My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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Marlin_main.cpp 250KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016 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. *
  24. * About Marlin
  25. *
  26. * This firmware is a mashup between Sprinter and grbl.
  27. * - https://github.com/kliment/Sprinter
  28. * - https://github.com/simen/grbl/tree
  29. *
  30. * It has preliminary support for Matthew Roberts advance algorithm
  31. * - http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  32. */
  33. #include "Marlin.h"
  34. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  35. #include "vector_3.h"
  36. #if ENABLED(AUTO_BED_LEVELING_GRID)
  37. #include "qr_solve.h"
  38. #endif
  39. #endif // AUTO_BED_LEVELING_FEATURE
  40. #if ENABLED(MESH_BED_LEVELING)
  41. #include "mesh_bed_leveling.h"
  42. #endif
  43. #include "ultralcd.h"
  44. #include "planner.h"
  45. #include "stepper.h"
  46. #include "temperature.h"
  47. #include "cardreader.h"
  48. #include "configuration_store.h"
  49. #include "language.h"
  50. #include "pins_arduino.h"
  51. #include "math.h"
  52. #include "buzzer.h"
  53. #if ENABLED(USE_WATCHDOG)
  54. #include "watchdog.h"
  55. #endif
  56. #if ENABLED(BLINKM)
  57. #include "blinkm.h"
  58. #include "Wire.h"
  59. #endif
  60. #if HAS_SERVOS
  61. #include "servo.h"
  62. #endif
  63. #if HAS_DIGIPOTSS
  64. #include <SPI.h>
  65. #endif
  66. #if ENABLED(DAC_STEPPER_CURRENT)
  67. #include "stepper_dac.h"
  68. #endif
  69. #if ENABLED(EXPERIMENTAL_I2CBUS)
  70. #include "twibus.h"
  71. #endif
  72. /**
  73. * Look here for descriptions of G-codes:
  74. * - http://linuxcnc.org/handbook/gcode/g-code.html
  75. * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  76. *
  77. * Help us document these G-codes online:
  78. * - https://github.com/MarlinFirmware/Marlin/wiki/G-Code-in-Marlin
  79. * - http://reprap.org/wiki/G-code
  80. *
  81. * -----------------
  82. * Implemented Codes
  83. * -----------------
  84. *
  85. * "G" Codes
  86. *
  87. * G0 -> G1
  88. * G1 - Coordinated Movement X Y Z E
  89. * G2 - CW ARC
  90. * G3 - CCW ARC
  91. * G4 - Dwell S<seconds> or P<milliseconds>
  92. * G10 - retract filament according to settings of M207
  93. * G11 - retract recover filament according to settings of M208
  94. * G28 - Home one or more axes
  95. * G29 - Detailed Z probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  96. * G30 - Single Z probe, probes bed at current XY location.
  97. * G31 - Dock sled (Z_PROBE_SLED only)
  98. * G32 - Undock sled (Z_PROBE_SLED only)
  99. * G90 - Use Absolute Coordinates
  100. * G91 - Use Relative Coordinates
  101. * G92 - Set current position to coordinates given
  102. *
  103. * "M" Codes
  104. *
  105. * M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
  106. * M1 - Same as M0
  107. * M17 - Enable/Power all stepper motors
  108. * M18 - Disable all stepper motors; same as M84
  109. * M20 - List SD card
  110. * M21 - Init SD card
  111. * M22 - Release SD card
  112. * M23 - Select SD file (M23 filename.g)
  113. * M24 - Start/resume SD print
  114. * M25 - Pause SD print
  115. * M26 - Set SD position in bytes (M26 S12345)
  116. * M27 - Report SD print status
  117. * M28 - Start SD write (M28 filename.g)
  118. * M29 - Stop SD write
  119. * M30 - Delete file from SD (M30 filename.g)
  120. * M31 - Output time since last M109 or SD card start to serial
  121. * M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  122. * syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  123. * Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  124. * The '#' is necessary when calling from within sd files, as it stops buffer prereading
  125. * M33 - Get the longname version of a path
  126. * M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
  127. * M48 - Measure Z_Probe repeatability. M48 [P # of points] [X position] [Y position] [V_erboseness #] [E_ngage Probe] [L # of legs of travel]
  128. * M80 - Turn on Power Supply
  129. * M81 - Turn off Power Supply
  130. * M82 - Set E codes absolute (default)
  131. * M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  132. * M84 - Disable steppers until next move,
  133. * or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  134. * M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  135. * M92 - Set axis_steps_per_unit - same syntax as G92
  136. * M104 - Set extruder target temp
  137. * M105 - Read current temp
  138. * M106 - Fan on
  139. * M107 - Fan off
  140. * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  141. * Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  142. * IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  143. * M110 - Set the current line number
  144. * M111 - Set debug flags with S<mask>. See flag bits defined in Marlin.h.
  145. * M112 - Emergency stop
  146. * M113 - Get or set the timeout interval for Host Keepalive "busy" messages
  147. * M114 - Output current position to serial port
  148. * M115 - Capabilities string
  149. * M117 - Display a message on the controller screen
  150. * M119 - Output Endstop status to serial port
  151. * M120 - Enable endstop detection
  152. * M121 - Disable endstop detection
  153. * M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  154. * M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  155. * M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  156. * M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  157. * M140 - Set bed target temp
  158. * M145 - Set the heatup state H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
  159. * M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
  160. * M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  161. * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  162. * M200 - set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).:D<millimeters>-
  163. * M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  164. * M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  165. * M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  166. * M204 - Set default acceleration: P for Printing moves, R for Retract only (no X, Y, Z) moves and T for Travel (non printing) moves (ex. M204 P800 T3000 R9000) in mm/sec^2
  167. * M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
  168. * M206 - Set additional homing offset
  169. * M207 - Set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
  170. * M208 - Set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  171. * M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
  172. * M218 - Set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  173. * M220 - Set speed factor override percentage: S<factor in percent>
  174. * M221 - Set extrude factor override percentage: S<factor in percent>
  175. * M226 - Wait until the specified pin reaches the state required: P<pin number> S<pin state>
  176. * M240 - Trigger a camera to take a photograph
  177. * M250 - Set LCD contrast C<contrast value> (value 0..63)
  178. * M280 - Set servo position absolute. P: servo index, S: angle or microseconds
  179. * M300 - Play beep sound S<frequency Hz> P<duration ms>
  180. * M301 - Set PID parameters P I and D
  181. * M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  182. * M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  183. * M304 - Set bed PID parameters P I and D
  184. * M380 - Activate solenoid on active extruder
  185. * M381 - Disable all solenoids
  186. * M400 - Finish all moves
  187. * M401 - Lower Z probe if present
  188. * M402 - Raise Z probe if present
  189. * M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
  190. * M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
  191. * M406 - Turn off Filament Sensor extrusion control
  192. * M407 - Display measured filament diameter
  193. * M410 - Quickstop. Abort all the planned moves
  194. * M420 - Enable/Disable Mesh Leveling (with current values) S1=enable S0=disable
  195. * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<mm> Y<mm> Z<mm>
  196. * M428 - Set the home_offset logically based on the current_position
  197. * M500 - Store parameters in EEPROM
  198. * M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
  199. * M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  200. * M503 - Print the current settings (from memory not from EEPROM). Use S0 to leave off headings.
  201. * M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  202. * M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  203. * M665 - Set delta configurations: L<diagonal rod> R<delta radius> S<segments/s>
  204. * M666 - Set delta endstop adjustment
  205. * M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  206. * M907 - Set digital trimpot motor current using axis codes.
  207. * M908 - Control digital trimpot directly.
  208. * M909 - DAC_STEPPER_CURRENT: Print digipot/DAC current value
  209. * M910 - DAC_STEPPER_CURRENT: Commit digipot/DAC value to external EEPROM via I2C
  210. * M350 - Set microstepping mode.
  211. * M351 - Toggle MS1 MS2 pins directly.
  212. *
  213. * ************ SCARA Specific - This can change to suit future G-code regulations
  214. * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  215. * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  216. * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  217. * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  218. * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  219. * M365 - SCARA calibration: Scaling factor, X, Y, Z axis
  220. * ************* SCARA End ***************
  221. *
  222. * ************ Custom codes - This can change to suit future G-code regulations
  223. * M100 - Watch Free Memory (For Debugging Only)
  224. * M851 - Set Z probe's Z offset (mm above extruder -- The value will always be negative)
  225. * M928 - Start SD logging (M928 filename.g) - ended by M29
  226. * M999 - Restart after being stopped by error
  227. *
  228. * "T" Codes
  229. *
  230. * T0-T3 - Select a tool by index (usually an extruder) [ F<mm/min> ]
  231. *
  232. */
  233. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  234. void gcode_M100();
  235. #endif
  236. #if ENABLED(SDSUPPORT)
  237. CardReader card;
  238. #endif
  239. #if ENABLED(EXPERIMENTAL_I2CBUS)
  240. TWIBus i2c;
  241. #endif
  242. bool Running = true;
  243. uint8_t marlin_debug_flags = DEBUG_NONE;
  244. static float feedrate = 1500.0, saved_feedrate;
  245. float current_position[NUM_AXIS] = { 0.0 };
  246. static float destination[NUM_AXIS] = { 0.0 };
  247. bool axis_known_position[3] = { false };
  248. bool axis_homed[3] = { false };
  249. static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
  250. static char* current_command, *current_command_args;
  251. static int cmd_queue_index_r = 0;
  252. static int cmd_queue_index_w = 0;
  253. static int commands_in_queue = 0;
  254. static char command_queue[BUFSIZE][MAX_CMD_SIZE];
  255. const float homing_feedrate[] = HOMING_FEEDRATE;
  256. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  257. int feedrate_multiplier = 100; //100->1 200->2
  258. int saved_feedrate_multiplier;
  259. int extruder_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
  260. bool volumetric_enabled = false;
  261. float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA);
  262. float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
  263. // The distance that XYZ has been offset by G92. Reset by G28.
  264. float position_shift[3] = { 0 };
  265. // This offset is added to the configured home position.
  266. // Set by M206, M428, or menu item. Saved to EEPROM.
  267. float home_offset[3] = { 0 };
  268. // Software Endstops. Default to configured limits.
  269. float sw_endstop_min[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
  270. float sw_endstop_max[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  271. #if FAN_COUNT > 0
  272. int fanSpeeds[FAN_COUNT] = { 0 };
  273. #endif
  274. // The active extruder (tool). Set with T<extruder> command.
  275. uint8_t active_extruder = 0;
  276. // Relative Mode. Enable with G91, disable with G90.
  277. static bool relative_mode = false;
  278. bool cancel_heatup = false;
  279. const char errormagic[] PROGMEM = "Error:";
  280. const char echomagic[] PROGMEM = "echo:";
  281. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  282. static int serial_count = 0;
  283. // GCode parameter pointer used by code_seen(), code_value(), etc.
  284. static char* seen_pointer;
  285. // Next Immediate GCode Command pointer. NULL if none.
  286. const char* queued_commands_P = NULL;
  287. const int sensitive_pins[] = SENSITIVE_PINS; ///< Sensitive pin list for M42
  288. // Inactivity shutdown
  289. millis_t previous_cmd_ms = 0;
  290. static millis_t max_inactive_time = 0;
  291. static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
  292. // Print Job Timer
  293. Stopwatch print_job_timer = Stopwatch();
  294. static uint8_t target_extruder;
  295. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  296. int xy_travel_speed = XY_TRAVEL_SPEED;
  297. float zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER;
  298. #endif
  299. #if ENABLED(Z_DUAL_ENDSTOPS) && DISABLED(DELTA)
  300. float z_endstop_adj = 0;
  301. #endif
  302. // Extruder offsets
  303. #if EXTRUDERS > 1
  304. #ifndef EXTRUDER_OFFSET_X
  305. #define EXTRUDER_OFFSET_X { 0 } // X offsets for each extruder
  306. #endif
  307. #ifndef EXTRUDER_OFFSET_Y
  308. #define EXTRUDER_OFFSET_Y { 0 } // Y offsets for each extruder
  309. #endif
  310. float extruder_offset[][EXTRUDERS] = {
  311. EXTRUDER_OFFSET_X,
  312. EXTRUDER_OFFSET_Y
  313. #if ENABLED(DUAL_X_CARRIAGE)
  314. , { 0 } // Z offsets for each extruder
  315. #endif
  316. };
  317. #endif
  318. #if HAS_SERVO_ENDSTOPS
  319. const int servo_endstop_id[] = SERVO_ENDSTOP_IDS;
  320. const int servo_endstop_angle[][2] = SERVO_ENDSTOP_ANGLES;
  321. #endif
  322. #if ENABLED(BARICUDA)
  323. int baricuda_valve_pressure = 0;
  324. int baricuda_e_to_p_pressure = 0;
  325. #endif
  326. #if ENABLED(FWRETRACT)
  327. bool autoretract_enabled = false;
  328. bool retracted[EXTRUDERS] = { false };
  329. bool retracted_swap[EXTRUDERS] = { false };
  330. float retract_length = RETRACT_LENGTH;
  331. float retract_length_swap = RETRACT_LENGTH_SWAP;
  332. float retract_feedrate = RETRACT_FEEDRATE;
  333. float retract_zlift = RETRACT_ZLIFT;
  334. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  335. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  336. float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
  337. #endif // FWRETRACT
  338. #if ENABLED(ULTIPANEL) && HAS_POWER_SWITCH
  339. bool powersupply =
  340. #if ENABLED(PS_DEFAULT_OFF)
  341. false
  342. #else
  343. true
  344. #endif
  345. ;
  346. #endif
  347. #if ENABLED(DELTA)
  348. #define TOWER_1 X_AXIS
  349. #define TOWER_2 Y_AXIS
  350. #define TOWER_3 Z_AXIS
  351. float delta[3] = { 0 };
  352. #define SIN_60 0.8660254037844386
  353. #define COS_60 0.5
  354. float endstop_adj[3] = { 0 };
  355. // these are the default values, can be overriden with M665
  356. float delta_radius = DELTA_RADIUS;
  357. float delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
  358. float delta_tower1_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1);
  359. float delta_tower2_x = SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
  360. float delta_tower2_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2);
  361. float delta_tower3_x = 0; // back middle tower
  362. float delta_tower3_y = (delta_radius + DELTA_RADIUS_TRIM_TOWER_3);
  363. float delta_diagonal_rod = DELTA_DIAGONAL_ROD;
  364. float delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1;
  365. float delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2;
  366. float delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3;
  367. float delta_diagonal_rod_2_tower_1 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_1);
  368. float delta_diagonal_rod_2_tower_2 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_2);
  369. float delta_diagonal_rod_2_tower_3 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_3);
  370. //float delta_diagonal_rod_2 = sq(delta_diagonal_rod);
  371. float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
  372. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  373. int delta_grid_spacing[2] = { 0, 0 };
  374. float bed_level[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
  375. #endif
  376. #else
  377. static bool home_all_axis = true;
  378. #endif
  379. #if ENABLED(SCARA)
  380. float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
  381. static float delta[3] = { 0 };
  382. float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
  383. #endif
  384. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  385. //Variables for Filament Sensor input
  386. float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
  387. bool filament_sensor = false; //M405 turns on filament_sensor control, M406 turns it off
  388. float filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter
  389. int8_t measurement_delay[MAX_MEASUREMENT_DELAY + 1]; //ring buffer to delay measurement store extruder factor after subtracting 100
  390. int filwidth_delay_index1 = 0; //index into ring buffer
  391. int filwidth_delay_index2 = -1; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
  392. int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
  393. #endif
  394. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  395. static bool filament_ran_out = false;
  396. #endif
  397. static bool send_ok[BUFSIZE];
  398. #if HAS_SERVOS
  399. Servo servo[NUM_SERVOS];
  400. #endif
  401. #ifdef CHDK
  402. millis_t chdkHigh = 0;
  403. boolean chdkActive = false;
  404. #endif
  405. #if ENABLED(PID_ADD_EXTRUSION_RATE)
  406. int lpq_len = 20;
  407. #endif
  408. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  409. // States for managing Marlin and host communication
  410. // Marlin sends messages if blocked or busy
  411. enum MarlinBusyState {
  412. NOT_BUSY, // Not in a handler
  413. IN_HANDLER, // Processing a GCode
  414. IN_PROCESS, // Known to be blocking command input (as in G29)
  415. PAUSED_FOR_USER, // Blocking pending any input
  416. PAUSED_FOR_INPUT // Blocking pending text input (concept)
  417. };
  418. static MarlinBusyState busy_state = NOT_BUSY;
  419. static millis_t next_busy_signal_ms = 0;
  420. uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
  421. #define KEEPALIVE_STATE(n) do{ busy_state = n; }while(0)
  422. #else
  423. #define host_keepalive() ;
  424. #define KEEPALIVE_STATE(n) ;
  425. #endif // HOST_KEEPALIVE_FEATURE
  426. /**
  427. * ***************************************************************************
  428. * ******************************** FUNCTIONS ********************************
  429. * ***************************************************************************
  430. */
  431. void stop();
  432. void get_available_commands();
  433. void process_next_command();
  434. void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
  435. void serial_echopair_P(const char* s_P, int v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  436. void serial_echopair_P(const char* s_P, long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  437. void serial_echopair_P(const char* s_P, float v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  438. void serial_echopair_P(const char* s_P, double v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  439. void serial_echopair_P(const char* s_P, unsigned long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  440. void gcode_M114();
  441. #if ENABLED(DEBUG_LEVELING_FEATURE)
  442. void print_xyz(const char* prefix, const float x, const float y, const float z) {
  443. SERIAL_ECHO(prefix);
  444. SERIAL_ECHOPAIR(": (", x);
  445. SERIAL_ECHOPAIR(", ", y);
  446. SERIAL_ECHOPAIR(", ", z);
  447. SERIAL_ECHOLNPGM(")");
  448. }
  449. void print_xyz(const char* prefix, const float xyz[]) {
  450. print_xyz(prefix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
  451. }
  452. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  453. void print_xyz(const char* prefix, const vector_3 &xyz) {
  454. print_xyz(prefix, xyz.x, xyz.y, xyz.z);
  455. }
  456. #endif
  457. #define DEBUG_POS(PREFIX,VAR) do{ SERIAL_ECHOPGM(PREFIX); print_xyz(" > " STRINGIFY(VAR), VAR); }while(0)
  458. #endif
  459. #if ENABLED(DELTA) || ENABLED(SCARA)
  460. inline void sync_plan_position_delta() {
  461. #if ENABLED(DEBUG_LEVELING_FEATURE)
  462. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_delta", current_position);
  463. #endif
  464. calculate_delta(current_position);
  465. plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
  466. }
  467. #endif
  468. #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
  469. float extrude_min_temp = EXTRUDE_MINTEMP;
  470. #endif
  471. #if ENABLED(HAS_Z_MIN_PROBE)
  472. extern volatile bool z_probe_is_active;
  473. #endif
  474. #if ENABLED(SDSUPPORT)
  475. #include "SdFatUtil.h"
  476. int freeMemory() { return SdFatUtil::FreeRam(); }
  477. #else
  478. extern "C" {
  479. extern unsigned int __bss_end;
  480. extern unsigned int __heap_start;
  481. extern void* __brkval;
  482. int freeMemory() {
  483. int free_memory;
  484. if ((int)__brkval == 0)
  485. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  486. else
  487. free_memory = ((int)&free_memory) - ((int)__brkval);
  488. return free_memory;
  489. }
  490. }
  491. #endif //!SDSUPPORT
  492. /**
  493. * Inject the next "immediate" command, when possible.
  494. * Return true if any immediate commands remain to inject.
  495. */
  496. static bool drain_queued_commands_P() {
  497. if (queued_commands_P != NULL) {
  498. size_t i = 0;
  499. char c, cmd[30];
  500. strncpy_P(cmd, queued_commands_P, sizeof(cmd) - 1);
  501. cmd[sizeof(cmd) - 1] = '\0';
  502. while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
  503. cmd[i] = '\0';
  504. if (enqueue_and_echo_command(cmd)) { // success?
  505. if (c) // newline char?
  506. queued_commands_P += i + 1; // advance to the next command
  507. else
  508. queued_commands_P = NULL; // nul char? no more commands
  509. }
  510. }
  511. return (queued_commands_P != NULL); // return whether any more remain
  512. }
  513. /**
  514. * Record one or many commands to run from program memory.
  515. * Aborts the current queue, if any.
  516. * Note: drain_queued_commands_P() must be called repeatedly to drain the commands afterwards
  517. */
  518. void enqueue_and_echo_commands_P(const char* pgcode) {
  519. queued_commands_P = pgcode;
  520. drain_queued_commands_P(); // first command executed asap (when possible)
  521. }
  522. /**
  523. * Once a new command is in the ring buffer, call this to commit it
  524. */
  525. inline void _commit_command(bool say_ok) {
  526. send_ok[cmd_queue_index_w] = say_ok;
  527. cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE;
  528. commands_in_queue++;
  529. }
  530. /**
  531. * Copy a command directly into the main command buffer, from RAM.
  532. * Returns true if successfully adds the command
  533. */
  534. inline bool _enqueuecommand(const char* cmd, bool say_ok=false) {
  535. if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
  536. strcpy(command_queue[cmd_queue_index_w], cmd);
  537. _commit_command(say_ok);
  538. return true;
  539. }
  540. void enqueue_and_echo_command_now(const char* cmd) {
  541. while (!enqueue_and_echo_command(cmd)) idle();
  542. }
  543. /**
  544. * Enqueue with Serial Echo
  545. */
  546. bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
  547. if (_enqueuecommand(cmd, say_ok)) {
  548. SERIAL_ECHO_START;
  549. SERIAL_ECHOPGM(MSG_Enqueueing);
  550. SERIAL_ECHO(cmd);
  551. SERIAL_ECHOLNPGM("\"");
  552. return true;
  553. }
  554. return false;
  555. }
  556. void setup_killpin() {
  557. #if HAS_KILL
  558. SET_INPUT(KILL_PIN);
  559. WRITE(KILL_PIN, HIGH);
  560. #endif
  561. }
  562. void setup_filrunoutpin() {
  563. #if HAS_FILRUNOUT
  564. pinMode(FILRUNOUT_PIN, INPUT);
  565. #if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
  566. WRITE(FILRUNOUT_PIN, HIGH);
  567. #endif
  568. #endif
  569. }
  570. // Set home pin
  571. void setup_homepin(void) {
  572. #if HAS_HOME
  573. SET_INPUT(HOME_PIN);
  574. WRITE(HOME_PIN, HIGH);
  575. #endif
  576. }
  577. void setup_photpin() {
  578. #if HAS_PHOTOGRAPH
  579. OUT_WRITE(PHOTOGRAPH_PIN, LOW);
  580. #endif
  581. }
  582. void setup_powerhold() {
  583. #if HAS_SUICIDE
  584. OUT_WRITE(SUICIDE_PIN, HIGH);
  585. #endif
  586. #if HAS_POWER_SWITCH
  587. #if ENABLED(PS_DEFAULT_OFF)
  588. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  589. #else
  590. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
  591. #endif
  592. #endif
  593. }
  594. void suicide() {
  595. #if HAS_SUICIDE
  596. OUT_WRITE(SUICIDE_PIN, LOW);
  597. #endif
  598. }
  599. void servo_init() {
  600. #if NUM_SERVOS >= 1 && HAS_SERVO_0
  601. servo[0].attach(SERVO0_PIN);
  602. servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
  603. #endif
  604. #if NUM_SERVOS >= 2 && HAS_SERVO_1
  605. servo[1].attach(SERVO1_PIN);
  606. servo[1].detach();
  607. #endif
  608. #if NUM_SERVOS >= 3 && HAS_SERVO_2
  609. servo[2].attach(SERVO2_PIN);
  610. servo[2].detach();
  611. #endif
  612. #if NUM_SERVOS >= 4 && HAS_SERVO_3
  613. servo[3].attach(SERVO3_PIN);
  614. servo[3].detach();
  615. #endif
  616. #if HAS_SERVO_ENDSTOPS
  617. z_probe_is_active = false;
  618. /**
  619. * Set position of all defined Servo Endstops
  620. *
  621. * ** UNSAFE! - NEEDS UPDATE! **
  622. *
  623. * The servo might be deployed and positioned too low to stow
  624. * when starting up the machine or rebooting the board.
  625. * There's no way to know where the nozzle is positioned until
  626. * homing has been done - no homing with z-probe without init!
  627. *
  628. */
  629. for (int i = 0; i < 3; i++)
  630. if (servo_endstop_id[i] >= 0)
  631. servo[servo_endstop_id[i]].move(servo_endstop_angle[i][1]);
  632. #endif // HAS_SERVO_ENDSTOPS
  633. }
  634. /**
  635. * Stepper Reset (RigidBoard, et.al.)
  636. */
  637. #if HAS_STEPPER_RESET
  638. void disableStepperDrivers() {
  639. pinMode(STEPPER_RESET_PIN, OUTPUT);
  640. digitalWrite(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
  641. }
  642. void enableStepperDrivers() { pinMode(STEPPER_RESET_PIN, INPUT); } // set to input, which allows it to be pulled high by pullups
  643. #endif
  644. /**
  645. * Marlin entry-point: Set up before the program loop
  646. * - Set up the kill pin, filament runout, power hold
  647. * - Start the serial port
  648. * - Print startup messages and diagnostics
  649. * - Get EEPROM or default settings
  650. * - Initialize managers for:
  651. * • temperature
  652. * • planner
  653. * • watchdog
  654. * • stepper
  655. * • photo pin
  656. * • servos
  657. * • LCD controller
  658. * • Digipot I2C
  659. * • Z probe sled
  660. * • status LEDs
  661. */
  662. void setup() {
  663. #ifdef DISABLE_JTAG
  664. // Disable JTAG on AT90USB chips to free up pins for IO
  665. MCUCR = 0x80;
  666. MCUCR = 0x80;
  667. #endif
  668. setup_killpin();
  669. setup_filrunoutpin();
  670. setup_powerhold();
  671. #if HAS_STEPPER_RESET
  672. disableStepperDrivers();
  673. #endif
  674. MYSERIAL.begin(BAUDRATE);
  675. SERIAL_PROTOCOLLNPGM("start");
  676. SERIAL_ECHO_START;
  677. // Check startup - does nothing if bootloader sets MCUSR to 0
  678. byte mcu = MCUSR;
  679. if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
  680. if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
  681. if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
  682. if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
  683. if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
  684. MCUSR = 0;
  685. SERIAL_ECHOPGM(MSG_MARLIN);
  686. SERIAL_ECHOLNPGM(" " SHORT_BUILD_VERSION);
  687. #ifdef STRING_DISTRIBUTION_DATE
  688. #ifdef STRING_CONFIG_H_AUTHOR
  689. SERIAL_ECHO_START;
  690. SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
  691. SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
  692. SERIAL_ECHOPGM(MSG_AUTHOR);
  693. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  694. SERIAL_ECHOPGM("Compiled: ");
  695. SERIAL_ECHOLNPGM(__DATE__);
  696. #endif // STRING_CONFIG_H_AUTHOR
  697. #endif // STRING_DISTRIBUTION_DATE
  698. SERIAL_ECHO_START;
  699. SERIAL_ECHOPGM(MSG_FREE_MEMORY);
  700. SERIAL_ECHO(freeMemory());
  701. SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
  702. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  703. // Send "ok" after commands by default
  704. for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
  705. // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  706. Config_RetrieveSettings();
  707. lcd_init();
  708. tp_init(); // Initialize temperature loop
  709. plan_init(); // Initialize planner;
  710. #if ENABLED(DELTA) || ENABLED(SCARA)
  711. // Vital to init kinematic equivalent for X0 Y0 Z0
  712. sync_plan_position_delta();
  713. #endif
  714. #if ENABLED(USE_WATCHDOG)
  715. watchdog_init();
  716. #endif
  717. st_init(); // Initialize stepper, this enables interrupts!
  718. setup_photpin();
  719. servo_init();
  720. #if HAS_CONTROLLERFAN
  721. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  722. #endif
  723. #if HAS_STEPPER_RESET
  724. enableStepperDrivers();
  725. #endif
  726. #if ENABLED(DIGIPOT_I2C)
  727. digipot_i2c_init();
  728. #endif
  729. #if ENABLED(Z_PROBE_SLED)
  730. pinMode(SLED_PIN, OUTPUT);
  731. digitalWrite(SLED_PIN, LOW); // turn it off
  732. #endif // Z_PROBE_SLED
  733. setup_homepin();
  734. #ifdef STAT_LED_RED
  735. pinMode(STAT_LED_RED, OUTPUT);
  736. digitalWrite(STAT_LED_RED, LOW); // turn it off
  737. #endif
  738. #ifdef STAT_LED_BLUE
  739. pinMode(STAT_LED_BLUE, OUTPUT);
  740. digitalWrite(STAT_LED_BLUE, LOW); // turn it off
  741. #endif
  742. }
  743. /**
  744. * The main Marlin program loop
  745. *
  746. * - Save or log commands to SD
  747. * - Process available commands (if not saving)
  748. * - Call heater manager
  749. * - Call inactivity manager
  750. * - Call endstop manager
  751. * - Call LCD update
  752. */
  753. void loop() {
  754. if (commands_in_queue < BUFSIZE) get_available_commands();
  755. #if ENABLED(SDSUPPORT)
  756. card.checkautostart(false);
  757. #endif
  758. if (commands_in_queue) {
  759. #if ENABLED(SDSUPPORT)
  760. if (card.saving) {
  761. char* command = command_queue[cmd_queue_index_r];
  762. if (strstr_P(command, PSTR("M29"))) {
  763. // M29 closes the file
  764. card.closefile();
  765. SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
  766. ok_to_send();
  767. }
  768. else {
  769. // Write the string from the read buffer to SD
  770. card.write_command(command);
  771. if (card.logging)
  772. process_next_command(); // The card is saving because it's logging
  773. else
  774. ok_to_send();
  775. }
  776. }
  777. else
  778. process_next_command();
  779. #else
  780. process_next_command();
  781. #endif // SDSUPPORT
  782. commands_in_queue--;
  783. cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
  784. }
  785. checkHitEndstops();
  786. idle();
  787. }
  788. void gcode_line_error(const char* err, bool doFlush = true) {
  789. SERIAL_ERROR_START;
  790. serialprintPGM(err);
  791. SERIAL_ERRORLN(gcode_LastN);
  792. //Serial.println(gcode_N);
  793. if (doFlush) FlushSerialRequestResend();
  794. serial_count = 0;
  795. }
  796. inline void get_serial_commands() {
  797. static char serial_line_buffer[MAX_CMD_SIZE];
  798. static boolean serial_comment_mode = false;
  799. // If the command buffer is empty for too long,
  800. // send "wait" to indicate Marlin is still waiting.
  801. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  802. static millis_t last_command_time = 0;
  803. millis_t ms = millis();
  804. if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
  805. SERIAL_ECHOLNPGM(MSG_WAIT);
  806. last_command_time = ms;
  807. }
  808. #endif
  809. /**
  810. * Loop while serial characters are incoming and the queue is not full
  811. */
  812. while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) {
  813. char serial_char = MYSERIAL.read();
  814. /**
  815. * If the character ends the line
  816. */
  817. if (serial_char == '\n' || serial_char == '\r') {
  818. serial_comment_mode = false; // end of line == end of comment
  819. if (!serial_count) continue; // skip empty lines
  820. serial_line_buffer[serial_count] = 0; // terminate string
  821. serial_count = 0; //reset buffer
  822. char* command = serial_line_buffer;
  823. while (*command == ' ') command++; // skip any leading spaces
  824. char* npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
  825. char* apos = strchr(command, '*');
  826. if (npos) {
  827. boolean M110 = strstr_P(command, PSTR("M110")) != NULL;
  828. if (M110) {
  829. char* n2pos = strchr(command + 4, 'N');
  830. if (n2pos) npos = n2pos;
  831. }
  832. gcode_N = strtol(npos + 1, NULL, 10);
  833. if (gcode_N != gcode_LastN + 1 && !M110) {
  834. gcode_line_error(PSTR(MSG_ERR_LINE_NO));
  835. return;
  836. }
  837. if (apos) {
  838. byte checksum = 0, count = 0;
  839. while (command[count] != '*') checksum ^= command[count++];
  840. if (strtol(apos + 1, NULL, 10) != checksum) {
  841. gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
  842. return;
  843. }
  844. // if no errors, continue parsing
  845. }
  846. else {
  847. gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
  848. return;
  849. }
  850. gcode_LastN = gcode_N;
  851. // if no errors, continue parsing
  852. }
  853. else if (apos) { // No '*' without 'N'
  854. gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false);
  855. return;
  856. }
  857. // Movement commands alert when stopped
  858. if (IsStopped()) {
  859. char* gpos = strchr(command, 'G');
  860. if (gpos) {
  861. int codenum = strtol(gpos + 1, NULL, 10);
  862. switch (codenum) {
  863. case 0:
  864. case 1:
  865. case 2:
  866. case 3:
  867. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  868. LCD_MESSAGEPGM(MSG_STOPPED);
  869. break;
  870. }
  871. }
  872. }
  873. // If command was e-stop process now
  874. if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
  875. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  876. last_command_time = ms;
  877. #endif
  878. // Add the command to the queue
  879. _enqueuecommand(serial_line_buffer, true);
  880. }
  881. else if (serial_count >= MAX_CMD_SIZE - 1) {
  882. // Keep fetching, but ignore normal characters beyond the max length
  883. // The command will be injected when EOL is reached
  884. }
  885. else if (serial_char == '\\') { // Handle escapes
  886. if (MYSERIAL.available() > 0) {
  887. // if we have one more character, copy it over
  888. serial_char = MYSERIAL.read();
  889. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  890. }
  891. // otherwise do nothing
  892. }
  893. else { // it's not a newline, carriage return or escape char
  894. if (serial_char == ';') serial_comment_mode = true;
  895. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  896. }
  897. } // queue has space, serial has data
  898. }
  899. #if ENABLED(SDSUPPORT)
  900. inline void get_sdcard_commands() {
  901. static bool stop_buffering = false,
  902. sd_comment_mode = false;
  903. if (!card.sdprinting) return;
  904. /**
  905. * '#' stops reading from SD to the buffer prematurely, so procedural
  906. * macro calls are possible. If it occurs, stop_buffering is triggered
  907. * and the buffer is run dry; this character _can_ occur in serial com
  908. * due to checksums, however, no checksums are used in SD printing.
