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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <https://www.gnu.org/licenses/>.
- *
- */
-
- #include "../gcode.h"
- #include "../../MarlinCore.h" // for stepper_inactive_time, disable_e_steppers
- #include "../../lcd/marlinui.h"
- #include "../../module/motion.h" // for e_axis_mask
- #include "../../module/planner.h"
- #include "../../module/stepper.h"
-
- #if ENABLED(AUTO_BED_LEVELING_UBL)
- #include "../../feature/bedlevel/bedlevel.h"
- #endif
-
- #define DEBUG_OUT ENABLED(MARLIN_DEV_MODE)
- #include "../../core/debug_out.h"
- #include "../../libs/hex_print.h"
-
- inline stepper_flags_t selected_axis_bits() {
- stepper_flags_t selected{0};
- #if HAS_EXTRUDERS
- if (parser.seen('E')) {
- if (E_TERN0(parser.has_value())) {
- const uint8_t e = parser.value_int();
- if (e < EXTRUDERS)
- selected.bits = _BV(INDEX_OF_AXIS(E_AXIS, e));
- }
- else
- selected.bits = e_axis_mask;
- }
- #endif
- selected.bits |= NUM_AXIS_GANG(
- (parser.seen_test('X') << X_AXIS),
- | (parser.seen_test('Y') << Y_AXIS),
- | (parser.seen_test('Z') << Z_AXIS),
- | (parser.seen_test(AXIS4_NAME) << I_AXIS),
- | (parser.seen_test(AXIS5_NAME) << J_AXIS),
- | (parser.seen_test(AXIS6_NAME) << K_AXIS),
- | (parser.seen_test(AXIS7_NAME) << U_AXIS),
- | (parser.seen_test(AXIS8_NAME) << V_AXIS),
- | (parser.seen_test(AXIS9_NAME) << W_AXIS)
- );
- return selected;
- }
-
- // Enable specified axes and warn about other affected axes
- void do_enable(const stepper_flags_t to_enable) {
- const ena_mask_t was_enabled = stepper.axis_enabled.bits,
- shall_enable = to_enable.bits & ~was_enabled;
-
- DEBUG_ECHOLNPGM("Now Enabled: ", hex_word(stepper.axis_enabled.bits), " Enabling: ", hex_word(to_enable.bits), " | ", shall_enable);
-
- if (!shall_enable) return; // All specified axes already enabled?
-
- ena_mask_t also_enabled = 0; // Track steppers enabled due to overlap
-
- // Enable all flagged axes
- LOOP_NUM_AXES(a) {
- if (TEST(shall_enable, a)) {
- stepper.enable_axis(AxisEnum(a)); // Mark and enable the requested axis
- DEBUG_ECHOLNPGM("Enabled ", AXIS_CHAR(a), " (", a, ") with overlap ", hex_word(enable_overlap[a]), " ... Enabled: ", hex_word(stepper.axis_enabled.bits));
- also_enabled |= enable_overlap[a];
- }
- }
- #if HAS_EXTRUDERS
- EXTRUDER_LOOP() {
- const uint8_t a = INDEX_OF_AXIS(E_AXIS, e);
- if (TEST(shall_enable, a)) {
- stepper.ENABLE_EXTRUDER(e);
- DEBUG_ECHOLNPGM("Enabled E", AS_DIGIT(e), " (", a, ") with overlap ", hex_word(enable_overlap[a]), " ... ", hex_word(stepper.axis_enabled.bits));
- also_enabled |= enable_overlap[a];
- }
- }
- #endif
-
- if ((also_enabled &= ~(shall_enable | was_enabled))) {
- SERIAL_CHAR('(');
- LOOP_NUM_AXES(a) if (TEST(also_enabled, a)) SERIAL_CHAR(AXIS_CHAR(a), ' ');
- #if HAS_EXTRUDERS
- #define _EN_ALSO(N) if (TEST(also_enabled, INDEX_OF_AXIS(E_AXIS, N))) SERIAL_CHAR('E', '0' + N, ' ');
- REPEAT(EXTRUDERS, _EN_ALSO)
- #endif
- SERIAL_ECHOLNPGM("also enabled)");
- }
-
- DEBUG_ECHOLNPGM("Enabled Now: ", hex_word(stepper.axis_enabled.bits));
- }
-
- /**
- * M17: Enable stepper motor power for one or more axes.
- * Print warnings for axes that share an ENABLE_PIN.
