1234567891011121314151617181920212223242526272829303132333435363738394041424344454647484950515253545556575859606162636465666768697071727374757677787980818283848586878889909192939495969798991001011021031041051061071081091101111121131141151161171181191201211221231241251261271281291301311321331341351361371381391401411421431441451461471481491501511521531541551561571581591601611621631641651661671681691701711721731741751761771781791801811821831841851861871881891901911921931941951961971981992002012022032042052062072082092102112122132142152162172182192202212222232242252262272282292302312322332342352362372382392402412422432442452462472482492502512522532542552562572582592602612622632642652662672682692702712722732742752762772782792802812822832842852862872882892902912922932942952962972982993003013023033043053063073083093103113123133143153163173183193203213223233243253263273283293303313323333343353363373383393403413423433443453463473483493503513523533543553563573583593603613623633643653663673683693703713723733743753763773783793803813823833843853863873883893903913923933943953963973983994004014024034044054064074084094104114124134144154164174184194204214224234244254264274284294304314324334344354364374384394404414424434444454464474484494504514524534544554564574584594604614624634644654664674684694704714724734744754764774784794804814824834844854864874884894904914924934944954964974984995005015025035045055065075085095105115125135145155165175185195205215225235245255265275285295305315325335345355365375385395405415425435445455465475485495505515525535545555565575585595605615625635645655665675685695705715725735745755765775785795805815825835845855865875885895905915925935945955965975985996006016026036046056066076086096106116126136146156166176186196206216226236246256266276286296306316326336346356366376386396406416426436446456466476486496506516526536546556566576586596606616626636646656666676686696706716726736746756766776786796806816826836846856866876886896906916926936946956966976986997007017027037047057067077087097107117127137147157167177187197207217227237247257267277287297307317327337347357367377387397407417427437447457467477487497507517527537547557567577587597607617627637647657667677687697707717727737747757767777787797807817827837847857867877887897907917927937947957967977987998008018028038048058068078088098108118128138148158168178188198208218228238248258268278288298308318328338348358368378388398408418428438448458468478488498508518528538548558568578588598608618628638648658668678688698708718728738748758768778788798808818828838848858868878888898908918928938948958968978988999009019029039049059069079089099109119129139149159169179189199209219229239249259269279289299309319329339349359369379389399409419429439449459469479489499509519529539549559569579589599609619629639649659669679689699709719729739749759769779789799809819829839849859869879889899909919929939949959969979989991000100110021003100410051006100710081009101010111012101310141015101610171018101910201021102210231024102510261027102810291030103110321033103410351036103710381039104010411042104310441045104610471048104910501051105210531054105510561057105810591060106110621063106410651066106710681069107010711072107310741075107610771078107910801081108210831084108510861087108810891090109110921093109410951096109710981099110011011102110311041105110611071108110911101111111211131114111511161117111811191120112111221123112411251126112711281129113011311132113311341135113611371138113911401141114211431144114511461147114811491150115111521153115411551156115711581159116011611162116311641165116611671168116911701171117211731174117511761177117811791180118111821183118411851186118711881189119011911192119311941195119611971198119912001201120212031204120512061207120812091210121112121213121412151216121712181219122012211222122312241225122612271228122912301231123212331234123512361237123812391240124112421243124412451246124712481249125012511252125312541255125612571258125912601261126212631264126512661267126812691270127112721273127412751276127712781279128012811282128312841285128612871288128912901291129212931294129512961297129812991300130113021303130413051306130713081309131013111312131313141315131613171318131913201321132213231324132513261327132813291330133113321333133413351336133713381339134013411342134313441345134613471348134913501351135213531354135513561357135813591360136113621363136413651366136713681369137013711372137313741375137613771378137913801381138213831384138513861387138813891390139113921393139413951396139713981399140014011402140314041405140614071408140914101411141214131414141514161417141814191420142114221423142414251426142714281429143014311432143314341435143614371438143914401441144214431444144514461447144814491450145114521453145414551456145714581459146014611462146314641465146614671468146914701471147214731474147514761477147814791480148114821483148414851486148714881489149014911492149314941495149614971498149915001501150215031504150515061507150815091510151115121513151415151