  909. */
  910. if (commands_in_queue == 0) stop_buffering = false;
  911. uint16_t sd_count = 0;
  912. bool card_eof = card.eof();
  913. while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
  914. int16_t n = card.get();
  915. char sd_char = (char)n;
  916. card_eof = card.eof();
  917. if (card_eof || n == -1
  918. || sd_char == '\n' || sd_char == '\r'
  919. || ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
  920. ) {
  921. if (card_eof) {
  922. SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
  923. print_job_timer.stop();
  924. char time[30];
  925. millis_t t = print_job_timer.duration();
  926. int hours = t / 60 / 60, minutes = (t / 60) % 60;
  927. sprintf_P(time, PSTR("%i " MSG_END_HOUR " %i " MSG_END_MINUTE), hours, minutes);
  928. SERIAL_ECHO_START;
  929. SERIAL_ECHOLN(time);
  930. lcd_setstatus(time, true);
  931. card.printingHasFinished();
  932. card.checkautostart(true);
  933. }
  934. if (sd_char == '#') stop_buffering = true;
  935. sd_comment_mode = false; //for new command
  936. if (!sd_count) continue; //skip empty lines
  937. command_queue[cmd_queue_index_w][sd_count] = '\0'; //terminate string
  938. sd_count = 0; //clear buffer
  939. _commit_command(false);
  940. }
  941. else if (sd_count >= MAX_CMD_SIZE - 1) {
  942. /**
  943. * Keep fetching, but ignore normal characters beyond the max length
  944. * The command will be injected when EOL is reached
  945. */
  946. }
  947. else {
  948. if (sd_char == ';') sd_comment_mode = true;
  949. if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
  950. }
  951. }
  952. }
  953. #endif // SDSUPPORT
  954. /**
  955. * Add to the circular command queue the next command from:
  956. * - The command-injection queue (queued_commands_P)
  957. * - The active serial input (usually USB)
  958. * - The SD card file being actively printed
  959. */
  960. void get_available_commands() {
  961. // if any immediate commands remain, don't get other commands yet
  962. if (drain_queued_commands_P()) return;
  963. get_serial_commands();
  964. #if ENABLED(SDSUPPORT)
  965. get_sdcard_commands();
  966. #endif
  967. }
  968. bool code_has_value() {
  969. int i = 1;
  970. char c = seen_pointer[i];
  971. while (c == ' ') c = seen_pointer[++i];
  972. if (c == '-' || c == '+') c = seen_pointer[++i];
  973. if (c == '.') c = seen_pointer[++i];
  974. return NUMERIC(c);
  975. }
  976. float code_value() {
  977. float ret;
  978. char* e = strchr(seen_pointer, 'E');
  979. if (e) {
  980. *e = 0;
  981. ret = strtod(seen_pointer + 1, NULL);
  982. *e = 'E';
  983. }
  984. else
  985. ret = strtod(seen_pointer + 1, NULL);
  986. return ret;
  987. }
  988. long code_value_long() { return strtol(seen_pointer + 1, NULL, 10); }
  989. int16_t code_value_short() { return (int16_t)strtol(seen_pointer + 1, NULL, 10); }
  990. bool code_seen(char code) {
  991. seen_pointer = strchr(current_command_args, code);
  992. return (seen_pointer != NULL); // Return TRUE if the code-letter was found
  993. }
  994. /**
  995. * Set target_extruder from the T parameter or the active_extruder
  996. *
  997. * Returns TRUE if the target is invalid
  998. */
  999. bool get_target_extruder_from_command(int code) {
  1000. if (code_seen('T')) {
  1001. short t = code_value_short();
  1002. if (t >= EXTRUDERS) {
  1003. SERIAL_ECHO_START;
  1004. SERIAL_CHAR('M');
  1005. SERIAL_ECHO(code);
  1006. SERIAL_ECHOPAIR(" " MSG_INVALID_EXTRUDER " ", t);
  1007. SERIAL_EOL;
  1008. return true;
  1009. }
  1010. target_extruder = t;
  1011. }
  1012. else
  1013. target_extruder = active_extruder;
  1014. return false;
  1015. }
  1016. #define DEFINE_PGM_READ_ANY(type, reader) \
  1017. static inline type pgm_read_any(const type *p) \
  1018. { return pgm_read_##reader##_near(p); }
  1019. DEFINE_PGM_READ_ANY(float, float);
  1020. DEFINE_PGM_READ_ANY(signed char, byte);
  1021. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  1022. static const PROGMEM type array##_P[3] = \
  1023. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  1024. static inline type array(int axis) \
  1025. { return pgm_read_any(&array##_P[axis]); }
  1026. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  1027. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  1028. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  1029. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  1030. XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM);
  1031. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  1032. #if ENABLED(DUAL_X_CARRIAGE)
  1033. #define DXC_FULL_CONTROL_MODE 0
  1034. #define DXC_AUTO_PARK_MODE 1
  1035. #define DXC_DUPLICATION_MODE 2
  1036. static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  1037. static float x_home_pos(int extruder) {
  1038. if (extruder == 0)
  1039. return base_home_pos(X_AXIS) + home_offset[X_AXIS];
  1040. else
  1041. /**
  1042. * In dual carriage mode the extruder offset provides an override of the
  1043. * second X-carriage offset when homed - otherwise X2_HOME_POS is used.
  1044. * This allow soft recalibration of the second extruder offset position
  1045. * without firmware reflash (through the M218 command).
  1046. */
  1047. return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
  1048. }
  1049. static int x_home_dir(int extruder) {
  1050. return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
  1051. }
  1052. static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
  1053. static bool active_extruder_parked = false; // used in mode 1 & 2
  1054. static float raised_parked_position[NUM_AXIS]; // used in mode 1
  1055. static millis_t delayed_move_time = 0; // used in mode 1
  1056. static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
  1057. static float duplicate_extruder_temp_offset = 0; // used in mode 2
  1058. bool extruder_duplication_enabled = false; // used in mode 2
  1059. #endif //DUAL_X_CARRIAGE
  1060. /**
  1061. * Software endstops can be used to monitor the open end of
  1062. * an axis that has a hardware endstop on the other end. Or
  1063. * they can prevent axes from moving past endstops and grinding.
  1064. *
  1065. * To keep doing their job as the coordinate system changes,
  1066. * the software endstop positions must be refreshed to remain
  1067. * at the same positions relative to the machine.
  1068. */
  1069. static void update_software_endstops(AxisEnum axis) {
  1070. float offs = home_offset[axis] + position_shift[axis];
  1071. #if ENABLED(DUAL_X_CARRIAGE)
  1072. if (axis == X_AXIS) {
  1073. float dual_max_x = max(extruder_offset[X_AXIS][1], X2_MAX_POS);
  1074. if (active_extruder != 0) {
  1075. sw_endstop_min[X_AXIS] = X2_MIN_POS + offs;
  1076. sw_endstop_max[X_AXIS] = dual_max_x + offs;
  1077. return;
  1078. }
  1079. else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
  1080. sw_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
  1081. sw_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
  1082. return;
  1083. }
  1084. }
  1085. else
  1086. #endif
  1087. {
  1088. sw_endstop_min[axis] = base_min_pos(axis) + offs;
  1089. sw_endstop_max[axis] = base_max_pos(axis) + offs;
  1090. }
  1091. }
  1092. /**
  1093. * Change the home offset for an axis, update the current
  1094. * position and the software endstops to retain the same
  1095. * relative distance to the new home.
  1096. *
  1097. * Since this changes the current_position, code should
  1098. * call sync_plan_position soon after this.
  1099. */
  1100. static void set_home_offset(AxisEnum axis, float v) {
  1101. current_position[axis] += v - home_offset[axis];
  1102. home_offset[axis] = v;
  1103. update_software_endstops(axis);
  1104. }
  1105. static void set_axis_is_at_home(AxisEnum axis) {
  1106. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1107. if (DEBUGGING(LEVELING)) {
  1108. SERIAL_ECHOPAIR("set_axis_is_at_home(", axis);
  1109. SERIAL_ECHOLNPGM(") >>>");
  1110. }
  1111. #endif
  1112. position_shift[axis] = 0;
  1113. #if ENABLED(DUAL_X_CARRIAGE)
  1114. if (axis == X_AXIS && (active_extruder != 0 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
  1115. if (active_extruder != 0)
  1116. current_position[X_AXIS] = x_home_pos(active_extruder);
  1117. else
  1118. current_position[X_AXIS] = base_home_pos(X_AXIS) + home_offset[X_AXIS];
  1119. update_software_endstops(X_AXIS);
  1120. return;
  1121. }
  1122. #endif
  1123. #if ENABLED(SCARA)
  1124. if (axis == X_AXIS || axis == Y_AXIS) {
  1125. float homeposition[3];
  1126. for (int i = 0; i < 3; i++) homeposition[i] = base_home_pos(i);
  1127. // SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
  1128. // SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
  1129. /**
  1130. * Works out real Homeposition angles using inverse kinematics,
  1131. * and calculates homing offset using forward kinematics
  1132. */
  1133. calculate_delta(homeposition);
  1134. // SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]);
  1135. // SERIAL_ECHOPGM(" base Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
  1136. for (int i = 0; i < 2; i++) delta[i] -= home_offset[i];
  1137. // SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(home_offset[X_AXIS]);
  1138. // SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(home_offset[Y_AXIS]);
  1139. // SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
  1140. // SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
  1141. calculate_SCARA_forward_Transform(delta);
  1142. // SERIAL_ECHOPGM("Delta X="); SERIAL_ECHO(delta[X_AXIS]);
  1143. // SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);
  1144. current_position[axis] = delta[axis];
  1145. /**
  1146. * SCARA home positions are based on configuration since the actual
  1147. * limits are determined by the inverse kinematic transform.
  1148. */
  1149. sw_endstop_min[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
  1150. sw_endstop_max[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
  1151. }
  1152. else
  1153. #endif
  1154. {
  1155. current_position[axis] = base_home_pos(axis) + home_offset[axis];
  1156. update_software_endstops(axis);
  1157. #if ENABLED(AUTO_BED_LEVELING_FEATURE) && Z_HOME_DIR < 0
  1158. if (axis == Z_AXIS) {
  1159. current_position[Z_AXIS] -= zprobe_zoffset;
  1160. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1161. if (DEBUGGING(LEVELING)) {
  1162. SERIAL_ECHOPAIR("> zprobe_zoffset==", zprobe_zoffset);
  1163. SERIAL_EOL;
  1164. }
  1165. #endif
  1166. }
  1167. #endif
  1168. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1169. if (DEBUGGING(LEVELING)) {
  1170. SERIAL_ECHOPAIR("> home_offset[axis]==", home_offset[axis]);
  1171. DEBUG_POS("", current_position);
  1172. }
  1173. #endif
  1174. }
  1175. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1176. if (DEBUGGING(LEVELING)) {
  1177. SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis);
  1178. SERIAL_ECHOLNPGM(")");
  1179. }
  1180. #endif
  1181. }
  1182. /**
  1183. * Some planner shorthand inline functions
  1184. */
  1185. inline void set_homing_bump_feedrate(AxisEnum axis) {
  1186. const int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
  1187. int hbd = homing_bump_divisor[axis];
  1188. if (hbd < 1) {
  1189. hbd = 10;
  1190. SERIAL_ECHO_START;
  1191. SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
  1192. }
  1193. feedrate = homing_feedrate[axis] / hbd;
  1194. }
  1195. //
  1196. // line_to_current_position
  1197. // Move the planner to the current position from wherever it last moved
  1198. // (or from wherever it has been told it is located).
  1199. //
  1200. inline void line_to_current_position() {
  1201. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
  1202. }
  1203. inline void line_to_z(float zPosition) {
  1204. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate / 60, active_extruder);
  1205. }
  1206. //
  1207. // line_to_destination
  1208. // Move the planner, not necessarily synced with current_position
  1209. //
  1210. inline void line_to_destination(float mm_m) {
  1211. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], mm_m / 60, active_extruder);
  1212. }
  1213. inline void line_to_destination() {
  1214. line_to_destination(feedrate);
  1215. }
  1216. /**
  1217. * sync_plan_position
  1218. * Set planner / stepper positions to the cartesian current_position.
  1219. * The stepper code translates these coordinates into step units.
  1220. * Allows translation between steps and units (mm) for cartesian & core robots
  1221. */
  1222. inline void sync_plan_position() {
  1223. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1224. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
  1225. #endif
  1226. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1227. }
  1228. inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
  1229. inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
  1230. static void setup_for_endstop_move() {
  1231. saved_feedrate = feedrate;
  1232. saved_feedrate_multiplier = feedrate_multiplier;
  1233. feedrate_multiplier = 100;
  1234. refresh_cmd_timeout();
  1235. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1236. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("setup_for_endstop_move > enable_endstops(true)");
  1237. #endif
  1238. enable_endstops(true);
  1239. }
  1240. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  1241. #if ENABLED(DELTA)
  1242. /**
  1243. * Calculate delta, start a line, and set current_position to destination
  1244. */
  1245. void prepare_move_raw() {
  1246. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1247. if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_move_raw", destination);
  1248. #endif
  1249. refresh_cmd_timeout();
  1250. calculate_delta(destination);
  1251. plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], (feedrate / 60) * (feedrate_multiplier / 100.0), active_extruder);
  1252. set_current_to_destination();
  1253. }
  1254. #endif
  1255. #if ENABLED(AUTO_BED_LEVELING_GRID)
  1256. #if DISABLED(DELTA)
  1257. static void set_bed_level_equation_lsq(double* plane_equation_coefficients) {
  1258. //plan_bed_level_matrix.debug("bed level before");
  1259. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1260. plan_bed_level_matrix.set_to_identity();
  1261. if (DEBUGGING(LEVELING)) {
  1262. vector_3 uncorrected_position = plan_get_position();
  1263. DEBUG_POS(">>> set_bed_level_equation_lsq", uncorrected_position);
  1264. DEBUG_POS(">>> set_bed_level_equation_lsq", current_position);
  1265. }
  1266. #endif
  1267. vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
  1268. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1269. vector_3 corrected_position = plan_get_position();
  1270. current_position[X_AXIS] = corrected_position.x;
  1271. current_position[Y_AXIS] = corrected_position.y;
  1272. current_position[Z_AXIS] = corrected_position.z;
  1273. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1274. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< set_bed_level_equation_lsq", corrected_position);
  1275. #endif
  1276. sync_plan_position();
  1277. }
  1278. #endif // !DELTA
  1279. #else // !AUTO_BED_LEVELING_GRID
  1280. static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
  1281. plan_bed_level_matrix.set_to_identity();
  1282. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
  1283. vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
  1284. vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  1285. vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal();
  1286. if (planeNormal.z < 0) {
  1287. planeNormal.x = -planeNormal.x;
  1288. planeNormal.y = -planeNormal.y;
  1289. planeNormal.z = -planeNormal.z;
  1290. }
  1291. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1292. vector_3 corrected_position = plan_get_position();
  1293. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1294. if (DEBUGGING(LEVELING)) {
  1295. vector_3 uncorrected_position = corrected_position;
  1296. DEBUG_POS("set_bed_level_equation_3pts", uncorrected_position);
  1297. }
  1298. #endif
  1299. current_position[X_AXIS] = corrected_position.x;
  1300. current_position[Y_AXIS] = corrected_position.y;
  1301. current_position[Z_AXIS] = corrected_position.z;
  1302. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1303. if (DEBUGGING(LEVELING)) DEBUG_POS("set_bed_level_equation_3pts", corrected_position);
  1304. #endif
  1305. sync_plan_position();
  1306. }
  1307. #endif // !AUTO_BED_LEVELING_GRID
  1308. static void run_z_probe() {
  1309. /**
  1310. * To prevent stepper_inactive_time from running out and
  1311. * EXTRUDER_RUNOUT_PREVENT from extruding
  1312. */
  1313. refresh_cmd_timeout();
  1314. #if ENABLED(DELTA)
  1315. float start_z = current_position[Z_AXIS];
  1316. long start_steps = st_get_position(Z_AXIS);
  1317. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1318. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("run_z_probe (DELTA) 1");
  1319. #endif
  1320. // move down slowly until you find the bed
  1321. feedrate = homing_feedrate[Z_AXIS] / 4;
  1322. destination[Z_AXIS] = -10;
  1323. prepare_move_raw(); // this will also set_current_to_destination
  1324. st_synchronize();
  1325. endstops_hit_on_purpose(); // clear endstop hit flags
  1326. /**
  1327. * We have to let the planner know where we are right now as it
  1328. * is not where we said to go.
  1329. */
  1330. long stop_steps = st_get_position(Z_AXIS);
  1331. float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
  1332. current_position[Z_AXIS] = mm;
  1333. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1334. if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe (DELTA) 2", current_position);
  1335. #endif
  1336. sync_plan_position_delta();
  1337. #else // !DELTA
  1338. plan_bed_level_matrix.set_to_identity();
  1339. feedrate = homing_feedrate[Z_AXIS];
  1340. // Move down until the Z probe (or endstop?) is triggered
  1341. float zPosition = -(Z_MAX_LENGTH + 10);
  1342. line_to_z(zPosition);
  1343. st_synchronize();
  1344. // Tell the planner where we ended up - Get this from the stepper handler
  1345. zPosition = st_get_axis_position_mm(Z_AXIS);
  1346. plan_set_position(
  1347. current_position[X_AXIS], current_position[Y_AXIS], zPosition,
  1348. current_position[E_AXIS]
  1349. );
  1350. // move up the retract distance
  1351. zPosition += home_bump_mm(Z_AXIS);
  1352. line_to_z(zPosition);
  1353. st_synchronize();
  1354. endstops_hit_on_purpose(); // clear endstop hit flags
  1355. // move back down slowly to find bed
  1356. set_homing_bump_feedrate(Z_AXIS);
  1357. zPosition -= home_bump_mm(Z_AXIS) * 2;
  1358. line_to_z(zPosition);
  1359. st_synchronize();
  1360. endstops_hit_on_purpose(); // clear endstop hit flags
  1361. // Get the current stepper position after bumping an endstop
  1362. current_position[Z_AXIS] = st_get_axis_position_mm(Z_AXIS);
  1363. sync_plan_position();
  1364. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1365. if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe", current_position);
  1366. #endif
  1367. #endif // !DELTA
  1368. }
  1369. /**
  1370. * Plan a move to (X, Y, Z) and set the current_position
  1371. * The final current_position may not be the one that was requested
  1372. */
  1373. static void do_blocking_move_to(float x, float y, float z) {
  1374. float oldFeedRate = feedrate;
  1375. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1376. if (DEBUGGING(LEVELING)) print_xyz("do_blocking_move_to", x, y, z);
  1377. #endif
  1378. #if ENABLED(DELTA)
  1379. feedrate = XY_TRAVEL_SPEED;
  1380. destination[X_AXIS] = x;
  1381. destination[Y_AXIS] = y;
  1382. destination[Z_AXIS] = z;
  1383. prepare_move_raw(); // this will also set_current_to_destination
  1384. st_synchronize();
  1385. #else
  1386. feedrate = homing_feedrate[Z_AXIS];
  1387. current_position[Z_AXIS] = z;
  1388. line_to_current_position();
  1389. st_synchronize();
  1390. feedrate = xy_travel_speed;
  1391. current_position[X_AXIS] = x;
  1392. current_position[Y_AXIS] = y;
  1393. line_to_current_position();
  1394. st_synchronize();
  1395. #endif
  1396. feedrate = oldFeedRate;
  1397. }
  1398. inline void do_blocking_move_to_xy(float x, float y) {
  1399. do_blocking_move_to(x, y, current_position[Z_AXIS]);
  1400. }
  1401. inline void do_blocking_move_to_x(float x) {
  1402. do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]);
  1403. }
  1404. inline void do_blocking_move_to_z(float z) {
  1405. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z);
  1406. }
  1407. inline void raise_z_after_probing() {
  1408. do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
  1409. }
  1410. static void clean_up_after_endstop_move() {
  1411. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1412. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("clean_up_after_endstop_move > ENDSTOPS_ONLY_FOR_HOMING > endstops_not_homing()");
  1413. #endif
  1414. endstops_not_homing();
  1415. feedrate = saved_feedrate;
  1416. feedrate_multiplier = saved_feedrate_multiplier;
  1417. refresh_cmd_timeout();
  1418. }
  1419. #if ENABLED(HAS_Z_MIN_PROBE)
  1420. static void deploy_z_probe() {
  1421. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1422. if (DEBUGGING(LEVELING)) DEBUG_POS("deploy_z_probe", current_position);
  1423. #endif
  1424. if (z_probe_is_active) return;
  1425. #if HAS_SERVO_ENDSTOPS
  1426. // Engage Z Servo endstop if enabled
  1427. if (servo_endstop_id[Z_AXIS] >= 0) servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][0]);
  1428. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1429. feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE;
  1430. // If endstop is already false, the Z probe is deployed
  1431. #if ENABLED(Z_MIN_PROBE_ENDSTOP)
  1432. bool z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
  1433. if (z_probe_endstop)
  1434. #else
  1435. bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
  1436. if (z_min_endstop)
  1437. #endif
  1438. {
  1439. // Move to the start position to initiate deployment
  1440. destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_X;
  1441. destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_Y;
  1442. destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_Z;
  1443. prepare_move_raw(); // this will also set_current_to_destination
  1444. // Move to engage deployment
  1445. if (Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE)
  1446. feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE;
  1447. if (Z_PROBE_ALLEN_KEY_DEPLOY_2_X != Z_PROBE_ALLEN_KEY_DEPLOY_1_X)
  1448. destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_X;
  1449. if (Z_PROBE_ALLEN_KEY_DEPLOY_2_Y != Z_PROBE_ALLEN_KEY_DEPLOY_1_Y)
  1450. destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_Y;
  1451. if (Z_PROBE_ALLEN_KEY_DEPLOY_2_Z != Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
  1452. destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_Z;
  1453. prepare_move_raw();
  1454. #ifdef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
  1455. if (Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE)
  1456. feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE;
  1457. // Move to trigger deployment
  1458. if (Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE)
  1459. feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE;
  1460. if (Z_PROBE_ALLEN_KEY_DEPLOY_3_X != Z_PROBE_ALLEN_KEY_DEPLOY_2_X)
  1461. destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_X;
  1462. if (Z_PROBE_ALLEN_KEY_DEPLOY_3_Y != Z_PROBE_ALLEN_KEY_DEPLOY_2_Y)
  1463. destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_Y;
  1464. if (Z_PROBE_ALLEN_KEY_DEPLOY_3_Z != Z_PROBE_ALLEN_KEY_DEPLOY_2_Z)
  1465. destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_Z;
  1466. prepare_move_raw();
  1467. #endif
  1468. }
  1469. // Partially Home X,Y for safety
  1470. destination[X_AXIS] = destination[X_AXIS] * 0.75;
  1471. destination[Y_AXIS] = destination[Y_AXIS] * 0.75;
  1472. prepare_move_raw(); // this will also set_current_to_destination
  1473. st_synchronize();
  1474. #if ENABLED(Z_MIN_PROBE_ENDSTOP)
  1475. z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
  1476. if (z_probe_endstop)
  1477. #else
  1478. z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
  1479. if (z_min_endstop)
  1480. #endif
  1481. {
  1482. if (IsRunning()) {
  1483. SERIAL_ERROR_START;
  1484. SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
  1485. LCD_ALERTMESSAGEPGM("Err: ZPROBE");
  1486. }
  1487. stop();
  1488. }
  1489. #endif // Z_PROBE_ALLEN_KEY
  1490. #if ENABLED(FIX_MOUNTED_PROBE)
  1491. // Noting to be done. Just set z_probe_is_active
  1492. #endif
  1493. z_probe_is_active = true;
  1494. }
  1495. static void stow_z_probe(bool doRaise = true) {
  1496. #if !(HAS_SERVO_ENDSTOPS && (Z_RAISE_AFTER_PROBING > 0))
  1497. UNUSED(doRaise);
  1498. #endif
  1499. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1500. if (DEBUGGING(LEVELING)) DEBUG_POS("stow_z_probe", current_position);
  1501. #endif
  1502. if (!z_probe_is_active) return;
  1503. #if HAS_SERVO_ENDSTOPS
  1504. // Retract Z Servo endstop if enabled
  1505. if (servo_endstop_id[Z_AXIS] >= 0) {
  1506. #if Z_RAISE_AFTER_PROBING > 0
  1507. if (doRaise) {
  1508. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1509. if (DEBUGGING(LEVELING)) {
  1510. SERIAL_ECHOPAIR("Raise Z (after) by ", Z_RAISE_AFTER_PROBING);
  1511. SERIAL_EOL;
  1512. SERIAL_ECHO("> SERVO_ENDSTOPS > raise_z_after_probing()");
  1513. SERIAL_EOL;
  1514. }
  1515. #endif
  1516. raise_z_after_probing(); // this also updates current_position
  1517. st_synchronize();
  1518. }
  1519. #endif
  1520. // Change the Z servo angle
  1521. servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][1]);
  1522. }
  1523. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1524. // Move up for safety
  1525. feedrate = Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE;
  1526. #if Z_RAISE_AFTER_PROBING > 0
  1527. destination[Z_AXIS] = current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING;
  1528. prepare_move_raw(); // this will also set_current_to_destination
  1529. #endif
  1530. // Move to the start position to initiate retraction
  1531. destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_X;
  1532. destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_Y;
  1533. destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_Z;
  1534. prepare_move_raw();
  1535. // Move the nozzle down to push the Z probe into retracted position
  1536. if (Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE != Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE)
  1537. feedrate = Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE;
  1538. if (Z_PROBE_ALLEN_KEY_STOW_2_X != Z_PROBE_ALLEN_KEY_STOW_1_X)
  1539. destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_X;
  1540. if (Z_PROBE_ALLEN_KEY_STOW_2_Y != Z_PROBE_ALLEN_KEY_STOW_1_Y)
  1541. destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_Y;
  1542. destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_Z;
  1543. prepare_move_raw();
  1544. // Move up for safety
  1545. if (Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE != Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE)
  1546. feedrate = Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE;
  1547. if (Z_PROBE_ALLEN_KEY_STOW_3_X != Z_PROBE_ALLEN_KEY_STOW_2_X)
  1548. destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_X;
  1549. if (Z_PROBE_ALLEN_KEY_STOW_3_Y != Z_PROBE_ALLEN_KEY_STOW_2_Y)
  1550. destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_Y;
  1551. destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_Z;
  1552. prepare_move_raw();
  1553. // Home XY for safety
  1554. feedrate = homing_feedrate[X_AXIS] / 2;
  1555. destination[X_AXIS] = 0;
  1556. destination[Y_AXIS] = 0;
  1557. prepare_move_raw(); // this will also set_current_to_destination
  1558. st_synchronize();
  1559. #if ENABLED(Z_MIN_PROBE_ENDSTOP)
  1560. bool z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
  1561. if (!z_probe_endstop)
  1562. #else
  1563. bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
  1564. if (!z_min_endstop)
  1565. #endif
  1566. {
  1567. if (IsRunning()) {
  1568. SERIAL_ERROR_START;
  1569. SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
  1570. LCD_ALERTMESSAGEPGM("Err: ZPROBE");
  1571. }
  1572. stop();
  1573. }
  1574. #endif // Z_PROBE_ALLEN_KEY
  1575. #if ENABLED(FIX_MOUNTED_PROBE)
  1576. // Nothing to do here. Just clear z_probe_is_active
  1577. #endif
  1578. z_probe_is_active = false;
  1579. }
  1580. #endif // HAS_Z_MIN_PROBE
  1581. enum ProbeAction {
  1582. ProbeStay = 0,
  1583. ProbeDeploy = _BV(0),
  1584. ProbeStow = _BV(1),
  1585. ProbeDeployAndStow = (ProbeDeploy | ProbeStow)
  1586. };
  1587. // Probe bed height at position (x,y), returns the measured z value
  1588. static float probe_pt(float x, float y, float z_before, ProbeAction probe_action = ProbeDeployAndStow, int verbose_level = 1) {
  1589. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1590. if (DEBUGGING(LEVELING)) {
  1591. SERIAL_ECHOLNPGM("probe_pt >>>");
  1592. SERIAL_ECHOPAIR("> ProbeAction:", probe_action);
  1593. SERIAL_EOL;
  1594. DEBUG_POS("", current_position);
  1595. }
  1596. #endif
  1597. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1598. if (DEBUGGING(LEVELING)) {
  1599. SERIAL_ECHOPAIR("Z Raise to z_before ", z_before);
  1600. SERIAL_EOL;
  1601. SERIAL_ECHOPAIR("> do_blocking_move_to_z ", z_before);
  1602. SERIAL_EOL;
  1603. }
  1604. #endif
  1605. // Move Z up to the z_before height, then move the Z probe to the given XY
  1606. do_blocking_move_to_z(z_before); // this also updates current_position
  1607. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1608. if (DEBUGGING(LEVELING)) {
  1609. SERIAL_ECHOPAIR("> do_blocking_move_to_xy ", x - (X_PROBE_OFFSET_FROM_EXTRUDER));
  1610. SERIAL_ECHOPAIR(", ", y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
  1611. SERIAL_EOL;
  1612. }
  1613. #endif
  1614. // this also updates current_position
  1615. do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
  1616. #if DISABLED(Z_PROBE_SLED) && DISABLED(Z_PROBE_ALLEN_KEY)
  1617. if (probe_action & ProbeDeploy) {
  1618. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1619. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> ProbeDeploy");
  1620. #endif
  1621. deploy_z_probe();
  1622. }
  1623. #endif
  1624. run_z_probe();
  1625. float measured_z = current_position[Z_AXIS];
  1626. #if DISABLED(Z_PROBE_SLED) && DISABLED(Z_PROBE_ALLEN_KEY)
  1627. if (probe_action & ProbeStow) {
  1628. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1629. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> ProbeStow (stow_z_probe will do Z Raise)");
  1630. #endif
  1631. stow_z_probe();
  1632. }
  1633. #endif
  1634. if (verbose_level > 2) {
  1635. SERIAL_PROTOCOLPGM("Bed X: ");
  1636. SERIAL_PROTOCOL_F(x, 3);
  1637. SERIAL_PROTOCOLPGM(" Y: ");
  1638. SERIAL_PROTOCOL_F(y, 3);
  1639. SERIAL_PROTOCOLPGM(" Z: ");
  1640. SERIAL_PROTOCOL_F(measured_z, 3);
  1641. SERIAL_EOL;
  1642. }
  1643. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1644. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
  1645. #endif
  1646. return measured_z;
  1647. }
  1648. #if ENABLED(DELTA)
  1649. /**
  1650. * All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
  1651. */
  1652. static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
  1653. if (bed_level[x][y] != 0.0) {
  1654. return; // Don't overwrite good values.
  1655. }
  1656. float a = 2 * bed_level[x + xdir][y] - bed_level[x + xdir * 2][y]; // Left to right.
  1657. float b = 2 * bed_level[x][y + ydir] - bed_level[x][y + ydir * 2]; // Front to back.
  1658. float c = 2 * bed_level[x + xdir][y + ydir] - bed_level[x + xdir * 2][y + ydir * 2]; // Diagonal.
  1659. float median = c; // Median is robust (ignores outliers).
  1660. if (a < b) {
  1661. if (b < c) median = b;
  1662. if (c < a) median = a;
  1663. }
  1664. else { // b <= a
  1665. if (c < b) median = b;
  1666. if (a < c) median = a;
  1667. }
  1668. bed_level[x][y] = median;
  1669. }
  1670. /**
  1671. * Fill in the unprobed points (corners of circular print surface)
  1672. * using linear extrapolation, away from the center.
  1673. */
  1674. static void extrapolate_unprobed_bed_level() {
  1675. int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
  1676. for (int y = 0; y <= half; y++) {
  1677. for (int x = 0; x <= half; x++) {
  1678. if (x + y < 3) continue;
  1679. extrapolate_one_point(half - x, half - y, x > 1 ? +1 : 0, y > 1 ? +1 : 0);
  1680. extrapolate_one_point(half + x, half - y, x > 1 ? -1 : 0, y > 1 ? +1 : 0);
  1681. extrapolate_one_point(half - x, half + y, x > 1 ? +1 : 0, y > 1 ? -1 : 0);
  1682. extrapolate_one_point(half + x, half + y, x > 1 ? -1 : 0, y > 1 ? -1 : 0);
  1683. }
  1684. }
  1685. }
  1686. /**
  1687. * Print calibration results for plotting or manual frame adjustment.
  1688. */
  1689. static void print_bed_level() {
  1690. for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
  1691. for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
  1692. SERIAL_PROTOCOL_F(bed_level[x][y], 2);
  1693. SERIAL_PROTOCOLCHAR(' ');
  1694. }
  1695. SERIAL_EOL;
  1696. }
  1697. }
  1698. /**
  1699. * Reset calibration results to zero.
  1700. */
  1701. void reset_bed_level() {
  1702. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1703. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
  1704. #endif
  1705. for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
  1706. for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
  1707. bed_level[x][y] = 0.0;
  1708. }
  1709. }
  1710. }
  1711. #endif // DELTA
  1712. #if HAS_SERVO_ENDSTOPS && DISABLED(Z_PROBE_SLED)
  1713. void raise_z_for_servo() {
  1714. float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_PROBING;
  1715. /**
  1716. * The zprobe_zoffset is negative any switch below the nozzle, so
  1717. * multiply by Z_HOME_DIR (-1) to move enough away from bed for the probe
  1718. */
  1719. z_dest += axis_homed[Z_AXIS] ? zprobe_zoffset * Z_HOME_DIR : zpos;
  1720. if (zpos < z_dest) do_blocking_move_to_z(z_dest); // also updates current_position
  1721. }
  1722. #endif
  1723. #endif // AUTO_BED_LEVELING_FEATURE
  1724. #if ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || ENABLED(AUTO_BED_LEVELING_FEATURE)
  1725. static void axis_unhomed_error() {
  1726. LCD_MESSAGEPGM(MSG_YX_UNHOMED);
  1727. SERIAL_ECHO_START;
  1728. SERIAL_ECHOLNPGM(MSG_YX_UNHOMED);
  1729. }
  1730. #endif
  1731. #if ENABLED(Z_PROBE_SLED)
  1732. #ifndef SLED_DOCKING_OFFSET
  1733. #define SLED_DOCKING_OFFSET 0
  1734. #endif
  1735. /**
  1736. * Method to dock/undock a sled designed by Charles Bell.
