLED(Z_PROBE_SLED)
  7694. case 31: // G31: dock the sled
  7695. gcode_G31();
  7696. break;
  7697. case 32: // G32: undock the sled
  7698. gcode_G32();
  7699. break;
  7700. #endif // Z_PROBE_SLED
  7701. #endif // HAS_BED_PROBE
  7702. #if ENABLED(G38_PROBE_TARGET)
  7703. case 38: // G38.2 & G38.3
  7704. if (subcode == 2 || subcode == 3)
  7705. gcode_G38(subcode == 2);
  7706. break;
  7707. #endif
  7708. case 90: // G90
  7709. relative_mode = false;
  7710. break;
  7711. case 91: // G91
  7712. relative_mode = true;
  7713. break;
  7714. case 92: // G92
  7715. gcode_G92();
  7716. break;
  7717. }
  7718. break;
  7719. case 'M': switch (codenum) {
  7720. #if ENABLED(ULTIPANEL) || ENABLED(EMERGENCY_PARSER)
  7721. case 0: // M0: Unconditional stop - Wait for user button press on LCD
  7722. case 1: // M1: Conditional stop - Wait for user button press on LCD
  7723. gcode_M0_M1();
  7724. break;
  7725. #endif // ULTIPANEL
  7726. case 17: // M17: Enable all stepper motors
  7727. gcode_M17();
  7728. break;
  7729. #if ENABLED(SDSUPPORT)
  7730. case 20: // M20: list SD card
  7731. gcode_M20(); break;
  7732. case 21: // M21: init SD card
  7733. gcode_M21(); break;
  7734. case 22: // M22: release SD card
  7735. gcode_M22(); break;
  7736. case 23: // M23: Select file
  7737. gcode_M23(); break;
  7738. case 24: // M24: Start SD print
  7739. gcode_M24(); break;
  7740. case 25: // M25: Pause SD print
  7741. gcode_M25(); break;
  7742. case 26: // M26: Set SD index
  7743. gcode_M26(); break;
  7744. case 27: // M27: Get SD status
  7745. gcode_M27(); break;
  7746. case 28: // M28: Start SD write
  7747. gcode_M28(); break;
  7748. case 29: // M29: Stop SD write
  7749. gcode_M29(); break;
  7750. case 30: // M30 <filename> Delete File
  7751. gcode_M30(); break;
  7752. case 32: // M32: Select file and start SD print
  7753. gcode_M32(); break;
  7754. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  7755. case 33: // M33: Get the long full path to a file or folder
  7756. gcode_M33(); break;
  7757. #endif
  7758. #if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
  7759. case 34: //M34 - Set SD card sorting options
  7760. gcode_M34(); break;
  7761. #endif // SDCARD_SORT_ALPHA && SDSORT_GCODE
  7762. case 928: // M928: Start SD write
  7763. gcode_M928(); break;
  7764. #endif //SDSUPPORT
  7765. case 31: // M31: Report time since the start of SD print or last M109
  7766. gcode_M31(); break;
  7767. case 42: // M42: Change pin state
  7768. gcode_M42(); break;
  7769. #if ENABLED(PINS_DEBUGGING)
  7770. case 43: // M43: Read pin state
  7771. gcode_M43(); break;
  7772. #endif
  7773. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  7774. case 48: // M48: Z probe repeatability test
  7775. gcode_M48();
  7776. break;
  7777. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  7778. #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_EDITING)
  7779. case 49: // M49: Turn on or off G26 debug flag for verbose output
  7780. gcode_M49();
  7781. break;
  7782. #endif // AUTO_BED_LEVELING_UBL && UBL_G26_MESH_EDITING
  7783. case 75: // M75: Start print timer
  7784. gcode_M75(); break;
  7785. case 76: // M76: Pause print timer
  7786. gcode_M76(); break;
  7787. case 77: // M77: Stop print timer
  7788. gcode_M77(); break;
  7789. #if ENABLED(PRINTCOUNTER)
  7790. case 78: // M78: Show print statistics
  7791. gcode_M78(); break;
  7792. #endif
  7793. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  7794. case 100: // M100: Free Memory Report
  7795. gcode_M100();
  7796. break;
  7797. #endif
  7798. case 104: // M104: Set hot end temperature
  7799. gcode_M104();
  7800. break;
  7801. case 110: // M110: Set Current Line Number
  7802. gcode_M110();
  7803. break;
  7804. case 111: // M111: Set debug level
  7805. gcode_M111();
  7806. break;
  7807. #if DISABLED(EMERGENCY_PARSER)
  7808. case 108: // M108: Cancel Waiting
  7809. gcode_M108();
  7810. break;
  7811. case 112: // M112: Emergency Stop
  7812. gcode_M112();
  7813. break;
  7814. case 410: // M410 quickstop - Abort all the planned moves.
  7815. gcode_M410();
  7816. break;
  7817. #endif
  7818. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  7819. case 113: // M113: Set Host Keepalive interval
  7820. gcode_M113();
  7821. break;
  7822. #endif
  7823. case 140: // M140: Set bed temperature
  7824. gcode_M140();
  7825. break;
  7826. case 105: // M105: Report current temperature
  7827. gcode_M105();
  7828. KEEPALIVE_STATE(NOT_BUSY);
  7829. return; // "ok" already printed
  7830. #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
  7831. case 155: // M155: Set temperature auto-report interval
  7832. gcode_M155();
  7833. break;
  7834. #endif
  7835. case 109: // M109: Wait for hotend temperature to reach target
  7836. gcode_M109();
  7837. break;
  7838. #if HAS_TEMP_BED
  7839. case 190: // M190: Wait for bed temperature to reach target
  7840. gcode_M190();
  7841. break;
  7842. #endif // HAS_TEMP_BED
  7843. #if FAN_COUNT > 0
  7844. case 106: // M106: Fan On
  7845. gcode_M106();
  7846. break;
  7847. case 107: // M107: Fan Off
  7848. gcode_M107();
  7849. break;
  7850. #endif // FAN_COUNT > 0
  7851. #if ENABLED(PARK_HEAD_ON_PAUSE)
  7852. case 125: // M125: Store current position and move to filament change position
  7853. gcode_M125(); break;
  7854. #endif
  7855. #if ENABLED(BARICUDA)
  7856. // PWM for HEATER_1_PIN
  7857. #if HAS_HEATER_1
  7858. case 126: // M126: valve open
  7859. gcode_M126();
  7860. break;
  7861. case 127: // M127: valve closed
  7862. gcode_M127();
  7863. break;
  7864. #endif // HAS_HEATER_1
  7865. // PWM for HEATER_2_PIN
  7866. #if HAS_HEATER_2
  7867. case 128: // M128: valve open
  7868. gcode_M128();
  7869. break;
  7870. case 129: // M129: valve closed
  7871. gcode_M129();
  7872. break;
  7873. #endif // HAS_HEATER_2
  7874. #endif // BARICUDA
  7875. #if HAS_POWER_SWITCH
  7876. case 80: // M80: Turn on Power Supply
  7877. gcode_M80();
  7878. break;
  7879. #endif // HAS_POWER_SWITCH
  7880. case 81: // M81: Turn off Power, including Power Supply, if possible
  7881. gcode_M81();
  7882. break;
  7883. case 82: // M83: Set E axis normal mode (same as other axes)
  7884. gcode_M82();
  7885. break;
  7886. case 83: // M83: Set E axis relative mode
  7887. gcode_M83();
  7888. break;
  7889. case 18: // M18 => M84
  7890. case 84: // M84: Disable all steppers or set timeout
  7891. gcode_M18_M84();
  7892. break;
  7893. case 85: // M85: Set inactivity stepper shutdown timeout
  7894. gcode_M85();
  7895. break;
  7896. case 92: // M92: Set the steps-per-unit for one or more axes
  7897. gcode_M92();
  7898. break;
  7899. case 114: // M114: Report current position
  7900. gcode_M114();
  7901. break;
  7902. case 115: // M115: Report capabilities
  7903. gcode_M115();
  7904. break;
  7905. case 117: // M117: Set LCD message text, if possible
  7906. gcode_M117();
  7907. break;
  7908. case 119: // M119: Report endstop states
  7909. gcode_M119();
  7910. break;
  7911. case 120: // M120: Enable endstops
  7912. gcode_M120();
  7913. break;
  7914. case 121: // M121: Disable endstops
  7915. gcode_M121();
  7916. break;
  7917. #if ENABLED(ULTIPANEL)
  7918. case 145: // M145: Set material heatup parameters
  7919. gcode_M145();
  7920. break;
  7921. #endif
  7922. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  7923. case 149: // M149: Set temperature units
  7924. gcode_M149();
  7925. break;
  7926. #endif
  7927. #if ENABLED(BLINKM) || ENABLED(RGB_LED)
  7928. case 150: // M150: Set Status LED Color
  7929. gcode_M150();
  7930. break;
  7931. #endif // BLINKM
  7932. #if ENABLED(MIXING_EXTRUDER)
  7933. case 163: // M163: Set a component weight for mixing extruder
  7934. gcode_M163();
  7935. break;
  7936. #if MIXING_VIRTUAL_TOOLS > 1
  7937. case 164: // M164: Save current mix as a virtual extruder
  7938. gcode_M164();
  7939. break;
  7940. #endif
  7941. #if ENABLED(DIRECT_MIXING_IN_G1)
  7942. case 165: // M165: Set multiple mix weights
  7943. gcode_M165();
  7944. break;
  7945. #endif
  7946. #endif
  7947. case 200: // M200: Set filament diameter, E to cubic units
  7948. gcode_M200();
  7949. break;
  7950. case 201: // M201: Set max acceleration for print moves (units/s^2)
  7951. gcode_M201();
  7952. break;
  7953. #if 0 // Not used for Sprinter/grbl gen6
  7954. case 202: // M202
  7955. gcode_M202();
  7956. break;
  7957. #endif
  7958. case 203: // M203: Set max feedrate (units/sec)
  7959. gcode_M203();
  7960. break;
  7961. case 204: // M204: Set acceleration
  7962. gcode_M204();
  7963. break;
  7964. case 205: //M205: Set advanced settings
  7965. gcode_M205();
  7966. break;
  7967. #if DISABLED(NO_WORKSPACE_OFFSETS)
  7968. case 206: // M206: Set home offsets
  7969. gcode_M206();
  7970. break;
  7971. #endif
  7972. #if ENABLED(DELTA)
  7973. case 665: // M665: Set delta configurations
  7974. gcode_M665();
  7975. break;
  7976. #endif
  7977. #if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS)
  7978. case 666: // M666: Set delta or dual endstop adjustment
  7979. gcode_M666();
  7980. break;
  7981. #endif
  7982. #if ENABLED(FWRETRACT)
  7983. case 207: // M207: Set Retract Length, Feedrate, and Z lift
  7984. gcode_M207();
  7985. break;
  7986. case 208: // M208: Set Recover (unretract) Additional Length and Feedrate
  7987. gcode_M208();
  7988. break;
  7989. case 209: // M209: Turn Automatic Retract Detection on/off
  7990. gcode_M209();
  7991. break;
  7992. #endif // FWRETRACT
  7993. case 211: // M211: Enable, Disable, and/or Report software endstops
  7994. gcode_M211();
  7995. break;
  7996. #if HOTENDS > 1
  7997. case 218: // M218: Set a tool offset
  7998. gcode_M218();
  7999. break;
  8000. #endif