516151715181519152015211522152315241525152615271528152915301531153215331534153515361537153815391540154115421543154415451546154715481549155015511552155315541555155615571558155915601561156215631564156515661567156815691570157115721573157415751576157715781579158015811582158315841585158615871588158915901591159215931594159515961597159815991600160116021603160416051606160716081609161016111612161316141615161616171618161916201621162216231624162516261627162816291630163116321633163416351636163716381639164016411642164316441645164616471648164916501651165216531654165516561657165816591660166116621663166416651666166716681669167016711672167316741675167616771678167916801681168216831684168516861687168816891690169116921693169416951696169716981699170017011702170317041705170617071708170917101711171217131714171517161717171817191720172117221723172417251726172717281729173017311732173317341735173617371738173917401741174217431744174517461747174817491750175117521753175417551756175717581759176017611762176317641765176617671768176917701771177217731774177517761777177817791780178117821783178417851786178717881789179017911792179317941795179617971798179918001801180218031804180518061807180818091810181118121813181418151816181718181819182018211822182318241825182618271828182918301831183218331834183518361837183818391840184118421843184418451846184718481849185018511852185318541855185618571858185918601861186218631864186518661867186818691870187118721873187418751876187718781879188018811882188318841885188618871888188918901891189218931894189518961897189818991900190119021903190419051906190719081909191019111912191319141915191619171918191919201921192219231924192519261927192819291930193119321933193419351936193719381939194019411942194319441945194619471948194919501951195219531954195519561957195819591960196119621963196419651966196719681969197019711972197319741975197619771978197919801981198219831984198519861987198819891990199119921993199419951996199719981999200020012002200320042005200620072008200920102011201220132014201520162017201820192020202120222023202420252026202720282029203020312032203320342035203620372038203920402041204220432044204520462047204820492050205120522053205420552056205720582059206020612062206320642065206620672068206920702071207220732074207520762077207820792080208120822083208420852086208720882089209020912092209320942095209620972098209921002101210221032104210521062107210821092110211121122113211421152116211721182119212021212122212321242125212621272128212921302131213221332134213521362137213821392140214121422143214421452146214721482149215021512152215321542155215621572158215921602161216221632164216521662167216821692170217121722173217421752176217721782179218021812182218321842185218621872188218921902191219221932194219521962197219821992200220122022203220422052206220722082209221022112212221322142215221622172218221922202221222222232224222522262227222822292230223122322233223422352236223722382239224022412242224322442245224622472248224922502251225222532254225522562257225822592260226122622263226422652266226722682269227022712272227322742275227622772278227922802281228222832284228522862287228822892290229122922293229422952296229722982299230023012302230323042305230623072308230923102311231223132314231523162317231823192320232123222323232423252326232723282329233023312332233323342335233623372338233923402341234223432344234523462347234823492350235123522353235423552356235723582359236023612362236323642365236623672368236923702371237223732374237523762377237823792380238123822383238423852386238723882389239023912392239323942395239623972398239924002401240224032404240524062407240824092410241124122413241424152416241724182419242024212422242324242425242624272428242924302431243224332434243524362437243824392440244124422443244424452446244724482449245024512452245324542455245624572458245924602461246224632464246524662467246824692470247124722473247424752476247724782479248024812482248324842485248624872488248924902491249224932494249524962497249824992500250125022503250425052506250725082509251025112512251325142515251625172518251925202521252225232524252525262527252825292530253125322533253425352536253725382539254025412542254325442545254625472548254925502551255225532554255525562557255825592560256125622563256425652566256725682569257025712572257325742575257625772578257925802581258225832584258525862587258825892590259125922593259425952596259725982599260026012602260326042605260626072608260926102611261226132614261526162617261826192620262126222623262426252626262726282629263026312632263326342635263626372638263926402641264226432644264526462647264826492650265126522653265426552656265726582659266026612662266326642665266626672668266926702671267226732674267526762677267826792680268126822683268426852686268726882689269026912692269326942695269626972698269927002701270227032704270527062707270827092710271127122713271427152716271727182719272027212722272327242725272627272728272927302731273227332734273527362737273827392740274127422743274427452746274727482749275027512752275327