  1737. *
  1738. * dock[in] If true, move to MAX_X and engage the electromagnet
  1739. * offset[in] The additional distance to move to adjust docking location
  1740. */
  1741. static void dock_sled(bool dock, int offset = 0) {
  1742. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1743. if (DEBUGGING(LEVELING)) {
  1744. SERIAL_ECHOPAIR("dock_sled(", dock);
  1745. SERIAL_ECHOLNPGM(")");
  1746. }
  1747. #endif
  1748. if (z_probe_is_active == dock) return;
  1749. if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS]) {
  1750. axis_unhomed_error();
  1751. return;
  1752. }
  1753. float oldXpos = current_position[X_AXIS]; // save x position
  1754. if (dock) {
  1755. #if Z_RAISE_AFTER_PROBING > 0
  1756. raise_z_after_probing(); // raise Z
  1757. #endif
  1758. // Dock sled a bit closer to ensure proper capturing
  1759. do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1);
  1760. digitalWrite(SLED_PIN, LOW); // turn off magnet
  1761. }
  1762. else {
  1763. float z_loc = current_position[Z_AXIS];
  1764. if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING;
  1765. do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], z_loc); // this also updates current_position
  1766. digitalWrite(SLED_PIN, HIGH); // turn on magnet
  1767. }
  1768. do_blocking_move_to_x(oldXpos); // return to position before docking
  1769. z_probe_is_active = dock;
  1770. }
  1771. #endif // Z_PROBE_SLED
  1772. /**
  1773. * Home an individual axis
  1774. */
  1775. #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
  1776. static void homeaxis(AxisEnum axis) {
  1777. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1778. if (DEBUGGING(LEVELING)) {
  1779. SERIAL_ECHOPAIR(">>> homeaxis(", axis);
  1780. SERIAL_ECHOLNPGM(")");
  1781. }
  1782. #endif
  1783. #define HOMEAXIS_DO(LETTER) \
  1784. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  1785. if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) {
  1786. int axis_home_dir =
  1787. #if ENABLED(DUAL_X_CARRIAGE)
  1788. (axis == X_AXIS) ? x_home_dir(active_extruder) :
  1789. #endif
  1790. home_dir(axis);
  1791. // Set the axis position as setup for the move
  1792. current_position[axis] = 0;
  1793. sync_plan_position();
  1794. #if ENABLED(Z_PROBE_SLED)
  1795. #define _Z_SERVO_TEST (axis != Z_AXIS) // deploy Z, servo.move XY
  1796. #define _Z_PROBE_SUBTEST false // Z will never be invoked
  1797. #define _Z_DEPLOY (dock_sled(false))
  1798. #define _Z_STOW (dock_sled(true))
  1799. #elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
  1800. #define _Z_SERVO_TEST (axis != Z_AXIS) // servo.move XY
  1801. #define _Z_PROBE_SUBTEST false // Z will never be invoked
  1802. #define _Z_DEPLOY (deploy_z_probe())
  1803. #define _Z_STOW (stow_z_probe())
  1804. #elif HAS_SERVO_ENDSTOPS
  1805. #define _Z_SERVO_TEST true // servo.move X, Y, Z
  1806. #define _Z_PROBE_SUBTEST (axis == Z_AXIS) // Z is a probe
  1807. #endif
  1808. if (axis == Z_AXIS) {
  1809. // If there's a Z probe that needs deployment...
  1810. #if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
  1811. // ...and homing Z towards the bed? Deploy it.
  1812. if (axis_home_dir < 0) _Z_DEPLOY;
  1813. #endif
  1814. }
  1815. #if HAS_SERVO_ENDSTOPS
  1816. // Engage an X or Y Servo endstop if enabled
  1817. if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) {
  1818. servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][0]);
  1819. if (_Z_PROBE_SUBTEST) z_probe_is_active = true;
  1820. }
  1821. #endif
  1822. // Set a flag for Z motor locking
  1823. #if ENABLED(Z_DUAL_ENDSTOPS)
  1824. if (axis == Z_AXIS) In_Homing_Process(true);
  1825. #endif
  1826. // Move towards the endstop until an endstop is triggered
  1827. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  1828. feedrate = homing_feedrate[axis];
  1829. line_to_destination();
  1830. st_synchronize();
  1831. // Set the axis position as setup for the move
  1832. current_position[axis] = 0;
  1833. sync_plan_position();
  1834. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1835. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> enable_endstops(false)");
  1836. #endif
  1837. enable_endstops(false); // Disable endstops while moving away
  1838. // Move away from the endstop by the axis HOME_BUMP_MM
  1839. destination[axis] = -home_bump_mm(axis) * axis_home_dir;
  1840. line_to_destination();
  1841. st_synchronize();
  1842. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1843. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> enable_endstops(true)");
  1844. #endif
  1845. enable_endstops(true); // Enable endstops for next homing move
  1846. // Slow down the feedrate for the next move
  1847. set_homing_bump_feedrate(axis);
  1848. // Move slowly towards the endstop until triggered
  1849. destination[axis] = 2 * home_bump_mm(axis) * axis_home_dir;
  1850. line_to_destination();
  1851. st_synchronize();
  1852. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1853. if (DEBUGGING(LEVELING)) DEBUG_POS("> TRIGGER ENDSTOP", current_position);
  1854. #endif
  1855. #if ENABLED(Z_DUAL_ENDSTOPS)
  1856. if (axis == Z_AXIS) {
  1857. float adj = fabs(z_endstop_adj);
  1858. bool lockZ1;
  1859. if (axis_home_dir > 0) {
  1860. adj = -adj;
  1861. lockZ1 = (z_endstop_adj > 0);
  1862. }
  1863. else
  1864. lockZ1 = (z_endstop_adj < 0);
  1865. if (lockZ1) Lock_z_motor(true); else Lock_z2_motor(true);
  1866. sync_plan_position();
  1867. // Move to the adjusted endstop height
  1868. feedrate = homing_feedrate[axis];
  1869. destination[Z_AXIS] = adj;
  1870. line_to_destination();
  1871. st_synchronize();
  1872. if (lockZ1) Lock_z_motor(false); else Lock_z2_motor(false);
  1873. In_Homing_Process(false);
  1874. } // Z_AXIS
  1875. #endif
  1876. #if ENABLED(DELTA)
  1877. // retrace by the amount specified in endstop_adj
  1878. if (endstop_adj[axis] * axis_home_dir < 0) {
  1879. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1880. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> enable_endstops(false)");
  1881. #endif
  1882. enable_endstops(false); // Disable endstops while moving away
  1883. sync_plan_position();
  1884. destination[axis] = endstop_adj[axis];
  1885. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1886. if (DEBUGGING(LEVELING)) {
  1887. SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis]);
  1888. DEBUG_POS("", destination);
  1889. }
  1890. #endif
  1891. line_to_destination();
  1892. st_synchronize();
  1893. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1894. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> enable_endstops(true)");
  1895. #endif
  1896. enable_endstops(true); // Enable endstops for next homing move
  1897. }
  1898. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1899. else {
  1900. if (DEBUGGING(LEVELING)) {
  1901. SERIAL_ECHOPAIR("> endstop_adj * axis_home_dir = ", endstop_adj[axis] * axis_home_dir);
  1902. SERIAL_EOL;
  1903. }
  1904. }
  1905. #endif
  1906. #endif
  1907. // Set the axis position to its home position (plus home offsets)
  1908. set_axis_is_at_home(axis);
  1909. sync_plan_position();
  1910. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1911. if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
  1912. #endif
  1913. destination[axis] = current_position[axis];
  1914. feedrate = 0.0;
  1915. endstops_hit_on_purpose(); // clear endstop hit flags
  1916. axis_known_position[axis] = true;
  1917. axis_homed[axis] = true;
  1918. // Put away the Z probe
  1919. #if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
  1920. if (axis == Z_AXIS && axis_home_dir < 0) {
  1921. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1922. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_STOW));
  1923. #endif
  1924. _Z_STOW;
  1925. }
  1926. #endif
  1927. // Retract Servo endstop if enabled
  1928. #if HAS_SERVO_ENDSTOPS
  1929. if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) {
  1930. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1931. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()");
  1932. #endif
  1933. servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]);
  1934. if (_Z_PROBE_SUBTEST) z_probe_is_active = false;
  1935. }
  1936. #endif
  1937. }
  1938. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1939. if (DEBUGGING(LEVELING)) {
  1940. SERIAL_ECHOPAIR("<<< homeaxis(", axis);
  1941. SERIAL_ECHOLNPGM(")");
  1942. }
  1943. #endif
  1944. }
  1945. #if ENABLED(FWRETRACT)
  1946. void retract(bool retracting, bool swapping = false) {
  1947. if (retracting == retracted[active_extruder]) return;
  1948. float oldFeedrate = feedrate;
  1949. set_destination_to_current();
  1950. if (retracting) {
  1951. feedrate = retract_feedrate * 60;
  1952. current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
  1953. plan_set_e_position(current_position[E_AXIS]);
  1954. prepare_move();
  1955. if (retract_zlift > 0.01) {
  1956. current_position[Z_AXIS] -= retract_zlift;
  1957. #if ENABLED(DELTA)
  1958. sync_plan_position_delta();
  1959. #else
  1960. sync_plan_position();
  1961. #endif
  1962. prepare_move();
  1963. }
  1964. }
  1965. else {
  1966. if (retract_zlift > 0.01) {
  1967. current_position[Z_AXIS] += retract_zlift;
  1968. #if ENABLED(DELTA)
  1969. sync_plan_position_delta();
  1970. #else
  1971. sync_plan_position();
  1972. #endif
  1973. //prepare_move();
  1974. }
  1975. feedrate = retract_recover_feedrate * 60;
  1976. float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
  1977. current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
  1978. plan_set_e_position(current_position[E_AXIS]);
  1979. prepare_move();
  1980. }
  1981. feedrate = oldFeedrate;
  1982. retracted[active_extruder] = retracting;
  1983. } // retract()
  1984. #endif // FWRETRACT
  1985. /**
  1986. * ***************************************************************************
  1987. * ***************************** G-CODE HANDLING *****************************
  1988. * ***************************************************************************
  1989. */
  1990. /**
  1991. * Set XYZE destination and feedrate from the current GCode command
  1992. *
  1993. * - Set destination from included axis codes
  1994. * - Set to current for missing axis codes
  1995. * - Set the feedrate, if included
  1996. */
  1997. void gcode_get_destination() {
  1998. for (int i = 0; i < NUM_AXIS; i++) {
  1999. if (code_seen(axis_codes[i]))
  2000. destination[i] = code_value() + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
  2001. else
  2002. destination[i] = current_position[i];
  2003. }
  2004. if (code_seen('F')) {
  2005. float next_feedrate = code_value();
  2006. if (next_feedrate > 0.0) feedrate = next_feedrate;
  2007. }
  2008. }
  2009. void unknown_command_error() {
  2010. SERIAL_ECHO_START;
  2011. SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
  2012. SERIAL_ECHO(current_command);
  2013. SERIAL_ECHOPGM("\"\n");
  2014. }
  2015. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  2016. /**
  2017. * Output a "busy" message at regular intervals
  2018. * while the machine is not accepting commands.
  2019. */
  2020. void host_keepalive() {
  2021. millis_t ms = millis();
  2022. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  2023. if (PENDING(ms, next_busy_signal_ms)) return;
  2024. switch (busy_state) {
  2025. case IN_HANDLER:
  2026. case IN_PROCESS:
  2027. SERIAL_ECHO_START;
  2028. SERIAL_ECHOLNPGM(MSG_BUSY_PROCESSING);
  2029. break;
  2030. case PAUSED_FOR_USER:
  2031. SERIAL_ECHO_START;
  2032. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_USER);
  2033. break;
  2034. case PAUSED_FOR_INPUT:
  2035. SERIAL_ECHO_START;
  2036. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_INPUT);
  2037. break;
  2038. default:
  2039. break;
  2040. }
  2041. }
  2042. next_busy_signal_ms = ms + host_keepalive_interval * 1000UL;
  2043. }
  2044. #endif //HOST_KEEPALIVE_FEATURE
  2045. /**
  2046. * G0, G1: Coordinated movement of X Y Z E axes
  2047. */
  2048. inline void gcode_G0_G1() {
  2049. if (IsRunning()) {
  2050. gcode_get_destination(); // For X Y Z E F
  2051. #if ENABLED(FWRETRACT)
  2052. if (autoretract_enabled && !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  2053. float echange = destination[E_AXIS] - current_position[E_AXIS];
  2054. // Is this move an attempt to retract or recover?
  2055. if ((echange < -MIN_RETRACT && !retracted[active_extruder]) || (echange > MIN_RETRACT && retracted[active_extruder])) {
  2056. current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations
  2057. plan_set_e_position(current_position[E_AXIS]); // AND from the planner
  2058. retract(!retracted[active_extruder]);
  2059. return;
  2060. }
  2061. }
  2062. #endif //FWRETRACT
  2063. prepare_move();
  2064. }
  2065. }
  2066. /**
  2067. * G2: Clockwise Arc
  2068. * G3: Counterclockwise Arc
  2069. */
  2070. inline void gcode_G2_G3(bool clockwise) {
  2071. if (IsRunning()) {
  2072. #if ENABLED(SF_ARC_FIX)
  2073. bool relative_mode_backup = relative_mode;
  2074. relative_mode = true;
  2075. #endif
  2076. gcode_get_destination();
  2077. #if ENABLED(SF_ARC_FIX)
  2078. relative_mode = relative_mode_backup;
  2079. #endif
  2080. // Center of arc as offset from current_position
  2081. float arc_offset[2] = {
  2082. code_seen('I') ? code_value() : 0,
  2083. code_seen('J') ? code_value() : 0
  2084. };
  2085. // Send an arc to the planner
  2086. plan_arc(destination, arc_offset, clockwise);
  2087. refresh_cmd_timeout();
  2088. }
  2089. }
  2090. /**
  2091. * G4: Dwell S<seconds> or P<milliseconds>
  2092. */
  2093. inline void gcode_G4() {
  2094. millis_t codenum = 0;
  2095. if (code_seen('P')) codenum = code_value_long(); // milliseconds to wait
  2096. if (code_seen('S')) codenum = code_value() * 1000UL; // seconds to wait
  2097. st_synchronize();
  2098. refresh_cmd_timeout();
  2099. codenum += previous_cmd_ms; // keep track of when we started waiting
  2100. if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
  2101. while (PENDING(millis(), codenum)) idle();
  2102. }
  2103. #if ENABLED(FWRETRACT)
  2104. /**
  2105. * G10 - Retract filament according to settings of M207
  2106. * G11 - Recover filament according to settings of M208
  2107. */
  2108. inline void gcode_G10_G11(bool doRetract=false) {
  2109. #if EXTRUDERS > 1
  2110. if (doRetract) {
  2111. retracted_swap[active_extruder] = (code_seen('S') && code_value_short() == 1); // checks for swap retract argument
  2112. }
  2113. #endif
  2114. retract(doRetract
  2115. #if EXTRUDERS > 1
  2116. , retracted_swap[active_extruder]
  2117. #endif
  2118. );
  2119. }
  2120. #endif //FWRETRACT
  2121. /**
  2122. * G28: Home all axes according to settings
  2123. *
  2124. * Parameters
  2125. *
  2126. * None Home to all axes with no parameters.
  2127. * With QUICK_HOME enabled XY will home together, then Z.
  2128. *
  2129. * Cartesian parameters
  2130. *
  2131. * X Home to the X endstop
  2132. * Y Home to the Y endstop
  2133. * Z Home to the Z endstop
  2134. *
  2135. */
  2136. inline void gcode_G28() {
  2137. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2138. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("gcode_G28 >>>");
  2139. #endif
  2140. // Wait for planner moves to finish!
  2141. st_synchronize();
  2142. // For auto bed leveling, clear the level matrix
  2143. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  2144. plan_bed_level_matrix.set_to_identity();
  2145. #if ENABLED(DELTA)
  2146. reset_bed_level();
  2147. #endif
  2148. #endif
  2149. /**
  2150. * For mesh bed leveling deactivate the mesh calculations, will be turned
  2151. * on again when homing all axis
  2152. */
  2153. #if ENABLED(MESH_BED_LEVELING)
  2154. uint8_t mbl_was_active = mbl.active;
  2155. mbl.active = false;
  2156. #endif
  2157. setup_for_endstop_move();
  2158. /**
  2159. * Directly after a reset this is all 0. Later we get a hint if we have
  2160. * to raise z or not.
  2161. */
  2162. set_destination_to_current();
  2163. feedrate = 0.0;
  2164. #if ENABLED(DELTA)
  2165. /**
  2166. * A delta can only safely home all axis at the same time
  2167. * all axis have to home at the same time
  2168. */
  2169. // Pretend the current position is 0,0,0
  2170. for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0;
  2171. sync_plan_position();
  2172. // Move all carriages up together until the first endstop is hit.
  2173. for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * (Z_MAX_LENGTH);
  2174. feedrate = 1.732 * homing_feedrate[X_AXIS];
  2175. line_to_destination();
  2176. st_synchronize();
  2177. endstops_hit_on_purpose(); // clear endstop hit flags
  2178. // Destination reached
  2179. for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i];
  2180. // take care of back off and rehome now we are all at the top
  2181. HOMEAXIS(X);
  2182. HOMEAXIS(Y);
  2183. HOMEAXIS(Z);
  2184. sync_plan_position_delta();
  2185. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2186. if (DEBUGGING(LEVELING)) DEBUG_POS("(DELTA)", current_position);
  2187. #endif
  2188. #else // NOT DELTA
  2189. bool homeX = code_seen(axis_codes[X_AXIS]),
  2190. homeY = code_seen(axis_codes[Y_AXIS]),
  2191. homeZ = code_seen(axis_codes[Z_AXIS]);
  2192. home_all_axis = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
  2193. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2194. if (home_all_axis || homeZ) {
  2195. HOMEAXIS(Z);
  2196. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2197. if (DEBUGGING(LEVELING)) DEBUG_POS("> HOMEAXIS(Z)", current_position);
  2198. #endif
  2199. }
  2200. #elif defined(MIN_Z_HEIGHT_FOR_HOMING) && MIN_Z_HEIGHT_FOR_HOMING > 0
  2201. // Raise Z before homing any other axes and z is not already high enough (never lower z)
  2202. if (current_position[Z_AXIS] <= MIN_Z_HEIGHT_FOR_HOMING) {
  2203. destination[Z_AXIS] = MIN_Z_HEIGHT_FOR_HOMING;
  2204. feedrate = max_feedrate[Z_AXIS] * 60; // feedrate (mm/m) = max_feedrate (mm/s)
  2205. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2206. if (DEBUGGING(LEVELING)) {
  2207. SERIAL_ECHOPAIR("Raise Z (before homing) to ", (MIN_Z_HEIGHT_FOR_HOMING));
  2208. SERIAL_EOL;
  2209. DEBUG_POS("> (home_all_axis || homeZ)", current_position);
  2210. DEBUG_POS("> (home_all_axis || homeZ)", destination);
  2211. }
  2212. #endif
  2213. line_to_destination();
  2214. st_synchronize();
  2215. /**
  2216. * Update the current Z position even if it currently not real from
  2217. * Z-home otherwise each call to line_to_destination() will want to
  2218. * move Z-axis by MIN_Z_HEIGHT_FOR_HOMING.
  2219. */
  2220. current_position[Z_AXIS] = destination[Z_AXIS];
  2221. }
  2222. #endif
  2223. #if ENABLED(QUICK_HOME)
  2224. if (home_all_axis || (homeX && homeY)) { // First diagonal move
  2225. current_position[X_AXIS] = current_position[Y_AXIS] = 0;
  2226. #if ENABLED(DUAL_X_CARRIAGE)
  2227. int x_axis_home_dir = x_home_dir(active_extruder);
  2228. extruder_duplication_enabled = false;
  2229. #else
  2230. int x_axis_home_dir = home_dir(X_AXIS);
  2231. #endif
  2232. sync_plan_position();
  2233. float mlx = max_length(X_AXIS), mly = max_length(Y_AXIS),
  2234. mlratio = mlx > mly ? mly / mlx : mlx / mly;
  2235. destination[X_AXIS] = 1.5 * mlx * x_axis_home_dir;
  2236. destination[Y_AXIS] = 1.5 * mly * home_dir(Y_AXIS);
  2237. feedrate = min(homing_feedrate[X_AXIS], homing_feedrate[Y_AXIS]) * sqrt(mlratio * mlratio + 1);
  2238. line_to_destination();
  2239. st_synchronize();
  2240. set_axis_is_at_home(X_AXIS);
  2241. set_axis_is_at_home(Y_AXIS);
  2242. sync_plan_position();
  2243. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2244. if (DEBUGGING(LEVELING)) DEBUG_POS("> QUICK_HOME 1", current_position);
  2245. #endif
  2246. destination[X_AXIS] = current_position[X_AXIS];
  2247. destination[Y_AXIS] = current_position[Y_AXIS];
  2248. line_to_destination();
  2249. feedrate = 0.0;
  2250. st_synchronize();
  2251. endstops_hit_on_purpose(); // clear endstop hit flags
  2252. current_position[X_AXIS] = destination[X_AXIS];
  2253. current_position[Y_AXIS] = destination[Y_AXIS];
  2254. #if DISABLED(SCARA)
  2255. current_position[Z_AXIS] = destination[Z_AXIS];
  2256. #endif
  2257. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2258. if (DEBUGGING(LEVELING)) DEBUG_POS("> QUICK_HOME 2", current_position);
  2259. #endif
  2260. }
  2261. #endif // QUICK_HOME
  2262. #if ENABLED(HOME_Y_BEFORE_X)
  2263. // Home Y
  2264. if (home_all_axis || homeY) HOMEAXIS(Y);
  2265. #endif
  2266. // Home X
  2267. if (home_all_axis || homeX) {
  2268. #if ENABLED(DUAL_X_CARRIAGE)
  2269. int tmp_extruder = active_extruder;
  2270. extruder_duplication_enabled = false;
  2271. active_extruder = !active_extruder;
  2272. HOMEAXIS(X);
  2273. inactive_extruder_x_pos = current_position[X_AXIS];
  2274. active_extruder = tmp_extruder;
  2275. HOMEAXIS(X);
  2276. // reset state used by the different modes
  2277. memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
  2278. delayed_move_time = 0;
  2279. active_extruder_parked = true;
  2280. #else
  2281. HOMEAXIS(X);
  2282. #endif
  2283. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2284. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
  2285. #endif
  2286. }
  2287. #if DISABLED(HOME_Y_BEFORE_X)
  2288. // Home Y
  2289. if (home_all_axis || homeY) {
  2290. HOMEAXIS(Y);
  2291. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2292. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  2293. #endif
  2294. }
  2295. #endif
  2296. // Home Z last if homing towards the bed
  2297. #if Z_HOME_DIR < 0
  2298. if (home_all_axis || homeZ) {
  2299. #if ENABLED(Z_SAFE_HOMING)
  2300. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2301. if (DEBUGGING(LEVELING)) {
  2302. SERIAL_ECHOLNPGM("> Z_SAFE_HOMING >>>");
  2303. }
  2304. #endif
  2305. if (home_all_axis) {
  2306. /**
  2307. * At this point we already have Z at MIN_Z_HEIGHT_FOR_HOMING height
  2308. * No need to move Z any more as this height should already be safe
  2309. * enough to reach Z_SAFE_HOMING XY positions.
  2310. * Just make sure the planner is in sync.
  2311. */
  2312. sync_plan_position();
  2313. /**
  2314. * Set the Z probe (or just the nozzle) destination to the safe
  2315. * homing point
  2316. */
  2317. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - (X_PROBE_OFFSET_FROM_EXTRUDER));
  2318. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - (Y_PROBE_OFFSET_FROM_EXTRUDER));
  2319. destination[Z_AXIS] = current_position[Z_AXIS]; //z is already at the right height
  2320. feedrate = XY_TRAVEL_SPEED;
  2321. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2322. if (DEBUGGING(LEVELING)) {
  2323. DEBUG_POS("> Z_SAFE_HOMING > home_all_axis", current_position);
  2324. DEBUG_POS("> Z_SAFE_HOMING > home_all_axis", destination);
  2325. }
  2326. #endif
  2327. // Move in the XY plane
  2328. line_to_destination();
  2329. st_synchronize();
  2330. /**
  2331. * Update the current positions for XY, Z is still at least at
  2332. * MIN_Z_HEIGHT_FOR_HOMING height, no changes there.
  2333. */
  2334. current_position[X_AXIS] = destination[X_AXIS];
  2335. current_position[Y_AXIS] = destination[Y_AXIS];
  2336. // Home the Z axis
  2337. HOMEAXIS(Z);
  2338. }
  2339. else if (homeZ) { // Don't need to Home Z twice
  2340. // Let's see if X and Y are homed
  2341. if (axis_homed[X_AXIS] && axis_homed[Y_AXIS]) {
  2342. /**
  2343. * Make sure the Z probe is within the physical limits
  2344. * NOTE: This doesn't necessarily ensure the Z probe is also
  2345. * within the bed!
  2346. */
  2347. float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS];
  2348. if ( cpx >= X_MIN_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
  2349. && cpx <= X_MAX_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
  2350. && cpy >= Y_MIN_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)
  2351. && cpy <= Y_MAX_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)) {
  2352. // Home the Z axis
  2353. HOMEAXIS(Z);
  2354. }
  2355. else {
  2356. LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
  2357. SERIAL_ECHO_START;
  2358. SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
  2359. }
  2360. }
  2361. else {
  2362. axis_unhomed_error();
  2363. }
  2364. } // !home_all_axes && homeZ
  2365. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2366. if (DEBUGGING(LEVELING)) {
  2367. SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
  2368. }
  2369. #endif
  2370. #else // !Z_SAFE_HOMING
  2371. HOMEAXIS(Z);
  2372. #endif // !Z_SAFE_HOMING
  2373. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2374. if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all_axis || homeZ) > final", current_position);
  2375. #endif
  2376. } // home_all_axis || homeZ
  2377. #endif // Z_HOME_DIR < 0
  2378. sync_plan_position();
  2379. #endif // else DELTA
  2380. #if ENABLED(SCARA)
  2381. sync_plan_position_delta();
  2382. #endif
  2383. #if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
  2384. enable_endstops(false);
  2385. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2386. if (DEBUGGING(LEVELING)) {
  2387. SERIAL_ECHOLNPGM("ENDSTOPS_ONLY_FOR_HOMING enable_endstops(false)");
  2388. }
  2389. #endif
  2390. #endif
  2391. // For mesh leveling move back to Z=0
  2392. #if ENABLED(MESH_BED_LEVELING)
  2393. if (mbl_was_active && home_all_axis) {
  2394. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
  2395. sync_plan_position();
  2396. mbl.active = 1;
  2397. current_position[Z_AXIS] = 0.0;
  2398. set_destination_to_current();
  2399. feedrate = homing_feedrate[Z_AXIS];
  2400. line_to_destination();
  2401. st_synchronize();
  2402. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2403. if (DEBUGGING(LEVELING)) DEBUG_POS("mbl_was_active", current_position);
  2404. #endif
  2405. }
  2406. #endif
  2407. feedrate = saved_feedrate;
  2408. feedrate_multiplier = saved_feedrate_multiplier;
  2409. refresh_cmd_timeout();
  2410. endstops_hit_on_purpose(); // clear endstop hit flags
  2411. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2412. if (DEBUGGING(LEVELING)) {
  2413. SERIAL_ECHOLNPGM("<<< gcode_G28");
  2414. }
  2415. #endif
  2416. gcode_M114(); // Send end position to RepetierHost
  2417. }
  2418. #if ENABLED(MESH_BED_LEVELING)
  2419. enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet, MeshSetZOffset };
  2420. inline void _mbl_goto_xy(float x, float y) {
  2421. saved_feedrate = feedrate;
  2422. feedrate = homing_feedrate[X_AXIS];
  2423. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  2424. #if MIN_Z_HEIGHT_FOR_HOMING > 0
  2425. + MIN_Z_HEIGHT_FOR_HOMING
  2426. #endif
  2427. ;
  2428. line_to_current_position();
  2429. current_position[X_AXIS] = x + home_offset[X_AXIS];
  2430. current_position[Y_AXIS] = y + home_offset[Y_AXIS];
  2431. line_to_current_position();
  2432. #if MIN_Z_HEIGHT_FOR_HOMING > 0
  2433. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
  2434. line_to_current_position();
  2435. #endif
  2436. feedrate = saved_feedrate;
  2437. st_synchronize();
  2438. }
  2439. /**
  2440. * G29: Mesh-based Z probe, probes a grid and produces a
  2441. * mesh to compensate for variable bed height
  2442. *
  2443. * Parameters With MESH_BED_LEVELING:
  2444. *
  2445. * S0 Produce a mesh report
  2446. * S1 Start probing mesh points
  2447. * S2 Probe the next mesh point
  2448. * S3 Xn Yn Zn.nn Manually modify a single point
  2449. * S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.
  2450. *
  2451. * The S0 report the points as below
  2452. *
  2453. * +----> X-axis 1-n
  2454. * |
  2455. * |
  2456. * v Y-axis 1-n
  2457. *
  2458. */
  2459. inline void gcode_G29() {
  2460. static int probe_point = -1;
  2461. MeshLevelingState state = code_seen('S') ? (MeshLevelingState)code_value_short() : MeshReport;
  2462. if (state < 0 || state > 4) {
  2463. SERIAL_PROTOCOLLNPGM("S out of range (0-4).");
  2464. return;
  2465. }
  2466. int ix, iy;
  2467. float z;
  2468. switch (state) {
  2469. case MeshReport:
  2470. if (mbl.active) {
  2471. SERIAL_PROTOCOLPGM("Num X,Y: ");
  2472. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  2473. SERIAL_PROTOCOLCHAR(',');
  2474. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  2475. SERIAL_PROTOCOLPGM("\nZ search height: ");
  2476. SERIAL_PROTOCOL(MESH_HOME_SEARCH_Z);
  2477. SERIAL_PROTOCOLPGM("\nZ offset: ");
  2478. SERIAL_PROTOCOL_F(mbl.z_offset, 5);
  2479. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  2480. for (int y = 0; y < MESH_NUM_Y_POINTS; y++) {
  2481. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  2482. SERIAL_PROTOCOLPGM(" ");
  2483. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  2484. }
  2485. SERIAL_EOL;
  2486. }
  2487. }
  2488. else
  2489. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  2490. break;
  2491. case MeshStart:
  2492. mbl.reset();
  2493. probe_point = 0;
  2494. enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
  2495. break;
  2496. case MeshNext:
  2497. if (probe_point < 0) {
  2498. SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
  2499. return;
  2500. }
  2501. // For each G29 S2...
  2502. if (probe_point == 0) {
  2503. // For the intial G29 S2 make Z a positive value (e.g., 4.0)
  2504. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
  2505. sync_plan_position();
  2506. }
  2507. else {
  2508. // For G29 S2 after adjusting Z.
  2509. mbl.set_zigzag_z(probe_point - 1, current_position[Z_AXIS]);
  2510. }
  2511. // If there's another point to sample, move there with optional lift.
  2512. if (probe_point < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) {
  2513. mbl.zigzag(probe_point, ix, iy);
  2514. _mbl_goto_xy(mbl.get_x(ix), mbl.get_y(iy));
  2515. probe_point++;
  2516. }
  2517. else {
  2518. // One last "return to the bed" (as originally coded) at completion
  2519. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  2520. #if MIN_Z_HEIGHT_FOR_HOMING > 0
  2521. + MIN_Z_HEIGHT_FOR_HOMING
  2522. #endif
  2523. ;
  2524. line_to_current_position();
  2525. st_synchronize();
  2526. // After recording the last point, activate the mbl and home
  2527. SERIAL_PROTOCOLLNPGM("Mesh probing done.");
  2528. probe_point = -1;
  2529. mbl.active = true;
  2530. enqueue_and_echo_commands_P(PSTR("G28"));
  2531. }
  2532. break;
  2533. case MeshSet:
  2534. if (code_seen('X')) {
  2535. ix = code_value_long() - 1;
  2536. if (ix < 0 || ix >= MESH_NUM_X_POINTS) {
  2537. SERIAL_PROTOCOLPGM("X out of range (1-" STRINGIFY(MESH_NUM_X_POINTS) ").\n");
  2538. return;
  2539. }
  2540. }
  2541. else {
  2542. SERIAL_PROTOCOLPGM("X not entered.\n");
  2543. return;
  2544. }
  2545. if (code_seen('Y')) {
  2546. iy = code_value_long() - 1;
  2547. if (iy < 0 || iy >= MESH_NUM_Y_POINTS) {
  2548. SERIAL_PROTOCOLPGM("Y out of range (1-" STRINGIFY(MESH_NUM_Y_POINTS) ").\n");
  2549. return;
  2550. }
  2551. }
  2552. else {
  2553. SERIAL_PROTOCOLPGM("Y not entered.\n");
  2554. return;
  2555. }
  2556. if (code_seen('Z')) {
  2557. z = code_value();
  2558. }
  2559. else {
  2560. SERIAL_PROTOCOLPGM("Z not entered.\n");
  2561. return;
  2562. }
  2563. mbl.z_values[iy][ix] = z;
  2564. break;
  2565. case MeshSetZOffset:
  2566. if (code_seen('Z')) {
  2567. z = code_value();
  2568. }
  2569. else {
  2570. SERIAL_PROTOCOLPGM("Z not entered.\n");
  2571. return;
  2572. }
  2573. mbl.z_offset = z;
  2574. } // switch(state)
  2575. }
  2576. #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
  2577. void out_of_range_error(const char* p_edge) {
  2578. SERIAL_PROTOCOLPGM("?Probe ");
  2579. serialprintPGM(p_edge);
  2580. SERIAL_PROTOCOLLNPGM(" position out of range.");
  2581. }
  2582. /**
  2583. * G29: Detailed Z probe, probes the bed at 3 or more points.
  2584. * Will fail if the printer has not been homed with G28.
  2585. *
  2586. * Enhanced G29 Auto Bed Leveling Probe Routine
  2587. *
  2588. * Parameters With AUTO_BED_LEVELING_GRID:
  2589. *
  2590. * P Set the size of the grid that will be probed (P x P points).
  2591. * Not supported by non-linear delta printer bed leveling.
  2592. * Example: "G29 P4"
  2593. *
  2594. * S Set the XY travel speed between probe points (in mm/min)
  2595. *
  2596. * D Dry-Run mode. Just evaluate the bed Topology - Don't apply
  2597. * or clean the rotation Matrix. Useful to check the topology
  2598. * after a first run of G29.
  2599. *
  2600. * V Set the verbose level (0-4). Example: "G29 V3"
  2601. *
  2602. * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
  2603. * This is useful for manual bed leveling and finding flaws in the bed (to
  2604. * assist with part placement).
  2605. * Not supported by non-linear delta printer bed leveling.
  2606. *
  2607. * F Set the Front limit of the probing grid
  2608. * B Set the Back limit of the probing grid
  2609. * L Set the Left limit of the probing grid
  2610. * R Set the Right limit of the probing grid
  2611. *
  2612. * Global Parameters:
  2613. *
  2614. * E/e By default G29 will engage the Z probe, test the bed, then disengage.
  2615. * Include "E" to engage/disengage the Z probe for each sample.
  2616. * There's no extra effect if you have a fixed Z probe.