  8001. case 220: // M220: Set Feedrate Percentage: S<percent> ("FR" on your LCD)
  8002. gcode_M220();
  8003. break;
  8004. case 221: // M221: Set Flow Percentage
  8005. gcode_M221();
  8006. break;
  8007. case 226: // M226: Wait until a pin reaches a state
  8008. gcode_M226();
  8009. break;
  8010. #if HAS_SERVOS
  8011. case 280: // M280: Set servo position absolute
  8012. gcode_M280();
  8013. break;
  8014. #endif // HAS_SERVOS
  8015. #if HAS_BUZZER
  8016. case 300: // M300: Play beep tone
  8017. gcode_M300();
  8018. break;
  8019. #endif // HAS_BUZZER
  8020. #if ENABLED(PIDTEMP)
  8021. case 301: // M301: Set hotend PID parameters
  8022. gcode_M301();
  8023. break;
  8024. #endif // PIDTEMP
  8025. #if ENABLED(PIDTEMPBED)
  8026. case 304: // M304: Set bed PID parameters
  8027. gcode_M304();
  8028. break;
  8029. #endif // PIDTEMPBED
  8030. #if defined(CHDK) || HAS_PHOTOGRAPH
  8031. case 240: // M240: Trigger a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  8032. gcode_M240();
  8033. break;
  8034. #endif // CHDK || PHOTOGRAPH_PIN
  8035. #if HAS_LCD_CONTRAST
  8036. case 250: // M250: Set LCD contrast
  8037. gcode_M250();
  8038. break;
  8039. #endif // HAS_LCD_CONTRAST
  8040. #if ENABLED(EXPERIMENTAL_I2CBUS)
  8041. case 260: // M260: Send data to an i2c slave
  8042. gcode_M260();
  8043. break;
  8044. case 261: // M261: Request data from an i2c slave
  8045. gcode_M261();
  8046. break;
  8047. #endif // EXPERIMENTAL_I2CBUS
  8048. #if ENABLED(PREVENT_COLD_EXTRUSION)
  8049. case 302: // M302: Allow cold extrudes (set the minimum extrude temperature)
  8050. gcode_M302();
  8051. break;
  8052. #endif // PREVENT_COLD_EXTRUSION
  8053. case 303: // M303: PID autotune
  8054. gcode_M303();
  8055. break;
  8056. #if ENABLED(MORGAN_SCARA)
  8057. case 360: // M360: SCARA Theta pos1
  8058. if (gcode_M360()) return;
  8059. break;
  8060. case 361: // M361: SCARA Theta pos2
  8061. if (gcode_M361()) return;
  8062. break;
  8063. case 362: // M362: SCARA Psi pos1
  8064. if (gcode_M362()) return;
  8065. break;
  8066. case 363: // M363: SCARA Psi pos2
  8067. if (gcode_M363()) return;
  8068. break;
  8069. case 364: // M364: SCARA Psi pos3 (90 deg to Theta)
  8070. if (gcode_M364()) return;
  8071. break;
  8072. #endif // SCARA
  8073. case 400: // M400: Finish all moves
  8074. gcode_M400();
  8075. break;
  8076. #if HAS_BED_PROBE
  8077. case 401: // M401: Deploy probe
  8078. gcode_M401();
  8079. break;
  8080. case 402: // M402: Stow probe
  8081. gcode_M402();
  8082. break;
  8083. #endif // HAS_BED_PROBE
  8084. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  8085. case 404: // M404: Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
  8086. gcode_M404();
  8087. break;
  8088. case 405: // M405: Turn on filament sensor for control
  8089. gcode_M405();
  8090. break;
  8091. case 406: // M406: Turn off filament sensor for control
  8092. gcode_M406();
  8093. break;
  8094. case 407: // M407: Display measured filament diameter
  8095. gcode_M407();
  8096. break;
  8097. #endif // ENABLED(FILAMENT_WIDTH_SENSOR)
  8098. #if PLANNER_LEVELING
  8099. case 420: // M420: Enable/Disable Bed Leveling
  8100. gcode_M420();
  8101. break;
  8102. #endif
  8103. #if ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(AUTO_BED_LEVELING_BILINEAR)
  8104. case 421: // M421: Set a Mesh Bed Leveling Z coordinate
  8105. gcode_M421();
  8106. break;
  8107. #endif
  8108. #if DISABLED(NO_WORKSPACE_OFFSETS)
  8109. case 428: // M428: Apply current_position to home_offset
  8110. gcode_M428();
  8111. break;
  8112. #endif
  8113. case 500: // M500: Store settings in EEPROM
  8114. gcode_M500();
  8115. break;
  8116. case 501: // M501: Read settings from EEPROM
  8117. gcode_M501();
  8118. break;
  8119. case 502: // M502: Revert to default settings
  8120. gcode_M502();
  8121. break;
  8122. case 503: // M503: print settings currently in memory
  8123. gcode_M503();
  8124. break;
  8125. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  8126. case 540: // M540: Set abort on endstop hit for SD printing
  8127. gcode_M540();
  8128. break;
  8129. #endif
  8130. #if HAS_BED_PROBE
  8131. case 851: // M851: Set Z Probe Z Offset
  8132. gcode_M851();
  8133. break;
  8134. #endif // HAS_BED_PROBE
  8135. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  8136. case 600: // M600: Pause for filament change
  8137. gcode_M600();
  8138. break;
  8139. #endif // FILAMENT_CHANGE_FEATURE
  8140. #if ENABLED(DUAL_X_CARRIAGE)
  8141. case 605: // M605: Set Dual X Carriage movement mode
  8142. gcode_M605();
  8143. break;
  8144. #endif // DUAL_X_CARRIAGE
  8145. #if ENABLED(LIN_ADVANCE)
  8146. case 905: // M905: Set advance K factor.
  8147. gcode_M905();
  8148. break;
  8149. #endif
  8150. #if ENABLED(HAVE_TMC2130)
  8151. case 906: // M906: Set motor current in milliamps using axis codes X, Y, Z, E
  8152. gcode_M906();
  8153. break;
  8154. #endif
  8155. case 907: // M907: Set digital trimpot motor current using axis codes.
  8156. gcode_M907();
  8157. break;
  8158. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  8159. case 908: // M908: Control digital trimpot directly.
  8160. gcode_M908();
  8161. break;
  8162. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  8163. case 909: // M909: Print digipot/DAC current value
  8164. gcode_M909();
  8165. break;
  8166. case 910: // M910: Commit digipot/DAC value to external EEPROM
  8167. gcode_M910();
  8168. break;
  8169. #endif
  8170. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  8171. #if ENABLED(HAVE_TMC2130)
  8172. case 911: // M911: Report TMC2130 prewarn triggered flags
  8173. gcode_M911();
  8174. break;
  8175. case 912: // M911: Clear TMC2130 prewarn triggered flags
  8176. gcode_M912();
  8177. break;
  8178. #endif
  8179. #if HAS_MICROSTEPS
  8180. case 350: // M350: Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  8181. gcode_M350();
  8182. break;
  8183. case 351: // M351: Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  8184. gcode_M351();
  8185. break;
  8186. #endif // HAS_MICROSTEPS
  8187. case 355: // M355 Turn case lights on/off
  8188. gcode_M355();
  8189. break;
  8190. case 999: // M999: Restart after being Stopped
  8191. gcode_M999();
  8192. break;
  8193. }
  8194. break;
  8195. case 'T':
  8196. gcode_T(codenum);
  8197. break;
  8198. default: code_is_good = false;
  8199. }
  8200. KEEPALIVE_STATE(NOT_BUSY);
  8201. ExitUnknownCommand:
  8202. // Still unknown command? Throw an error
  8203. if (!code_is_good) unknown_command_error();
  8204. ok_to_send();
  8205. }
  8206. /**
  8207. * Send a "Resend: nnn" message to the host to
  8208. * indicate that a command needs to be re-sent.
  8209. */
  8210. void FlushSerialRequestResend() {
  8211. //char command_queue[cmd_queue_index_r][100]="Resend:";
  8212. MYSERIAL.flush();
  8213. SERIAL_PROTOCOLPGM(MSG_RESEND);
  8214. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  8215. ok_to_send();
  8216. }
  8217. /**
  8218. * Send an "ok" message to the host, indicating
  8219. * that a command was successfully processed.
  8220. *
  8221. * If ADVANCED_OK is enabled also include:
  8222. * N<int> Line number of the command, if any
  8223. * P<int> Planner space remaining
  8224. * B<int> Block queue space remaining
  8225. */
  8226. void ok_to_send() {
  8227. refresh_cmd_timeout();
  8228. if (!send_ok[cmd_queue_index_r]) return;
  8229. SERIAL_PROTOCOLPGM(MSG_OK);
  8230. #if ENABLED(ADVANCED_OK)
  8231. char* p = command_queue[cmd_queue_index_r];
  8232. if (*p == 'N') {
  8233. SERIAL_PROTOCOL(' ');
  8234. SERIAL_ECHO(*p++);
  8235. while (NUMERIC_SIGNED(*p))
  8236. SERIAL_ECHO(*p++);
  8237. }
  8238. SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
  8239. SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
  8240. #endif
  8241. SERIAL_EOL;
  8242. }
  8243. #if HAS_SOFTWARE_ENDSTOPS
  8244. /**
  8245. * Constrain the given coordinates to the software endstops.
  8246. */
  8247. void clamp_to_software_endstops(float target[XYZ]) {
  8248. if (!soft_endstops_enabled) return;
  8249. #if ENABLED(MIN_SOFTWARE_ENDSTOPS)
  8250. NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
  8251. NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
  8252. NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
  8253. #endif
  8254. #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
  8255. NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
  8256. NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
  8257. NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
  8258. #endif
  8259. }
  8260. #endif
  8261. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  8262. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  8263. #define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A]
  8264. #define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X
  8265. #define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y
  8266. #define ABL_BG_GRID(X,Y) bed_level_grid_virt[X][Y]
  8267. #else
  8268. #define ABL_BG_SPACING(A) bilinear_grid_spacing[A]
  8269. #define ABL_BG_POINTS_X GRID_MAX_POINTS_X
  8270. #define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y
  8271. #define ABL_BG_GRID(X,Y) bed_level_grid[X][Y]
  8272. #endif
  8273. // Get the Z adjustment for non-linear bed leveling
  8274. float bilinear_z_offset(float cartesian[XYZ]) {
  8275. // XY relative to the probed area
  8276. const float x = RAW_X_POSITION(cartesian[X_AXIS]) - bilinear_start[X_AXIS],
  8277. y = RAW_Y_POSITION(cartesian[Y_AXIS]) - bilinear_start[Y_AXIS];
  8278. // Convert to grid box units
  8279. float ratio_x = x / ABL_BG_SPACING(X_AXIS),
  8280. ratio_y = y / ABL_BG_SPACING(Y_AXIS);
  8281. // Whole units for the grid line indices. Constrained within bounds.