- *
- * Examples:
- *
- * M17 XZ ; Enable X and Z axes
- * M17 E ; Enable all E steppers
- * M17 E1 ; Enable just the E1 stepper
- */
- void GcodeSuite::M17() {
- if (parser.seen_axis()) {
- if (any_enable_overlap())
- do_enable(selected_axis_bits());
- else {
- #if HAS_EXTRUDERS
- if (parser.seen('E')) {
- if (parser.has_value()) {
- const uint8_t e = parser.value_int();
- if (e < EXTRUDERS) stepper.ENABLE_EXTRUDER(e);
- }
- else
- stepper.enable_e_steppers();
- }
- #endif
- LOOP_NUM_AXES(a)
- if (parser.seen_test(AXIS_CHAR(a))) stepper.enable_axis((AxisEnum)a);
- }
- }
- else {
- LCD_MESSAGE(MSG_NO_MOVE);
- stepper.enable_all_steppers();
- }
- }
-
- void try_to_disable(const stepper_flags_t to_disable) {
- ena_mask_t still_enabled = to_disable.bits & stepper.axis_enabled.bits;
-
- DEBUG_ECHOLNPGM("Enabled: ", hex_word(stepper.axis_enabled.bits), " To Disable: ", hex_word(to_disable.bits), " | ", hex_word(still_enabled));
-
- if (!still_enabled) return;
-
- // Attempt to disable all flagged axes
- LOOP_NUM_AXES(a)
- if (TEST(to_disable.bits, a)) {
- DEBUG_ECHOPGM("Try to disable ", AXIS_CHAR(a), " (", a, ") with overlap ", hex_word(enable_overlap[a]), " ... ");
- if (stepper.disable_axis(AxisEnum(a))) { // Mark the requested axis and request to disable
- DEBUG_ECHOPGM("OK");
- still_enabled &= ~(_BV(a) | enable_overlap[a]); // If actually disabled, clear one or more tracked bits
- }
- else
- DEBUG_ECHOPGM("OVERLAP");
- DEBUG_ECHOLNPGM(" ... still_enabled=", hex_word(still_enabled));
- }
- #if HAS_EXTRUDERS
- EXTRUDER_LOOP() {
- const uint8_t a = INDEX_OF_AXIS(E_AXIS, e);
- if (TEST(to_disable.bits, a)) {
- DEBUG_ECHOPGM("Try to disable E", AS_DIGIT(e), " (", a, ") with overlap ", hex_word(enable_overlap[a]), " ... ");
- if (stepper.DISABLE_EXTRUDER(e)) {
- DEBUG_ECHOPGM("OK");
- still_enabled &= ~(_BV(a) | enable_overlap[a]);
- }
- else
- DEBUG_ECHOPGM("OVERLAP");
- DEBUG_ECHOLNPGM(" ... still_enabled=", hex_word(still_enabled));
- }
- }
- #endif
-
- auto overlap_warning = [](const ena_mask_t axis_bits) {
- SERIAL_ECHOPGM(" not disabled. Shared with");
- LOOP_NUM_AXES(a) if (TEST(axis_bits, a)) SERIAL_ECHOPGM_P((PGM_P)pgm_read_ptr(&SP_AXIS_STR[a]));
- #if HAS_EXTRUDERS
- #define _EN_STILLON(N) if (TEST(axis_bits, INDEX_OF_AXIS(E_AXIS, N))) SERIAL_CHAR(' ', 'E', '0' + N);
- REPEAT(EXTRUDERS, _EN_STILLON)
- #endif
- SERIAL_ECHOLNPGM(".");
- };
-
- // If any of the requested axes are still enabled, give a warning
- LOOP_NUM_AXES(a) {
- if (TEST(still_enabled, a)) {
- SERIAL_CHAR(AXIS_CHAR(a));
- overlap_warning(stepper.axis_enabled.bits & enable_overlap[a]);
- }
- }
- #if HAS_EXTRUDERS
- EXTRUDER_LOOP() {
- const uint8_t a = INDEX_OF_AXIS(E_AXIS, e);
- if (TEST(still_enabled, a)) {
- SERIAL_CHAR('E', '0' + e);
- overlap_warning(stepper.axis_enabled.bits & enable_overlap[a]);
- }
- }
- #endif
-
- DEBUG_ECHOLNPGM("Enabled Now: ", hex_word(stepper.axis_enabled.bits));
- }
-
- /**
- * M18, M84: Disable stepper motor power for one or more axes.
- * Print warnings for axes that share an ENABLE_PIN.
- */
- void GcodeSuite::M18_M84() {
- if (parser.seenval('S')) {
- reset_stepper_timeout();
- #if HAS_DISABLE_INACTIVE_AXIS
- const millis_t ms = parser.value_millis_from_seconds();
- #if LASER_SAFETY_TIMEOUT_MS > 0
- if (ms && ms <= LASER_SAFETY_TIMEOUT_MS) {
- SERIAL_ECHO_MSG("M18 timeout must be > ", MS_TO_SEC(LASER_SAFETY_TIMEOUT_MS + 999), " s for laser safety.");
- return;
- }
- #endif
- stepper_inactive_time = ms;
- #endif
- }
- else {
- if (parser.seen_axis()) {
- planner.synchronize();
- if (any_enable_overlap())
- try_to_disable(selected_axis_bits());
- else {
- #if HAS_EXTRUDERS
- if (parser.seen('E')) {
- if (E_TERN0(parser.has_value()))
- stepper.DISABLE_EXTRUDER(parser.value_int());
- else
- stepper.disable_e_steppers();
- }
- #endif
- LOOP_NUM_AXES(a)
- if (parser.seen_test(AXIS_CHAR(a))) stepper.disable_axis((AxisEnum)a);
- }
- }
- else
- planner.finish_and_disable();
-
- TERN_(AUTO_BED_LEVELING_UBL, bedlevel.steppers_were_disabled());
- }
- }
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