  2617. * Usage: "G29 E" or "G29 e"
  2618. *
  2619. */
  2620. inline void gcode_G29() {
  2621. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2622. if (DEBUGGING(LEVELING)) {
  2623. SERIAL_ECHOLNPGM("gcode_G29 >>>");
  2624. DEBUG_POS("", current_position);
  2625. }
  2626. #endif
  2627. // Don't allow auto-leveling without homing first
  2628. if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS]) {
  2629. axis_unhomed_error();
  2630. return;
  2631. }
  2632. int verbose_level = code_seen('V') ? code_value_short() : 1;
  2633. if (verbose_level < 0 || verbose_level > 4) {
  2634. SERIAL_ECHOLNPGM("?(V)erbose Level is implausible (0-4).");
  2635. return;
  2636. }
  2637. bool dryrun = code_seen('D'),
  2638. deploy_probe_for_each_reading = code_seen('E');
  2639. #if ENABLED(AUTO_BED_LEVELING_GRID)
  2640. #if DISABLED(DELTA)
  2641. bool do_topography_map = verbose_level > 2 || code_seen('T');
  2642. #endif
  2643. if (verbose_level > 0) {
  2644. SERIAL_PROTOCOLPGM("G29 Auto Bed Leveling\n");
  2645. if (dryrun) SERIAL_ECHOLNPGM("Running in DRY-RUN mode");
  2646. }
  2647. int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;
  2648. #if DISABLED(DELTA)
  2649. if (code_seen('P')) auto_bed_leveling_grid_points = code_value_short();
  2650. if (auto_bed_leveling_grid_points < 2) {
  2651. SERIAL_PROTOCOLPGM("?Number of probed (P)oints is implausible (2 minimum).\n");
  2652. return;
  2653. }
  2654. #endif
  2655. xy_travel_speed = code_seen('S') ? code_value_short() : XY_TRAVEL_SPEED;
  2656. int left_probe_bed_position = code_seen('L') ? code_value_short() : LEFT_PROBE_BED_POSITION,
  2657. right_probe_bed_position = code_seen('R') ? code_value_short() : RIGHT_PROBE_BED_POSITION,
  2658. front_probe_bed_position = code_seen('F') ? code_value_short() : FRONT_PROBE_BED_POSITION,
  2659. back_probe_bed_position = code_seen('B') ? code_value_short() : BACK_PROBE_BED_POSITION;
  2660. bool left_out_l = left_probe_bed_position < MIN_PROBE_X,
  2661. left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE),
  2662. right_out_r = right_probe_bed_position > MAX_PROBE_X,
  2663. right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
  2664. front_out_f = front_probe_bed_position < MIN_PROBE_Y,
  2665. front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE),
  2666. back_out_b = back_probe_bed_position > MAX_PROBE_Y,
  2667. back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
  2668. if (left_out || right_out || front_out || back_out) {
  2669. if (left_out) {
  2670. out_of_range_error(PSTR("(L)eft"));
  2671. left_probe_bed_position = left_out_l ? MIN_PROBE_X : right_probe_bed_position - (MIN_PROBE_EDGE);
  2672. }
  2673. if (right_out) {
  2674. out_of_range_error(PSTR("(R)ight"));
  2675. right_probe_bed_position = right_out_r ? MAX_PROBE_X : left_probe_bed_position + MIN_PROBE_EDGE;
  2676. }
  2677. if (front_out) {
  2678. out_of_range_error(PSTR("(F)ront"));
  2679. front_probe_bed_position = front_out_f ? MIN_PROBE_Y : back_probe_bed_position - (MIN_PROBE_EDGE);
  2680. }
  2681. if (back_out) {
  2682. out_of_range_error(PSTR("(B)ack"));
  2683. back_probe_bed_position = back_out_b ? MAX_PROBE_Y : front_probe_bed_position + MIN_PROBE_EDGE;
  2684. }
  2685. return;
  2686. }
  2687. #endif // AUTO_BED_LEVELING_GRID
  2688. if (!dryrun) {
  2689. // make sure the bed_level_rotation_matrix is identity or the planner will get it wrong
  2690. plan_bed_level_matrix.set_to_identity();
  2691. #if ENABLED(DELTA)
  2692. reset_bed_level();
  2693. #else //!DELTA
  2694. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2695. if (DEBUGGING(LEVELING)) {
  2696. vector_3 corrected_position = plan_get_position();
  2697. DEBUG_POS("BEFORE matrix.set_to_identity", corrected_position);
  2698. DEBUG_POS("BEFORE matrix.set_to_identity", current_position);
  2699. }
  2700. #endif
  2701. //vector_3 corrected_position = plan_get_position();
  2702. //corrected_position.debug("position before G29");
  2703. vector_3 uncorrected_position = plan_get_position();
  2704. //uncorrected_position.debug("position during G29");
  2705. current_position[X_AXIS] = uncorrected_position.x;
  2706. current_position[Y_AXIS] = uncorrected_position.y;
  2707. current_position[Z_AXIS] = uncorrected_position.z;
  2708. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2709. if (DEBUGGING(LEVELING)) DEBUG_POS("AFTER matrix.set_to_identity", uncorrected_position);
  2710. #endif
  2711. sync_plan_position();
  2712. #endif // !DELTA
  2713. }
  2714. #if ENABLED(Z_PROBE_SLED)
  2715. dock_sled(false); // engage (un-dock) the Z probe
  2716. #elif ENABLED(MECHANICAL_PROBE) || (ENABLED(DELTA) && SERVO_LEVELING)
  2717. deploy_z_probe();
  2718. #endif
  2719. st_synchronize();
  2720. setup_for_endstop_move();
  2721. feedrate = homing_feedrate[Z_AXIS];
  2722. #if ENABLED(AUTO_BED_LEVELING_GRID)
  2723. // probe at the points of a lattice grid
  2724. const int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1),
  2725. yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
  2726. #if ENABLED(DELTA)
  2727. delta_grid_spacing[0] = xGridSpacing;
  2728. delta_grid_spacing[1] = yGridSpacing;
  2729. float zoffset = zprobe_zoffset;
  2730. if (code_seen(axis_codes[Z_AXIS])) zoffset += code_value();
  2731. #else // !DELTA
  2732. /**
  2733. * solve the plane equation ax + by + d = z
  2734. * A is the matrix with rows [x y 1] for all the probed points
  2735. * B is the vector of the Z positions
  2736. * the normal vector to the plane is formed by the coefficients of the
  2737. * plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
  2738. * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  2739. */
  2740. int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points;
  2741. double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
  2742. eqnBVector[abl2], // "B" vector of Z points
  2743. mean = 0.0;
  2744. int8_t indexIntoAB[auto_bed_leveling_grid_points][auto_bed_leveling_grid_points];
  2745. #endif // !DELTA
  2746. int probePointCounter = 0;
  2747. bool zig = (auto_bed_leveling_grid_points & 1) ? true : false; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
  2748. for (int yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) {
  2749. double yProbe = front_probe_bed_position + yGridSpacing * yCount;
  2750. int xStart, xStop, xInc;
  2751. if (zig) {
  2752. xStart = 0;
  2753. xStop = auto_bed_leveling_grid_points;
  2754. xInc = 1;
  2755. }
  2756. else {
  2757. xStart = auto_bed_leveling_grid_points - 1;
  2758. xStop = -1;
  2759. xInc = -1;
  2760. }
  2761. zig = !zig;
  2762. for (int xCount = xStart; xCount != xStop; xCount += xInc) {
  2763. double xProbe = left_probe_bed_position + xGridSpacing * xCount;
  2764. // raise extruder
  2765. float measured_z,
  2766. z_before = probePointCounter ? Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS] : Z_RAISE_BEFORE_PROBING + home_offset[Z_AXIS];
  2767. if (probePointCounter) {
  2768. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2769. if (DEBUGGING(LEVELING)) {
  2770. SERIAL_ECHOPAIR("z_before = (between) ", (Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS]));
  2771. SERIAL_EOL;
  2772. }
  2773. #endif
  2774. }
  2775. else {
  2776. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2777. if (DEBUGGING(LEVELING)) {
  2778. SERIAL_ECHOPAIR("z_before = (before) ", Z_RAISE_BEFORE_PROBING + home_offset[Z_AXIS]);
  2779. SERIAL_EOL;
  2780. }
  2781. #endif
  2782. }
  2783. #if ENABLED(DELTA)
  2784. // Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
  2785. float distance_from_center = sqrt(xProbe * xProbe + yProbe * yProbe);
  2786. if (distance_from_center > DELTA_PROBEABLE_RADIUS) continue;
  2787. #endif //DELTA
  2788. ProbeAction act;
  2789. if (deploy_probe_for_each_reading) // G29 E - Stow between probes
  2790. act = ProbeDeployAndStow;
  2791. else if (yCount == 0 && xCount == xStart)
  2792. act = ProbeDeploy;
  2793. else if (yCount == auto_bed_leveling_grid_points - 1 && xCount == xStop - xInc)
  2794. act = ProbeStow;
  2795. else
  2796. act = ProbeStay;
  2797. measured_z = probe_pt(xProbe, yProbe, z_before, act, verbose_level);
  2798. #if DISABLED(DELTA)
  2799. mean += measured_z;
  2800. eqnBVector[probePointCounter] = measured_z;
  2801. eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
  2802. eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
  2803. eqnAMatrix[probePointCounter + 2 * abl2] = 1;
  2804. indexIntoAB[xCount][yCount] = probePointCounter;
  2805. #else
  2806. bed_level[xCount][yCount] = measured_z + zoffset;
  2807. #endif
  2808. probePointCounter++;
  2809. idle();
  2810. } //xProbe
  2811. } //yProbe
  2812. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2813. if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
  2814. #endif
  2815. clean_up_after_endstop_move();
  2816. #if ENABLED(DELTA)
  2817. if (!dryrun) extrapolate_unprobed_bed_level();
  2818. print_bed_level();
  2819. #else // !DELTA
  2820. // solve lsq problem
  2821. double plane_equation_coefficients[3];
  2822. qr_solve(plane_equation_coefficients, abl2, 3, eqnAMatrix, eqnBVector);
  2823. mean /= abl2;
  2824. if (verbose_level) {
  2825. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  2826. SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
  2827. SERIAL_PROTOCOLPGM(" b: ");
  2828. SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
  2829. SERIAL_PROTOCOLPGM(" d: ");
  2830. SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
  2831. SERIAL_EOL;
  2832. if (verbose_level > 2) {
  2833. SERIAL_PROTOCOLPGM("Mean of sampled points: ");
  2834. SERIAL_PROTOCOL_F(mean, 8);
  2835. SERIAL_EOL;
  2836. }
  2837. }
  2838. if (!dryrun) set_bed_level_equation_lsq(plane_equation_coefficients);
  2839. // Show the Topography map if enabled
  2840. if (do_topography_map) {
  2841. SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n");
  2842. SERIAL_PROTOCOLPGM(" +--- BACK --+\n");
  2843. SERIAL_PROTOCOLPGM(" | |\n");
  2844. SERIAL_PROTOCOLPGM(" L | (+) | R\n");
  2845. SERIAL_PROTOCOLPGM(" E | | I\n");
  2846. SERIAL_PROTOCOLPGM(" F | (-) N (+) | G\n");
  2847. SERIAL_PROTOCOLPGM(" T | | H\n");
  2848. SERIAL_PROTOCOLPGM(" | (-) | T\n");
  2849. SERIAL_PROTOCOLPGM(" | |\n");
  2850. SERIAL_PROTOCOLPGM(" O-- FRONT --+\n");
  2851. SERIAL_PROTOCOLPGM(" (0,0)\n");
  2852. float min_diff = 999;
  2853. for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
  2854. for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
  2855. int ind = indexIntoAB[xx][yy];
  2856. float diff = eqnBVector[ind] - mean;
  2857. float x_tmp = eqnAMatrix[ind + 0 * abl2],
  2858. y_tmp = eqnAMatrix[ind + 1 * abl2],
  2859. z_tmp = 0;
  2860. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);
  2861. NOMORE(min_diff, eqnBVector[ind] - z_tmp);
  2862. if (diff >= 0.0)
  2863. SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
  2864. else
  2865. SERIAL_PROTOCOLCHAR(' ');
  2866. SERIAL_PROTOCOL_F(diff, 5);
  2867. } // xx
  2868. SERIAL_EOL;
  2869. } // yy
  2870. SERIAL_EOL;
  2871. if (verbose_level > 3) {
  2872. SERIAL_PROTOCOLPGM(" \nCorrected Bed Height vs. Bed Topology: \n");
  2873. for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
  2874. for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
  2875. int ind = indexIntoAB[xx][yy];
  2876. float x_tmp = eqnAMatrix[ind + 0 * abl2],
  2877. y_tmp = eqnAMatrix[ind + 1 * abl2],
  2878. z_tmp = 0;
  2879. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);
  2880. float diff = eqnBVector[ind] - z_tmp - min_diff;
  2881. if (diff >= 0.0)
  2882. SERIAL_PROTOCOLPGM(" +");
  2883. // Include + for column alignment
  2884. else
  2885. SERIAL_PROTOCOLCHAR(' ');
  2886. SERIAL_PROTOCOL_F(diff, 5);
  2887. } // xx
  2888. SERIAL_EOL;
  2889. } // yy
  2890. SERIAL_EOL;
  2891. }
  2892. } //do_topography_map
  2893. #endif //!DELTA
  2894. #else // !AUTO_BED_LEVELING_GRID
  2895. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2896. if (DEBUGGING(LEVELING)) {
  2897. SERIAL_ECHOLNPGM("> 3-point Leveling");
  2898. }
  2899. #endif
  2900. // Actions for each probe
  2901. ProbeAction p1, p2, p3;
  2902. if (deploy_probe_for_each_reading)
  2903. p1 = p2 = p3 = ProbeDeployAndStow;
  2904. else
  2905. p1 = ProbeDeploy, p2 = ProbeStay, p3 = ProbeStow;
  2906. // Probe at 3 arbitrary points
  2907. float z_at_pt_1 = probe_pt( ABL_PROBE_PT_1_X + home_offset[X_AXIS],
  2908. ABL_PROBE_PT_1_Y + home_offset[Y_AXIS],
  2909. Z_RAISE_BEFORE_PROBING + home_offset[Z_AXIS],
  2910. p1, verbose_level),
  2911. z_at_pt_2 = probe_pt( ABL_PROBE_PT_2_X + home_offset[X_AXIS],
  2912. ABL_PROBE_PT_2_Y + home_offset[Y_AXIS],
  2913. current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,
  2914. p2, verbose_level),
  2915. z_at_pt_3 = probe_pt( ABL_PROBE_PT_3_X + home_offset[X_AXIS],
  2916. ABL_PROBE_PT_3_Y + home_offset[Y_AXIS],
  2917. current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,
  2918. p3, verbose_level);
  2919. clean_up_after_endstop_move();
  2920. if (!dryrun) set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
  2921. #endif // !AUTO_BED_LEVELING_GRID
  2922. #if ENABLED(DELTA)
  2923. // Allen Key Probe for Delta
  2924. #if ENABLED(Z_PROBE_ALLEN_KEY) || SERVO_LEVELING
  2925. stow_z_probe();
  2926. #elif Z_RAISE_AFTER_PROBING > 0
  2927. raise_z_after_probing(); // for non Allen Key probes, such as simple mechanical probe
  2928. #endif
  2929. #else // !DELTA
  2930. if (verbose_level > 0)
  2931. plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
  2932. if (!dryrun) {
  2933. /**
  2934. * Correct the Z height difference from Z probe position and nozzle tip position.
  2935. * The Z height on homing is measured by Z probe, but the Z probe is quite far
  2936. * from the nozzle. When the bed is uneven, this height must be corrected.
  2937. */
  2938. float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
  2939. y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
  2940. z_tmp = current_position[Z_AXIS],
  2941. real_z = st_get_axis_position_mm(Z_AXIS); //get the real Z (since plan_get_position is now correcting the plane)
  2942. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2943. if (DEBUGGING(LEVELING)) {
  2944. SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > z_tmp = ", z_tmp);
  2945. SERIAL_EOL;
  2946. SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > real_z = ", real_z);
  2947. SERIAL_EOL;
  2948. }
  2949. #endif
  2950. // Apply the correction sending the Z probe offset
  2951. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);
  2952. /*
  2953. * Get the current Z position and send it to the planner.
  2954. *
  2955. * >> (z_tmp - real_z) : The rotated current Z minus the uncorrected Z
  2956. * (most recent plan_set_position/sync_plan_position)
  2957. *
  2958. * >> zprobe_zoffset : Z distance from nozzle to Z probe
  2959. * (set by default, M851, EEPROM, or Menu)
  2960. *
  2961. * >> Z_RAISE_AFTER_PROBING : The distance the Z probe will have lifted
  2962. * after the last probe
  2963. *
  2964. * >> Should home_offset[Z_AXIS] be included?
  2965. *
  2966. *
  2967. * Discussion: home_offset[Z_AXIS] was applied in G28 to set the
  2968. * starting Z. If Z is not tweaked in G29 -and- the Z probe in G29 is
  2969. * not actually "homing" Z... then perhaps it should not be included
  2970. * here. The purpose of home_offset[] is to adjust for inaccurate
  2971. * endstops, not for reasonably accurate probes. If it were added
  2972. * here, it could be seen as a compensating factor for the Z probe.
  2973. */
  2974. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2975. if (DEBUGGING(LEVELING)) {
  2976. SERIAL_ECHOPAIR("> AFTER apply_rotation_xyz > z_tmp = ", z_tmp);
  2977. SERIAL_EOL;
  2978. }
  2979. #endif
  2980. current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z)
  2981. #if HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
  2982. + Z_RAISE_AFTER_PROBING
  2983. #endif
  2984. ;
  2985. // current_position[Z_AXIS] += home_offset[Z_AXIS]; // The Z probe determines Z=0, not "Z home"
  2986. sync_plan_position();
  2987. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2988. if (DEBUGGING(LEVELING)) DEBUG_POS("> corrected Z in G29", current_position);
  2989. #endif
  2990. }
  2991. // Sled assembly for Cartesian bots
  2992. #if ENABLED(Z_PROBE_SLED)
  2993. dock_sled(true); // dock the sled
  2994. #elif Z_RAISE_AFTER_PROBING > 0
  2995. // Raise Z axis for non-delta and non servo based probes
  2996. #if !defined(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED)
  2997. raise_z_after_probing();
  2998. #endif
  2999. #endif
  3000. #endif // !DELTA
  3001. #ifdef Z_PROBE_END_SCRIPT
  3002. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3003. if (DEBUGGING(LEVELING)) {
  3004. SERIAL_ECHO("Z Probe End Script: ");
  3005. SERIAL_ECHOLNPGM(Z_PROBE_END_SCRIPT);
  3006. }
  3007. #endif
  3008. enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
  3009. #if ENABLED(HAS_Z_MIN_PROBE)
  3010. z_probe_is_active = false;
  3011. #endif
  3012. st_synchronize();
  3013. #endif
  3014. KEEPALIVE_STATE(IN_HANDLER);
  3015. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3016. if (DEBUGGING(LEVELING)) {
  3017. SERIAL_ECHOLNPGM("<<< gcode_G29");
  3018. }
  3019. #endif
  3020. gcode_M114(); // Send end position to RepetierHost
  3021. }
  3022. #if DISABLED(Z_PROBE_SLED) // could be avoided
  3023. /**
  3024. * G30: Do a single Z probe at the current XY
  3025. */
  3026. inline void gcode_G30() {
  3027. #if HAS_SERVO_ENDSTOPS
  3028. raise_z_for_servo();
  3029. #endif
  3030. deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here.
  3031. st_synchronize();
  3032. // TODO: clear the leveling matrix or the planner will be set incorrectly
  3033. setup_for_endstop_move(); // Too late. Must be done before deploying.
  3034. feedrate = homing_feedrate[Z_AXIS];
  3035. run_z_probe();
  3036. SERIAL_PROTOCOLPGM("Bed X: ");
  3037. SERIAL_PROTOCOL(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
  3038. SERIAL_PROTOCOLPGM(" Y: ");
  3039. SERIAL_PROTOCOL(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
  3040. SERIAL_PROTOCOLPGM(" Z: ");
  3041. SERIAL_PROTOCOL(current_position[Z_AXIS] + 0.0001);
  3042. SERIAL_EOL;
  3043. clean_up_after_endstop_move(); // Too early. must be done after the stowing.
  3044. #if HAS_SERVO_ENDSTOPS
  3045. raise_z_for_servo();
  3046. #endif
  3047. stow_z_probe(false); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here.
  3048. gcode_M114(); // Send end position to RepetierHost
  3049. }
  3050. #endif //!Z_PROBE_SLED
  3051. #endif //AUTO_BED_LEVELING_FEATURE
  3052. /**
  3053. * G92: Set current position to given X Y Z E
  3054. */
  3055. inline void gcode_G92() {
  3056. if (!code_seen(axis_codes[E_AXIS]))
  3057. st_synchronize();
  3058. bool didXYZ = false;
  3059. for (int i = 0; i < NUM_AXIS; i++) {
  3060. if (code_seen(axis_codes[i])) {
  3061. float p = current_position[i],
  3062. v = code_value();
  3063. current_position[i] = v;
  3064. if (i == E_AXIS)
  3065. plan_set_e_position(v);
  3066. else {
  3067. position_shift[i] += v - p; // Offset the coordinate space
  3068. update_software_endstops((AxisEnum)i);
  3069. didXYZ = true;
  3070. }
  3071. }
  3072. }
  3073. if (didXYZ) {
  3074. #if ENABLED(DELTA) || ENABLED(SCARA)
  3075. sync_plan_position_delta();
  3076. #else
  3077. sync_plan_position();
  3078. #endif
  3079. }
  3080. }
  3081. #if ENABLED(ULTIPANEL)
  3082. /**
  3083. * M0: // M0 - Unconditional stop - Wait for user button press on LCD
  3084. * M1: // M1 - Conditional stop - Wait for user button press on LCD
  3085. */
  3086. inline void gcode_M0_M1() {
  3087. char* args = current_command_args;
  3088. uint8_t test_value = 12;
  3089. SERIAL_ECHOPAIR("TEST", test_value);
  3090. millis_t codenum = 0;
  3091. bool hasP = false, hasS = false;
  3092. if (code_seen('P')) {
  3093. codenum = code_value_short(); // milliseconds to wait
  3094. hasP = codenum > 0;
  3095. }
  3096. if (code_seen('S')) {
  3097. codenum = code_value() * 1000UL; // seconds to wait
  3098. hasS = codenum > 0;
  3099. }
  3100. if (!hasP && !hasS && *args != '\0')
  3101. lcd_setstatus(args, true);
  3102. else {
  3103. LCD_MESSAGEPGM(MSG_USERWAIT);
  3104. #if ENABLED(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
  3105. dontExpireStatus();
  3106. #endif
  3107. }
  3108. lcd_ignore_click();
  3109. st_synchronize();
  3110. refresh_cmd_timeout();
  3111. if (codenum > 0) {
  3112. codenum += previous_cmd_ms; // wait until this time for a click
  3113. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3114. while (PENDING(millis(), codenum) && !lcd_clicked()) idle();
  3115. KEEPALIVE_STATE(IN_HANDLER);
  3116. lcd_ignore_click(false);
  3117. }
  3118. else {
  3119. if (!lcd_detected()) return;
  3120. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3121. while (!lcd_clicked()) idle();
  3122. KEEPALIVE_STATE(IN_HANDLER);
  3123. }
  3124. if (IS_SD_PRINTING)
  3125. LCD_MESSAGEPGM(MSG_RESUMING);
  3126. else
  3127. LCD_MESSAGEPGM(WELCOME_MSG);
  3128. }
  3129. #endif // ULTIPANEL
  3130. /**
  3131. * M17: Enable power on all stepper motors
  3132. */
  3133. inline void gcode_M17() {
  3134. LCD_MESSAGEPGM(MSG_NO_MOVE);
  3135. enable_all_steppers();
  3136. }
  3137. #if ENABLED(SDSUPPORT)
  3138. /**
  3139. * M20: List SD card to serial output
  3140. */
  3141. inline void gcode_M20() {
  3142. SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
  3143. card.ls();
  3144. SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
  3145. }
  3146. /**
  3147. * M21: Init SD Card
  3148. */
  3149. inline void gcode_M21() {
  3150. card.initsd();
  3151. }
  3152. /**
  3153. * M22: Release SD Card
  3154. */
  3155. inline void gcode_M22() {
  3156. card.release();
  3157. }
  3158. /**
  3159. * M23: Open a file
  3160. */
  3161. inline void gcode_M23() {
  3162. card.openFile(current_command_args, true);
  3163. }
  3164. /**
  3165. * M24: Start SD Print
  3166. */
  3167. inline void gcode_M24() {
  3168. card.startFileprint();
  3169. print_job_timer.start();
  3170. }
  3171. /**
  3172. * M25: Pause SD Print
  3173. */
  3174. inline void gcode_M25() {
  3175. card.pauseSDPrint();
  3176. }
  3177. /**
  3178. * M26: Set SD Card file index
  3179. */
  3180. inline void gcode_M26() {
  3181. if (card.cardOK && code_seen('S'))
  3182. card.setIndex(code_value_short());
  3183. }
  3184. /**
  3185. * M27: Get SD Card status
  3186. */
  3187. inline void gcode_M27() {
  3188. card.getStatus();
  3189. }
  3190. /**
  3191. * M28: Start SD Write
  3192. */
  3193. inline void gcode_M28() {
  3194. card.openFile(current_command_args, false);
  3195. }
  3196. /**
  3197. * M29: Stop SD Write
  3198. * Processed in write to file routine above
  3199. */
  3200. inline void gcode_M29() {
  3201. // card.saving = false;
  3202. }
  3203. /**
  3204. * M30 <filename>: Delete SD Card file
  3205. */
  3206. inline void gcode_M30() {
  3207. if (card.cardOK) {
  3208. card.closefile();
  3209. card.removeFile(current_command_args);
  3210. }
  3211. }
  3212. #endif //SDSUPPORT
  3213. /**
  3214. * M31: Get the time since the start of SD Print (or last M109)
  3215. */
  3216. inline void gcode_M31() {
  3217. millis_t t = print_job_timer.duration();
  3218. int min = t / 60, sec = t % 60;
  3219. char time[30];
  3220. sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
  3221. SERIAL_ECHO_START;
  3222. SERIAL_ECHOLN(time);
  3223. lcd_setstatus(time);
  3224. autotempShutdown();
  3225. }
  3226. #if ENABLED(SDSUPPORT)
  3227. /**
  3228. * M32: Select file and start SD Print
  3229. */
  3230. inline void gcode_M32() {
  3231. if (card.sdprinting)
  3232. st_synchronize();
  3233. char* namestartpos = strchr(current_command_args, '!'); // Find ! to indicate filename string start.
  3234. if (!namestartpos)
  3235. namestartpos = current_command_args; // Default name position, 4 letters after the M
  3236. else
  3237. namestartpos++; //to skip the '!'
  3238. bool call_procedure = code_seen('P') && (seen_pointer < namestartpos);
  3239. if (card.cardOK) {
  3240. card.openFile(namestartpos, true, call_procedure);
  3241. if (code_seen('S') && seen_pointer < namestartpos) // "S" (must occur _before_ the filename!)
  3242. card.setIndex(code_value_short());
  3243. card.startFileprint();
  3244. // Procedure calls count as normal print time.
  3245. if (!call_procedure) print_job_timer.start();
  3246. }
  3247. }
  3248. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  3249. /**
  3250. * M33: Get the long full path of a file or folder
  3251. *
  3252. * Parameters:
  3253. * <dospath> Case-insensitive DOS-style path to a file or folder
  3254. *
  3255. * Example:
  3256. * M33 miscel~1/armchair/armcha~1.gco
  3257. *
  3258. * Output:
  3259. * /Miscellaneous/Armchair/Armchair.gcode
  3260. */
  3261. inline void gcode_M33() {
  3262. card.printLongPath(current_command_args);
  3263. }
  3264. #endif
  3265. /**
  3266. * M928: Start SD Write
  3267. */
  3268. inline void gcode_M928() {
  3269. card.openLogFile(current_command_args);
  3270. }
  3271. #endif // SDSUPPORT
  3272. /**
  3273. * M42: Change pin status via GCode
  3274. *
  3275. * P<pin> Pin number (LED if omitted)
  3276. * S<byte> Pin status from 0 - 255
  3277. */
  3278. inline void gcode_M42() {
  3279. if (code_seen('S')) {
  3280. int pin_status = code_value_short();
  3281. if (pin_status < 0 || pin_status > 255) return;
  3282. int pin_number = code_seen('P') ? code_value_short() : LED_PIN;
  3283. if (pin_number < 0) return;
  3284. for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
  3285. if (pin_number == sensitive_pins[i]) return;
  3286. pinMode(pin_number, OUTPUT);
  3287. digitalWrite(pin_number, pin_status);
  3288. analogWrite(pin_number, pin_status);
  3289. #if FAN_COUNT > 0
  3290. switch (pin_number) {
  3291. #if HAS_FAN0
  3292. case FAN_PIN: fanSpeeds[0] = pin_status; break;
  3293. #endif
  3294. #if HAS_FAN1
  3295. case FAN1_PIN: fanSpeeds[1] = pin_status; break;
  3296. #endif
  3297. #if HAS_FAN2
  3298. case FAN2_PIN: fanSpeeds[2] = pin_status; break;
  3299. #endif
  3300. }
  3301. #endif
  3302. } // code_seen('S')
  3303. }
  3304. #if ENABLED(AUTO_BED_LEVELING_FEATURE) && ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  3305. /**
  3306. * This is redundant since the SanityCheck.h already checks for a valid
  3307. * Z_MIN_PROBE_PIN, but here for clarity.
  3308. */
  3309. #if ENABLED(Z_MIN_PROBE_ENDSTOP)
  3310. #if !HAS_Z_PROBE
  3311. #error You must define Z_MIN_PROBE_PIN to enable Z probe repeatability calculation.
  3312. #endif
  3313. #elif !HAS_Z_MIN
  3314. #error You must define Z_MIN_PIN to enable Z probe repeatability calculation.
  3315. #endif
  3316. /**
  3317. * M48: Z probe repeatability measurement function.
  3318. *
  3319. * Usage:
  3320. * M48 <P#> <X#> <Y#> <V#> <E> <L#>
  3321. * P = Number of sampled points (4-50, default 10)
  3322. * X = Sample X position
  3323. * Y = Sample Y position
  3324. * V = Verbose level (0-4, default=1)
  3325. * E = Engage Z probe for each reading
  3326. * L = Number of legs of movement before probe
  3327. * S = Schizoid (Or Star if you prefer)
  3328. *
  3329. * This function assumes the bed has been homed. Specifically, that a G28 command
  3330. * as been issued prior to invoking the M48 Z probe repeatability measurement function.
  3331. * Any information generated by a prior G29 Bed leveling command will be lost and need to be
  3332. * regenerated.
  3333. */
  3334. inline void gcode_M48() {
  3335. if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_AXIS]) {
  3336. axis_unhomed_error();
  3337. return;
  3338. }
  3339. double sum = 0.0, mean = 0.0, sigma = 0.0, sample_set[50];
  3340. int8_t verbose_level = 1, n_samples = 10, n_legs = 0, schizoid_flag = 0;
  3341. if (code_seen('V')) {
  3342. verbose_level = code_value_short();
  3343. if (verbose_level < 0 || verbose_level > 4) {
  3344. SERIAL_PROTOCOLPGM("?Verbose Level not plausible (0-4).\n");
  3345. return;
  3346. }
  3347. }
  3348. if (verbose_level > 0)
  3349. SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test\n");
  3350. if (code_seen('P')) {
  3351. n_samples = code_value_short();
  3352. if (n_samples < 4 || n_samples > 50) {
  3353. SERIAL_PROTOCOLPGM("?Sample size not plausible (4-50).\n");
  3354. return;
  3355. }
  3356. }
  3357. float X_current = current_position[X_AXIS],
  3358. Y_current = current_position[Y_AXIS],
  3359. Z_current = current_position[Z_AXIS],
  3360. X_probe_location = X_current + X_PROBE_OFFSET_FROM_EXTRUDER,
  3361. Y_probe_location = Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER,
  3362. Z_start_location = Z_current + Z_RAISE_BEFORE_PROBING;
  3363. bool deploy_probe_for_each_reading = code_seen('E');
  3364. if (code_seen('X')) {
  3365. X_probe_location = code_value();
  3366. #if DISABLED(DELTA)
  3367. if (X_probe_location < MIN_PROBE_X || X_probe_location > MAX_PROBE_X) {
  3368. out_of_range_error(PSTR("X"));
  3369. return;
  3370. }
  3371. #endif
  3372. }
  3373. if (code_seen('Y')) {
  3374. Y_probe_location = code_value();
  3375. #if DISABLED(DELTA)
  3376. if (Y_probe_location < MIN_PROBE_Y || Y_probe_location > MAX_PROBE_Y) {
  3377. out_of_range_error(PSTR("Y"));
  3378. return;
  3379. }
  3380. #endif
  3381. }
  3382. #if ENABLED(DELTA)
  3383. if (sqrt(X_probe_location * X_probe_location + Y_probe_location * Y_probe_location) > DELTA_PROBEABLE_RADIUS) {
  3384. SERIAL_PROTOCOLPGM("? (X,Y) location outside of probeable radius.\n");
  3385. return;
  3386. }
  3387. #endif
  3388. bool seen_L = code_seen('L');
  3389. if (seen_L) {
  3390. n_legs = code_value_short();
  3391. if (n_legs < 0 || n_legs > 15) {
  3392. SERIAL_PROTOCOLPGM("?Number of legs in movement not plausible (0-15).\n");
  3393. return;
  3394. }
  3395. if (n_legs == 1) n_legs = 2;
  3396. }
  3397. if (code_seen('S')) {
  3398. schizoid_flag++;
  3399. if (!seen_L) n_legs = 7;
  3400. }
  3401. /**
  3402. * Now get everything to the specified probe point So we can safely do a
  3403. * probe to get us close to the bed. If the Z-Axis is far from the bed,
  3404. * we don't want to use that as a starting point for each probe.
  3405. */
  3406. if (verbose_level > 2)
  3407. SERIAL_PROTOCOLPGM("Positioning the probe...\n");
  3408. #if ENABLED(DELTA)
  3409. // we don't do bed level correction in M48 because we want the raw data when we probe
  3410. reset_bed_level();
  3411. #else
  3412. // we don't do bed level correction in M48 because we want the raw data when we probe
  3413. plan_bed_level_matrix.set_to_identity();
  3414. #endif
  3415. if (Z_start_location < Z_RAISE_BEFORE_PROBING * 2.0)
  3416. do_blocking_move_to_z(Z_start_location);
  3417. do_blocking_move_to_xy(X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER), Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER));
  3418. /**
  3419. * OK, do the initial probe to get us close to the bed.