  8282. const int gridx = constrain(floor(ratio_x), 0, ABL_BG_POINTS_X - 1),
  8283. gridy = constrain(floor(ratio_y), 0, ABL_BG_POINTS_Y - 1),
  8284. nextx = min(gridx + 1, ABL_BG_POINTS_X - 1),
  8285. nexty = min(gridy + 1, ABL_BG_POINTS_Y - 1);
  8286. // Subtract whole to get the ratio within the grid box
  8287. ratio_x -= gridx; ratio_y -= gridy;
  8288. // Never less than 0.0. (Over 1.0 is fine due to previous contraints.)
  8289. NOLESS(ratio_x, 0); NOLESS(ratio_y, 0);
  8290. // Z at the box corners
  8291. const float z1 = ABL_BG_GRID(gridx, gridy), // left-front
  8292. z2 = ABL_BG_GRID(gridx, nexty), // left-back
  8293. z3 = ABL_BG_GRID(nextx, gridy), // right-front
  8294. z4 = ABL_BG_GRID(nextx, nexty), // right-back
  8295. // Bilinear interpolate
  8296. L = z1 + (z2 - z1) * ratio_y, // Linear interp. LF -> LB
  8297. R = z3 + (z4 - z3) * ratio_y, // Linear interp. RF -> RB
  8298. offset = L + ratio_x * (R - L);
  8299. /*
  8300. static float last_offset = 0;
  8301. if (fabs(last_offset - offset) > 0.2) {
  8302. SERIAL_ECHOPGM("Sudden Shift at ");
  8303. SERIAL_ECHOPAIR("x=", x);
  8304. SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[X_AXIS]);
  8305. SERIAL_ECHOLNPAIR(" -> gridx=", gridx);
  8306. SERIAL_ECHOPAIR(" y=", y);
  8307. SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[Y_AXIS]);
  8308. SERIAL_ECHOLNPAIR(" -> gridy=", gridy);
  8309. SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
  8310. SERIAL_ECHOLNPAIR(" ratio_y=", ratio_y);
  8311. SERIAL_ECHOPAIR(" z1=", z1);
  8312. SERIAL_ECHOPAIR(" z2=", z2);
  8313. SERIAL_ECHOPAIR(" z3=", z3);
  8314. SERIAL_ECHOLNPAIR(" z4=", z4);
  8315. SERIAL_ECHOPAIR(" L=", L);
  8316. SERIAL_ECHOPAIR(" R=", R);
  8317. SERIAL_ECHOLNPAIR(" offset=", offset);
  8318. }
  8319. last_offset = offset;
  8320. */
  8321. return offset;
  8322. }
  8323. #endif // AUTO_BED_LEVELING_BILINEAR
  8324. #if ENABLED(DELTA)
  8325. /**
  8326. * Recalculate factors used for delta kinematics whenever
  8327. * settings have been changed (e.g., by M665).
  8328. */
  8329. void recalc_delta_settings(float radius, float diagonal_rod) {
  8330. delta_tower[A_AXIS][X_AXIS] = -sin(RADIANS(60 - delta_tower_angle_trim[A_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
  8331. delta_tower[A_AXIS][Y_AXIS] = -cos(RADIANS(60 - delta_tower_angle_trim[A_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_1);
  8332. delta_tower[B_AXIS][X_AXIS] = sin(RADIANS(60 + delta_tower_angle_trim[B_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
  8333. delta_tower[B_AXIS][Y_AXIS] = -cos(RADIANS(60 + delta_tower_angle_trim[B_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_2);
  8334. delta_tower[C_AXIS][X_AXIS] = -sin(RADIANS( delta_tower_angle_trim[C_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_3); // back middle tower
  8335. delta_tower[C_AXIS][Y_AXIS] = cos(RADIANS( delta_tower_angle_trim[C_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_3);
  8336. delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[A_AXIS]);
  8337. delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[B_AXIS]);
  8338. delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[C_AXIS]);
  8339. }
  8340. #if ENABLED(DELTA_FAST_SQRT)
  8341. /**
  8342. * Fast inverse sqrt from Quake III Arena
  8343. * See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
  8344. */
  8345. float Q_rsqrt(float number) {
  8346. long i;
  8347. float x2, y;
  8348. const float threehalfs = 1.5f;
  8349. x2 = number * 0.5f;
  8350. y = number;
  8351. i = * ( long * ) &y; // evil floating point bit level hacking
  8352. i = 0x5f3759df - ( i >> 1 ); // what the f***?
  8353. y = * ( float * ) &i;
  8354. y = y * ( threehalfs - ( x2 * y * y ) ); // 1st iteration
  8355. // y = y * ( threehalfs - ( x2 * y * y ) ); // 2nd iteration, this can be removed
  8356. return y;
  8357. }
  8358. #define _SQRT(n) (1.0f / Q_rsqrt(n))
  8359. #else
  8360. #define _SQRT(n) sqrt(n)
  8361. #endif
  8362. /**
  8363. * Delta Inverse Kinematics
  8364. *
  8365. * Calculate the tower positions for a given logical
  8366. * position, storing the result in the delta[] array.
  8367. *
  8368. * This is an expensive calculation, requiring 3 square
  8369. * roots per segmented linear move, and strains the limits
  8370. * of a Mega2560 with a Graphical Display.
  8371. *
  8372. * Suggested optimizations include:
  8373. *
  8374. * - Disable the home_offset (M206) and/or position_shift (G92)
  8375. * features to remove up to 12 float additions.
  8376. *
  8377. * - Use a fast-inverse-sqrt function and add the reciprocal.
  8378. * (see above)
  8379. */
  8380. // Macro to obtain the Z position of an individual tower
  8381. #define DELTA_Z(T) raw[Z_AXIS] + _SQRT( \
  8382. delta_diagonal_rod_2_tower[T] - HYPOT2( \
  8383. delta_tower[T][X_AXIS] - raw[X_AXIS], \
  8384. delta_tower[T][Y_AXIS] - raw[Y_AXIS] \
  8385. ) \
  8386. )
  8387. #define DELTA_RAW_IK() do { \
  8388. delta[A_AXIS] = DELTA_Z(A_AXIS); \
  8389. delta[B_AXIS] = DELTA_Z(B_AXIS); \
  8390. delta[C_AXIS] = DELTA_Z(C_AXIS); \
  8391. } while(0)
  8392. #define DELTA_LOGICAL_IK() do { \
  8393. const float raw[XYZ] = { \
  8394. RAW_X_POSITION(logical[X_AXIS]), \
  8395. RAW_Y_POSITION(logical[Y_AXIS]), \
  8396. RAW_Z_POSITION(logical[Z_AXIS]) \
  8397. }; \
  8398. DELTA_RAW_IK(); \
  8399. } while(0)
  8400. #define DELTA_DEBUG() do { \
  8401. SERIAL_ECHOPAIR("cartesian X:", raw[X_AXIS]); \
  8402. SERIAL_ECHOPAIR(" Y:", raw[Y_AXIS]); \
  8403. SERIAL_ECHOLNPAIR(" Z:", raw[Z_AXIS]); \
  8404. SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]); \
  8405. SERIAL_ECHOPAIR(" B:", delta[B_AXIS]); \
  8406. SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); \
  8407. } while(0)
  8408. void inverse_kinematics(const float logical[XYZ]) {
  8409. DELTA_LOGICAL_IK();
  8410. // DELTA_DEBUG();
  8411. }
  8412. /**
  8413. * Calculate the highest Z position where the
  8414. * effector has the full range of XY motion.
  8415. */
  8416. float delta_safe_distance_from_top() {
  8417. float cartesian[XYZ] = {
  8418. LOGICAL_X_POSITION(0),
  8419. LOGICAL_Y_POSITION(0),
  8420. LOGICAL_Z_POSITION(0)
  8421. };
  8422. inverse_kinematics(cartesian);
  8423. float distance = delta[A_AXIS];
  8424. cartesian[Y_AXIS] = LOGICAL_Y_POSITION(DELTA_PRINTABLE_RADIUS);
  8425. inverse_kinematics(cartesian);
  8426. return abs(distance - delta[A_AXIS]);
  8427. }
  8428. /**
  8429. * Delta Forward Kinematics
  8430. *
  8431. * See the Wikipedia article "Trilateration"
  8432. * https://en.wikipedia.org/wiki/Trilateration
  8433. *
  8434. * Establish a new coordinate system in the plane of the
  8435. * three carriage points. This system has its origin at
  8436. * tower1, with tower2 on the X axis. Tower3 is in the X-Y
  8437. * plane with a Z component of zero.
  8438. * We will define unit vectors in this coordinate system
  8439. * in our original coordinate system. Then when we calculate
  8440. * the Xnew, Ynew and Znew values, we can translate back into
  8441. * the original system by moving along those unit vectors
  8442. * by the corresponding values.
  8443. *
  8444. * Variable names matched to Marlin, c-version, and avoid the
  8445. * use of any vector library.
  8446. *
  8447. * by Andreas Hardtung 2016-06-07
  8448. * based on a Java function from "Delta Robot Kinematics V3"
  8449. * by Steve Graves
  8450. *
  8451. * The result is stored in the cartes[] array.
  8452. */
  8453. void forward_kinematics_DELTA(float z1, float z2, float z3) {
  8454. // Create a vector in old coordinates along x axis of new coordinate
  8455. float p12[3] = { delta_tower[B_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[B_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z2 - z1 };
  8456. // Get the Magnitude of vector.
  8457. float d = sqrt( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) );
  8458. // Create unit vector by dividing by magnitude.
  8459. float ex[3] = { p12[0] / d, p12[1] / d, p12[2] / d };
  8460. // Get the vector from the origin of the new system to the third point.
  8461. float p13[3] = { delta_tower[C_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[C_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z3 - z1 };
  8462. // Use the dot product to find the component of this vector on the X axis.
  8463. float i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2];
  8464. // Create a vector along the x axis that represents the x component of p13.
  8465. float iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i };
  8466. // Subtract the X component from the original vector leaving only Y. We use the
  8467. // variable that will be the unit vector after we scale it.
  8468. float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] };
  8469. // The magnitude of Y component
  8470. float j = sqrt( sq(ey[0]) + sq(ey[1]) + sq(ey[2]) );
  8471. // Convert to a unit vector
  8472. ey[0] /= j; ey[1] /= j; ey[2] /= j;
  8473. // The cross product of the unit x and y is the unit z
  8474. // float[] ez = vectorCrossProd(ex, ey);
  8475. float ez[3] = {
  8476. ex[1] * ey[2] - ex[2] * ey[1],
  8477. ex[2] * ey[0] - ex[0] * ey[2],
  8478. ex[0] * ey[1] - ex[1] * ey[0]
  8479. };
  8480. // We now have the d, i and j values defined in Wikipedia.
  8481. // Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
  8482. float Xnew = (delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[B_AXIS] + sq(d)) / (d * 2),
  8483. Ynew = ((delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[C_AXIS] + HYPOT2(i, j)) / 2 - i * Xnew) / j,
  8484. Znew = sqrt(delta_diagonal_rod_2_tower[A_AXIS] - HYPOT2(Xnew, Ynew));
  8485. // Start from the origin of the old coordinates and add vectors in the
  8486. // old coords that represent the Xnew, Ynew and Znew to find the point
  8487. // in the old system.
  8488. cartes[X_AXIS] = delta_tower[A_AXIS][X_AXIS] + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew;
  8489. cartes[Y_AXIS] = delta_tower[A_AXIS][Y_AXIS] + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew;
  8490. cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
  8491. }
  8492. void forward_kinematics_DELTA(float point[ABC]) {
  8493. forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
  8494. }
  8495. #endif // DELTA
  8496. /**
  8497. * Get the stepper positions in the cartes[] array.
  8498. * Forward kinematics are applied for DELTA and SCARA.
  8499. *
  8500. * The result is in the current coordinate space with
  8501. * leveling applied. The coordinates need to be run through
  8502. * unapply_leveling to obtain the "ideal" coordinates
  8503. * suitable for current_position, etc.
  8504. */
  8505. void get_cartesian_from_steppers() {
  8506. #if ENABLED(DELTA)
  8507. forward_kinematics_DELTA(
  8508. stepper.get_axis_position_mm(A_AXIS),
  8509. stepper.get_axis_position_mm(B_AXIS),
  8510. stepper.get_axis_position_mm(C_AXIS)
  8511. );
  8512. cartes[X_AXIS] += LOGICAL_X_POSITION(0);
  8513. cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
  8514. cartes[Z_AXIS] += LOGICAL_Z_POSITION(0);
  8515. #elif IS_SCARA
  8516. forward_kinematics_SCARA(
  8517. stepper.get_axis_position_degrees(A_AXIS),
  8518. stepper.get_axis_position_degrees(B_AXIS)
  8519. );
  8520. cartes[X_AXIS] += LOGICAL_X_POSITION(0);
  8521. cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
  8522. cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
  8523. #else
  8524. cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
  8525. cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
  8526. cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
  8527. #endif
  8528. }
  8529. /**
  8530. * Set the current_position for an axis based on
  8531. * the stepper positions, removing any leveling that
  8532. * may have been applied.
  8533. */
  8534. void set_current_from_steppers_for_axis(const AxisEnum axis) {
  8535. get_cartesian_from_steppers();
  8536. #if PLANNER_LEVELING && DISABLED(AUTO_BED_LEVELING_UBL)
  8537. planner.unapply_leveling(cartes);
  8538. #endif
  8539. if (axis == ALL_AXES)
  8540. COPY(current_position, cartes);
  8541. else
  8542. current_position[axis] = cartes[axis];
  8543. }
  8544. #if ENABLED(MESH_BED_LEVELING)
  8545. /**
  8546. * Prepare a mesh-leveled linear move in a Cartesian setup,
  8547. * splitting the move where it crosses mesh borders.
  8548. */
  8549. void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
  8550. int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X_AXIS)),
  8551. cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y_AXIS)),
  8552. cx2 = mbl.cell_index_x(RAW_X_POSITION(destination[X_AXIS])),
  8553. cy2 = mbl.cell_index_y(RAW_Y_POSITION(destination[Y_AXIS]));
  8554. NOMORE(cx1, GRID_MAX_POINTS_X - 2);
  8555. NOMORE(cy1, GRID_MAX_POINTS_Y - 2);
  8556. NOMORE(cx2, GRID_MAX_POINTS_X - 2);
  8557. NOMORE(cy2, GRID_MAX_POINTS_Y - 2);
  8558. if (cx1 == cx2 && cy1 == cy2) {
  8559. // Start and end on same mesh square
  8560. line_to_destination(fr_mm_s);
  8561. set_current_to_destination();
  8562. return;
  8563. }
  8564. #define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
  8565. float normalized_dist, end[XYZE];
  8566. // Split at the left/front border of the right/top square
  8567. const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
  8568. if (cx2 != cx1 && TEST(x_splits, gcx)) {
  8569. COPY(end, destination);
  8570. destination[X_AXIS] = LOGICAL_X_POSITION(mbl.index_to_xpos[gcx]);
  8571. normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
  8572. destination[Y_AXIS] = MBL_SEGMENT_END(Y);
  8573. CBI(x_splits, gcx);
  8574. }
  8575. else if (cy2 != cy1 && TEST(y_splits, gcy)) {
  8576. COPY(end, destination);
  8577. destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.index_to_ypos[gcy]);
  8578. normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
  8579. destination[X_AXIS] = MBL_SEGMENT_END(X);
  8580. CBI(y_splits, gcy);
  8581. }
  8582. else {
  8583. // Already split on a border
  8584. line_to_destination(fr_mm_s);
  8585. set_current_to_destination();
  8586. return;
  8587. }
  8588. destination[Z_AXIS] = MBL_SEGMENT_END(Z);
  8589. destination[E_AXIS] = MBL_SEGMENT_END(E);
  8590. // Do the split and look for more borders
  8591. mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
  8592. // Restore destination from stack
  8593. COPY(destination, end);
  8594. mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
  8595. }
  8596. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) && !IS_KINEMATIC
  8597. #define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) / ABL_BG_SPACING(A##_AXIS))
  8598. /**
  8599. * Prepare a bilinear-leveled linear move on Cartesian,
  8600. * splitting the move where it crosses grid borders.
  8601. */
  8602. void bilinear_line_to_destination(float fr_mm_s, uint16_t x_splits = 0xFFFF, uint16_t y_splits = 0xFFFF) {
  8603. int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
  8604. cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
  8605. cx2 = CELL_INDEX(X, destination[X_AXIS]),
  8606. cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
  8607. cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2);
  8608. cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2);
  8609. cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2);
  8610. cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2);
  8611. if (cx1 == cx2 && cy1 == cy2) {
  8612. // Start and end on same mesh square
  8613. line_to_destination(fr_mm_s);
  8614. set_current_to_destination();
  8615. return;
  8616. }
  8617. #define LINE_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
  8618. float normalized_dist, end[XYZE];
  8619. // Split at the left/front border of the right/top square
  8620. const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
  8621. if (cx2 != cx1 && TEST(x_splits, gcx)) {
  8622. COPY(end, destination);
  8623. destination[X_AXIS] = LOGICAL_X_POSITION(bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx);
  8624. normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
  8625. destination[Y_AXIS] = LINE_SEGMENT_END(Y);
  8626. CBI(x_splits, gcx);
  8627. }
  8628. else if (cy2 != cy1 && TEST(y_splits, gcy)) {
  8629. COPY(end, destination);
  8630. destination[Y_AXIS] = LOGICAL_Y_POSITION(bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy);
  8631. normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
  8632. destination[X_AXIS] = LINE_SEGMENT_END(X);
  8633. CBI(y_splits, gcy);
  8634. }
  8635. else {
  8636. // Already split on a border
  8637. line_to_destination(fr_mm_s);
  8638. set_current_to_destination();
  8639. return;
  8640. }
  8641. destination[Z_AXIS] = LINE_SEGMENT_END(Z);
  8642. destination[E_AXIS] = LINE_SEGMENT_END(E);
  8643. // Do the split and look for more borders
  8644. bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
  8645. // Restore destination from stack
  8646. COPY(destination, end);
  8647. bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
  8648. }
  8649. #endif // AUTO_BED_LEVELING_BILINEAR
  8650. #if IS_KINEMATIC
  8651. /**
  8652. * Prepare a linear move in a DELTA or SCARA setup.
  8653. *
  8654. * This calls planner.buffer_line several times, adding
  8655. * small incremental moves for DELTA or SCARA.
  8656. */
  8657. inline bool prepare_kinematic_move_to(float ltarget[XYZE]) {
  8658. // Get the top feedrate of the move in the XY plane
  8659. float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
  8660. // If the move is only in Z/E don't split up the move
  8661. if (ltarget[X_AXIS] == current_position[X_AXIS] && ltarget[Y_AXIS] == current_position[Y_AXIS]) {
  8662. planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
  8663. return true;
  8664. }
  8665. // Get the cartesian distances moved in XYZE
  8666. float difference[XYZE];
  8667. LOOP_XYZE(i) difference[i] = ltarget[i] - current_position[i];
  8668. // Get the linear distance in XYZ
  8669. float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
  8670. // If the move is very short, check the E move distance
  8671. if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = abs(difference[E_AXIS]);
  8672. // No E move either? Game over.
  8673. if (UNEAR_ZERO(cartesian_mm)) return false;
  8674. // Minimum number of seconds to move the given distance
  8675. float seconds = cartesian_mm / _feedrate_mm_s;
  8676. // The number of segments-per-second times the duration
  8677. // gives the number of segments
  8678. uint16_t segments = delta_segments_per_second * seconds;
  8679. // For SCARA minimum segment size is 0.25mm
  8680. #if IS_SCARA
  8681. NOMORE(segments, cartesian_mm * 4);
  8682. #endif
  8683. // At least one segment is required
  8684. NOLESS(segments, 1);
  8685. // The approximate length of each segment
  8686. const float inv_segments = 1.0 / float(segments),
  8687. segment_distance[XYZE] = {
  8688. difference[X_AXIS] * inv_segments,
  8689. difference[Y_AXIS] * inv_segments,
  8690. difference[Z_AXIS] * inv_segments,
  8691. difference[E_AXIS] * inv_segments
  8692. };
  8693. // SERIAL_ECHOPAIR("mm=", cartesian_mm);
  8694. // SERIAL_ECHOPAIR(" seconds=", seconds);
  8695. // SERIAL_ECHOLNPAIR(" segments=", segments);
  8696. #if IS_SCARA
  8697. // SCARA needs to scale the feed rate from mm/s to degrees/s
  8698. const float inv_segment_length = min(10.0, float(segments) / cartesian_mm), // 1/mm/segs
  8699. feed_factor = inv_segment_length * _feedrate_mm_s;
  8700. float oldA = stepper.get_axis_position_degrees(A_AXIS),
  8701. oldB = stepper.get_axis_position_degrees(B_AXIS);
  8702. #endif
  8703. // Get the logical current position as starting point
  8704. float logical[XYZE];
  8705. COPY(logical, current_position);
  8706. // Drop one segment so the last move is to the exact target.