  3420. * Then retrace the right amount and use that in subsequent probes
  3421. */
  3422. setup_for_endstop_move();
  3423. probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING,
  3424. deploy_probe_for_each_reading ? ProbeDeployAndStow : ProbeDeploy,
  3425. verbose_level);
  3426. raise_z_after_probing();
  3427. for (uint8_t n = 0; n < n_samples; n++) {
  3428. randomSeed(millis());
  3429. delay(500);
  3430. if (n_legs) {
  3431. float radius, angle = random(0.0, 360.0);
  3432. int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
  3433. radius = random(
  3434. #if ENABLED(DELTA)
  3435. DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3
  3436. #else
  3437. 5, X_MAX_LENGTH / 8
  3438. #endif
  3439. );
  3440. if (verbose_level > 3) {
  3441. SERIAL_ECHOPAIR("Starting radius: ", radius);
  3442. SERIAL_ECHOPAIR(" angle: ", angle);
  3443. delay(100);
  3444. if (dir > 0)
  3445. SERIAL_ECHO(" Direction: Counter Clockwise \n");
  3446. else
  3447. SERIAL_ECHO(" Direction: Clockwise \n");
  3448. delay(100);
  3449. }
  3450. for (uint8_t l = 0; l < n_legs - 1; l++) {
  3451. double delta_angle;
  3452. if (schizoid_flag)
  3453. // The points of a 5 point star are 72 degrees apart. We need to
  3454. // skip a point and go to the next one on the star.
  3455. delta_angle = dir * 2.0 * 72.0;
  3456. else
  3457. // If we do this line, we are just trying to move further
  3458. // around the circle.
  3459. delta_angle = dir * (float) random(25, 45);
  3460. angle += delta_angle;
  3461. while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
  3462. angle -= 360.0; // Arduino documentation says the trig functions should not be given values
  3463. while (angle < 0.0) // outside of this range. It looks like they behave correctly with
  3464. angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
  3465. X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
  3466. Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
  3467. #if DISABLED(DELTA)
  3468. X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
  3469. Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
  3470. #else
  3471. // If we have gone out too far, we can do a simple fix and scale the numbers
  3472. // back in closer to the origin.
  3473. while (sqrt(X_current * X_current + Y_current * Y_current) > DELTA_PROBEABLE_RADIUS) {
  3474. X_current /= 1.25;
  3475. Y_current /= 1.25;
  3476. if (verbose_level > 3) {
  3477. SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
  3478. SERIAL_ECHOPAIR(", ", Y_current);
  3479. SERIAL_EOL;
  3480. delay(50);
  3481. }
  3482. }
  3483. #endif
  3484. if (verbose_level > 3) {
  3485. SERIAL_PROTOCOL("Going to:");
  3486. SERIAL_ECHOPAIR("x: ", X_current);
  3487. SERIAL_ECHOPAIR("y: ", Y_current);
  3488. SERIAL_ECHOPAIR(" z: ", current_position[Z_AXIS]);
  3489. SERIAL_EOL;
  3490. delay(55);
  3491. }
  3492. do_blocking_move_to_xy(X_current, Y_current);
  3493. } // n_legs loop
  3494. } // n_legs
  3495. /**
  3496. * We don't really have to do this move, but if we don't we can see a
  3497. * funny shift in the Z Height because the user might not have the
  3498. * Z_RAISE_BEFORE_PROBING height identical to the Z_RAISE_BETWEEN_PROBING
  3499. * height. This gets us back to the probe location at the same height that
  3500. * we have been running around the circle at.
  3501. */
  3502. do_blocking_move_to_xy(X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER), Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER));
  3503. if (deploy_probe_for_each_reading)
  3504. sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeDeployAndStow, verbose_level);
  3505. else {
  3506. if (n == n_samples - 1)
  3507. sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeStow, verbose_level); else
  3508. sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeStay, verbose_level);
  3509. }
  3510. /**
  3511. * Get the current mean for the data points we have so far
  3512. */
  3513. sum = 0.0;
  3514. for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
  3515. mean = sum / (n + 1);
  3516. /**
  3517. * Now, use that mean to calculate the standard deviation for the
  3518. * data points we have so far
  3519. */
  3520. sum = 0.0;
  3521. for (uint8_t j = 0; j <= n; j++) {
  3522. float ss = sample_set[j] - mean;
  3523. sum += ss * ss;
  3524. }
  3525. sigma = sqrt(sum / (n + 1));
  3526. if (verbose_level > 1) {
  3527. SERIAL_PROTOCOL(n + 1);
  3528. SERIAL_PROTOCOLPGM(" of ");
  3529. SERIAL_PROTOCOL((int)n_samples);
  3530. SERIAL_PROTOCOLPGM(" z: ");
  3531. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  3532. delay(50);
  3533. if (verbose_level > 2) {
  3534. SERIAL_PROTOCOLPGM(" mean: ");
  3535. SERIAL_PROTOCOL_F(mean, 6);
  3536. SERIAL_PROTOCOLPGM(" sigma: ");
  3537. SERIAL_PROTOCOL_F(sigma, 6);
  3538. }
  3539. }
  3540. if (verbose_level > 0) SERIAL_EOL;
  3541. delay(50);
  3542. do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
  3543. } // End of probe loop code
  3544. // raise_z_after_probing();
  3545. if (verbose_level > 0) {
  3546. SERIAL_PROTOCOLPGM("Mean: ");
  3547. SERIAL_PROTOCOL_F(mean, 6);
  3548. SERIAL_EOL;
  3549. delay(25);
  3550. }
  3551. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  3552. SERIAL_PROTOCOL_F(sigma, 6);
  3553. SERIAL_EOL; SERIAL_EOL;
  3554. delay(25);
  3555. clean_up_after_endstop_move();
  3556. gcode_M114(); // Send end position to RepetierHost
  3557. }
  3558. #endif // AUTO_BED_LEVELING_FEATURE && Z_MIN_PROBE_REPEATABILITY_TEST
  3559. /**
  3560. * M75: Start print timer
  3561. */
  3562. inline void gcode_M75() {
  3563. print_job_timer.start();
  3564. }
  3565. /**
  3566. * M76: Pause print timer
  3567. */
  3568. inline void gcode_M76() {
  3569. print_job_timer.pause();
  3570. }
  3571. /**
  3572. * M77: Stop print timer
  3573. */
  3574. inline void gcode_M77() {
  3575. print_job_timer.stop();
  3576. }
  3577. /**
  3578. * M104: Set hot end temperature
  3579. */
  3580. inline void gcode_M104() {
  3581. if (get_target_extruder_from_command(104)) return;
  3582. if (DEBUGGING(DRYRUN)) return;
  3583. if (code_seen('S')) {
  3584. float temp = code_value();
  3585. setTargetHotend(temp, target_extruder);
  3586. #if ENABLED(DUAL_X_CARRIAGE)
  3587. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  3588. setTargetHotend1(temp == 0.0 ? 0.0 : temp + duplicate_extruder_temp_offset);
  3589. #endif
  3590. /**
  3591. * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
  3592. * stand by mode, for instance in a dual extruder setup, without affecting
  3593. * the running print timer.
  3594. */
  3595. if (temp <= (EXTRUDE_MINTEMP)/2) {
  3596. print_job_timer.stop();
  3597. LCD_MESSAGEPGM(WELCOME_MSG);
  3598. }
  3599. /**
  3600. * We do not check if the timer is already running because this check will
  3601. * be done for us inside the Stopwatch::start() method thus a running timer
  3602. * will not restart.
  3603. */
  3604. else print_job_timer.start();
  3605. if (temp > degHotend(target_extruder)) LCD_MESSAGEPGM(MSG_HEATING);
  3606. }
  3607. }
  3608. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  3609. void print_heaterstates() {
  3610. #if HAS_TEMP_HOTEND
  3611. SERIAL_PROTOCOLPGM(" T:");
  3612. SERIAL_PROTOCOL_F(degHotend(target_extruder), 1);
  3613. SERIAL_PROTOCOLPGM(" /");
  3614. SERIAL_PROTOCOL_F(degTargetHotend(target_extruder), 1);
  3615. #endif
  3616. #if HAS_TEMP_BED
  3617. SERIAL_PROTOCOLPGM(" B:");
  3618. SERIAL_PROTOCOL_F(degBed(), 1);
  3619. SERIAL_PROTOCOLPGM(" /");
  3620. SERIAL_PROTOCOL_F(degTargetBed(), 1);
  3621. #endif
  3622. #if EXTRUDERS > 1
  3623. for (int8_t e = 0; e < EXTRUDERS; ++e) {
  3624. SERIAL_PROTOCOLPGM(" T");
  3625. SERIAL_PROTOCOL(e);
  3626. SERIAL_PROTOCOLCHAR(':');
  3627. SERIAL_PROTOCOL_F(degHotend(e), 1);
  3628. SERIAL_PROTOCOLPGM(" /");
  3629. SERIAL_PROTOCOL_F(degTargetHotend(e), 1);
  3630. }
  3631. #endif
  3632. #if HAS_TEMP_BED
  3633. SERIAL_PROTOCOLPGM(" B@:");
  3634. #ifdef BED_WATTS
  3635. SERIAL_PROTOCOL(((BED_WATTS) * getHeaterPower(-1)) / 127);
  3636. SERIAL_PROTOCOLCHAR('W');
  3637. #else
  3638. SERIAL_PROTOCOL(getHeaterPower(-1));
  3639. #endif
  3640. #endif
  3641. SERIAL_PROTOCOLPGM(" @:");
  3642. #ifdef EXTRUDER_WATTS
  3643. SERIAL_PROTOCOL(((EXTRUDER_WATTS) * getHeaterPower(target_extruder)) / 127);
  3644. SERIAL_PROTOCOLCHAR('W');
  3645. #else
  3646. SERIAL_PROTOCOL(getHeaterPower(target_extruder));
  3647. #endif
  3648. #if EXTRUDERS > 1
  3649. for (int8_t e = 0; e < EXTRUDERS; ++e) {
  3650. SERIAL_PROTOCOLPGM(" @");
  3651. SERIAL_PROTOCOL(e);
  3652. SERIAL_PROTOCOLCHAR(':');
  3653. #ifdef EXTRUDER_WATTS
  3654. SERIAL_PROTOCOL(((EXTRUDER_WATTS) * getHeaterPower(e)) / 127);
  3655. SERIAL_PROTOCOLCHAR('W');
  3656. #else
  3657. SERIAL_PROTOCOL(getHeaterPower(e));
  3658. #endif
  3659. }
  3660. #endif
  3661. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  3662. #if HAS_TEMP_BED
  3663. SERIAL_PROTOCOLPGM(" ADC B:");
  3664. SERIAL_PROTOCOL_F(degBed(), 1);
  3665. SERIAL_PROTOCOLPGM("C->");
  3666. SERIAL_PROTOCOL_F(rawBedTemp() / OVERSAMPLENR, 0);
  3667. #endif
  3668. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  3669. SERIAL_PROTOCOLPGM(" T");
  3670. SERIAL_PROTOCOL(cur_extruder);
  3671. SERIAL_PROTOCOLCHAR(':');
  3672. SERIAL_PROTOCOL_F(degHotend(cur_extruder), 1);
  3673. SERIAL_PROTOCOLPGM("C->");
  3674. SERIAL_PROTOCOL_F(rawHotendTemp(cur_extruder) / OVERSAMPLENR, 0);
  3675. }
  3676. #endif
  3677. }
  3678. #endif
  3679. /**
  3680. * M105: Read hot end and bed temperature
  3681. */
  3682. inline void gcode_M105() {
  3683. if (get_target_extruder_from_command(105)) return;
  3684. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  3685. SERIAL_PROTOCOLPGM(MSG_OK);
  3686. print_heaterstates();
  3687. #else // !HAS_TEMP_HOTEND && !HAS_TEMP_BED
  3688. SERIAL_ERROR_START;
  3689. SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
  3690. #endif
  3691. SERIAL_EOL;
  3692. }
  3693. #if FAN_COUNT > 0
  3694. /**
  3695. * M106: Set Fan Speed
  3696. *
  3697. * S<int> Speed between 0-255
  3698. * P<index> Fan index, if more than one fan
  3699. */
  3700. inline void gcode_M106() {
  3701. uint16_t s = code_seen('S') ? code_value_short() : 255,
  3702. p = code_seen('P') ? code_value_short() : 0;
  3703. NOMORE(s, 255);
  3704. if (p < FAN_COUNT) fanSpeeds[p] = s;
  3705. }
  3706. /**
  3707. * M107: Fan Off
  3708. */
  3709. inline void gcode_M107() {
  3710. uint16_t p = code_seen('P') ? code_value_short() : 0;
  3711. if (p < FAN_COUNT) fanSpeeds[p] = 0;
  3712. }
  3713. #endif // FAN_COUNT > 0
  3714. /**
  3715. * M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
  3716. * Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
  3717. */
  3718. inline void gcode_M109() {
  3719. if (get_target_extruder_from_command(109)) return;
  3720. if (DEBUGGING(DRYRUN)) return;
  3721. bool no_wait_for_cooling = code_seen('S');
  3722. if (no_wait_for_cooling || code_seen('R')) {
  3723. float temp = code_value();
  3724. setTargetHotend(temp, target_extruder);
  3725. #if ENABLED(DUAL_X_CARRIAGE)
  3726. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  3727. setTargetHotend1(temp == 0.0 ? 0.0 : temp + duplicate_extruder_temp_offset);
  3728. #endif
  3729. /**
  3730. * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
  3731. * stand by mode, for instance in a dual extruder setup, without affecting
  3732. * the running print timer.
  3733. */
  3734. if (temp <= (EXTRUDE_MINTEMP)/2) {
  3735. print_job_timer.stop();
  3736. LCD_MESSAGEPGM(WELCOME_MSG);
  3737. }
  3738. /**
  3739. * We do not check if the timer is already running because this check will
  3740. * be done for us inside the Stopwatch::start() method thus a running timer
  3741. * will not restart.
  3742. */
  3743. else print_job_timer.start();
  3744. if (temp > degHotend(target_extruder)) LCD_MESSAGEPGM(MSG_HEATING);
  3745. }
  3746. #if ENABLED(AUTOTEMP)
  3747. autotemp_enabled = code_seen('F');
  3748. if (autotemp_enabled) autotemp_factor = code_value();
  3749. if (code_seen('S')) autotemp_min = code_value();
  3750. if (code_seen('B')) autotemp_max = code_value();
  3751. #endif
  3752. bool wants_to_cool = isCoolingHotend(target_extruder);
  3753. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  3754. if (no_wait_for_cooling && wants_to_cool) return;
  3755. // Prevents a wait-forever situation if R is misused i.e. M109 R0
  3756. // Try to calculate a ballpark safe margin by halving EXTRUDE_MINTEMP
  3757. if (wants_to_cool && degTargetHotend(target_extruder) < (EXTRUDE_MINTEMP)/2) return;
  3758. #if TEMP_RESIDENCY_TIME > 0
  3759. millis_t residency_start_ms = 0;
  3760. // Loop until the temperature has stabilized
  3761. #define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL))
  3762. #else
  3763. // Loop until the temperature is very close target
  3764. #define TEMP_CONDITIONS (wants_to_cool ? isCoolingHotend(target_extruder) : isHeatingHotend(target_extruder))
  3765. #endif //TEMP_RESIDENCY_TIME > 0
  3766. cancel_heatup = false;
  3767. millis_t now, next_temp_ms = 0;
  3768. do {
  3769. now = millis();
  3770. if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting
  3771. next_temp_ms = now + 1000UL;
  3772. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  3773. print_heaterstates();
  3774. #endif
  3775. #if TEMP_RESIDENCY_TIME > 0
  3776. SERIAL_PROTOCOLPGM(" W:");
  3777. if (residency_start_ms) {
  3778. long rem = (((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
  3779. SERIAL_PROTOCOLLN(rem);
  3780. }
  3781. else {
  3782. SERIAL_PROTOCOLLNPGM("?");
  3783. }
  3784. #else
  3785. SERIAL_EOL;
  3786. #endif
  3787. }
  3788. idle();
  3789. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  3790. #if TEMP_RESIDENCY_TIME > 0
  3791. float temp_diff = fabs(degTargetHotend(target_extruder) - degHotend(target_extruder));
  3792. if (!residency_start_ms) {
  3793. // Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
  3794. if (temp_diff < TEMP_WINDOW) residency_start_ms = millis();
  3795. }
  3796. else if (temp_diff > TEMP_HYSTERESIS) {
  3797. // Restart the timer whenever the temperature falls outside the hysteresis.
  3798. residency_start_ms = millis();
  3799. }
  3800. #endif //TEMP_RESIDENCY_TIME > 0
  3801. } while (!cancel_heatup && TEMP_CONDITIONS);
  3802. LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
  3803. }
  3804. #if HAS_TEMP_BED
  3805. /**
  3806. * M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  3807. * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  3808. */
  3809. inline void gcode_M190() {
  3810. if (DEBUGGING(DRYRUN)) return;
  3811. LCD_MESSAGEPGM(MSG_BED_HEATING);
  3812. bool no_wait_for_cooling = code_seen('S');
  3813. if (no_wait_for_cooling || code_seen('R')) setTargetBed(code_value());
  3814. bool wants_to_cool = isCoolingBed();
  3815. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  3816. if (no_wait_for_cooling && wants_to_cool) return;
  3817. #if TEMP_BED_RESIDENCY_TIME > 0
  3818. millis_t residency_start_ms = 0;
  3819. // Loop until the temperature has stabilized
  3820. #define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL))
  3821. #else
  3822. // Loop until the temperature is very close target
  3823. #define TEMP_BED_CONDITIONS (wants_to_cool ? isCoolingBed() : isHeatingBed())
  3824. #endif //TEMP_BED_RESIDENCY_TIME > 0
  3825. cancel_heatup = false;
  3826. millis_t now, next_temp_ms = 0;
  3827. // Wait for temperature to come close enough
  3828. do {
  3829. now = millis();
  3830. if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up.
  3831. next_temp_ms = now + 1000UL;
  3832. print_heaterstates();
  3833. #if TEMP_BED_RESIDENCY_TIME > 0
  3834. SERIAL_PROTOCOLPGM(" W:");
  3835. if (residency_start_ms) {
  3836. long rem = (((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
  3837. SERIAL_PROTOCOLLN(rem);
  3838. }
  3839. else {
  3840. SERIAL_PROTOCOLLNPGM("?");
  3841. }
  3842. #else
  3843. SERIAL_EOL;
  3844. #endif
  3845. }
  3846. idle();
  3847. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  3848. #if TEMP_BED_RESIDENCY_TIME > 0
  3849. float temp_diff = fabs(degBed() - degTargetBed());
  3850. if (!residency_start_ms) {
  3851. // Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
  3852. if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = millis();
  3853. }
  3854. else if (temp_diff > TEMP_BED_HYSTERESIS) {
  3855. // Restart the timer whenever the temperature falls outside the hysteresis.
  3856. residency_start_ms = millis();
  3857. }
  3858. #endif //TEMP_BED_RESIDENCY_TIME > 0
  3859. } while (!cancel_heatup && TEMP_BED_CONDITIONS);
  3860. LCD_MESSAGEPGM(MSG_BED_DONE);
  3861. }
  3862. #endif // HAS_TEMP_BED
  3863. /**
  3864. * M110: Set Current Line Number
  3865. */
  3866. inline void gcode_M110() {
  3867. if (code_seen('N')) gcode_N = code_value_long();
  3868. }
  3869. /**
  3870. * M111: Set the debug level
  3871. */
  3872. inline void gcode_M111() {
  3873. marlin_debug_flags = code_seen('S') ? code_value_short() : DEBUG_NONE;
  3874. const static char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO;
  3875. const static char str_debug_2[] PROGMEM = MSG_DEBUG_INFO;
  3876. const static char str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS;
  3877. const static char str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN;
  3878. const static char str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION;
  3879. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3880. const static char str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING;
  3881. #endif
  3882. const static char* const debug_strings[] PROGMEM = {
  3883. str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16,
  3884. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3885. str_debug_32
  3886. #endif
  3887. };
  3888. SERIAL_ECHO_START;
  3889. SERIAL_ECHOPGM(MSG_DEBUG_PREFIX);
  3890. if (marlin_debug_flags) {
  3891. uint8_t comma = 0;
  3892. for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
  3893. if (TEST(marlin_debug_flags, i)) {
  3894. if (comma++) SERIAL_CHAR(',');
  3895. serialprintPGM((char*)pgm_read_word(&(debug_strings[i])));
  3896. }
  3897. }
  3898. }
  3899. else {
  3900. SERIAL_ECHOPGM(MSG_DEBUG_OFF);
  3901. }
  3902. SERIAL_EOL;
  3903. }
  3904. /**
  3905. * M112: Emergency Stop
  3906. */
  3907. inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
  3908. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  3909. /**
  3910. * M113: Get or set Host Keepalive interval (0 to disable)
  3911. *
  3912. * S<seconds> Optional. Set the keepalive interval.
  3913. */
  3914. inline void gcode_M113() {
  3915. if (code_seen('S')) {
  3916. host_keepalive_interval = (uint8_t)code_value_short();
  3917. NOMORE(host_keepalive_interval, 60);
  3918. }
  3919. else {
  3920. SERIAL_ECHO_START;
  3921. SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
  3922. SERIAL_EOL;
  3923. }
  3924. }
  3925. #endif
  3926. #if ENABLED(BARICUDA)
  3927. #if HAS_HEATER_1
  3928. /**
  3929. * M126: Heater 1 valve open
  3930. */
  3931. inline void gcode_M126() { baricuda_valve_pressure = code_seen('S') ? constrain(code_value(), 0, 255) : 255; }
  3932. /**
  3933. * M127: Heater 1 valve close
  3934. */
  3935. inline void gcode_M127() { baricuda_valve_pressure = 0; }
  3936. #endif
  3937. #if HAS_HEATER_2
  3938. /**
  3939. * M128: Heater 2 valve open
  3940. */
  3941. inline void gcode_M128() { baricuda_e_to_p_pressure = code_seen('S') ? constrain(code_value(), 0, 255) : 255; }
  3942. /**
  3943. * M129: Heater 2 valve close
  3944. */
  3945. inline void gcode_M129() { baricuda_e_to_p_pressure = 0; }
  3946. #endif
  3947. #endif //BARICUDA
  3948. /**
  3949. * M140: Set bed temperature
  3950. */
  3951. inline void gcode_M140() {
  3952. if (DEBUGGING(DRYRUN)) return;
  3953. if (code_seen('S')) setTargetBed(code_value());
  3954. }
  3955. #if ENABLED(ULTIPANEL)
  3956. /**
  3957. * M145: Set the heatup state for a material in the LCD menu
  3958. * S<material> (0=PLA, 1=ABS)
  3959. * H<hotend temp>
  3960. * B<bed temp>
  3961. * F<fan speed>
  3962. */
  3963. inline void gcode_M145() {
  3964. int8_t material = code_seen('S') ? code_value_short() : 0;
  3965. if (material < 0 || material > 1) {
  3966. SERIAL_ERROR_START;
  3967. SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
  3968. }
  3969. else {
  3970. int v;
  3971. switch (material) {
  3972. case 0:
  3973. if (code_seen('H')) {
  3974. v = code_value_short();
  3975. plaPreheatHotendTemp = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
  3976. }
  3977. if (code_seen('F')) {
  3978. v = code_value_short();
  3979. plaPreheatFanSpeed = constrain(v, 0, 255);
  3980. }
  3981. #if TEMP_SENSOR_BED != 0
  3982. if (code_seen('B')) {
  3983. v = code_value_short();
  3984. plaPreheatHPBTemp = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
  3985. }
  3986. #endif
  3987. break;
  3988. case 1:
  3989. if (code_seen('H')) {
  3990. v = code_value_short();
  3991. absPreheatHotendTemp = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
  3992. }
  3993. if (code_seen('F')) {
  3994. v = code_value_short();
  3995. absPreheatFanSpeed = constrain(v, 0, 255);
  3996. }
  3997. #if TEMP_SENSOR_BED != 0
  3998. if (code_seen('B')) {
  3999. v = code_value_short();
  4000. absPreheatHPBTemp = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
  4001. }
  4002. #endif
  4003. break;
  4004. }
  4005. }
  4006. }
  4007. #endif
  4008. #if HAS_POWER_SWITCH
  4009. /**
  4010. * M80: Turn on Power Supply
  4011. */
  4012. inline void gcode_M80() {
  4013. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND
  4014. /**
  4015. * If you have a switch on suicide pin, this is useful
  4016. * if you want to start another print with suicide feature after
  4017. * a print without suicide...
  4018. */
  4019. #if HAS_SUICIDE
  4020. OUT_WRITE(SUICIDE_PIN, HIGH);
  4021. #endif
  4022. #if ENABLED(ULTIPANEL)
  4023. powersupply = true;
  4024. LCD_MESSAGEPGM(WELCOME_MSG);
  4025. lcd_update();
  4026. #endif
  4027. }
  4028. #endif // HAS_POWER_SWITCH
  4029. /**
  4030. * M81: Turn off Power, including Power Supply, if there is one.
  4031. *
  4032. * This code should ALWAYS be available for EMERGENCY SHUTDOWN!
  4033. */
  4034. inline void gcode_M81() {
  4035. disable_all_heaters();
  4036. finishAndDisableSteppers();
  4037. #if FAN_COUNT > 0
  4038. #if FAN_COUNT > 1
  4039. for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
  4040. #else
  4041. fanSpeeds[0] = 0;
  4042. #endif
  4043. #endif
  4044. delay(1000); // Wait 1 second before switching off
  4045. #if HAS_SUICIDE
  4046. st_synchronize();
  4047. suicide();
  4048. #elif HAS_POWER_SWITCH
  4049. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  4050. #endif
  4051. #if ENABLED(ULTIPANEL)
  4052. #if HAS_POWER_SWITCH
  4053. powersupply = false;
  4054. #endif
  4055. LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
  4056. lcd_update();
  4057. #endif
  4058. }
  4059. /**
  4060. * M82: Set E codes absolute (default)
  4061. */
  4062. inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
  4063. /**
  4064. * M83: Set E codes relative while in Absolute Coordinates (G90) mode
  4065. */
  4066. inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; }
  4067. /**
  4068. * M18, M84: Disable all stepper motors
  4069. */
  4070. inline void gcode_M18_M84() {
  4071. if (code_seen('S')) {
  4072. stepper_inactive_time = code_value() * 1000UL;
  4073. }
  4074. else {
  4075. bool all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS])) || (code_seen(axis_codes[E_AXIS])));
  4076. if (all_axis) {
  4077. finishAndDisableSteppers();
  4078. }
  4079. else {
  4080. st_synchronize();
  4081. if (code_seen('X')) disable_x();
  4082. if (code_seen('Y')) disable_y();
  4083. if (code_seen('Z')) disable_z();
  4084. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  4085. if (code_seen('E')) {
  4086. disable_e0();
  4087. disable_e1();
  4088. disable_e2();
  4089. disable_e3();
  4090. }
  4091. #endif
  4092. }
  4093. }
  4094. }
  4095. /**
  4096. * M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  4097. */
  4098. inline void gcode_M85() {
  4099. if (code_seen('S')) max_inactive_time = code_value() * 1000UL;
  4100. }
  4101. /**
  4102. * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
  4103. * (Follows the same syntax as G92)
  4104. */
  4105. inline void gcode_M92() {
  4106. for (int8_t i = 0; i < NUM_AXIS; i++) {
  4107. if (code_seen(axis_codes[i])) {
  4108. if (i == E_AXIS) {
  4109. float value = code_value();
  4110. if (value < 20.0) {
  4111. float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
  4112. max_e_jerk *= factor;
  4113. max_feedrate[i] *= factor;
  4114. axis_steps_per_sqr_second[i] *= factor;
  4115. }
  4116. axis_steps_per_unit[i] = value;
  4117. }
  4118. else {
  4119. axis_steps_per_unit[i] = code_value();
  4120. }
  4121. }
  4122. }
  4123. }
  4124. /**
  4125. * M114: Output current position to serial port
  4126. */
  4127. inline void gcode_M114() {
  4128. SERIAL_PROTOCOLPGM("X:");
  4129. SERIAL_PROTOCOL(current_position[X_AXIS]);
  4130. SERIAL_PROTOCOLPGM(" Y:");
  4131. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  4132. SERIAL_PROTOCOLPGM(" Z:");
  4133. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  4134. SERIAL_PROTOCOLPGM(" E:");
  4135. SERIAL_PROTOCOL(current_position[E_AXIS]);
  4136. CRITICAL_SECTION_START;
  4137. extern volatile long count_position[NUM_AXIS];
  4138. long xpos = count_position[X_AXIS],
  4139. ypos = count_position[Y_AXIS],
  4140. zpos = count_position[Z_AXIS];
  4141. CRITICAL_SECTION_END;
  4142. #if ENABLED(COREXY) || ENABLED(COREXZ)
  4143. SERIAL_PROTOCOLPGM(MSG_COUNT_A);
  4144. #else
  4145. SERIAL_PROTOCOLPGM(MSG_COUNT_X);
  4146. #endif
  4147. SERIAL_PROTOCOL(xpos);
  4148. #if ENABLED(COREXY)
  4149. SERIAL_PROTOCOLPGM(" B:");
  4150. #else
  4151. SERIAL_PROTOCOLPGM(" Y:");
  4152. #endif
  4153. SERIAL_PROTOCOL(ypos);
  4154. #if ENABLED(COREXZ)
  4155. SERIAL_PROTOCOLPGM(" C:");
  4156. #else
  4157. SERIAL_PROTOCOLPGM(" Z:");
  4158. #endif
  4159. SERIAL_PROTOCOL(zpos);
  4160. SERIAL_EOL;
  4161. #if ENABLED(SCARA)
  4162. SERIAL_PROTOCOLPGM("SCARA Theta:");
  4163. SERIAL_PROTOCOL(delta[X_AXIS]);
  4164. SERIAL_PROTOCOLPGM(" Psi+Theta:");
  4165. SERIAL_PROTOCOL(delta[Y_AXIS]);
  4166. SERIAL_EOL;
  4167. SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
  4168. SERIAL_PROTOCOL(delta[X_AXIS] + home_offset[X_AXIS]);
  4169. SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
  4170. SERIAL_PROTOCOL(delta[Y_AXIS] - delta[X_AXIS] - 90 + home_offset[Y_AXIS]);
  4171. SERIAL_EOL;
  4172. SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
  4173. SERIAL_PROTOCOL(delta[X_AXIS] / 90 * axis_steps_per_unit[X_AXIS]);
  4174. SERIAL_PROTOCOLPGM(" Psi+Theta:");
  4175. SERIAL_PROTOCOL((delta[Y_AXIS] - delta[X_AXIS]) / 90 * axis_steps_per_unit[Y_AXIS]);
  4176. SERIAL_EOL; SERIAL_EOL;
  4177. #endif
  4178. }
  4179. /**
  4180. * M115: Capabilities string
  4181. */
  4182. inline void gcode_M115() {
  4183. SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
  4184. }
  4185. /**
  4186. * M117: Set LCD Status Message
  4187. */
  4188. inline void gcode_M117() {
  4189. lcd_setstatus(current_command_args);
  4190. }
  4191. /**
  4192. * M119: Output endstop states to serial output
  4193. */
  4194. inline void gcode_M119() {
  4195. SERIAL_PROTOCOLLN(MSG_M119_REPORT);
  4196. #if HAS_X_MIN
  4197. SERIAL_PROTOCOLPGM(MSG_X_MIN);
  4198. SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  4199. #endif
  4200. #if HAS_X_MAX
  4201. SERIAL_PROTOCOLPGM(MSG_X_MAX);
  4202. SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  4203. #endif
  4204. #if HAS_Y_MIN
  4205. SERIAL_PROTOCOLPGM(MSG_Y_MIN);
  4206. SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  4207. #endif
  4208. #if HAS_Y_MAX
  4209. SERIAL_PROTOCOLPGM(MSG_Y_MAX);
  4210. SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  4211. #endif
  4212. #if HAS_Z_MIN
  4213. SERIAL_PROTOCOLPGM(MSG_Z_MIN);
  4214. SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  4215. #endif
  4216. #if HAS_Z_MAX
  4217. SERIAL_PROTOCOLPGM(MSG_Z_MAX);
  4218. SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  4219. #endif
  4220. #if HAS_Z2_MAX
  4221. SERIAL_PROTOCOLPGM(MSG_Z2_MAX);
  4222. SERIAL_PROTOCOLLN(((READ(Z2_MAX_PIN)^Z2_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  4223. #endif
  4224. #if HAS_Z_PROBE
  4225. SERIAL_PROTOCOLPGM(MSG_Z_PROBE);
  4226. SERIAL_PROTOCOLLN(((READ(Z_MIN_PROBE_PIN)^Z_MIN_PROBE_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  4227. #endif
  4228. }
  4229. /**
  4230. * M120: Enable endstops and set non-homing endstop state to "enabled"
  4231. */
  4232. inline void gcode_M120() { enable_endstops_globally(true); }
  4233. /**
  4234. * M121: Disable endstops and set non-homing endstop state to "disabled"
  4235. */
  4236. inline void gcode_M121() { enable_endstops_globally(false); }
  4237. #if ENABLED(BLINKM)
  4238. /**
  4239. * M150: Set Status LED Color - Use R-U-B for R-G-B
  4240. */
  4241. inline void gcode_M150() {
  4242. SendColors(
  4243. code_seen('R') ? (byte)code_value_short() : 0,
  4244. code_seen('U') ? (byte)code_value_short() : 0,
  4245. code_seen('B') ? (byte)code_value_short() : 0
  4246. );
  4247. }
  4248. #endif // BLINKM
  4249. #if ENABLED(EXPERIMENTAL_I2CBUS)
  4250. /**
  4251. * M155: Send data to a I2C slave device
  4252. *
  4253. * This is a PoC, the formating and arguments for the GCODE will
  4254. * change to be more compatible, the current proposal is:
  4255. *
  4256. * M155 A<slave device address base 10> ; Sets the I2C slave address the data will be sent to
  4257. *
  4258. * M155 B<byte-1 value in base 10>
  4259. * M155 B<byte-2 value in base 10>
  4260. * M155 B<byte-3 value in base 10>
  4261. *
  4262. * M155 S1 ; Send the buffered data and reset the buffer
  4263. * M155 R1 ; Reset the buffer without sending data
  4264. *
  4265. */
  4266. inline void gcode_M155() {
  4267. // Set the target address
  4268. if (code_seen('A'))
  4269. i2c.address((uint8_t) code_value_short());
  4270. // Add a new byte to the buffer
  4271. else if (code_seen('B'))
  4272. i2c.addbyte((int) code_value_short());
  4273. // Flush the buffer to the bus
  4274. else if (code_seen('S')) i2c.send();
  4275. // Reset and rewind the buffer
  4276. else if (code_seen('R')) i2c.reset();
  4277. }
  4278. /**
  4279. * M156: Request X bytes from I2C slave device
  4280. *
  4281. * Usage: M156 A<slave device address base 10> B<number of bytes>
  4282. */
  4283. inline void gcode_M156() {
  4284. uint8_t addr = code_seen('A') ? code_value_short() : 0;
  4285. int bytes = code_seen('B') ? code_value_short() : 0;
  4286. if (addr && bytes) {
  4287. i2c.address(addr);
  4288. i2c.reqbytes(bytes);
  4289. }
  4290. }
  4291. #endif //EXPERIMENTAL_I2CBUS
  4292. /**
  4293. * M200: Set filament diameter and set E axis units to cubic millimeters
  4294. *
  4295. * T<extruder> - Optional extruder number. Current extruder if omitted.