  8707. // If there's only 1 segment, loops will be skipped entirely.
  8708. --segments;
  8709. // Calculate and execute the segments
  8710. for (uint16_t s = segments + 1; --s;) {
  8711. LOOP_XYZE(i) logical[i] += segment_distance[i];
  8712. #if ENABLED(DELTA)
  8713. DELTA_LOGICAL_IK(); // Delta can inline its kinematics
  8714. #else
  8715. inverse_kinematics(logical);
  8716. #endif
  8717. ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
  8718. #if IS_SCARA
  8719. // For SCARA scale the feed rate from mm/s to degrees/s
  8720. // Use ratio between the length of the move and the larger angle change
  8721. const float adiff = abs(delta[A_AXIS] - oldA),
  8722. bdiff = abs(delta[B_AXIS] - oldB);
  8723. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
  8724. oldA = delta[A_AXIS];
  8725. oldB = delta[B_AXIS];
  8726. #else
  8727. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
  8728. #endif
  8729. }
  8730. // Since segment_distance is only approximate,
  8731. // the final move must be to the exact destination.
  8732. #if IS_SCARA
  8733. // For SCARA scale the feed rate from mm/s to degrees/s
  8734. // With segments > 1 length is 1 segment, otherwise total length
  8735. inverse_kinematics(ltarget);
  8736. ADJUST_DELTA(logical);
  8737. const float adiff = abs(delta[A_AXIS] - oldA),
  8738. bdiff = abs(delta[B_AXIS] - oldB);
  8739. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
  8740. #else
  8741. planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
  8742. #endif
  8743. return true;
  8744. }
  8745. #else // !IS_KINEMATIC
  8746. /**
  8747. * Prepare a linear move in a Cartesian setup.
  8748. * If Mesh Bed Leveling is enabled, perform a mesh move.
  8749. *
  8750. * Returns true if the caller didn't update current_position.
  8751. */
  8752. inline bool prepare_move_to_destination_cartesian() {
  8753. // Do not use feedrate_percentage for E or Z only moves
  8754. if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
  8755. line_to_destination();
  8756. }
  8757. else {
  8758. #if ENABLED(MESH_BED_LEVELING)
  8759. if (mbl.active()) {
  8760. mesh_line_to_destination(MMS_SCALED(feedrate_mm_s));
  8761. return false;
  8762. }
  8763. else
  8764. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  8765. if (ubl.state.active) {
  8766. ubl_line_to_destination(MMS_SCALED(feedrate_mm_s), active_extruder);
  8767. return false;
  8768. }
  8769. else
  8770. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  8771. if (planner.abl_enabled) {
  8772. bilinear_line_to_destination(MMS_SCALED(feedrate_mm_s));
  8773. return false;
  8774. }
  8775. else
  8776. #endif
  8777. line_to_destination(MMS_SCALED(feedrate_mm_s));
  8778. }
  8779. return true;
  8780. }
  8781. #endif // !IS_KINEMATIC
  8782. #if ENABLED(DUAL_X_CARRIAGE)
  8783. /**
  8784. * Prepare a linear move in a dual X axis setup
  8785. */
  8786. inline bool prepare_move_to_destination_dualx() {
  8787. if (active_extruder_parked) {
  8788. switch (dual_x_carriage_mode) {
  8789. case DXC_FULL_CONTROL_MODE:
  8790. break;
  8791. case DXC_AUTO_PARK_MODE:
  8792. if (current_position[E_AXIS] == destination[E_AXIS]) {
  8793. // This is a travel move (with no extrusion)
  8794. // Skip it, but keep track of the current position
  8795. // (so it can be used as the start of the next non-travel move)
  8796. if (delayed_move_time != 0xFFFFFFFFUL) {
  8797. set_current_to_destination();
  8798. NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
  8799. delayed_move_time = millis();
  8800. return false;
  8801. }
  8802. }
  8803. // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
  8804. for (uint8_t i = 0; i < 3; i++)
  8805. planner.buffer_line(
  8806. i == 0 ? raised_parked_position[X_AXIS] : current_position[X_AXIS],
  8807. i == 0 ? raised_parked_position[Y_AXIS] : current_position[Y_AXIS],
  8808. i == 2 ? current_position[Z_AXIS] : raised_parked_position[Z_AXIS],
  8809. current_position[E_AXIS],
  8810. i == 1 ? PLANNER_XY_FEEDRATE() : planner.max_feedrate_mm_s[Z_AXIS],
  8811. active_extruder
  8812. );
  8813. delayed_move_time = 0;
  8814. active_extruder_parked = false;
  8815. break;
  8816. case DXC_DUPLICATION_MODE:
  8817. if (active_extruder == 0) {
  8818. // move duplicate extruder into correct duplication position.
  8819. planner.set_position_mm(
  8820. LOGICAL_X_POSITION(inactive_extruder_x_pos),
  8821. current_position[Y_AXIS],
  8822. current_position[Z_AXIS],
  8823. current_position[E_AXIS]
  8824. );
  8825. planner.buffer_line(
  8826. current_position[X_AXIS] + duplicate_extruder_x_offset,
  8827. current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
  8828. planner.max_feedrate_mm_s[X_AXIS], 1
  8829. );
  8830. SYNC_PLAN_POSITION_KINEMATIC();
  8831. stepper.synchronize();
  8832. extruder_duplication_enabled = true;
  8833. active_extruder_parked = false;
  8834. }
  8835. break;
  8836. }
  8837. }
  8838. return true;
  8839. }
  8840. #endif // DUAL_X_CARRIAGE
  8841. /**
  8842. * Prepare a single move and get ready for the next one
  8843. *
  8844. * This may result in several calls to planner.buffer_line to
  8845. * do smaller moves for DELTA, SCARA, mesh moves, etc.
  8846. */
  8847. void prepare_move_to_destination() {
  8848. clamp_to_software_endstops(destination);
  8849. refresh_cmd_timeout();
  8850. #if ENABLED(PREVENT_COLD_EXTRUSION)
  8851. if (!DEBUGGING(DRYRUN)) {
  8852. if (destination[E_AXIS] != current_position[E_AXIS]) {
  8853. if (thermalManager.tooColdToExtrude(active_extruder)) {
  8854. current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
  8855. SERIAL_ECHO_START;
  8856. SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
  8857. }
  8858. #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
  8859. if (labs(destination[E_AXIS] - current_position[E_AXIS]) > EXTRUDE_MAXLENGTH) {
  8860. current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
  8861. SERIAL_ECHO_START;
  8862. SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
  8863. }
  8864. #endif
  8865. }
  8866. }
  8867. #endif
  8868. #if IS_KINEMATIC
  8869. if (!prepare_kinematic_move_to(destination)) return;
  8870. #else
  8871. #if ENABLED(DUAL_X_CARRIAGE)
  8872. if (!prepare_move_to_destination_dualx()) return;
  8873. #endif
  8874. if (!prepare_move_to_destination_cartesian()) return;
  8875. #endif
  8876. set_current_to_destination();
  8877. }
  8878. #if ENABLED(ARC_SUPPORT)
  8879. /**
  8880. * Plan an arc in 2 dimensions
  8881. *
  8882. * The arc is approximated by generating many small linear segments.
  8883. * The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
  8884. * Arcs should only be made relatively large (over 5mm), as larger arcs with
  8885. * larger segments will tend to be more efficient. Your slicer should have
  8886. * options for G2/G3 arc generation. In future these options may be GCode tunable.
  8887. */
  8888. void plan_arc(
  8889. float logical[XYZE], // Destination position
  8890. float* offset, // Center of rotation relative to current_position
  8891. uint8_t clockwise // Clockwise?
  8892. ) {
  8893. float radius = HYPOT(offset[X_AXIS], offset[Y_AXIS]),
  8894. center_X = current_position[X_AXIS] + offset[X_AXIS],
  8895. center_Y = current_position[Y_AXIS] + offset[Y_AXIS],
  8896. linear_travel = logical[Z_AXIS] - current_position[Z_AXIS],
  8897. extruder_travel = logical[E_AXIS] - current_position[E_AXIS],
  8898. r_X = -offset[X_AXIS], // Radius vector from center to current location
  8899. r_Y = -offset[Y_AXIS],
  8900. rt_X = logical[X_AXIS] - center_X,
  8901. rt_Y = logical[Y_AXIS] - center_Y;
  8902. // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
  8903. float angular_travel = atan2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y);
  8904. if (angular_travel < 0) angular_travel += RADIANS(360);
  8905. if (clockwise) angular_travel -= RADIANS(360);
  8906. // Make a circle if the angular rotation is 0
  8907. if (angular_travel == 0 && current_position[X_AXIS] == logical[X_AXIS] && current_position[Y_AXIS] == logical[Y_AXIS])
  8908. angular_travel += RADIANS(360);
  8909. float mm_of_travel = HYPOT(angular_travel * radius, fabs(linear_travel));
  8910. if (mm_of_travel < 0.001) return;
  8911. uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT));
  8912. if (segments == 0) segments = 1;
  8913. /**
  8914. * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
  8915. * and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
  8916. * r_T = [cos(phi) -sin(phi);
  8917. * sin(phi) cos(phi)] * r ;
  8918. *
  8919. * For arc generation, the center of the circle is the axis of rotation and the radius vector is
  8920. * defined from the circle center to the initial position. Each line segment is formed by successive
  8921. * vector rotations. This requires only two cos() and sin() computations to form the rotation
  8922. * matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
  8923. * all double numbers are single precision on the Arduino. (True double precision will not have
  8924. * round off issues for CNC applications.) Single precision error can accumulate to be greater than
  8925. * tool precision in some cases. Therefore, arc path correction is implemented.
  8926. *
  8927. * Small angle approximation may be used to reduce computation overhead further. This approximation
  8928. * holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
  8929. * theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
  8930. * to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
  8931. * numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
  8932. * issue for CNC machines with the single precision Arduino calculations.
  8933. *
  8934. * This approximation also allows plan_arc to immediately insert a line segment into the planner
  8935. * without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
  8936. * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
  8937. * This is important when there are successive arc motions.