  4296. * D<mm> - Diameter of the filament. Use "D0" to set units back to millimeters.
  4297. */
  4298. inline void gcode_M200() {
  4299. if (get_target_extruder_from_command(200)) return;
  4300. if (code_seen('D')) {
  4301. float diameter = code_value();
  4302. // setting any extruder filament size disables volumetric on the assumption that
  4303. // slicers either generate in extruder values as cubic mm or as as filament feeds
  4304. // for all extruders
  4305. volumetric_enabled = (diameter != 0.0);
  4306. if (volumetric_enabled) {
  4307. filament_size[target_extruder] = diameter;
  4308. // make sure all extruders have some sane value for the filament size
  4309. for (int i = 0; i < EXTRUDERS; i++)
  4310. if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
  4311. }
  4312. }
  4313. else {
  4314. //reserved for setting filament diameter via UFID or filament measuring device
  4315. return;
  4316. }
  4317. calculate_volumetric_multipliers();
  4318. }
  4319. /**
  4320. * M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  4321. */
  4322. inline void gcode_M201() {
  4323. for (int8_t i = 0; i < NUM_AXIS; i++) {
  4324. if (code_seen(axis_codes[i])) {
  4325. max_acceleration_units_per_sq_second[i] = code_value();
  4326. }
  4327. }
  4328. // 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)
  4329. reset_acceleration_rates();
  4330. }
  4331. #if 0 // Not used for Sprinter/grbl gen6
  4332. inline void gcode_M202() {
  4333. for (int8_t i = 0; i < NUM_AXIS; i++) {
  4334. if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
  4335. }
  4336. }
  4337. #endif
  4338. /**
  4339. * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  4340. */
  4341. inline void gcode_M203() {
  4342. for (int8_t i = 0; i < NUM_AXIS; i++) {
  4343. if (code_seen(axis_codes[i])) {
  4344. max_feedrate[i] = code_value();
  4345. }
  4346. }
  4347. }
  4348. /**
  4349. * M204: Set Accelerations in mm/sec^2 (M204 P1200 R3000 T3000)
  4350. *
  4351. * P = Printing moves
  4352. * R = Retract only (no X, Y, Z) moves
  4353. * T = Travel (non printing) moves
  4354. *
  4355. * Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
  4356. */
  4357. inline void gcode_M204() {
  4358. if (code_seen('S')) { // Kept for legacy compatibility. Should NOT BE USED for new developments.
  4359. travel_acceleration = acceleration = code_value();
  4360. SERIAL_ECHOPAIR("Setting Print and Travel Acceleration: ", acceleration);
  4361. SERIAL_EOL;
  4362. }
  4363. if (code_seen('P')) {
  4364. acceleration = code_value();
  4365. SERIAL_ECHOPAIR("Setting Print Acceleration: ", acceleration);
  4366. SERIAL_EOL;
  4367. }
  4368. if (code_seen('R')) {
  4369. retract_acceleration = code_value();
  4370. SERIAL_ECHOPAIR("Setting Retract Acceleration: ", retract_acceleration);
  4371. SERIAL_EOL;
  4372. }
  4373. if (code_seen('T')) {
  4374. travel_acceleration = code_value();
  4375. SERIAL_ECHOPAIR("Setting Travel Acceleration: ", travel_acceleration);
  4376. SERIAL_EOL;
  4377. }
  4378. }
  4379. /**
  4380. * M205: Set Advanced Settings
  4381. *
  4382. * S = Min Feed Rate (mm/s)
  4383. * T = Min Travel Feed Rate (mm/s)
  4384. * B = Min Segment Time (µs)
  4385. * X = Max XY Jerk (mm/s/s)
  4386. * Z = Max Z Jerk (mm/s/s)
  4387. * E = Max E Jerk (mm/s/s)
  4388. */
  4389. inline void gcode_M205() {
  4390. if (code_seen('S')) minimumfeedrate = code_value();
  4391. if (code_seen('T')) mintravelfeedrate = code_value();
  4392. if (code_seen('B')) minsegmenttime = code_value();
  4393. if (code_seen('X')) max_xy_jerk = code_value();
  4394. if (code_seen('Z')) max_z_jerk = code_value();
  4395. if (code_seen('E')) max_e_jerk = code_value();
  4396. }
  4397. /**
  4398. * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
  4399. */
  4400. inline void gcode_M206() {
  4401. for (int8_t i = X_AXIS; i <= Z_AXIS; i++)
  4402. if (code_seen(axis_codes[i]))
  4403. set_home_offset((AxisEnum)i, code_value());
  4404. #if ENABLED(SCARA)
  4405. if (code_seen('T')) set_home_offset(X_AXIS, code_value()); // Theta
  4406. if (code_seen('P')) set_home_offset(Y_AXIS, code_value()); // Psi
  4407. #endif
  4408. sync_plan_position();
  4409. }
  4410. #if ENABLED(DELTA)
  4411. /**
  4412. * M665: Set delta configurations
  4413. *
  4414. * L = diagonal rod
  4415. * R = delta radius
  4416. * S = segments per second
  4417. * A = Alpha (Tower 1) diagonal rod trim
  4418. * B = Beta (Tower 2) diagonal rod trim
  4419. * C = Gamma (Tower 3) diagonal rod trim
  4420. */
  4421. inline void gcode_M665() {
  4422. if (code_seen('L')) delta_diagonal_rod = code_value();
  4423. if (code_seen('R')) delta_radius = code_value();
  4424. if (code_seen('S')) delta_segments_per_second = code_value();
  4425. if (code_seen('A')) delta_diagonal_rod_trim_tower_1 = code_value();
  4426. if (code_seen('B')) delta_diagonal_rod_trim_tower_2 = code_value();
  4427. if (code_seen('C')) delta_diagonal_rod_trim_tower_3 = code_value();
  4428. recalc_delta_settings(delta_radius, delta_diagonal_rod);
  4429. }
  4430. /**
  4431. * M666: Set delta endstop adjustment
  4432. */
  4433. inline void gcode_M666() {
  4434. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4435. if (DEBUGGING(LEVELING)) {
  4436. SERIAL_ECHOLNPGM(">>> gcode_M666");
  4437. }
  4438. #endif
  4439. for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
  4440. if (code_seen(axis_codes[i])) {
  4441. endstop_adj[i] = code_value();
  4442. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4443. if (DEBUGGING(LEVELING)) {
  4444. SERIAL_ECHOPGM("endstop_adj[");
  4445. SERIAL_ECHO(axis_codes[i]);
  4446. SERIAL_ECHOPAIR("] = ", endstop_adj[i]);
  4447. SERIAL_EOL;
  4448. }
  4449. #endif
  4450. }
  4451. }
  4452. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4453. if (DEBUGGING(LEVELING)) {
  4454. SERIAL_ECHOLNPGM("<<< gcode_M666");
  4455. }
  4456. #endif
  4457. }
  4458. #elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
  4459. /**
  4460. * M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
  4461. */
  4462. inline void gcode_M666() {
  4463. if (code_seen('Z')) z_endstop_adj = code_value();
  4464. SERIAL_ECHOPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj);
  4465. SERIAL_EOL;
  4466. }
  4467. #endif // !DELTA && Z_DUAL_ENDSTOPS
  4468. #if ENABLED(FWRETRACT)
  4469. /**
  4470. * M207: Set firmware retraction values
  4471. *
  4472. * S[+mm] retract_length
  4473. * W[+mm] retract_length_swap (multi-extruder)
  4474. * F[mm/min] retract_feedrate
  4475. * Z[mm] retract_zlift
  4476. */
  4477. inline void gcode_M207() {
  4478. if (code_seen('S')) retract_length = code_value();
  4479. if (code_seen('F')) retract_feedrate = code_value() / 60;
  4480. if (code_seen('Z')) retract_zlift = code_value();
  4481. #if EXTRUDERS > 1
  4482. if (code_seen('W')) retract_length_swap = code_value();
  4483. #endif
  4484. }
  4485. /**
  4486. * M208: Set firmware un-retraction values
  4487. *
  4488. * S[+mm] retract_recover_length (in addition to M207 S*)
  4489. * W[+mm] retract_recover_length_swap (multi-extruder)
  4490. * F[mm/min] retract_recover_feedrate
  4491. */
  4492. inline void gcode_M208() {
  4493. if (code_seen('S')) retract_recover_length = code_value();
  4494. if (code_seen('F')) retract_recover_feedrate = code_value() / 60;
  4495. #if EXTRUDERS > 1
  4496. if (code_seen('W')) retract_recover_length_swap = code_value();
  4497. #endif
  4498. }
  4499. /**
  4500. * M209: Enable automatic retract (M209 S1)
  4501. * detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
  4502. */
  4503. inline void gcode_M209() {
  4504. if (code_seen('S')) {
  4505. int t = code_value_short();
  4506. switch (t) {
  4507. case 0:
  4508. autoretract_enabled = false;
  4509. break;
  4510. case 1:
  4511. autoretract_enabled = true;
  4512. break;
  4513. default:
  4514. unknown_command_error();
  4515. return;
  4516. }
  4517. for (int i = 0; i < EXTRUDERS; i++) retracted[i] = false;
  4518. }
  4519. }
  4520. #endif // FWRETRACT
  4521. #if EXTRUDERS > 1
  4522. /**
  4523. * M218 - set hotend offset (in mm)
  4524. *
  4525. * T<tool>
  4526. * X<xoffset>
  4527. * Y<yoffset>
  4528. * Z<zoffset> - Available with DUAL_X_CARRIAGE
  4529. */
  4530. inline void gcode_M218() {
  4531. if (get_target_extruder_from_command(218)) return;
  4532. if (code_seen('X')) extruder_offset[X_AXIS][target_extruder] = code_value();
  4533. if (code_seen('Y')) extruder_offset[Y_AXIS][target_extruder] = code_value();
  4534. #if ENABLED(DUAL_X_CARRIAGE)
  4535. if (code_seen('Z')) extruder_offset[Z_AXIS][target_extruder] = code_value();
  4536. #endif
  4537. SERIAL_ECHO_START;
  4538. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  4539. for (int e = 0; e < EXTRUDERS; e++) {
  4540. SERIAL_CHAR(' ');
  4541. SERIAL_ECHO(extruder_offset[X_AXIS][e]);
  4542. SERIAL_CHAR(',');
  4543. SERIAL_ECHO(extruder_offset[Y_AXIS][e]);
  4544. #if ENABLED(DUAL_X_CARRIAGE)
  4545. SERIAL_CHAR(',');
  4546. SERIAL_ECHO(extruder_offset[Z_AXIS][e]);
  4547. #endif
  4548. }
  4549. SERIAL_EOL;
  4550. }
  4551. #endif // EXTRUDERS > 1
  4552. /**
  4553. * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
  4554. */
  4555. inline void gcode_M220() {
  4556. if (code_seen('S')) feedrate_multiplier = code_value();
  4557. }
  4558. /**
  4559. * M221: Set extrusion percentage (M221 T0 S95)
  4560. */
  4561. inline void gcode_M221() {
  4562. if (code_seen('S')) {
  4563. int sval = code_value();
  4564. if (get_target_extruder_from_command(221)) return;
  4565. extruder_multiplier[target_extruder] = sval;
  4566. }
  4567. }
  4568. /**
  4569. * M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
  4570. */
  4571. inline void gcode_M226() {
  4572. if (code_seen('P')) {
  4573. int pin_number = code_value();
  4574. int pin_state = code_seen('S') ? code_value() : -1; // required pin state - default is inverted
  4575. if (pin_state >= -1 && pin_state <= 1) {
  4576. for (uint8_t i = 0; i < COUNT(sensitive_pins); i++) {
  4577. if (sensitive_pins[i] == pin_number) {
  4578. pin_number = -1;
  4579. break;
  4580. }
  4581. }
  4582. if (pin_number > -1) {
  4583. int target = LOW;
  4584. st_synchronize();
  4585. pinMode(pin_number, INPUT);
  4586. switch (pin_state) {
  4587. case 1:
  4588. target = HIGH;
  4589. break;
  4590. case 0:
  4591. target = LOW;
  4592. break;
  4593. case -1:
  4594. target = !digitalRead(pin_number);
  4595. break;
  4596. }
  4597. while (digitalRead(pin_number) != target) idle();
  4598. } // pin_number > -1
  4599. } // pin_state -1 0 1
  4600. } // code_seen('P')
  4601. }
  4602. #if HAS_SERVOS
  4603. /**
  4604. * M280: Get or set servo position. P<index> S<angle>
  4605. */
  4606. inline void gcode_M280() {
  4607. int servo_index = code_seen('P') ? code_value_short() : -1;
  4608. int servo_position = 0;
  4609. if (code_seen('S')) {
  4610. servo_position = code_value_short();
  4611. if (servo_index >= 0 && servo_index < NUM_SERVOS)
  4612. servo[servo_index].move(servo_position);
  4613. else {
  4614. SERIAL_ERROR_START;
  4615. SERIAL_ERROR("Servo ");
  4616. SERIAL_ERROR(servo_index);
  4617. SERIAL_ERRORLN(" out of range");
  4618. }
  4619. }
  4620. else if (servo_index >= 0) {
  4621. SERIAL_ECHO_START;
  4622. SERIAL_ECHO(" Servo ");
  4623. SERIAL_ECHO(servo_index);
  4624. SERIAL_ECHO(": ");
  4625. SERIAL_ECHOLN(servo[servo_index].read());
  4626. }
  4627. }
  4628. #endif // HAS_SERVOS
  4629. #if HAS_BUZZER
  4630. /**
  4631. * M300: Play beep sound S<frequency Hz> P<duration ms>
  4632. */
  4633. inline void gcode_M300() {
  4634. uint16_t beepS = code_seen('S') ? code_value_short() : 110;
  4635. uint32_t beepP = code_seen('P') ? code_value_long() : 1000;
  4636. if (beepP > 5000) beepP = 5000; // limit to 5 seconds
  4637. buzz(beepP, beepS);
  4638. }
  4639. #endif // HAS_BUZZER
  4640. #if ENABLED(PIDTEMP)
  4641. /**
  4642. * M301: Set PID parameters P I D (and optionally C, L)
  4643. *
  4644. * P[float] Kp term
  4645. * I[float] Ki term (unscaled)
  4646. * D[float] Kd term (unscaled)
  4647. *
  4648. * With PID_ADD_EXTRUSION_RATE:
  4649. *
  4650. * C[float] Kc term
  4651. * L[float] LPQ length
  4652. */
  4653. inline void gcode_M301() {
  4654. // multi-extruder PID patch: M301 updates or prints a single extruder's PID values
  4655. // default behaviour (omitting E parameter) is to update for extruder 0 only
  4656. int e = code_seen('E') ? code_value() : 0; // extruder being updated
  4657. if (e < EXTRUDERS) { // catch bad input value
  4658. if (code_seen('P')) PID_PARAM(Kp, e) = code_value();
  4659. if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value());
  4660. if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value());
  4661. #if ENABLED(PID_ADD_EXTRUSION_RATE)
  4662. if (code_seen('C')) PID_PARAM(Kc, e) = code_value();
  4663. if (code_seen('L')) lpq_len = code_value();
  4664. NOMORE(lpq_len, LPQ_MAX_LEN);
  4665. #endif
  4666. updatePID();
  4667. SERIAL_ECHO_START;
  4668. #if ENABLED(PID_PARAMS_PER_EXTRUDER)
  4669. SERIAL_ECHO(" e:"); // specify extruder in serial output
  4670. SERIAL_ECHO(e);
  4671. #endif // PID_PARAMS_PER_EXTRUDER
  4672. SERIAL_ECHO(" p:");
  4673. SERIAL_ECHO(PID_PARAM(Kp, e));
  4674. SERIAL_ECHO(" i:");
  4675. SERIAL_ECHO(unscalePID_i(PID_PARAM(Ki, e)));
  4676. SERIAL_ECHO(" d:");
  4677. SERIAL_ECHO(unscalePID_d(PID_PARAM(Kd, e)));
  4678. #if ENABLED(PID_ADD_EXTRUSION_RATE)
  4679. SERIAL_ECHO(" c:");
  4680. //Kc does not have scaling applied above, or in resetting defaults
  4681. SERIAL_ECHO(PID_PARAM(Kc, e));
  4682. #endif
  4683. SERIAL_EOL;
  4684. }
  4685. else {
  4686. SERIAL_ERROR_START;
  4687. SERIAL_ERRORLN(MSG_INVALID_EXTRUDER);
  4688. }
  4689. }
  4690. #endif // PIDTEMP
  4691. #if ENABLED(PIDTEMPBED)
  4692. inline void gcode_M304() {
  4693. if (code_seen('P')) bedKp = code_value();
  4694. if (code_seen('I')) bedKi = scalePID_i(code_value());
  4695. if (code_seen('D')) bedKd = scalePID_d(code_value());
  4696. updatePID();
  4697. SERIAL_ECHO_START;
  4698. SERIAL_ECHO(" p:");
  4699. SERIAL_ECHO(bedKp);
  4700. SERIAL_ECHO(" i:");
  4701. SERIAL_ECHO(unscalePID_i(bedKi));
  4702. SERIAL_ECHO(" d:");
  4703. SERIAL_ECHOLN(unscalePID_d(bedKd));
  4704. }
  4705. #endif // PIDTEMPBED
  4706. #if defined(CHDK) || HAS_PHOTOGRAPH
  4707. /**
  4708. * M240: Trigger a camera by emulating a Canon RC-1
  4709. * See http://www.doc-diy.net/photo/rc-1_hacked/
  4710. */
  4711. inline void gcode_M240() {
  4712. #ifdef CHDK
  4713. OUT_WRITE(CHDK, HIGH);
  4714. chdkHigh = millis();
  4715. chdkActive = true;
  4716. #elif HAS_PHOTOGRAPH
  4717. const uint8_t NUM_PULSES = 16;
  4718. const float PULSE_LENGTH = 0.01524;
  4719. for (int i = 0; i < NUM_PULSES; i++) {
  4720. WRITE(PHOTOGRAPH_PIN, HIGH);
  4721. _delay_ms(PULSE_LENGTH);
  4722. WRITE(PHOTOGRAPH_PIN, LOW);
  4723. _delay_ms(PULSE_LENGTH);
  4724. }
  4725. delay(7.33);
  4726. for (int i = 0; i < NUM_PULSES; i++) {
  4727. WRITE(PHOTOGRAPH_PIN, HIGH);
  4728. _delay_ms(PULSE_LENGTH);
  4729. WRITE(PHOTOGRAPH_PIN, LOW);
  4730. _delay_ms(PULSE_LENGTH);
  4731. }
  4732. #endif // !CHDK && HAS_PHOTOGRAPH
  4733. }
  4734. #endif // CHDK || PHOTOGRAPH_PIN
  4735. #if ENABLED(HAS_LCD_CONTRAST)
  4736. /**
  4737. * M250: Read and optionally set the LCD contrast
  4738. */
  4739. inline void gcode_M250() {
  4740. if (code_seen('C')) lcd_setcontrast(code_value_short() & 0x3F);
  4741. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  4742. SERIAL_PROTOCOL(lcd_contrast);
  4743. SERIAL_EOL;
  4744. }
  4745. #endif // HAS_LCD_CONTRAST
  4746. #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
  4747. void set_extrude_min_temp(float temp) { extrude_min_temp = temp; }
  4748. /**
  4749. * M302: Allow cold extrudes, or set the minimum extrude S<temperature>.
  4750. */
  4751. inline void gcode_M302() {
  4752. set_extrude_min_temp(code_seen('S') ? code_value() : 0);
  4753. }
  4754. #endif // PREVENT_DANGEROUS_EXTRUDE
  4755. /**
  4756. * M303: PID relay autotune
  4757. *
  4758. * S<temperature> sets the target temperature. (default 150C)
  4759. * E<extruder> (-1 for the bed) (default 0)
  4760. * C<cycles>
  4761. * U<bool> with a non-zero value will apply the result to current settings
  4762. */
  4763. inline void gcode_M303() {
  4764. #if HAS_PID_HEATING
  4765. int e = code_seen('E') ? code_value_short() : 0;
  4766. int c = code_seen('C') ? code_value_short() : 5;
  4767. bool u = code_seen('U') && code_value_short() != 0;
  4768. float temp = code_seen('S') ? code_value() : (e < 0 ? 70.0 : 150.0);
  4769. if (e >= 0 && e < EXTRUDERS)
  4770. target_extruder = e;
  4771. KEEPALIVE_STATE(NOT_BUSY); // don't send "busy: processing" messages during autotune output
  4772. PID_autotune(temp, e, c, u);
  4773. KEEPALIVE_STATE(IN_HANDLER);
  4774. #else
  4775. SERIAL_ERROR_START;
  4776. SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
  4777. #endif
  4778. }
  4779. #if ENABLED(SCARA)
  4780. bool SCARA_move_to_cal(uint8_t delta_x, uint8_t delta_y) {
  4781. //SoftEndsEnabled = false; // Ignore soft endstops during calibration
  4782. //SERIAL_ECHOLN(" Soft endstops disabled ");
  4783. if (IsRunning()) {
  4784. //gcode_get_destination(); // For X Y Z E F
  4785. delta[X_AXIS] = delta_x;
  4786. delta[Y_AXIS] = delta_y;
  4787. calculate_SCARA_forward_Transform(delta);
  4788. destination[X_AXIS] = delta[X_AXIS] / axis_scaling[X_AXIS];
  4789. destination[Y_AXIS] = delta[Y_AXIS] / axis_scaling[Y_AXIS];
  4790. prepare_move();
  4791. //ok_to_send();
  4792. return true;
  4793. }
  4794. return false;
  4795. }
  4796. /**
  4797. * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  4798. */
  4799. inline bool gcode_M360() {
  4800. SERIAL_ECHOLN(" Cal: Theta 0 ");
  4801. return SCARA_move_to_cal(0, 120);
  4802. }
  4803. /**
  4804. * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  4805. */
  4806. inline bool gcode_M361() {
  4807. SERIAL_ECHOLN(" Cal: Theta 90 ");
  4808. return SCARA_move_to_cal(90, 130);
  4809. }
  4810. /**
  4811. * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  4812. */
  4813. inline bool gcode_M362() {
  4814. SERIAL_ECHOLN(" Cal: Psi 0 ");
  4815. return SCARA_move_to_cal(60, 180);
  4816. }
  4817. /**
  4818. * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  4819. */
  4820. inline bool gcode_M363() {
  4821. SERIAL_ECHOLN(" Cal: Psi 90 ");
  4822. return SCARA_move_to_cal(50, 90);
  4823. }
  4824. /**
  4825. * M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  4826. */
  4827. inline bool gcode_M364() {
  4828. SERIAL_ECHOLN(" Cal: Theta-Psi 90 ");
  4829. return SCARA_move_to_cal(45, 135);
  4830. }
  4831. /**
  4832. * M365: SCARA calibration: Scaling factor, X, Y, Z axis
  4833. */
  4834. inline void gcode_M365() {
  4835. for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
  4836. if (code_seen(axis_codes[i])) {
  4837. axis_scaling[i] = code_value();
  4838. }
  4839. }
  4840. }
  4841. #endif // SCARA
  4842. #if ENABLED(EXT_SOLENOID)
  4843. void enable_solenoid(uint8_t num) {
  4844. switch (num) {
  4845. case 0:
  4846. OUT_WRITE(SOL0_PIN, HIGH);
  4847. break;
  4848. #if HAS_SOLENOID_1
  4849. case 1:
  4850. OUT_WRITE(SOL1_PIN, HIGH);
  4851. break;
  4852. #endif
  4853. #if HAS_SOLENOID_2
  4854. case 2:
  4855. OUT_WRITE(SOL2_PIN, HIGH);
  4856. break;
  4857. #endif
  4858. #if HAS_SOLENOID_3
  4859. case 3:
  4860. OUT_WRITE(SOL3_PIN, HIGH);
  4861. break;
  4862. #endif
  4863. default:
  4864. SERIAL_ECHO_START;
  4865. SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
  4866. break;
  4867. }
  4868. }
  4869. void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
  4870. void disable_all_solenoids() {
  4871. OUT_WRITE(SOL0_PIN, LOW);
  4872. OUT_WRITE(SOL1_PIN, LOW);
  4873. OUT_WRITE(SOL2_PIN, LOW);
  4874. OUT_WRITE(SOL3_PIN, LOW);
  4875. }
  4876. /**
  4877. * M380: Enable solenoid on the active extruder
  4878. */
  4879. inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
  4880. /**
  4881. * M381: Disable all solenoids
  4882. */
  4883. inline void gcode_M381() { disable_all_solenoids(); }
  4884. #endif // EXT_SOLENOID
  4885. /**
  4886. * M400: Finish all moves
  4887. */
  4888. inline void gcode_M400() { st_synchronize(); }
  4889. #if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY))
  4890. /**
  4891. * M401: Engage Z Servo endstop if available
  4892. */
  4893. inline void gcode_M401() {
  4894. #if HAS_SERVO_ENDSTOPS
  4895. raise_z_for_servo();
  4896. #endif
  4897. deploy_z_probe();
  4898. }
  4899. /**
  4900. * M402: Retract Z Servo endstop if enabled
  4901. */
  4902. inline void gcode_M402() {
  4903. #if HAS_SERVO_ENDSTOPS
  4904. raise_z_for_servo();
  4905. #endif
  4906. stow_z_probe(false);
  4907. }
  4908. #endif // AUTO_BED_LEVELING_FEATURE && (HAS_SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
  4909. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  4910. /**
  4911. * M404: Display or set the nominal filament width (3mm, 1.75mm ) W<3.0>
  4912. */
  4913. inline void gcode_M404() {
  4914. if (code_seen('W')) {
  4915. filament_width_nominal = code_value();
  4916. }
  4917. else {
  4918. SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
  4919. SERIAL_PROTOCOLLN(filament_width_nominal);
  4920. }
  4921. }
  4922. /**
  4923. * M405: Turn on filament sensor for control
  4924. */
  4925. inline void gcode_M405() {
  4926. if (code_seen('D')) meas_delay_cm = code_value();
  4927. NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY);
  4928. if (filwidth_delay_index2 == -1) { // Initialize the ring buffer if not done since startup
  4929. int temp_ratio = widthFil_to_size_ratio();
  4930. for (uint8_t i = 0; i < COUNT(measurement_delay); ++i)
  4931. measurement_delay[i] = temp_ratio - 100; // Subtract 100 to scale within a signed byte
  4932. filwidth_delay_index1 = filwidth_delay_index2 = 0;
  4933. }
  4934. filament_sensor = true;
  4935. //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  4936. //SERIAL_PROTOCOL(filament_width_meas);
  4937. //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
  4938. //SERIAL_PROTOCOL(extruder_multiplier[active_extruder]);
  4939. }
  4940. /**
  4941. * M406: Turn off filament sensor for control
  4942. */
  4943. inline void gcode_M406() { filament_sensor = false; }
  4944. /**
  4945. * M407: Get measured filament diameter on serial output
  4946. */
  4947. inline void gcode_M407() {
  4948. SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  4949. SERIAL_PROTOCOLLN(filament_width_meas);
  4950. }
  4951. #endif // FILAMENT_WIDTH_SENSOR
  4952. /**
  4953. * M410: Quickstop - Abort all planned moves
  4954. *
  4955. * This will stop the carriages mid-move, so most likely they
  4956. * will be out of sync with the stepper position after this.
  4957. */
  4958. inline void gcode_M410() { quickStop(); }
  4959. #if ENABLED(MESH_BED_LEVELING)
  4960. /**
  4961. * M420: Enable/Disable Mesh Bed Leveling
  4962. */
  4963. inline void gcode_M420() { if (code_seen('S') && code_has_value()) mbl.active = !!code_value_short(); }
  4964. /**
  4965. * M421: Set a single Mesh Bed Leveling Z coordinate
  4966. */
  4967. inline void gcode_M421() {
  4968. float x = 0, y = 0, z = 0;
  4969. bool err = false, hasX, hasY, hasZ;
  4970. if ((hasX = code_seen('X'))) x = code_value();
  4971. if ((hasY = code_seen('Y'))) y = code_value();
  4972. if ((hasZ = code_seen('Z'))) z = code_value();
  4973. if (!hasX || !hasY || !hasZ) {
  4974. SERIAL_ERROR_START;
  4975. SERIAL_ERRORLNPGM(MSG_ERR_M421_REQUIRES_XYZ);
  4976. err = true;
  4977. }
  4978. if (x >= MESH_NUM_X_POINTS || y >= MESH_NUM_Y_POINTS) {
  4979. SERIAL_ERROR_START;
  4980. SERIAL_ERRORLNPGM(MSG_ERR_MESH_INDEX_OOB);
  4981. err = true;
  4982. }
  4983. if (!err) mbl.set_z(mbl.select_x_index(x), mbl.select_y_index(y), z);
  4984. }
  4985. #endif
  4986. /**
  4987. * M428: Set home_offset based on the distance between the
  4988. * current_position and the nearest "reference point."
  4989. * If an axis is past center its endstop position
  4990. * is the reference-point. Otherwise it uses 0. This allows
  4991. * the Z offset to be set near the bed when using a max endstop.
  4992. *
  4993. * M428 can't be used more than 2cm away from 0 or an endstop.
  4994. *
  4995. * Use M206 to set these values directly.
  4996. */
  4997. inline void gcode_M428() {
  4998. bool err = false;
  4999. for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
  5000. if (axis_homed[i]) {
  5001. float base = (current_position[i] > (sw_endstop_min[i] + sw_endstop_max[i]) / 2) ? base_home_pos(i) : 0,
  5002. diff = current_position[i] - base;
  5003. if (diff > -20 && diff < 20) {
  5004. set_home_offset((AxisEnum)i, home_offset[i] - diff);
  5005. }
  5006. else {
  5007. SERIAL_ERROR_START;
  5008. SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
  5009. LCD_ALERTMESSAGEPGM("Err: Too far!");
  5010. #if HAS_BUZZER
  5011. buzz(200, 40);
  5012. #endif
  5013. err = true;
  5014. break;
  5015. }
  5016. }
  5017. }
  5018. if (!err) {
  5019. sync_plan_position();
  5020. LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
  5021. #if HAS_BUZZER
  5022. buzz(200, 659);
  5023. buzz(200, 698);
  5024. #endif
  5025. }
  5026. }
  5027. /**
  5028. * M500: Store settings in EEPROM
  5029. */
  5030. inline void gcode_M500() {
  5031. Config_StoreSettings();
  5032. }
  5033. /**
  5034. * M501: Read settings from EEPROM
  5035. */
  5036. inline void gcode_M501() {
  5037. Config_RetrieveSettings();
  5038. }
  5039. /**
  5040. * M502: Revert to default settings
  5041. */
  5042. inline void gcode_M502() {
  5043. Config_ResetDefault();
  5044. }
  5045. /**
  5046. * M503: print settings currently in memory
  5047. */
  5048. inline void gcode_M503() {
  5049. Config_PrintSettings(code_seen('S') && code_value() == 0);
  5050. }
  5051. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  5052. /**
  5053. * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
  5054. */
  5055. inline void gcode_M540() {
  5056. if (code_seen('S')) abort_on_endstop_hit = (code_value() > 0);
  5057. }
  5058. #endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  5059. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  5060. inline void gcode_SET_Z_PROBE_OFFSET() {
  5061. SERIAL_ECHO_START;
  5062. SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
  5063. SERIAL_CHAR(' ');
  5064. if (code_seen('Z')) {
  5065. float value = code_value();
  5066. if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
  5067. zprobe_zoffset = value;
  5068. SERIAL_ECHO(zprobe_zoffset);
  5069. }
  5070. else {
  5071. SERIAL_ECHOPGM(MSG_Z_MIN);
  5072. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  5073. SERIAL_ECHOPGM(MSG_Z_MAX);
  5074. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  5075. }
  5076. }
  5077. else {
  5078. SERIAL_ECHOPAIR(": ", zprobe_zoffset);
  5079. }
  5080. SERIAL_EOL;
  5081. }
  5082. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  5083. #if ENABLED(FILAMENTCHANGEENABLE)
  5084. /**
  5085. * M600: Pause for filament change
  5086. *
  5087. * E[distance] - Retract the filament this far (negative value)
  5088. * Z[distance] - Move the Z axis by this distance
  5089. * X[position] - Move to this X position, with Y
  5090. * Y[position] - Move to this Y position, with X
  5091. * L[distance] - Retract distance for removal (manual reload)
  5092. *
  5093. * Default values are used for omitted arguments.