  8938. */
  8939. // Vector rotation matrix values
  8940. float arc_target[XYZE],
  8941. theta_per_segment = angular_travel / segments,
  8942. linear_per_segment = linear_travel / segments,
  8943. extruder_per_segment = extruder_travel / segments,
  8944. sin_T = theta_per_segment,
  8945. cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
  8946. // Initialize the linear axis
  8947. arc_target[Z_AXIS] = current_position[Z_AXIS];
  8948. // Initialize the extruder axis
  8949. arc_target[E_AXIS] = current_position[E_AXIS];
  8950. float fr_mm_s = MMS_SCALED(feedrate_mm_s);
  8951. millis_t next_idle_ms = millis() + 200UL;
  8952. int8_t count = 0;
  8953. for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
  8954. thermalManager.manage_heater();
  8955. if (ELAPSED(millis(), next_idle_ms)) {
  8956. next_idle_ms = millis() + 200UL;
  8957. idle();
  8958. }
  8959. if (++count < N_ARC_CORRECTION) {
  8960. // Apply vector rotation matrix to previous r_X / 1
  8961. float r_new_Y = r_X * sin_T + r_Y * cos_T;
  8962. r_X = r_X * cos_T - r_Y * sin_T;
  8963. r_Y = r_new_Y;
  8964. }
  8965. else {
  8966. // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
  8967. // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
  8968. // To reduce stuttering, the sin and cos could be computed at different times.
  8969. // For now, compute both at the same time.
  8970. float cos_Ti = cos(i * theta_per_segment),
  8971. sin_Ti = sin(i * theta_per_segment);
  8972. r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti;
  8973. r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti;
  8974. count = 0;
  8975. }
  8976. // Update arc_target location
  8977. arc_target[X_AXIS] = center_X + r_X;
  8978. arc_target[Y_AXIS] = center_Y + r_Y;
  8979. arc_target[Z_AXIS] += linear_per_segment;
  8980. arc_target[E_AXIS] += extruder_per_segment;
  8981. clamp_to_software_endstops(arc_target);
  8982. planner.buffer_line_kinematic(arc_target, fr_mm_s, active_extruder);
  8983. }
  8984. // Ensure last segment arrives at target location.
  8985. planner.buffer_line_kinematic(logical, fr_mm_s, active_extruder);
  8986. // As far as the parser is concerned, the position is now == target. In reality the
  8987. // motion control system might still be processing the action and the real tool position
  8988. // in any intermediate location.
  8989. set_current_to_destination();
  8990. }
  8991. #endif
  8992. #if ENABLED(BEZIER_CURVE_SUPPORT)
  8993. void plan_cubic_move(const float offset[4]) {
  8994. cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
  8995. // As far as the parser is concerned, the position is now == destination. In reality the
  8996. // motion control system might still be processing the action and the real tool position
  8997. // in any intermediate location.
  8998. set_current_to_destination();
  8999. }
  9000. #endif // BEZIER_CURVE_SUPPORT
  9001. #if HAS_CONTROLLERFAN
  9002. void controllerFan() {
  9003. static millis_t lastMotorOn = 0, // Last time a motor was turned on
  9004. nextMotorCheck = 0; // Last time the state was checked
  9005. const millis_t ms = millis();
  9006. if (ELAPSED(ms, nextMotorCheck)) {
  9007. nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s
  9008. if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || thermalManager.soft_pwm_bed > 0
  9009. || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
  9010. #if E_STEPPERS > 1
  9011. || E1_ENABLE_READ == E_ENABLE_ON
  9012. #if HAS_X2_ENABLE
  9013. || X2_ENABLE_READ == X_ENABLE_ON
  9014. #endif
  9015. #if E_STEPPERS > 2
  9016. || E2_ENABLE_READ == E_ENABLE_ON
  9017. #if E_STEPPERS > 3
  9018. || E3_ENABLE_READ == E_ENABLE_ON
  9019. #if E_STEPPERS > 4
  9020. || E4_ENABLE_READ == E_ENABLE_ON
  9021. #endif // E_STEPPERS > 4
  9022. #endif // E_STEPPERS > 3
  9023. #endif // E_STEPPERS > 2
  9024. #endif // E_STEPPERS > 1
  9025. ) {
  9026. lastMotorOn = ms; //... set time to NOW so the fan will turn on
  9027. }
  9028. // Fan off if no steppers have been enabled for CONTROLLERFAN_SECS seconds
  9029. uint8_t speed = (!lastMotorOn || ELAPSED(ms, lastMotorOn + (CONTROLLERFAN_SECS) * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
  9030. // allows digital or PWM fan output to be used (see M42 handling)
  9031. digitalWrite(CONTROLLERFAN_PIN, speed);
  9032. analogWrite(CONTROLLERFAN_PIN, speed);
  9033. }
  9034. }
  9035. #endif // HAS_CONTROLLERFAN
  9036. #if ENABLED(MORGAN_SCARA)
  9037. /**
  9038. * Morgan SCARA Forward Kinematics. Results in cartes[].
  9039. * Maths and first version by QHARLEY.
  9040. * Integrated into Marlin and slightly restructured by Joachim Cerny.
  9041. */
  9042. void forward_kinematics_SCARA(const float &a, const float &b) {
  9043. float a_sin = sin(RADIANS(a)) * L1,
  9044. a_cos = cos(RADIANS(a)) * L1,
  9045. b_sin = sin(RADIANS(b)) * L2,
  9046. b_cos = cos(RADIANS(b)) * L2;
  9047. cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta
  9048. cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
  9049. /*
  9050. SERIAL_ECHOPAIR("SCARA FK Angle a=", a);
  9051. SERIAL_ECHOPAIR(" b=", b);
  9052. SERIAL_ECHOPAIR(" a_sin=", a_sin);
  9053. SERIAL_ECHOPAIR(" a_cos=", a_cos);
  9054. SERIAL_ECHOPAIR(" b_sin=", b_sin);
  9055. SERIAL_ECHOLNPAIR(" b_cos=", b_cos);
  9056. SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]);
  9057. SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]);
  9058. //*/
  9059. }
  9060. /**
  9061. * Morgan SCARA Inverse Kinematics. Results in delta[].
  9062. *
  9063. * See http://forums.reprap.org/read.php?185,283327
  9064. *
  9065. * Maths and first version by QHARLEY.
  9066. * Integrated into Marlin and slightly restructured by Joachim Cerny.
  9067. */
  9068. void inverse_kinematics(const float logical[XYZ]) {
  9069. static float C2, S2, SK1, SK2, THETA, PSI;
  9070. float sx = RAW_X_POSITION(logical[X_AXIS]) - SCARA_OFFSET_X, // Translate SCARA to standard X Y
  9071. sy = RAW_Y_POSITION(logical[Y_AXIS]) - SCARA_OFFSET_Y; // With scaling factor.
  9072. if (L1 == L2)
  9073. C2 = HYPOT2(sx, sy) / L1_2_2 - 1;
  9074. else
  9075. C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2);
  9076. S2 = sqrt(sq(C2) - 1);
  9077. // Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
  9078. SK1 = L1 + L2 * C2;
  9079. // Rotated Arm2 gives the distance from Arm1 to Arm2
  9080. SK2 = L2 * S2;
  9081. // Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
  9082. THETA = atan2(SK1, SK2) - atan2(sx, sy);
  9083. // Angle of Arm2
  9084. PSI = atan2(S2, C2);
  9085. delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
  9086. delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
  9087. delta[C_AXIS] = logical[Z_AXIS];
  9088. /*
  9089. DEBUG_POS("SCARA IK", logical);
  9090. DEBUG_POS("SCARA IK", delta);
  9091. SERIAL_ECHOPAIR(" SCARA (x,y) ", sx);
  9092. SERIAL_ECHOPAIR(",", sy);
  9093. SERIAL_ECHOPAIR(" C2=", C2);
  9094. SERIAL_ECHOPAIR(" S2=", S2);
  9095. SERIAL_ECHOPAIR(" Theta=", THETA);
  9096. SERIAL_ECHOLNPAIR(" Phi=", PHI);
  9097. //*/
  9098. }
  9099. #endif // MORGAN_SCARA
  9100. #if ENABLED(TEMP_STAT_LEDS)
  9101. static bool red_led = false;
  9102. static millis_t next_status_led_update_ms = 0;
  9103. void handle_status_leds(void) {
  9104. if (ELAPSED(millis(), next_status_led_update_ms)) {
  9105. next_status_led_update_ms += 500; // Update every 0.5s
  9106. float max_temp = 0.0;
  9107. #if HAS_TEMP_BED
  9108. max_temp = MAX3(max_temp, thermalManager.degTargetBed(), thermalManager.degBed());
  9109. #endif
  9110. HOTEND_LOOP() {
  9111. max_temp = MAX3(max_temp, thermalManager.degHotend(e), thermalManager.degTargetHotend(e));
  9112. }
  9113. bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
  9114. if (new_led != red_led) {
  9115. red_led = new_led;
  9116. #if PIN_EXISTS(STAT_LED_RED)
  9117. WRITE(STAT_LED_RED_PIN, new_led ? HIGH : LOW);
  9118. #if PIN_EXISTS(STAT_LED_BLUE)
  9119. WRITE(STAT_LED_BLUE_PIN, new_led ? LOW : HIGH);
  9120. #endif
  9121. #else
  9122. WRITE(STAT_LED_BLUE_PIN, new_led ? HIGH : LOW);
  9123. #endif
  9124. }
  9125. }
  9126. }
  9127. #endif
  9128. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  9129. void handle_filament_runout() {
  9130. if (!filament_ran_out) {
  9131. filament_ran_out = true;
  9132. enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
  9133. stepper.synchronize();
  9134. }
  9135. }
  9136. #endif // FILAMENT_RUNOUT_SENSOR
  9137. #if ENABLED(FAST_PWM_FAN)
  9138. void setPwmFrequency(uint8_t pin, int val) {
  9139. val &= 0x07;
  9140. switch (digitalPinToTimer(pin)) {
  9141. #ifdef TCCR0A
  9142. case TIMER0A:
  9143. case TIMER0B:
  9144. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  9145. // TCCR0B |= val;
  9146. break;
  9147. #endif
  9148. #ifdef TCCR1A
  9149. case TIMER1A:
  9150. case TIMER1B:
  9151. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  9152. // TCCR1B |= val;
  9153. break;
  9154. #endif
  9155. #ifdef TCCR2
  9156. case TIMER2:
  9157. case TIMER2:
  9158. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  9159. TCCR2 |= val;
  9160. break;
  9161. #endif
  9162. #ifdef TCCR2A
  9163. case TIMER2A:
  9164. case TIMER2B:
  9165. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  9166. TCCR2B |= val;
  9167. break;
  9168. #endif
  9169. #ifdef TCCR3A
  9170. case TIMER3A:
  9171. case TIMER3B:
  9172. case TIMER3C:
  9173. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  9174. TCCR3B |= val;
  9175. break;
  9176. #endif
  9177. #ifdef TCCR4A
  9178. case TIMER4A:
  9179. case TIMER4B:
  9180. case TIMER4C:
  9181. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  9182. TCCR4B |= val;
  9183. break;
  9184. #endif
  9185. #ifdef TCCR5A
  9186. case TIMER5A:
  9187. case TIMER5B:
  9188. case TIMER5C:
  9189. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  9190. TCCR5B |= val;
  9191. break;
  9192. #endif
  9193. }
  9194. }
  9195. #endif // FAST_PWM_FAN
  9196. float calculate_volumetric_multiplier(float diameter) {
  9197. if (!volumetric_enabled || diameter == 0) return 1.0;
  9198. return 1.0 / (M_PI * sq(diameter * 0.5));
  9199. }
  9200. void calculate_volumetric_multipliers() {
  9201. for (uint8_t i = 0; i < COUNT(filament_size); i++)
  9202. volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
  9203. }
  9204. void enable_all_steppers() {
  9205. enable_x();
  9206. enable_y();
  9207. enable_z();
  9208. enable_e0();
  9209. enable_e1();
  9210. enable_e2();
  9211. enable_e3();
  9212. enable_e4();
  9213. }
  9214. void disable_e_steppers() {
  9215. disable_e0();
  9216. disable_e1();
  9217. disable_e2();
  9218. disable_e3();
  9219. disable_e4();
  9220. }
  9221. void disable_all_steppers() {
  9222. disable_x();
  9223. disable_y();
  9224. disable_z();
  9225. disable_e_steppers();
  9226. }
  9227. #if ENABLED(AUTOMATIC_CURRENT_CONTROL)
  9228. void automatic_current_control(const TMC2130Stepper &st) {
  9229. #if CURRENT_STEP > 0
  9230. const bool is_otpw = st.checkOT(), // Check otpw even if we don't adjust. Allows for flag inspection.
  9231. is_otpw_triggered = st.getOTPW();
  9232. if (!is_otpw && !is_otpw_triggered) {
  9233. // OTPW bit not triggered yet -> Increase current
  9234. const uint16_t current = st.getCurrent() + CURRENT_STEP;
  9235. if (current <= AUTO_ADJUST_MAX) st.SilentStepStick2130(current);
  9236. }
  9237. else if (is_otpw && is_otpw_triggered) {
  9238. // OTPW bit triggered, triggered flag raised -> Decrease current
  9239. st.SilentStepStick2130((float)st.getCurrent() - CURRENT_STEP);
  9240. }
  9241. // OTPW bit cleared (we've cooled down), triggered flag still raised until manually cleared -> Do nothing, we're good
  9242. #endif
  9243. }
  9244. void checkOverTemp() {
  9245. static millis_t next_cOT = 0;
  9246. if (ELAPSED(millis(), next_cOT)) {
  9247. next_cOT = millis() + 5000;
  9248. #if ENABLED(X_IS_TMC2130)
  9249. automatic_current_control(stepperX);
  9250. #endif
  9251. #if ENABLED(Y_IS_TMC2130)
  9252. automatic_current_control(stepperY);
  9253. #endif
  9254. #if ENABLED(Z_IS_TMC2130)
  9255. automatic_current_control(stepperZ);
  9256. #endif
  9257. #if ENABLED(X2_IS_TMC2130)
  9258. automatic_current_control(stepperX2);
  9259. #endif
  9260. #if ENABLED(Y2_IS_TMC2130)
  9261. automatic_current_control(stepperY2);
  9262. #endif
  9263. #if ENABLED(Z2_IS_TMC2130)
  9264. automatic_current_control(stepperZ2);
  9265. #endif
  9266. #if ENABLED(E0_IS_TMC2130)
  9267. automatic_current_control(stepperE0);
  9268. #endif
  9269. #if ENABLED(E1_IS_TMC2130)
  9270. automatic_current_control(stepperE1);
  9271. #endif
  9272. #if ENABLED(E2_IS_TMC2130)
  9273. automatic_current_control(stepperE2);
  9274. #endif
  9275. #if ENABLED(E3_IS_TMC2130)
  9276. automatic_current_control(stepperE3);
  9277. #endif
  9278. }
  9279. }
  9280. #endif // AUTOMATIC_CURRENT_CONTROL
  9281. /**
  9282. * Manage several activities:
  9283. * - Check for Filament Runout
  9284. * - Keep the command buffer full
  9285. * - Check for maximum inactive time between commands
  9286. * - Check for maximum inactive time between stepper commands
  9287. * - Check if pin CHDK needs to go LOW
  9288. * - Check for KILL button held down
  9289. * - Check for HOME button held down
  9290. * - Check if cooling fan needs to be switched on
  9291. * - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
  9292. */
  9293. void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
  9294. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  9295. if ((IS_SD_PRINTING || print_job_timer.isRunning()) && (READ(FIL_RUNOUT_PIN) == FIL_RUNOUT_INVERTING))
  9296. handle_filament_runout();
  9297. #endif
  9298. if (commands_in_queue < BUFSIZE) get_available_commands();
  9299. const millis_t ms = millis();
  9300. if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) {
  9301. SERIAL_ERROR_START;
  9302. SERIAL_ECHOLNPAIR(MSG_KILL_INACTIVE_TIME, current_command);
  9303. kill(PSTR(MSG_KILLED));
  9304. }
  9305. // Prevent steppers timing-out in the middle of M600
  9306. #if ENABLED(FILAMENT_CHANGE_FEATURE) && ENABLED(FILAMENT_CHANGE_NO_STEPPER_TIMEOUT)
  9307. #define M600_TEST !busy_doing_M600
  9308. #else
  9309. #define M600_TEST true
  9310. #endif
  9311. if (M600_TEST && stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
  9312. && !ignore_stepper_queue && !planner.blocks_queued()) {
  9313. #if ENABLED(DISABLE_INACTIVE_X)
  9314. disable_x();
  9315. #endif
  9316. #if ENABLED(DISABLE_INACTIVE_Y)
  9317. disable_y();
  9318. #endif
  9319. #if ENABLED(DISABLE_INACTIVE_Z)
  9320. disable_z();
  9321. #endif
  9322. #if ENABLED(DISABLE_INACTIVE_E)
  9323. disable_e_steppers();
  9324. #endif
  9325. }
  9326. #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
  9327. if (chdkActive && ELAPSED(ms, chdkHigh + CHDK_DELAY)) {
  9328. chdkActive = false;
  9329. WRITE(CHDK, LOW);
  9330. }
  9331. #endif
  9332. #if HAS_KILL
  9333. // Check if the kill button was pressed and wait just in case it was an accidental
  9334. // key kill key press
  9335. // -------------------------------------------------------------------------------
  9336. static int killCount = 0; // make the inactivity button a bit less responsive
  9337. const int KILL_DELAY = 750;
  9338. if (!READ(KILL_PIN))
  9339. killCount++;
  9340. else if (killCount > 0)
  9341. killCount--;
  9342. // Exceeded threshold and we can confirm that it was not accidental
  9343. // KILL the machine
  9344. // ----------------------------------------------------------------
  9345. if (killCount >= KILL_DELAY) {
  9346. SERIAL_ERROR_START;
  9347. SERIAL_ERRORLNPGM(MSG_KILL_BUTTON);
  9348. kill(PSTR(MSG_KILLED));
  9349. }
  9350. #endif
  9351. #if HAS_HOME
  9352. // Check to see if we have to home, use poor man's debouncer
  9353. // ---------------------------------------------------------
  9354. static int homeDebounceCount = 0; // poor man's debouncing count
  9355. const int HOME_DEBOUNCE_DELAY = 2500;
  9356. if (!IS_SD_PRINTING && !READ(HOME_PIN)) {
  9357. if (!homeDebounceCount) {
  9358. enqueue_and_echo_commands_P(PSTR("G28"));
  9359. LCD_MESSAGEPGM(MSG_AUTO_HOME);
  9360. }
  9361. if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
  9362. homeDebounceCount++;
  9363. else
  9364. homeDebounceCount = 0;
  9365. }
  9366. #endif
  9367. #if HAS_CONTROLLERFAN
  9368. controllerFan(); // Check if fan should be turned on to cool stepper drivers down
  9369. #endif
  9370. #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
  9371. if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
  9372. && thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
  9373. bool oldstatus;
  9374. #if ENABLED(SWITCHING_EXTRUDER)
  9375. oldstatus = E0_ENABLE_READ;
  9376. enable_e0();
  9377. #else // !SWITCHING_EXTRUDER
  9378. switch (active_extruder) {
  9379. case 0:
  9380. oldstatus = E0_ENABLE_READ;
  9381. enable_e0();
  9382. break;
  9383. #if E_STEPPERS > 1
  9384. case 1:
  9385. oldstatus = E1_ENABLE_READ;
  9386. enable_e1();
  9387. break;
  9388. #if E_STEPPERS > 2
  9389. case 2:
  9390. oldstatus = E2_ENABLE_READ;
  9391. enable_e2();
  9392. break;
  9393. #if E_STEPPERS > 3
  9394. case 3:
  9395. oldstatus = E3_ENABLE_READ;
  9396. enable_e3();
  9397. break;
  9398. #if E_STEPPERS > 4
  9399. case 4:
  9400. oldstatus = E4_ENABLE_READ;
  9401. enable_e4();
  9402. break;
  9403. #endif // E_STEPPERS > 4
  9404. #endif // E_STEPPERS > 3
  9405. #endif // E_STEPPERS > 2
  9406. #endif // E_STEPPERS > 1
  9407. }
  9408. #endif // !SWITCHING_EXTRUDER
  9409. previous_cmd_ms = ms; // refresh_cmd_timeout()
  9410. const float olde = current_position[E_AXIS];
  9411. current_position[E_AXIS] += EXTRUDER_RUNOUT_EXTRUDE;
  9412. planner.buffer_line_kinematic(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
  9413. current_position[E_AXIS] = olde;
  9414. planner.set_e_position_mm(olde);
  9415. stepper.synchronize();
  9416. #if ENABLED(SWITCHING_EXTRUDER)
  9417. E0_ENABLE_WRITE(oldstatus);
  9418. #else
  9419. switch (active_extruder) {
  9420. case 0:
  9421. E0_ENABLE_WRITE(oldstatus);
  9422. break;
  9423. #if E_STEPPERS > 1
  9424. case 1:
  9425. E1_ENABLE_WRITE(oldstatus);
  9426. break;
  9427. #if E_STEPPERS > 2
  9428. case 2:
  9429. E2_ENABLE_WRITE(oldstatus);
  9430. break;
  9431. #if E_STEPPERS > 3
  9432. case 3:
  9433. E3_ENABLE_WRITE(oldstatus);
  9434. break;
  9435. #if E_STEPPERS > 4
  9436. case 4:
  9437. E4_ENABLE_WRITE(oldstatus);
  9438. break;
  9439. #endif // E_STEPPERS > 4
  9440. #endif // E_STEPPERS > 3
  9441. #endif // E_STEPPERS > 2
  9442. #endif // E_STEPPERS > 1
  9443. }
  9444. #endif // !SWITCHING_EXTRUDER
  9445. }
  9446. #endif // EXTRUDER_RUNOUT_PREVENT
  9447. #if ENABLED(DUAL_X_CARRIAGE)
  9448. // handle delayed move timeout
  9449. if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
  9450. // travel moves have been received so enact them
  9451. delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
  9452. set_destination_to_current();
  9453. prepare_move_to_destination();
  9454. }
  9455. #endif
  9456. #if ENABLED(TEMP_STAT_LEDS)
  9457. handle_status_leds();
  9458. #endif
  9459. #if ENABLED(AUTOMATIC_CURRENT_CONTROL)
  9460. checkOverTemp();
  9461. #endif
  9462. planner.check_axes_activity();
  9463. }
  9464. /**
  9465. * Standard idle routine keeps the machine alive
  9466. */
  9467. void idle(
  9468. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  9469. bool no_stepper_sleep/*=false*/
  9470. #endif
  9471. ) {
  9472. lcd_update();
  9473. host_keepalive();
  9474. #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
  9475. auto_report_temperatures();
  9476. #endif
  9477. manage_inactivity(
  9478. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  9479. no_stepper_sleep
  9480. #endif
  9481. );
  9482. thermalManager.manage_heater();
  9483. #if ENABLED(PRINTCOUNTER)
  9484. print_job_timer.tick();
  9485. #endif
  9486. #if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
  9487. buzzer.tick();
  9488. #endif
  9489. }
  9490. /**
  9491. * Kill all activity and lock the machine.