  5094. *
  5095. */
  5096. inline void gcode_M600() {
  5097. if (degHotend(active_extruder) < extrude_min_temp) {
  5098. SERIAL_ERROR_START;
  5099. SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
  5100. return;
  5101. }
  5102. float lastpos[NUM_AXIS];
  5103. #if ENABLED(DELTA)
  5104. float fr60 = feedrate / 60;
  5105. #endif
  5106. for (int i = 0; i < NUM_AXIS; i++)
  5107. lastpos[i] = destination[i] = current_position[i];
  5108. #if ENABLED(DELTA)
  5109. #define RUNPLAN calculate_delta(destination); \
  5110. plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], fr60, active_extruder);
  5111. #else
  5112. #define RUNPLAN line_to_destination();
  5113. #endif
  5114. //retract by E
  5115. if (code_seen('E')) destination[E_AXIS] += code_value();
  5116. #ifdef FILAMENTCHANGE_FIRSTRETRACT
  5117. else destination[E_AXIS] += FILAMENTCHANGE_FIRSTRETRACT;
  5118. #endif
  5119. RUNPLAN;
  5120. //lift Z
  5121. if (code_seen('Z')) destination[Z_AXIS] += code_value();
  5122. #ifdef FILAMENTCHANGE_ZADD
  5123. else destination[Z_AXIS] += FILAMENTCHANGE_ZADD;
  5124. #endif
  5125. RUNPLAN;
  5126. //move xy
  5127. if (code_seen('X')) destination[X_AXIS] = code_value();
  5128. #ifdef FILAMENTCHANGE_XPOS
  5129. else destination[X_AXIS] = FILAMENTCHANGE_XPOS;
  5130. #endif
  5131. if (code_seen('Y')) destination[Y_AXIS] = code_value();
  5132. #ifdef FILAMENTCHANGE_YPOS
  5133. else destination[Y_AXIS] = FILAMENTCHANGE_YPOS;
  5134. #endif
  5135. RUNPLAN;
  5136. if (code_seen('L')) destination[E_AXIS] += code_value();
  5137. #ifdef FILAMENTCHANGE_FINALRETRACT
  5138. else destination[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
  5139. #endif
  5140. RUNPLAN;
  5141. //finish moves
  5142. st_synchronize();
  5143. //disable extruder steppers so filament can be removed
  5144. disable_e0();
  5145. disable_e1();
  5146. disable_e2();
  5147. disable_e3();
  5148. delay(100);
  5149. LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
  5150. #if DISABLED(AUTO_FILAMENT_CHANGE)
  5151. millis_t next_tick = 0;
  5152. #endif
  5153. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5154. while (!lcd_clicked()) {
  5155. #if DISABLED(AUTO_FILAMENT_CHANGE)
  5156. millis_t ms = millis();
  5157. if (ELAPSED(ms, next_tick)) {
  5158. lcd_quick_feedback();
  5159. next_tick = ms + 2500UL; // feedback every 2.5s while waiting
  5160. }
  5161. idle(true);
  5162. #else
  5163. current_position[E_AXIS] += AUTO_FILAMENT_CHANGE_LENGTH;
  5164. destination[E_AXIS] = current_position[E_AXIS];
  5165. line_to_destination(AUTO_FILAMENT_CHANGE_FEEDRATE);
  5166. st_synchronize();
  5167. #endif
  5168. } // while(!lcd_clicked)
  5169. KEEPALIVE_STATE(IN_HANDLER);
  5170. lcd_quick_feedback(); // click sound feedback
  5171. #if ENABLED(AUTO_FILAMENT_CHANGE)
  5172. current_position[E_AXIS] = 0;
  5173. st_synchronize();
  5174. #endif
  5175. //return to normal
  5176. if (code_seen('L')) destination[E_AXIS] -= code_value();
  5177. #ifdef FILAMENTCHANGE_FINALRETRACT
  5178. else destination[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
  5179. #endif
  5180. current_position[E_AXIS] = destination[E_AXIS]; //the long retract of L is compensated by manual filament feeding
  5181. plan_set_e_position(current_position[E_AXIS]);
  5182. RUNPLAN; //should do nothing
  5183. lcd_reset_alert_level();
  5184. #if ENABLED(DELTA)
  5185. // Move XYZ to starting position, then E
  5186. calculate_delta(lastpos);
  5187. plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], fr60, active_extruder);
  5188. plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder);
  5189. #else
  5190. // Move XY to starting position, then Z, then E
  5191. destination[X_AXIS] = lastpos[X_AXIS];
  5192. destination[Y_AXIS] = lastpos[Y_AXIS];
  5193. line_to_destination();
  5194. destination[Z_AXIS] = lastpos[Z_AXIS];
  5195. line_to_destination();
  5196. destination[E_AXIS] = lastpos[E_AXIS];
  5197. line_to_destination();
  5198. #endif
  5199. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  5200. filament_ran_out = false;
  5201. #endif
  5202. }
  5203. #endif // FILAMENTCHANGEENABLE
  5204. #if ENABLED(DUAL_X_CARRIAGE)
  5205. /**
  5206. * M605: Set dual x-carriage movement mode
  5207. *
  5208. * M605 S0: Full control mode. The slicer has full control over x-carriage movement
  5209. * M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
  5210. * M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
  5211. * millimeters x-offset and an optional differential hotend temperature of
  5212. * mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
  5213. * the first with a spacing of 100mm in the x direction and 2 degrees hotter.
  5214. *
  5215. * Note: the X axis should be homed after changing dual x-carriage mode.
  5216. */
  5217. inline void gcode_M605() {
  5218. st_synchronize();
  5219. if (code_seen('S')) dual_x_carriage_mode = code_value();
  5220. switch (dual_x_carriage_mode) {
  5221. case DXC_DUPLICATION_MODE:
  5222. if (code_seen('X')) duplicate_extruder_x_offset = max(code_value(), X2_MIN_POS - x_home_pos(0));
  5223. if (code_seen('R')) duplicate_extruder_temp_offset = code_value();
  5224. SERIAL_ECHO_START;
  5225. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  5226. SERIAL_CHAR(' ');
  5227. SERIAL_ECHO(extruder_offset[X_AXIS][0]);
  5228. SERIAL_CHAR(',');
  5229. SERIAL_ECHO(extruder_offset[Y_AXIS][0]);
  5230. SERIAL_CHAR(' ');
  5231. SERIAL_ECHO(duplicate_extruder_x_offset);
  5232. SERIAL_CHAR(',');
  5233. SERIAL_ECHOLN(extruder_offset[Y_AXIS][1]);
  5234. break;
  5235. case DXC_FULL_CONTROL_MODE:
  5236. case DXC_AUTO_PARK_MODE:
  5237. break;
  5238. default:
  5239. dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  5240. break;
  5241. }
  5242. active_extruder_parked = false;
  5243. extruder_duplication_enabled = false;
  5244. delayed_move_time = 0;
  5245. }
  5246. #endif // DUAL_X_CARRIAGE
  5247. /**
  5248. * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
  5249. */
  5250. inline void gcode_M907() {
  5251. #if HAS_DIGIPOTSS
  5252. for (int i = 0; i < NUM_AXIS; i++)
  5253. if (code_seen(axis_codes[i])) digipot_current(i, code_value());
  5254. if (code_seen('B')) digipot_current(4, code_value());
  5255. if (code_seen('S')) for (int i = 0; i <= 4; i++) digipot_current(i, code_value());
  5256. #endif
  5257. #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
  5258. if (code_seen('X')) digipot_current(0, code_value());
  5259. #endif
  5260. #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
  5261. if (code_seen('Z')) digipot_current(1, code_value());
  5262. #endif
  5263. #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
  5264. if (code_seen('E')) digipot_current(2, code_value());
  5265. #endif
  5266. #if ENABLED(DIGIPOT_I2C)
  5267. // this one uses actual amps in floating point
  5268. for (int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value());
  5269. // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
  5270. 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());
  5271. #endif
  5272. #if ENABLED(DAC_STEPPER_CURRENT)
  5273. if (code_seen('S')) {
  5274. float dac_percent = code_value();
  5275. for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
  5276. }
  5277. for (uint8_t i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) dac_current_percent(i, code_value());
  5278. #endif
  5279. }
  5280. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  5281. /**
  5282. * M908: Control digital trimpot directly (M908 P<pin> S<current>)
  5283. */
  5284. inline void gcode_M908() {
  5285. #if HAS_DIGIPOTSS
  5286. digitalPotWrite(
  5287. code_seen('P') ? code_value() : 0,
  5288. code_seen('S') ? code_value() : 0
  5289. );
  5290. #endif
  5291. #ifdef DAC_STEPPER_CURRENT
  5292. dac_current_raw(
  5293. code_seen('P') ? code_value_long() : -1,
  5294. code_seen('S') ? code_value_short() : 0
  5295. );
  5296. #endif
  5297. }
  5298. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  5299. inline void gcode_M909() { dac_print_values(); }
  5300. inline void gcode_M910() { dac_commit_eeprom(); }
  5301. #endif
  5302. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  5303. #if HAS_MICROSTEPS
  5304. // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  5305. inline void gcode_M350() {
  5306. if (code_seen('S')) for (int i = 0; i <= 4; i++) microstep_mode(i, code_value());
  5307. for (int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) microstep_mode(i, (uint8_t)code_value());
  5308. if (code_seen('B')) microstep_mode(4, code_value());
  5309. microstep_readings();
  5310. }
  5311. /**
  5312. * M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
  5313. * S# determines MS1 or MS2, X# sets the pin high/low.
  5314. */
  5315. inline void gcode_M351() {
  5316. if (code_seen('S')) switch (code_value_short()) {
  5317. case 1:
  5318. for (int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) microstep_ms(i, code_value(), -1);
  5319. if (code_seen('B')) microstep_ms(4, code_value(), -1);
  5320. break;
  5321. case 2:
  5322. for (int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) microstep_ms(i, -1, code_value());
  5323. if (code_seen('B')) microstep_ms(4, -1, code_value());
  5324. break;
  5325. }
  5326. microstep_readings();
  5327. }
  5328. #endif // HAS_MICROSTEPS
  5329. /**
  5330. * M999: Restart after being stopped
  5331. */
  5332. inline void gcode_M999() {
  5333. Running = true;
  5334. lcd_reset_alert_level();
  5335. // gcode_LastN = Stopped_gcode_LastN;
  5336. FlushSerialRequestResend();
  5337. }
  5338. /**
  5339. * T0-T3: Switch tool, usually switching extruders
  5340. *
  5341. * F[mm/min] Set the movement feedrate
  5342. */
  5343. inline void gcode_T(uint8_t tmp_extruder) {
  5344. if (tmp_extruder >= EXTRUDERS) {
  5345. SERIAL_ECHO_START;
  5346. SERIAL_CHAR('T');
  5347. SERIAL_PROTOCOL_F(tmp_extruder, DEC);
  5348. SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
  5349. }
  5350. else {
  5351. target_extruder = tmp_extruder;
  5352. #if EXTRUDERS > 1
  5353. bool make_move = false;
  5354. #endif
  5355. if (code_seen('F')) {
  5356. #if EXTRUDERS > 1
  5357. make_move = true;
  5358. #endif
  5359. float next_feedrate = code_value();
  5360. if (next_feedrate > 0.0) feedrate = next_feedrate;
  5361. }
  5362. #if EXTRUDERS > 1
  5363. if (tmp_extruder != active_extruder) {
  5364. // Save current position to return to after applying extruder offset
  5365. set_destination_to_current();
  5366. #if ENABLED(DUAL_X_CARRIAGE)
  5367. if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() &&
  5368. (delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder))) {
  5369. // Park old head: 1) raise 2) move to park position 3) lower
  5370. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
  5371. current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
  5372. plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
  5373. current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
  5374. plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
  5375. current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
  5376. st_synchronize();
  5377. }
  5378. // apply Y & Z extruder offset (x offset is already used in determining home pos)
  5379. current_position[Y_AXIS] -= extruder_offset[Y_AXIS][active_extruder] - extruder_offset[Y_AXIS][tmp_extruder];
  5380. current_position[Z_AXIS] -= extruder_offset[Z_AXIS][active_extruder] - extruder_offset[Z_AXIS][tmp_extruder];
  5381. active_extruder = tmp_extruder;
  5382. // This function resets the max/min values - the current position may be overwritten below.
  5383. set_axis_is_at_home(X_AXIS);
  5384. if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE) {
  5385. current_position[X_AXIS] = inactive_extruder_x_pos;
  5386. inactive_extruder_x_pos = destination[X_AXIS];
  5387. }
  5388. else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
  5389. active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
  5390. if (active_extruder == 0 || active_extruder_parked)
  5391. current_position[X_AXIS] = inactive_extruder_x_pos;
  5392. else
  5393. current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
  5394. inactive_extruder_x_pos = destination[X_AXIS];
  5395. extruder_duplication_enabled = false;
  5396. }
  5397. else {
  5398. // record raised toolhead position for use by unpark
  5399. memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
  5400. raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
  5401. active_extruder_parked = true;
  5402. delayed_move_time = 0;
  5403. }
  5404. #else // !DUAL_X_CARRIAGE
  5405. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  5406. // Offset extruder, make sure to apply the bed level rotation matrix
  5407. vector_3 tmp_offset_vec = vector_3(extruder_offset[X_AXIS][tmp_extruder],
  5408. extruder_offset[Y_AXIS][tmp_extruder],
  5409. 0),
  5410. act_offset_vec = vector_3(extruder_offset[X_AXIS][active_extruder],
  5411. extruder_offset[Y_AXIS][active_extruder],
  5412. 0),
  5413. offset_vec = tmp_offset_vec - act_offset_vec;
  5414. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5415. if (DEBUGGING(LEVELING)) {
  5416. SERIAL_ECHOLNPGM(">>> gcode_T");
  5417. tmp_offset_vec.debug("tmp_offset_vec");
  5418. act_offset_vec.debug("act_offset_vec");
  5419. offset_vec.debug("offset_vec (BEFORE)");
  5420. DEBUG_POS("BEFORE rotation", current_position);
  5421. }
  5422. #endif
  5423. offset_vec.apply_rotation(plan_bed_level_matrix.transpose(plan_bed_level_matrix));
  5424. current_position[X_AXIS] += offset_vec.x;
  5425. current_position[Y_AXIS] += offset_vec.y;
  5426. current_position[Z_AXIS] += offset_vec.z;
  5427. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5428. if (DEBUGGING(LEVELING)) {
  5429. offset_vec.debug("offset_vec (AFTER)");
  5430. DEBUG_POS("AFTER rotation", current_position);
  5431. SERIAL_ECHOLNPGM("<<< gcode_T");
  5432. }
  5433. #endif
  5434. #else // !AUTO_BED_LEVELING_FEATURE
  5435. // Offset extruder (only by XY)
  5436. for (int i=X_AXIS; i<=Y_AXIS; i++)
  5437. current_position[i] += extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder];
  5438. #endif // !AUTO_BED_LEVELING_FEATURE
  5439. // Set the new active extruder and position
  5440. active_extruder = tmp_extruder;
  5441. #endif // !DUAL_X_CARRIAGE
  5442. #if ENABLED(DELTA)
  5443. sync_plan_position_delta();
  5444. #else
  5445. sync_plan_position();
  5446. #endif
  5447. // Move to the old position if 'F' was in the parameters
  5448. if (make_move && IsRunning()) prepare_move();
  5449. }
  5450. #if ENABLED(EXT_SOLENOID)
  5451. st_synchronize();
  5452. disable_all_solenoids();
  5453. enable_solenoid_on_active_extruder();
  5454. #endif // EXT_SOLENOID
  5455. #endif // EXTRUDERS > 1
  5456. SERIAL_ECHO_START;
  5457. SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
  5458. SERIAL_PROTOCOLLN((int)active_extruder);
  5459. }
  5460. }
  5461. /**
  5462. * Process a single command and dispatch it to its handler
  5463. * This is called from the main loop()
  5464. */
  5465. void process_next_command() {
  5466. current_command = command_queue[cmd_queue_index_r];
  5467. if (DEBUGGING(ECHO)) {
  5468. SERIAL_ECHO_START;
  5469. SERIAL_ECHOLN(current_command);
  5470. }
  5471. // Sanitize the current command:
  5472. // - Skip leading spaces
  5473. // - Bypass N[-0-9][0-9]*[ ]*
  5474. // - Overwrite * with nul to mark the end
  5475. while (*current_command == ' ') ++current_command;
  5476. if (*current_command == 'N' && NUMERIC_SIGNED(current_command[1])) {
  5477. current_command += 2; // skip N[-0-9]
  5478. while (NUMERIC(*current_command)) ++current_command; // skip [0-9]*
  5479. while (*current_command == ' ') ++current_command; // skip [ ]*
  5480. }
  5481. char* starpos = strchr(current_command, '*'); // * should always be the last parameter
  5482. if (starpos) while (*starpos == ' ' || *starpos == '*') *starpos-- = '\0'; // nullify '*' and ' '
  5483. char *cmd_ptr = current_command;
  5484. // Get the command code, which must be G, M, or T
  5485. char command_code = *cmd_ptr++;
  5486. // Skip spaces to get the numeric part
  5487. while (*cmd_ptr == ' ') cmd_ptr++;
  5488. uint16_t codenum = 0; // define ahead of goto
  5489. // Bail early if there's no code
  5490. bool code_is_good = NUMERIC(*cmd_ptr);
  5491. if (!code_is_good) goto ExitUnknownCommand;
  5492. // Get and skip the code number
  5493. do {
  5494. codenum = (codenum * 10) + (*cmd_ptr - '0');
  5495. cmd_ptr++;
  5496. } while (NUMERIC(*cmd_ptr));
  5497. // Skip all spaces to get to the first argument, or nul
  5498. while (*cmd_ptr == ' ') cmd_ptr++;
  5499. // The command's arguments (if any) start here, for sure!
  5500. current_command_args = cmd_ptr;
  5501. KEEPALIVE_STATE(IN_HANDLER);
  5502. // Handle a known G, M, or T
  5503. switch (command_code) {
  5504. case 'G': switch (codenum) {
  5505. // G0, G1
  5506. case 0:
  5507. case 1:
  5508. gcode_G0_G1();
  5509. break;
  5510. // G2, G3
  5511. #if DISABLED(SCARA)
  5512. case 2: // G2 - CW ARC
  5513. case 3: // G3 - CCW ARC
  5514. gcode_G2_G3(codenum == 2);
  5515. break;
  5516. #endif
  5517. // G4 Dwell
  5518. case 4:
  5519. gcode_G4();
  5520. break;
  5521. #if ENABLED(FWRETRACT)
  5522. case 10: // G10: retract
  5523. case 11: // G11: retract_recover
  5524. gcode_G10_G11(codenum == 10);
  5525. break;
  5526. #endif //FWRETRACT
  5527. case 28: // G28: Home all axes, one at a time
  5528. gcode_G28();
  5529. break;
  5530. #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
  5531. case 29: // G29 Detailed Z probe, probes the bed at 3 or more points.
  5532. gcode_G29();
  5533. break;
  5534. #endif
  5535. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  5536. #if DISABLED(Z_PROBE_SLED)
  5537. case 30: // G30 Single Z probe
  5538. gcode_G30();
  5539. break;
  5540. #else // Z_PROBE_SLED
  5541. case 31: // G31: dock the sled
  5542. case 32: // G32: undock the sled
  5543. dock_sled(codenum == 31);
  5544. break;
  5545. #endif // Z_PROBE_SLED
  5546. #endif // AUTO_BED_LEVELING_FEATURE
  5547. case 90: // G90
  5548. relative_mode = false;
  5549. break;
  5550. case 91: // G91
  5551. relative_mode = true;
  5552. break;
  5553. case 92: // G92
  5554. gcode_G92();
  5555. break;
  5556. }
  5557. break;
  5558. case 'M': switch (codenum) {
  5559. #if ENABLED(ULTIPANEL)
  5560. case 0: // M0 - Unconditional stop - Wait for user button press on LCD
  5561. case 1: // M1 - Conditional stop - Wait for user button press on LCD
  5562. gcode_M0_M1();
  5563. break;
  5564. #endif // ULTIPANEL
  5565. case 17:
  5566. gcode_M17();
  5567. break;
  5568. #if ENABLED(SDSUPPORT)
  5569. case 20: // M20 - list SD card
  5570. gcode_M20(); break;
  5571. case 21: // M21 - init SD card
  5572. gcode_M21(); break;
  5573. case 22: //M22 - release SD card
  5574. gcode_M22(); break;
  5575. case 23: //M23 - Select file
  5576. gcode_M23(); break;
  5577. case 24: //M24 - Start SD print
  5578. gcode_M24(); break;
  5579. case 25: //M25 - Pause SD print
  5580. gcode_M25(); break;
  5581. case 26: //M26 - Set SD index
  5582. gcode_M26(); break;
  5583. case 27: //M27 - Get SD status
  5584. gcode_M27(); break;
  5585. case 28: //M28 - Start SD write
  5586. gcode_M28(); break;
  5587. case 29: //M29 - Stop SD write
  5588. gcode_M29(); break;
  5589. case 30: //M30 <filename> Delete File
  5590. gcode_M30(); break;
  5591. case 32: //M32 - Select file and start SD print
  5592. gcode_M32(); break;
  5593. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  5594. case 33: //M33 - Get the long full path to a file or folder
  5595. gcode_M33(); break;
  5596. #endif // LONG_FILENAME_HOST_SUPPORT
  5597. case 928: //M928 - Start SD write
  5598. gcode_M928(); break;
  5599. #endif //SDSUPPORT
  5600. case 31: //M31 take time since the start of the SD print or an M109 command
  5601. gcode_M31();
  5602. break;
  5603. case 42: //M42 -Change pin status via gcode
  5604. gcode_M42();
  5605. break;
  5606. #if ENABLED(AUTO_BED_LEVELING_FEATURE) && ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  5607. case 48: // M48 Z probe repeatability
  5608. gcode_M48();
  5609. break;
  5610. #endif // AUTO_BED_LEVELING_FEATURE && Z_MIN_PROBE_REPEATABILITY_TEST
  5611. case 75: // Start print timer
  5612. gcode_M75();
  5613. break;
  5614. case 76: // Pause print timer
  5615. gcode_M76();
  5616. break;
  5617. case 77: // Stop print timer
  5618. gcode_M77();
  5619. break;
  5620. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  5621. case 100:
  5622. gcode_M100();
  5623. break;
  5624. #endif
  5625. case 104: // M104
  5626. gcode_M104();
  5627. break;
  5628. case 110: // M110: Set Current Line Number
  5629. gcode_M110();
  5630. break;
  5631. case 111: // M111: Set debug level
  5632. gcode_M111();
  5633. break;
  5634. case 112: // M112: Emergency Stop
  5635. gcode_M112();
  5636. break;
  5637. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  5638. case 113: // M113: Set Host Keepalive interval
  5639. gcode_M113();
  5640. break;
  5641. #endif
  5642. case 140: // M140: Set bed temp
  5643. gcode_M140();
  5644. break;
  5645. case 105: // M105: Read current temperature
  5646. gcode_M105();
  5647. KEEPALIVE_STATE(NOT_BUSY);
  5648. return; // "ok" already printed
  5649. case 109: // M109: Wait for temperature
  5650. gcode_M109();
  5651. break;
  5652. #if HAS_TEMP_BED
  5653. case 190: // M190: Wait for bed heater to reach target
  5654. gcode_M190();
  5655. break;
  5656. #endif // HAS_TEMP_BED
  5657. #if FAN_COUNT > 0
  5658. case 106: // M106: Fan On
  5659. gcode_M106();
  5660. break;
  5661. case 107: // M107: Fan Off
  5662. gcode_M107();
  5663. break;
  5664. #endif // FAN_COUNT > 0
  5665. #if ENABLED(BARICUDA)
  5666. // PWM for HEATER_1_PIN
  5667. #if HAS_HEATER_1
  5668. case 126: // M126: valve open
  5669. gcode_M126();
  5670. break;
  5671. case 127: // M127: valve closed
  5672. gcode_M127();
  5673. break;
  5674. #endif // HAS_HEATER_1
  5675. // PWM for HEATER_2_PIN
  5676. #if HAS_HEATER_2
  5677. case 128: // M128: valve open
  5678. gcode_M128();
  5679. break;
  5680. case 129: // M129: valve closed
  5681. gcode_M129();
  5682. break;
  5683. #endif // HAS_HEATER_2
  5684. #endif // BARICUDA
  5685. #if HAS_POWER_SWITCH
  5686. case 80: // M80: Turn on Power Supply
  5687. gcode_M80();
  5688. break;
  5689. #endif // HAS_POWER_SWITCH
  5690. case 81: // M81: Turn off Power, including Power Supply, if possible
  5691. gcode_M81();
  5692. break;
  5693. case 82:
  5694. gcode_M82();
  5695. break;
  5696. case 83:
  5697. gcode_M83();
  5698. break;
  5699. case 18: // (for compatibility)
  5700. case 84: // M84
  5701. gcode_M18_M84();
  5702. break;
  5703. case 85: // M85
  5704. gcode_M85();
  5705. break;
  5706. case 92: // M92: Set the steps-per-unit for one or more axes
  5707. gcode_M92();
  5708. break;
  5709. case 115: // M115: Report capabilities
  5710. gcode_M115();
  5711. break;
  5712. case 117: // M117: Set LCD message text, if possible
  5713. gcode_M117();
  5714. break;
  5715. case 114: // M114: Report current position
  5716. gcode_M114();
  5717. break;
  5718. case 120: // M120: Enable endstops
  5719. gcode_M120();
  5720. break;
  5721. case 121: // M121: Disable endstops
  5722. gcode_M121();
  5723. break;
  5724. case 119: // M119: Report endstop states
  5725. gcode_M119();
  5726. break;
  5727. #if ENABLED(ULTIPANEL)
  5728. case 145: // M145: Set material heatup parameters
  5729. gcode_M145();
  5730. break;
  5731. #endif
  5732. #if ENABLED(BLINKM)
  5733. case 150: // M150
  5734. gcode_M150();
  5735. break;
  5736. #endif //BLINKM
  5737. #if ENABLED(EXPERIMENTAL_I2CBUS)
  5738. case 155:
  5739. gcode_M155();
  5740. break;
  5741. case 156:
  5742. gcode_M156();
  5743. break;
  5744. #endif //EXPERIMENTAL_I2CBUS
  5745. case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  5746. gcode_M200();
  5747. break;
  5748. case 201: // M201
  5749. gcode_M201();
  5750. break;
  5751. #if 0 // Not used for Sprinter/grbl gen6
  5752. case 202: // M202
  5753. gcode_M202();
  5754. break;
  5755. #endif
  5756. case 203: // M203 max feedrate mm/sec
  5757. gcode_M203();
  5758. break;
  5759. case 204: // M204 acclereration S normal moves T filmanent only moves
  5760. gcode_M204();
  5761. break;
  5762. case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
  5763. gcode_M205();
  5764. break;
  5765. case 206: // M206 additional homing offset
  5766. gcode_M206();
  5767. break;
  5768. #if ENABLED(DELTA)
  5769. case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
  5770. gcode_M665();
  5771. break;
  5772. #endif
  5773. #if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS)
  5774. case 666: // M666 set delta / dual endstop adjustment
  5775. gcode_M666();
  5776. break;
  5777. #endif
  5778. #if ENABLED(FWRETRACT)
  5779. case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
  5780. gcode_M207();
  5781. break;
  5782. case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  5783. gcode_M208();
  5784. break;
  5785. case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
  5786. gcode_M209();
  5787. break;
  5788. #endif // FWRETRACT
  5789. #if EXTRUDERS > 1
  5790. case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  5791. gcode_M218();
  5792. break;
  5793. #endif
  5794. case 220: // M220 S<factor in percent>- set speed factor override percentage
  5795. gcode_M220();
  5796. break;
  5797. case 221: // M221 S<factor in percent>- set extrude factor override percentage
  5798. gcode_M221();
  5799. break;
  5800. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  5801. gcode_M226();
  5802. break;
  5803. #if HAS_SERVOS
  5804. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  5805. gcode_M280();
  5806. break;
  5807. #endif // HAS_SERVOS
  5808. #if HAS_BUZZER
  5809. case 300: // M300 - Play beep tone
  5810. gcode_M300();
  5811. break;
  5812. #endif // HAS_BUZZER
  5813. #if ENABLED(PIDTEMP)
  5814. case 301: // M301
  5815. gcode_M301();
  5816. break;
  5817. #endif // PIDTEMP
  5818. #if ENABLED(PIDTEMPBED)
  5819. case 304: // M304
  5820. gcode_M304();
  5821. break;
  5822. #endif // PIDTEMPBED
  5823. #if defined(CHDK) || HAS_PHOTOGRAPH
  5824. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  5825. gcode_M240();
  5826. break;
  5827. #endif // CHDK || PHOTOGRAPH_PIN
  5828. #if ENABLED(HAS_LCD_CONTRAST)
  5829. case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
  5830. gcode_M250();
  5831. break;
  5832. #endif // HAS_LCD_CONTRAST
  5833. #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
  5834. case 302: // allow cold extrudes, or set the minimum extrude temperature
  5835. gcode_M302();
  5836. break;
  5837. #endif // PREVENT_DANGEROUS_EXTRUDE
  5838. case 303: // M303 PID autotune
  5839. gcode_M303();
  5840. break;
  5841. #if ENABLED(SCARA)
  5842. case 360: // M360 SCARA Theta pos1
  5843. if (gcode_M360()) return;
  5844. break;
  5845. case 361: // M361 SCARA Theta pos2
  5846. if (gcode_M361()) return;
  5847. break;
  5848. case 362: // M362 SCARA Psi pos1
  5849. if (gcode_M362()) return;
  5850. break;
  5851. case 363: // M363 SCARA Psi pos2
  5852. if (gcode_M363()) return;
  5853. break;
  5854. case 364: // M364 SCARA Psi pos3 (90 deg to Theta)
  5855. if (gcode_M364()) return;
  5856. break;
  5857. case 365: // M365 Set SCARA scaling for X Y Z
  5858. gcode_M365();
  5859. break;
  5860. #endif // SCARA
  5861. case 400: // M400 finish all moves
  5862. gcode_M400();
  5863. break;
  5864. #if ENABLED(AUTO_BED_LEVELING_FEATURE) && (HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY)) && DISABLED(Z_PROBE_SLED)
  5865. case 401:
  5866. gcode_M401();
  5867. break;
  5868. case 402:
  5869. gcode_M402();
  5870. break;
  5871. #endif // AUTO_BED_LEVELING_FEATURE && (HAS_SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
  5872. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  5873. case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
  5874. gcode_M404();
  5875. break;
  5876. case 405: //M405 Turn on filament sensor for control
  5877. gcode_M405();
  5878. break;
  5879. case 406: //M406 Turn off filament sensor for control
  5880. gcode_M406();
  5881. break;
  5882. case 407: //M407 Display measured filament diameter
  5883. gcode_M407();
  5884. break;
  5885. #endif // ENABLED(FILAMENT_WIDTH_SENSOR)
  5886. case 410: // M410 quickstop - Abort all the planned moves.
  5887. gcode_M410();
  5888. break;
  5889. #if ENABLED(MESH_BED_LEVELING)
  5890. case 420: // M420 Enable/Disable Mesh Bed Leveling
  5891. gcode_M420();
  5892. break;
  5893. case 421: // M421 Set a Mesh Bed Leveling Z coordinate
  5894. gcode_M421();
  5895. break;
  5896. #endif
  5897. case 428: // M428 Apply current_position to home_offset
  5898. gcode_M428();
  5899. break;
  5900. case 500: // M500 Store settings in EEPROM
  5901. gcode_M500();
  5902. break;
  5903. case 501: // M501 Read settings from EEPROM
  5904. gcode_M501();
  5905. break;
  5906. case 502: // M502 Revert to default settings
  5907. gcode_M502();
  5908. break;
  5909. case 503: // M503 print settings currently in memory
  5910. gcode_M503();
  5911. break;
  5912. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  5913. case 540:
  5914. gcode_M540();
  5915. break;
  5916. #endif
  5917. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  5918. case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
  5919. gcode_SET_Z_PROBE_OFFSET();
  5920. break;
  5921. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  5922. #if ENABLED(FILAMENTCHANGEENABLE)
  5923. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  5924. gcode_M600();
  5925. break;
  5926. #endif // FILAMENTCHANGEENABLE
  5927. #if ENABLED(DUAL_X_CARRIAGE)
  5928. case 605:
  5929. gcode_M605();
  5930. break;
  5931. #endif // DUAL_X_CARRIAGE
  5932. case 907: // M907 Set digital trimpot motor current using axis codes.
  5933. gcode_M907();
  5934. break;
  5935. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  5936. case 908: // M908 Control digital trimpot directly.
  5937. gcode_M908();
  5938. break;
  5939. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  5940. case 909: // M909 Print digipot/DAC current value
  5941. gcode_M909();
  5942. break;
  5943. case 910: // M910 Commit digipot/DAC value to external EEPROM
  5944. gcode_M910();
  5945. break;
  5946. #endif
  5947. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  5948. #if HAS_MICROSTEPS
  5949. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  5950. gcode_M350();
  5951. break;
  5952. case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  5953. gcode_M351();
  5954. break;
  5955. #endif // HAS_MICROSTEPS
  5956. case 999: // M999: Restart after being Stopped
  5957. gcode_M999();
  5958. break;
  5959. }
  5960. break;
  5961. case 'T':
  5962. gcode_T(codenum);
  5963. break;
  5964. default: code_is_good = false;
  5965. }
  5966. KEEPALIVE_STATE(NOT_BUSY);
  5967. ExitUnknownCommand:
  5968. // Still unknown command? Throw an error
  5969. if (!code_is_good) unknown_command_error();
  5970. ok_to_send();
  5971. }
  5972. void FlushSerialRequestResend() {
  5973. //char command_queue[cmd_queue_index_r][100]="Resend:";
  5974. MYSERIAL.flush();
  5975. SERIAL_PROTOCOLPGM(MSG_RESEND);
  5976. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  5977. ok_to_send();
  5978. }
  5979. void ok_to_send() {
  5980. refresh_cmd_timeout();
  5981. if (!send_ok[cmd_queue_index_r]) return;
  5982. SERIAL_PROTOCOLPGM(MSG_OK);
  5983. #if ENABLED(ADVANCED_OK)
  5984. char* p = command_queue[cmd_queue_index_r];
  5985. if (*p == 'N') {
  5986. SERIAL_PROTOCOL(' ');
  5987. SERIAL_ECHO(*p++);
  5988. while (NUMERIC_SIGNED(*p))
  5989. SERIAL_ECHO(*p++);
  5990. }
  5991. SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - movesplanned() - 1));
  5992. SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
  5993. #endif
  5994. SERIAL_EOL;
  5995. }
  5996. void clamp_to_software_endstops(float target[3]) {
  5997. if (min_software_endstops) {
  5998. NOLESS(target[X_AXIS], sw_endstop_min[X_AXIS]);
  5999. NOLESS(target[Y_AXIS], sw_endstop_min[Y_AXIS]);
  6000. float negative_z_offset = 0;
  6001. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  6002. if (zprobe_zoffset < 0) negative_z_offset += zprobe_zoffset;
  6003. if (home_offset[Z_AXIS] < 0) {
  6004. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6005. if (DEBUGGING(LEVELING)) {
  6006. SERIAL_ECHOPAIR("> clamp_to_software_endstops > Add home_offset[Z_AXIS]:", home_offset[Z_AXIS]);
  6007. SERIAL_EOL;
  6008. }
  6009. #endif
  6010. negative_z_offset += home_offset[Z_AXIS];
  6011. }
  6012. #endif
  6013. NOLESS(target[Z_AXIS], sw_endstop_min[Z_AXIS] + negative_z_offset);
  6014. }
  6015. if (max_software_endstops) {
  6016. NOMORE(target[X_AXIS], sw_endstop_max[X_AXIS]);
  6017. NOMORE(target[Y_AXIS], sw_endstop_max[Y_AXIS]);
  6018. NOMORE(target[Z_AXIS], sw_endstop_max[Z_AXIS]);
  6019. }
  6020. }
  6021. #if ENABLED(DELTA)
  6022. void recalc_delta_settings(float radius, float diagonal_rod) {
  6023. delta_tower1_x = -SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
  6024. delta_tower1_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1);
  6025. delta_tower2_x = SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
  6026. delta_tower2_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2);
  6027. delta_tower3_x = 0.0; // back middle tower
  6028. delta_tower3_y = (radius + DELTA_RADIUS_TRIM_TOWER_3);
  6029. delta_diagonal_rod_2_tower_1 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_1);
  6030. delta_diagonal_rod_2_tower_2 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_2);
  6031. delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3);
  6032. }
  6033. void calculate_delta(float cartesian[3]) {
  6034. delta[TOWER_1] = sqrt(delta_diagonal_rod_2_tower_1
  6035. - sq(delta_tower1_x - cartesian[X_AXIS])
  6036. - sq(delta_tower1_y - cartesian[Y_AXIS])
  6037. ) + cartesian[Z_AXIS];
  6038. delta[TOWER_2] = sqrt(delta_diagonal_rod_2_tower_2
  6039. - sq(delta_tower2_x - cartesian[X_AXIS])
  6040. - sq(delta_tower2_y - cartesian[Y_AXIS])
  6041. ) + cartesian[Z_AXIS];
  6042. delta[TOWER_3] = sqrt(delta_diagonal_rod_2_tower_3
  6043. - sq(delta_tower3_x - cartesian[X_AXIS])
  6044. - sq(delta_tower3_y - cartesian[Y_AXIS])
  6045. ) + cartesian[Z_AXIS];
  6046. /**
  6047. SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
  6048. SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
  6049. SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
  6050. SERIAL_ECHOPGM("delta a="); SERIAL_ECHO(delta[TOWER_1]);
  6051. SERIAL_ECHOPGM(" b="); SERIAL_ECHO(delta[TOWER_2]);
  6052. SERIAL_ECHOPGM(" c="); SERIAL_ECHOLN(delta[TOWER_3]);
  6053. */
  6054. }
  6055. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  6056. // Adjust print surface height by linear interpolation over the bed_level array.