  9492. * After this the machine will need to be reset.
  9493. */
  9494. void kill(const char* lcd_msg) {
  9495. SERIAL_ERROR_START;
  9496. SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
  9497. thermalManager.disable_all_heaters();
  9498. disable_all_steppers();
  9499. #if ENABLED(ULTRA_LCD)
  9500. kill_screen(lcd_msg);
  9501. #else
  9502. UNUSED(lcd_msg);
  9503. #endif
  9504. _delay_ms(600); // Wait a short time (allows messages to get out before shutting down.
  9505. cli(); // Stop interrupts
  9506. _delay_ms(250); //Wait to ensure all interrupts routines stopped
  9507. thermalManager.disable_all_heaters(); //turn off heaters again
  9508. #if HAS_POWER_SWITCH
  9509. SET_INPUT(PS_ON_PIN);
  9510. #endif
  9511. suicide();
  9512. while (1) {
  9513. #if ENABLED(USE_WATCHDOG)
  9514. watchdog_reset();
  9515. #endif
  9516. } // Wait for reset
  9517. }
  9518. /**
  9519. * Turn off heaters and stop the print in progress
  9520. * After a stop the machine may be resumed with M999
  9521. */
  9522. void stop() {
  9523. thermalManager.disable_all_heaters();
  9524. if (IsRunning()) {
  9525. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  9526. SERIAL_ERROR_START;
  9527. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  9528. LCD_MESSAGEPGM(MSG_STOPPED);
  9529. safe_delay(350); // allow enough time for messages to get out before stopping
  9530. Running = false;
  9531. }
  9532. }
  9533. /**
  9534. * Marlin entry-point: Set up before the program loop
  9535. * - Set up the kill pin, filament runout, power hold
  9536. * - Start the serial port
  9537. * - Print startup messages and diagnostics
  9538. * - Get EEPROM or default settings
  9539. * - Initialize managers for:
  9540. * • temperature
  9541. * • planner
  9542. * • watchdog
  9543. * • stepper
  9544. * • photo pin
  9545. * • servos
  9546. * • LCD controller
  9547. * • Digipot I2C
  9548. * • Z probe sled
  9549. * • status LEDs
  9550. */
  9551. void setup() {
  9552. #ifdef DISABLE_JTAG
  9553. // Disable JTAG on AT90USB chips to free up pins for IO
  9554. MCUCR = 0x80;
  9555. MCUCR = 0x80;
  9556. #endif
  9557. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  9558. setup_filrunoutpin();
  9559. #endif
  9560. setup_killpin();
  9561. setup_powerhold();
  9562. #if HAS_STEPPER_RESET
  9563. disableStepperDrivers();
  9564. #endif
  9565. MYSERIAL.begin(BAUDRATE);
  9566. SERIAL_PROTOCOLLNPGM("start");
  9567. SERIAL_ECHO_START;
  9568. // Check startup - does nothing if bootloader sets MCUSR to 0
  9569. byte mcu = MCUSR;
  9570. if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
  9571. if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
  9572. if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
  9573. if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
  9574. if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
  9575. MCUSR = 0;
  9576. SERIAL_ECHOPGM(MSG_MARLIN);
  9577. SERIAL_CHAR(' ');
  9578. SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION);
  9579. SERIAL_EOL;
  9580. #if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
  9581. SERIAL_ECHO_START;
  9582. SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
  9583. SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
  9584. SERIAL_ECHOLNPGM(MSG_AUTHOR STRING_CONFIG_H_AUTHOR);
  9585. SERIAL_ECHOLNPGM("Compiled: " __DATE__);
  9586. #endif
  9587. SERIAL_ECHO_START;
  9588. SERIAL_ECHOPAIR(MSG_FREE_MEMORY, freeMemory());
  9589. SERIAL_ECHOLNPAIR(MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  9590. // Send "ok" after commands by default
  9591. for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
  9592. // Load data from EEPROM if available (or use defaults)
  9593. // This also updates variables in the planner, elsewhere
  9594. (void)Config_RetrieveSettings();
  9595. #if DISABLED(NO_WORKSPACE_OFFSETS)
  9596. // Initialize current position based on home_offset
  9597. COPY(current_position, home_offset);
  9598. #else
  9599. ZERO(current_position);
  9600. #endif
  9601. // Vital to init stepper/planner equivalent for current_position
  9602. SYNC_PLAN_POSITION_KINEMATIC();
  9603. thermalManager.init(); // Initialize temperature loop
  9604. #if ENABLED(USE_WATCHDOG)
  9605. watchdog_init();
  9606. #endif
  9607. stepper.init(); // Initialize stepper, this enables interrupts!
  9608. servo_init();
  9609. #if HAS_PHOTOGRAPH
  9610. OUT_WRITE(PHOTOGRAPH_PIN, LOW);
  9611. #endif
  9612. #if HAS_CASE_LIGHT
  9613. update_case_light();
  9614. #endif
  9615. #if HAS_BED_PROBE
  9616. endstops.enable_z_probe(false);
  9617. #endif
  9618. #if HAS_CONTROLLERFAN
  9619. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  9620. #endif
  9621. #if HAS_STEPPER_RESET
  9622. enableStepperDrivers();
  9623. #endif
  9624. #if ENABLED(DIGIPOT_I2C)
  9625. digipot_i2c_init();
  9626. #endif
  9627. #if ENABLED(DAC_STEPPER_CURRENT)
  9628. dac_init();
  9629. #endif
  9630. #if ENABLED(Z_PROBE_SLED) && PIN_EXISTS(SLED)
  9631. OUT_WRITE(SLED_PIN, LOW); // turn it off
  9632. #endif // Z_PROBE_SLED
  9633. setup_homepin();
  9634. #if PIN_EXISTS(STAT_LED_RED)
  9635. OUT_WRITE(STAT_LED_RED_PIN, LOW); // turn it off
  9636. #endif
  9637. #if PIN_EXISTS(STAT_LED_BLUE)
  9638. OUT_WRITE(STAT_LED_BLUE_PIN, LOW); // turn it off
  9639. #endif
  9640. #if ENABLED(RGB_LED)
  9641. SET_OUTPUT(RGB_LED_R_PIN);
  9642. SET_OUTPUT(RGB_LED_G_PIN);
  9643. SET_OUTPUT(RGB_LED_B_PIN);
  9644. #endif
  9645. lcd_init();
  9646. #if ENABLED(SHOW_BOOTSCREEN)
  9647. #if ENABLED(DOGLCD)
  9648. safe_delay(BOOTSCREEN_TIMEOUT);
  9649. #elif ENABLED(ULTRA_LCD)
  9650. bootscreen();
  9651. #if DISABLED(SDSUPPORT)
  9652. lcd_init();
  9653. #endif
  9654. #endif
  9655. #endif
  9656. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  9657. // Initialize mixing to 100% color 1
  9658. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  9659. mixing_factor[i] = (i == 0) ? 1.0 : 0.0;
  9660. for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
  9661. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  9662. mixing_virtual_tool_mix[t][i] = mixing_factor[i];
  9663. #endif
  9664. #if ENABLED(BLTOUCH)
  9665. bltouch_command(BLTOUCH_RESET); // Just in case the BLTouch is in the error state, try to
  9666. set_bltouch_deployed(true); // reset it. Also needs to deploy and stow to clear the
  9667. set_bltouch_deployed(false); // error condition.
  9668. #endif
  9669. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  9670. i2c.onReceive(i2c_on_receive);
  9671. i2c.onRequest(i2c_on_request);
  9672. #endif
  9673. #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
  9674. setup_endstop_interrupts();
  9675. #endif
  9676. }
  9677. /**
  9678. * The main Marlin program loop
  9679. *
  9680. * - Save or log commands to SD
  9681. * - Process available commands (if not saving)
  9682. * - Call heater manager
  9683. * - Call inactivity manager
  9684. * - Call endstop manager
  9685. * - Call LCD update
  9686. */
  9687. void loop() {
  9688. if (commands_in_queue < BUFSIZE) get_available_commands();
  9689. #if ENABLED(SDSUPPORT)
  9690. card.checkautostart(false);
  9691. #endif
  9692. if (commands_in_queue) {
  9693. #if ENABLED(SDSUPPORT)
  9694. if (card.saving) {
  9695. char* command = command_queue[cmd_queue_index_r];
  9696. if (strstr_P(command, PSTR("M29"))) {
  9697. // M29 closes the file
  9698. card.closefile();
  9699. SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
  9700. ok_to_send();
  9701. }
  9702. else {
  9703. // Write the string from the read buffer to SD
  9704. card.write_command(command);
  9705. if (card.logging)
  9706. process_next_command(); // The card is saving because it's logging
  9707. else
  9708. ok_to_send();
  9709. }
  9710. }
  9711. else
  9712. process_next_command();
  9713. #else
  9714. process_next_command();
  9715. #endif // SDSUPPORT
  9716. // The queue may be reset by a command handler or by code invoked by idle() within a handler
  9717. if (commands_in_queue) {
  9718. --commands_in_queue;
  9719. cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
  9720. }
  9721. }
  9722. endstops.report_state();
  9723. idle();
  9724. }