  6057. void adjust_delta(float cartesian[3]) {
  6058. if (delta_grid_spacing[0] == 0 || delta_grid_spacing[1] == 0) return; // G29 not done!
  6059. int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
  6060. float h1 = 0.001 - half, h2 = half - 0.001,
  6061. grid_x = max(h1, min(h2, cartesian[X_AXIS] / delta_grid_spacing[0])),
  6062. grid_y = max(h1, min(h2, cartesian[Y_AXIS] / delta_grid_spacing[1]));
  6063. int floor_x = floor(grid_x), floor_y = floor(grid_y);
  6064. float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y,
  6065. z1 = bed_level[floor_x + half][floor_y + half],
  6066. z2 = bed_level[floor_x + half][floor_y + half + 1],
  6067. z3 = bed_level[floor_x + half + 1][floor_y + half],
  6068. z4 = bed_level[floor_x + half + 1][floor_y + half + 1],
  6069. left = (1 - ratio_y) * z1 + ratio_y * z2,
  6070. right = (1 - ratio_y) * z3 + ratio_y * z4,
  6071. offset = (1 - ratio_x) * left + ratio_x * right;
  6072. delta[X_AXIS] += offset;
  6073. delta[Y_AXIS] += offset;
  6074. delta[Z_AXIS] += offset;
  6075. /**
  6076. SERIAL_ECHOPGM("grid_x="); SERIAL_ECHO(grid_x);
  6077. SERIAL_ECHOPGM(" grid_y="); SERIAL_ECHO(grid_y);
  6078. SERIAL_ECHOPGM(" floor_x="); SERIAL_ECHO(floor_x);
  6079. SERIAL_ECHOPGM(" floor_y="); SERIAL_ECHO(floor_y);
  6080. SERIAL_ECHOPGM(" ratio_x="); SERIAL_ECHO(ratio_x);
  6081. SERIAL_ECHOPGM(" ratio_y="); SERIAL_ECHO(ratio_y);
  6082. SERIAL_ECHOPGM(" z1="); SERIAL_ECHO(z1);
  6083. SERIAL_ECHOPGM(" z2="); SERIAL_ECHO(z2);
  6084. SERIAL_ECHOPGM(" z3="); SERIAL_ECHO(z3);
  6085. SERIAL_ECHOPGM(" z4="); SERIAL_ECHO(z4);
  6086. SERIAL_ECHOPGM(" left="); SERIAL_ECHO(left);
  6087. SERIAL_ECHOPGM(" right="); SERIAL_ECHO(right);
  6088. SERIAL_ECHOPGM(" offset="); SERIAL_ECHOLN(offset);
  6089. */
  6090. }
  6091. #endif // AUTO_BED_LEVELING_FEATURE
  6092. #endif // DELTA
  6093. #if ENABLED(MESH_BED_LEVELING)
  6094. // This function is used to split lines on mesh borders so each segment is only part of one mesh area
  6095. void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_rate, const uint8_t& extruder, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
  6096. if (!mbl.active) {
  6097. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  6098. set_current_to_destination();
  6099. return;
  6100. }
  6101. int pix = mbl.select_x_index(current_position[X_AXIS] - home_offset[X_AXIS]);
  6102. int piy = mbl.select_y_index(current_position[Y_AXIS] - home_offset[Y_AXIS]);
  6103. int ix = mbl.select_x_index(x - home_offset[X_AXIS]);
  6104. int iy = mbl.select_y_index(y - home_offset[Y_AXIS]);
  6105. pix = min(pix, MESH_NUM_X_POINTS - 2);
  6106. piy = min(piy, MESH_NUM_Y_POINTS - 2);
  6107. ix = min(ix, MESH_NUM_X_POINTS - 2);
  6108. iy = min(iy, MESH_NUM_Y_POINTS - 2);
  6109. if (pix == ix && piy == iy) {
  6110. // Start and end on same mesh square
  6111. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  6112. set_current_to_destination();
  6113. return;
  6114. }
  6115. float nx, ny, nz, ne, normalized_dist;
  6116. if (ix > pix && TEST(x_splits, ix)) {
  6117. nx = mbl.get_x(ix) + home_offset[X_AXIS];
  6118. normalized_dist = (nx - current_position[X_AXIS]) / (x - current_position[X_AXIS]);
  6119. ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist;
  6120. nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
  6121. ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
  6122. CBI(x_splits, ix);
  6123. }
  6124. else if (ix < pix && TEST(x_splits, pix)) {
  6125. nx = mbl.get_x(pix) + home_offset[X_AXIS];
  6126. normalized_dist = (nx - current_position[X_AXIS]) / (x - current_position[X_AXIS]);
  6127. ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist;
  6128. nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
  6129. ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
  6130. CBI(x_splits, pix);
  6131. }
  6132. else if (iy > piy && TEST(y_splits, iy)) {
  6133. ny = mbl.get_y(iy) + home_offset[Y_AXIS];
  6134. normalized_dist = (ny - current_position[Y_AXIS]) / (y - current_position[Y_AXIS]);
  6135. nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist;
  6136. nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
  6137. ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
  6138. CBI(y_splits, iy);
  6139. }
  6140. else if (iy < piy && TEST(y_splits, piy)) {
  6141. ny = mbl.get_y(piy) + home_offset[Y_AXIS];
  6142. normalized_dist = (ny - current_position[Y_AXIS]) / (y - current_position[Y_AXIS]);
  6143. nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist;
  6144. nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
  6145. ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
  6146. CBI(y_splits, piy);
  6147. }
  6148. else {
  6149. // Already split on a border
  6150. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  6151. set_current_to_destination();
  6152. return;
  6153. }
  6154. // Do the split and look for more borders
  6155. destination[X_AXIS] = nx;
  6156. destination[Y_AXIS] = ny;
  6157. destination[Z_AXIS] = nz;
  6158. destination[E_AXIS] = ne;
  6159. mesh_plan_buffer_line(nx, ny, nz, ne, feed_rate, extruder, x_splits, y_splits);
  6160. destination[X_AXIS] = x;
  6161. destination[Y_AXIS] = y;
  6162. destination[Z_AXIS] = z;
  6163. destination[E_AXIS] = e;
  6164. mesh_plan_buffer_line(x, y, z, e, feed_rate, extruder, x_splits, y_splits);
  6165. }
  6166. #endif // MESH_BED_LEVELING
  6167. #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
  6168. inline void prevent_dangerous_extrude(float& curr_e, float& dest_e) {
  6169. if (DEBUGGING(DRYRUN)) return;
  6170. float de = dest_e - curr_e;
  6171. if (de) {
  6172. if (degHotend(active_extruder) < extrude_min_temp) {
  6173. curr_e = dest_e; // Behave as if the move really took place, but ignore E part
  6174. SERIAL_ECHO_START;
  6175. SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
  6176. }
  6177. #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
  6178. if (labs(de) > EXTRUDE_MAXLENGTH) {
  6179. curr_e = dest_e; // Behave as if the move really took place, but ignore E part
  6180. SERIAL_ECHO_START;
  6181. SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
  6182. }
  6183. #endif
  6184. }
  6185. }
  6186. #endif // PREVENT_DANGEROUS_EXTRUDE
  6187. #if ENABLED(DELTA) || ENABLED(SCARA)
  6188. inline bool prepare_move_delta(float target[NUM_AXIS]) {
  6189. float difference[NUM_AXIS];
  6190. for (int8_t i = 0; i < NUM_AXIS; i++) difference[i] = target[i] - current_position[i];
  6191. float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
  6192. if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
  6193. if (cartesian_mm < 0.000001) return false;
  6194. float seconds = 6000 * cartesian_mm / feedrate / feedrate_multiplier;
  6195. int steps = max(1, int(delta_segments_per_second * seconds));
  6196. // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
  6197. // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
  6198. // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
  6199. for (int s = 1; s <= steps; s++) {
  6200. float fraction = float(s) / float(steps);
  6201. for (int8_t i = 0; i < NUM_AXIS; i++)
  6202. target[i] = current_position[i] + difference[i] * fraction;
  6203. calculate_delta(target);
  6204. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  6205. adjust_delta(target);
  6206. #endif
  6207. //SERIAL_ECHOPGM("target[X_AXIS]="); SERIAL_ECHOLN(target[X_AXIS]);
  6208. //SERIAL_ECHOPGM("target[Y_AXIS]="); SERIAL_ECHOLN(target[Y_AXIS]);
  6209. //SERIAL_ECHOPGM("target[Z_AXIS]="); SERIAL_ECHOLN(target[Z_AXIS]);
  6210. //SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]);
  6211. //SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
  6212. //SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
  6213. plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feedrate / 60 * feedrate_multiplier / 100.0, active_extruder);
  6214. }
  6215. return true;
  6216. }
  6217. #endif // DELTA || SCARA
  6218. #if ENABLED(SCARA)
  6219. inline bool prepare_move_scara(float target[NUM_AXIS]) { return prepare_move_delta(target); }
  6220. #endif
  6221. #if ENABLED(DUAL_X_CARRIAGE)
  6222. inline bool prepare_move_dual_x_carriage() {
  6223. if (active_extruder_parked) {
  6224. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
  6225. // move duplicate extruder into correct duplication position.
  6226. plan_set_position(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  6227. plan_buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset,
  6228. current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], max_feedrate[X_AXIS], 1);
  6229. sync_plan_position();
  6230. st_synchronize();
  6231. extruder_duplication_enabled = true;
  6232. active_extruder_parked = false;
  6233. }
  6234. else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) { // handle unparking of head
  6235. if (current_position[E_AXIS] == destination[E_AXIS]) {
  6236. // This is a travel move (with no extrusion)
  6237. // Skip it, but keep track of the current position
  6238. // (so it can be used as the start of the next non-travel move)
  6239. if (delayed_move_time != 0xFFFFFFFFUL) {
  6240. set_current_to_destination();
  6241. NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
  6242. delayed_move_time = millis();
  6243. return false;
  6244. }
  6245. }
  6246. delayed_move_time = 0;
  6247. // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
  6248. plan_buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
  6249. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], min(max_feedrate[X_AXIS], max_feedrate[Y_AXIS]), active_extruder);
  6250. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
  6251. active_extruder_parked = false;
  6252. }
  6253. }
  6254. return true;
  6255. }
  6256. #endif // DUAL_X_CARRIAGE
  6257. #if DISABLED(DELTA) && DISABLED(SCARA)
  6258. inline bool prepare_move_cartesian() {
  6259. // Do not use feedrate_multiplier for E or Z only moves
  6260. if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
  6261. line_to_destination();
  6262. }
  6263. else {
  6264. #if ENABLED(MESH_BED_LEVELING)
  6265. mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate / 60) * (feedrate_multiplier / 100.0), active_extruder);
  6266. return false;
  6267. #else
  6268. line_to_destination(feedrate * feedrate_multiplier / 100.0);
  6269. #endif
  6270. }
  6271. return true;
  6272. }
  6273. #endif // !DELTA && !SCARA
  6274. /**
  6275. * Prepare a single move and get ready for the next one
  6276. *
  6277. * (This may call plan_buffer_line several times to put
  6278. * smaller moves into the planner for DELTA or SCARA.)
  6279. */
  6280. void prepare_move() {
  6281. clamp_to_software_endstops(destination);
  6282. refresh_cmd_timeout();
  6283. #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
  6284. prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]);
  6285. #endif
  6286. #if ENABLED(SCARA)
  6287. if (!prepare_move_scara(destination)) return;
  6288. #elif ENABLED(DELTA)
  6289. if (!prepare_move_delta(destination)) return;
  6290. #endif
  6291. #if ENABLED(DUAL_X_CARRIAGE)
  6292. if (!prepare_move_dual_x_carriage()) return;
  6293. #endif
  6294. #if DISABLED(DELTA) && DISABLED(SCARA)
  6295. if (!prepare_move_cartesian()) return;
  6296. #endif
  6297. set_current_to_destination();
  6298. }
  6299. /**
  6300. * Plan an arc in 2 dimensions
  6301. *
  6302. * The arc is approximated by generating many small linear segments.
  6303. * The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
  6304. * Arcs should only be made relatively large (over 5mm), as larger arcs with
  6305. * larger segments will tend to be more efficient. Your slicer should have
  6306. * options for G2/G3 arc generation. In future these options may be GCode tunable.
  6307. */
  6308. void plan_arc(
  6309. float target[NUM_AXIS], // Destination position
  6310. float* offset, // Center of rotation relative to current_position
  6311. uint8_t clockwise // Clockwise?
  6312. ) {
  6313. float radius = hypot(offset[X_AXIS], offset[Y_AXIS]),
  6314. center_X = current_position[X_AXIS] + offset[X_AXIS],
  6315. center_Y = current_position[Y_AXIS] + offset[Y_AXIS],
  6316. linear_travel = target[Z_AXIS] - current_position[Z_AXIS],
  6317. extruder_travel = target[E_AXIS] - current_position[E_AXIS],
  6318. r_X = -offset[X_AXIS], // Radius vector from center to current location
  6319. r_Y = -offset[Y_AXIS],
  6320. rt_X = target[X_AXIS] - center_X,
  6321. rt_Y = target[Y_AXIS] - center_Y;
  6322. // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
  6323. float angular_travel = atan2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y);
  6324. if (angular_travel < 0) angular_travel += RADIANS(360);
  6325. if (clockwise) angular_travel -= RADIANS(360);
  6326. // Make a circle if the angular rotation is 0
  6327. if (angular_travel == 0 && current_position[X_AXIS] == target[X_AXIS] && current_position[Y_AXIS] == target[Y_AXIS])
  6328. angular_travel += RADIANS(360);
  6329. float mm_of_travel = hypot(angular_travel * radius, fabs(linear_travel));
  6330. if (mm_of_travel < 0.001) return;
  6331. uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT));
  6332. if (segments == 0) segments = 1;
  6333. float theta_per_segment = angular_travel / segments;
  6334. float linear_per_segment = linear_travel / segments;
  6335. float extruder_per_segment = extruder_travel / segments;
  6336. /**
  6337. * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
  6338. * and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
  6339. * r_T = [cos(phi) -sin(phi);
  6340. * sin(phi) cos(phi] * r ;
  6341. *
  6342. * For arc generation, the center of the circle is the axis of rotation and the radius vector is
  6343. * defined from the circle center to the initial position. Each line segment is formed by successive
  6344. * vector rotations. This requires only two cos() and sin() computations to form the rotation
  6345. * matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
  6346. * all double numbers are single precision on the Arduino. (True double precision will not have
  6347. * round off issues for CNC applications.) Single precision error can accumulate to be greater than
  6348. * tool precision in some cases. Therefore, arc path correction is implemented.
  6349. *
  6350. * Small angle approximation may be used to reduce computation overhead further. This approximation
  6351. * holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
  6352. * theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
  6353. * to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
  6354. * numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
  6355. * issue for CNC machines with the single precision Arduino calculations.
  6356. *
  6357. * This approximation also allows plan_arc to immediately insert a line segment into the planner
  6358. * without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
  6359. * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
  6360. * This is important when there are successive arc motions.
  6361. */
  6362. // Vector rotation matrix values
  6363. float cos_T = 1 - 0.5 * theta_per_segment * theta_per_segment; // Small angle approximation
  6364. float sin_T = theta_per_segment;
  6365. float arc_target[NUM_AXIS];
  6366. float sin_Ti, cos_Ti, r_new_Y;
  6367. uint16_t i;
  6368. int8_t count = 0;
  6369. // Initialize the linear axis
  6370. arc_target[Z_AXIS] = current_position[Z_AXIS];
  6371. // Initialize the extruder axis
  6372. arc_target[E_AXIS] = current_position[E_AXIS];
  6373. float feed_rate = feedrate * feedrate_multiplier / 60 / 100.0;
  6374. for (i = 1; i < segments; i++) { // Iterate (segments-1) times
  6375. if (++count < N_ARC_CORRECTION) {
  6376. // Apply vector rotation matrix to previous r_X / 1
  6377. r_new_Y = r_X * sin_T + r_Y * cos_T;
  6378. r_X = r_X * cos_T - r_Y * sin_T;
  6379. r_Y = r_new_Y;
  6380. }
  6381. else {
  6382. // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
  6383. // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
  6384. // To reduce stuttering, the sin and cos could be computed at different times.
  6385. // For now, compute both at the same time.
  6386. cos_Ti = cos(i * theta_per_segment);
  6387. sin_Ti = sin(i * theta_per_segment);
  6388. r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti;
  6389. r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti;
  6390. count = 0;
  6391. }
  6392. // Update arc_target location
  6393. arc_target[X_AXIS] = center_X + r_X;
  6394. arc_target[Y_AXIS] = center_Y + r_Y;
  6395. arc_target[Z_AXIS] += linear_per_segment;
  6396. arc_target[E_AXIS] += extruder_per_segment;
  6397. clamp_to_software_endstops(arc_target);
  6398. #if ENABLED(DELTA) || ENABLED(SCARA)
  6399. calculate_delta(arc_target);
  6400. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  6401. adjust_delta(arc_target);
  6402. #endif
  6403. plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder);
  6404. #else
  6405. plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder);
  6406. #endif
  6407. }
  6408. // Ensure last segment arrives at target location.
  6409. #if ENABLED(DELTA) || ENABLED(SCARA)
  6410. calculate_delta(target);
  6411. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  6412. adjust_delta(target);
  6413. #endif
  6414. plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feed_rate, active_extruder);
  6415. #else
  6416. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, active_extruder);
  6417. #endif
  6418. // As far as the parser is concerned, the position is now == target. In reality the
  6419. // motion control system might still be processing the action and the real tool position
  6420. // in any intermediate location.
  6421. set_current_to_destination();
  6422. }
  6423. #if HAS_CONTROLLERFAN
  6424. void controllerFan() {
  6425. static millis_t lastMotorOn = 0; // Last time a motor was turned on
  6426. static millis_t nextMotorCheck = 0; // Last time the state was checked
  6427. millis_t ms = millis();
  6428. if (ELAPSED(ms, nextMotorCheck)) {
  6429. nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s
  6430. if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || soft_pwm_bed > 0
  6431. || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
  6432. #if EXTRUDERS > 1
  6433. || E1_ENABLE_READ == E_ENABLE_ON
  6434. #if HAS_X2_ENABLE
  6435. || X2_ENABLE_READ == X_ENABLE_ON
  6436. #endif
  6437. #if EXTRUDERS > 2
  6438. || E2_ENABLE_READ == E_ENABLE_ON
  6439. #if EXTRUDERS > 3
  6440. || E3_ENABLE_READ == E_ENABLE_ON
  6441. #endif
  6442. #endif
  6443. #endif
  6444. ) {
  6445. lastMotorOn = ms; //... set time to NOW so the fan will turn on
  6446. }
  6447. // Fan off if no steppers have been enabled for CONTROLLERFAN_SECS seconds
  6448. uint8_t speed = (!lastMotorOn || ELAPSED(ms, lastMotorOn + (CONTROLLERFAN_SECS) * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
  6449. // allows digital or PWM fan output to be used (see M42 handling)
  6450. digitalWrite(CONTROLLERFAN_PIN, speed);
  6451. analogWrite(CONTROLLERFAN_PIN, speed);
  6452. }
  6453. }
  6454. #endif // HAS_CONTROLLERFAN
  6455. #if ENABLED(SCARA)
  6456. void calculate_SCARA_forward_Transform(float f_scara[3]) {
  6457. // Perform forward kinematics, and place results in delta[3]
  6458. // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
  6459. float x_sin, x_cos, y_sin, y_cos;
  6460. //SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]);
  6461. //SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]);
  6462. x_sin = sin(f_scara[X_AXIS] / SCARA_RAD2DEG) * Linkage_1;
  6463. x_cos = cos(f_scara[X_AXIS] / SCARA_RAD2DEG) * Linkage_1;
  6464. y_sin = sin(f_scara[Y_AXIS] / SCARA_RAD2DEG) * Linkage_2;
  6465. y_cos = cos(f_scara[Y_AXIS] / SCARA_RAD2DEG) * Linkage_2;
  6466. //SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin);
  6467. //SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos);
  6468. //SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin);
  6469. //SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos);
  6470. delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta
  6471. delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi
  6472. //SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
  6473. //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
  6474. }
  6475. void calculate_delta(float cartesian[3]) {
  6476. //reverse kinematics.
  6477. // Perform reversed kinematics, and place results in delta[3]
  6478. // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
  6479. float SCARA_pos[2];
  6480. static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi;
  6481. SCARA_pos[X_AXIS] = cartesian[X_AXIS] * axis_scaling[X_AXIS] - SCARA_offset_x; //Translate SCARA to standard X Y
  6482. SCARA_pos[Y_AXIS] = cartesian[Y_AXIS] * axis_scaling[Y_AXIS] - SCARA_offset_y; // With scaling factor.
  6483. #if (Linkage_1 == Linkage_2)
  6484. SCARA_C2 = ((sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS])) / (2 * (float)L1_2)) - 1;
  6485. #else
  6486. SCARA_C2 = (sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2) / 45000;
  6487. #endif
  6488. SCARA_S2 = sqrt(1 - sq(SCARA_C2));
  6489. SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2;
  6490. SCARA_K2 = Linkage_2 * SCARA_S2;
  6491. SCARA_theta = (atan2(SCARA_pos[X_AXIS], SCARA_pos[Y_AXIS]) - atan2(SCARA_K1, SCARA_K2)) * -1;
  6492. SCARA_psi = atan2(SCARA_S2, SCARA_C2);
  6493. delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG; // Multiply by 180/Pi - theta is support arm angle
  6494. delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG; // - equal to sub arm angle (inverted motor)
  6495. delta[Z_AXIS] = cartesian[Z_AXIS];
  6496. /**
  6497. SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
  6498. SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
  6499. SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
  6500. SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]);
  6501. SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]);
  6502. SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
  6503. SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
  6504. SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
  6505. SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2);
  6506. SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2);
  6507. SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta);
  6508. SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi);
  6509. SERIAL_EOL;
  6510. */
  6511. }
  6512. #endif // SCARA
  6513. #if ENABLED(TEMP_STAT_LEDS)
  6514. static bool red_led = false;
  6515. static millis_t next_status_led_update_ms = 0;
  6516. void handle_status_leds(void) {
  6517. float max_temp = 0.0;
  6518. if (ELAPSED(millis(), next_status_led_update_ms)) {
  6519. next_status_led_update_ms += 500; // Update every 0.5s
  6520. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder)
  6521. max_temp = max(max(max_temp, degHotend(cur_extruder)), degTargetHotend(cur_extruder));
  6522. #if HAS_TEMP_BED
  6523. max_temp = max(max(max_temp, degTargetBed()), degBed());
  6524. #endif
  6525. bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
  6526. if (new_led != red_led) {
  6527. red_led = new_led;
  6528. digitalWrite(STAT_LED_RED, new_led ? HIGH : LOW);
  6529. digitalWrite(STAT_LED_BLUE, new_led ? LOW : HIGH);
  6530. }
  6531. }
  6532. }
  6533. #endif
  6534. void enable_all_steppers() {
  6535. enable_x();
  6536. enable_y();
  6537. enable_z();
  6538. enable_e0();
  6539. enable_e1();
  6540. enable_e2();
  6541. enable_e3();
  6542. }
  6543. void disable_all_steppers() {
  6544. disable_x();
  6545. disable_y();
  6546. disable_z();
  6547. disable_e0();
  6548. disable_e1();
  6549. disable_e2();
  6550. disable_e3();
  6551. }
  6552. /**
  6553. * Standard idle routine keeps the machine alive
  6554. */
  6555. void idle(
  6556. #if ENABLED(FILAMENTCHANGEENABLE)
  6557. bool no_stepper_sleep/*=false*/
  6558. #endif
  6559. ) {
  6560. manage_heater();
  6561. manage_inactivity(
  6562. #if ENABLED(FILAMENTCHANGEENABLE)
  6563. no_stepper_sleep
  6564. #endif
  6565. );
  6566. host_keepalive();
  6567. lcd_update();
  6568. }
  6569. /**
  6570. * Manage several activities:
  6571. * - Check for Filament Runout
  6572. * - Keep the command buffer full
  6573. * - Check for maximum inactive time between commands
  6574. * - Check for maximum inactive time between stepper commands
  6575. * - Check if pin CHDK needs to go LOW
  6576. * - Check for KILL button held down
  6577. * - Check for HOME button held down
  6578. * - Check if cooling fan needs to be switched on
  6579. * - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
  6580. */
  6581. void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
  6582. #if HAS_FILRUNOUT
  6583. if (IS_SD_PRINTING && !(READ(FILRUNOUT_PIN) ^ FIL_RUNOUT_INVERTING))
  6584. handle_filament_runout();
  6585. #endif
  6586. if (commands_in_queue < BUFSIZE) get_available_commands();
  6587. millis_t ms = millis();
  6588. if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) kill(PSTR(MSG_KILLED));
  6589. if (stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
  6590. && !ignore_stepper_queue && !blocks_queued()) {
  6591. #if ENABLED(DISABLE_INACTIVE_X)
  6592. disable_x();
  6593. #endif
  6594. #if ENABLED(DISABLE_INACTIVE_Y)
  6595. disable_y();
  6596. #endif
  6597. #if ENABLED(DISABLE_INACTIVE_Z)
  6598. disable_z();
  6599. #endif
  6600. #if ENABLED(DISABLE_INACTIVE_E)
  6601. disable_e0();
  6602. disable_e1();
  6603. disable_e2();
  6604. disable_e3();
  6605. #endif
  6606. }
  6607. #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
  6608. if (chdkActive && PENDING(ms, chdkHigh + CHDK_DELAY)) {
  6609. chdkActive = false;
  6610. WRITE(CHDK, LOW);
  6611. }
  6612. #endif
  6613. #if HAS_KILL
  6614. // Check if the kill button was pressed and wait just in case it was an accidental
  6615. // key kill key press
  6616. // -------------------------------------------------------------------------------
  6617. static int killCount = 0; // make the inactivity button a bit less responsive
  6618. const int KILL_DELAY = 750;
  6619. if (!READ(KILL_PIN))
  6620. killCount++;
  6621. else if (killCount > 0)
  6622. killCount--;
  6623. // Exceeded threshold and we can confirm that it was not accidental
  6624. // KILL the machine
  6625. // ----------------------------------------------------------------
  6626. if (killCount >= KILL_DELAY) kill(PSTR(MSG_KILLED));
  6627. #endif
  6628. #if HAS_HOME
  6629. // Check to see if we have to home, use poor man's debouncer
  6630. // ---------------------------------------------------------
  6631. static int homeDebounceCount = 0; // poor man's debouncing count
  6632. const int HOME_DEBOUNCE_DELAY = 2500;
  6633. if (!READ(HOME_PIN)) {
  6634. if (!homeDebounceCount) {
  6635. enqueue_and_echo_commands_P(PSTR("G28"));
  6636. LCD_MESSAGEPGM(MSG_AUTO_HOME);
  6637. }
  6638. if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
  6639. homeDebounceCount++;
  6640. else
  6641. homeDebounceCount = 0;
  6642. }
  6643. #endif
  6644. #if HAS_CONTROLLERFAN
  6645. controllerFan(); // Check if fan should be turned on to cool stepper drivers down
  6646. #endif
  6647. #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
  6648. if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL))
  6649. if (degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
  6650. bool oldstatus;
  6651. switch (active_extruder) {
  6652. case 0:
  6653. oldstatus = E0_ENABLE_READ;
  6654. enable_e0();
  6655. break;
  6656. #if EXTRUDERS > 1
  6657. case 1:
  6658. oldstatus = E1_ENABLE_READ;
  6659. enable_e1();
  6660. break;
  6661. #if EXTRUDERS > 2
  6662. case 2:
  6663. oldstatus = E2_ENABLE_READ;
  6664. enable_e2();
  6665. break;
  6666. #if EXTRUDERS > 3
  6667. case 3:
  6668. oldstatus = E3_ENABLE_READ;
  6669. enable_e3();
  6670. break;
  6671. #endif
  6672. #endif
  6673. #endif
  6674. }
  6675. float oldepos = current_position[E_AXIS], oldedes = destination[E_AXIS];
  6676. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  6677. destination[E_AXIS] + (EXTRUDER_RUNOUT_EXTRUDE) * (EXTRUDER_RUNOUT_ESTEPS) / axis_steps_per_unit[E_AXIS],
  6678. (EXTRUDER_RUNOUT_SPEED) / 60. * (EXTRUDER_RUNOUT_ESTEPS) / axis_steps_per_unit[E_AXIS], active_extruder);
  6679. current_position[E_AXIS] = oldepos;
  6680. destination[E_AXIS] = oldedes;
  6681. plan_set_e_position(oldepos);
  6682. previous_cmd_ms = ms; // refresh_cmd_timeout()
  6683. st_synchronize();
  6684. switch (active_extruder) {
  6685. case 0:
  6686. E0_ENABLE_WRITE(oldstatus);
  6687. break;
  6688. #if EXTRUDERS > 1
  6689. case 1:
  6690. E1_ENABLE_WRITE(oldstatus);
  6691. break;
  6692. #if EXTRUDERS > 2
  6693. case 2:
  6694. E2_ENABLE_WRITE(oldstatus);
  6695. break;
  6696. #if EXTRUDERS > 3
  6697. case 3:
  6698. E3_ENABLE_WRITE(oldstatus);
  6699. break;
  6700. #endif
  6701. #endif
  6702. #endif
  6703. }
  6704. }
  6705. #endif
  6706. #if ENABLED(DUAL_X_CARRIAGE)
  6707. // handle delayed move timeout
  6708. if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
  6709. // travel moves have been received so enact them
  6710. delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
  6711. set_destination_to_current();
  6712. prepare_move();
  6713. }
  6714. #endif
  6715. #if ENABLED(TEMP_STAT_LEDS)
  6716. handle_status_leds();
  6717. #endif
  6718. check_axes_activity();
  6719. }
  6720. void kill(const char* lcd_msg) {
  6721. #if ENABLED(ULTRA_LCD)
  6722. lcd_setalertstatuspgm(lcd_msg);
  6723. #else
  6724. UNUSED(lcd_msg);
  6725. #endif
  6726. cli(); // Stop interrupts
  6727. disable_all_heaters();
  6728. disable_all_steppers();
  6729. #if HAS_POWER_SWITCH
  6730. pinMode(PS_ON_PIN, INPUT);
  6731. #endif
  6732. SERIAL_ERROR_START;
  6733. SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
  6734. // FMC small patch to update the LCD before ending
  6735. sei(); // enable interrupts
  6736. for (int i = 5; i--; lcd_update()) delay(200); // Wait a short time
  6737. cli(); // disable interrupts
  6738. suicide();
  6739. while (1) {
  6740. #if ENABLED(USE_WATCHDOG)
  6741. watchdog_reset();
  6742. #endif
  6743. } // Wait for reset
  6744. }
  6745. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  6746. void handle_filament_runout() {
  6747. if (!filament_ran_out) {
  6748. filament_ran_out = true;
  6749. enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
  6750. st_synchronize();
  6751. }
  6752. }
  6753. #endif // FILAMENT_RUNOUT_SENSOR
  6754. #if ENABLED(FAST_PWM_FAN)
  6755. void setPwmFrequency(uint8_t pin, int val) {
  6756. val &= 0x07;
  6757. switch (digitalPinToTimer(pin)) {
  6758. #if defined(TCCR0A)
  6759. case TIMER0A:
  6760. case TIMER0B:
  6761. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  6762. // TCCR0B |= val;
  6763. break;
  6764. #endif
  6765. #if defined(TCCR1A)
  6766. case TIMER1A:
  6767. case TIMER1B:
  6768. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  6769. // TCCR1B |= val;
  6770. break;
  6771. #endif
  6772. #if defined(TCCR2)
  6773. case TIMER2:
  6774. case TIMER2:
  6775. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  6776. TCCR2 |= val;
  6777. break;
  6778. #endif
  6779. #if defined(TCCR2A)
  6780. case TIMER2A:
  6781. case TIMER2B:
  6782. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  6783. TCCR2B |= val;
  6784. break;
  6785. #endif
  6786. #if defined(TCCR3A)
  6787. case TIMER3A:
  6788. case TIMER3B:
  6789. case TIMER3C:
  6790. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  6791. TCCR3B |= val;
  6792. break;
  6793. #endif
  6794. #if defined(TCCR4A)
  6795. case TIMER4A:
  6796. case TIMER4B:
  6797. case TIMER4C:
  6798. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  6799. TCCR4B |= val;
  6800. break;
  6801. #endif
  6802. #if defined(TCCR5A)
  6803. case TIMER5A:
  6804. case TIMER5B:
  6805. case TIMER5C:
  6806. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  6807. TCCR5B |= val;
  6808. break;
  6809. #endif
  6810. }
  6811. }
  6812. #endif // FAST_PWM_FAN
  6813. void stop() {
  6814. disable_all_heaters();
  6815. if (IsRunning()) {
  6816. Running = false;
  6817. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  6818. SERIAL_ERROR_START;
  6819. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  6820. LCD_MESSAGEPGM(MSG_STOPPED);
  6821. }
  6822. }
  6823. float calculate_volumetric_multiplier(float diameter) {
  6824. if (!volumetric_enabled || diameter == 0) return 1.0;
  6825. float d2 = diameter * 0.5;
  6826. return 1.0 / (M_PI * d2 * d2);
  6827. }
  6828. void calculate_volumetric_multipliers() {
  6829. for (int i = 0; i < EXTRUDERS; i++)
  6830. volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
  6831. }