542755275627572758275927602761276227632764276527662767276827692770277127722773277427752776277727782779278027812782278327842785278627872788278927902791279227932794279527962797279827992800280128022803280428052806280728082809281028112812281328142815281628172818281928202821282228232824282528262827282828292830283128322833283428352836283728382839284028412842284328442845284628472848284928502851285228532854285528562857285828592860286128622863286428652866286728682869287028712872287328742875287628772878287928802881288228832884288528862887288828892890289128922893289428952896289728982899290029012902290329042905290629072908290929102911291229132914291529162917291829192920292129222923292429252926292729282929293029312932293329342935293629372938293929402941294229432944294529462947294829492950295129522953295429552956295729582959296029612962296329642965296629672968296929702971297229732974297529762977297829792980298129822983298429852986298729882989299029912992299329942995299629972998299930003001300230033004300530063007300830093010301130123013301430153016301730183019302030213022302330243025302630273028302930303031303230333034303530363037303830393040304130423043304430453046304730483049305030513052305330543055305630573058305930603061306230633064306530663067306830693070307130723073307430753076307730783079308030813082308330843085308630873088308930903091309230933094309530963097309830993100310131023103310431053106310731083109311031113112311331143115311631173118311931203121312231233124312531263127312831293130313131323133313431353136313731383139314031413142314331443145314631473148314931503151315231533154315531563157315831593160316131623163316431653166316731683169317031713172317331743175317631773178317931803181318231833184318531863187318831893190319131923193319431953196319731983199320032013202320332043205320632073208320932103211321232133214321532163217321832193220322132223223322432253226322732283229323032313232323332343235323632373238323932403241324232433244324532463247324832493250325132523253325432553256325732583259326032613262326332643265326632673268326932703271327232733274327532763277327832793280328132823283328432853286328732883289329032913292329332943295329632973298329933003301330233033304330533063307330833093310331133123313331433153316331733183319332033213322332333243325332633273328332933303331333233333334333533363337333833393340334133423343334433453346334733483349335033513352335333543355335633573358335933603361336233633364336533663367336833693370337133723373337433753376337733783379338033813382338333843385338633873388338933903391339233933394339533963397339833993400340134023403340434053406340734083409341034113412341334143415341634173418341934203421342234233424342534263427342834293430343134323433343434353436343734383439344034413442344334443445344634473448344934503451345234533454345534563457345834593460346134623463346434653466346734683469347034713472347334743475347634773478347934803481348234833484348534863487348834893490349134923493349434953496349734983499350035013502350335043505350635073508350935103511351235133514351535163517351835193520352135223523352435253526352735283529353035313532353335343535353635373538353935403541354235433544354535463547354835493550355135523553355435553556355735583559356035613562356335643565356635673568356935703571357235733574357535763577357835793580358135823583358435853586358735883589359035913592359335943595359635973598359936003601360236033604360536063607360836093610361136123613361436153616361736183619362036213622362336243625362636273628362936303631363236333634363536363637363836393640364136423643364436453646364736483649365036513652365336543655365636573658365936603661366236633664366536663667366836693670367136723673367436753676367736783679368036813682368336843685368636873688368936903691369236933694369536963697369836993700370137023703370437053706370737083709371037113712371337143715371637173718371937203721372237233724372537263727372837293730373137323733373437353736373737383739374037413742374337443745374637473748374937503751375237533754375537563757375837593760376137623763376437653766376737683769377037713772377337743775377637773778377937803781378237833784378537863787378837893790379137923793379437953796379737983799380038013802380338043805380638073808380938103811381238133814381538163817381838193820382138223823382438253826382738283829383038313832383338343835383638373838383938403841384238433844384538463847384838493850385138523853385438553856385738583859386038613862386338643865386638673868386938703871387238733874387538763877387838793880388138823883388438853886388738883889389038913892389338943895389638973898389939003901390239033904390539063907390839093910391139123913391439153916391739183919392039213922392339243925392639273928392939303931393239333934393539363937393839393940394139423943394439453946394739483949395039513952395339543955395639573958395939603961396239633964396539663967396839693970397139723973397439753976397739783979398039813982398339843985398639873988398939903991399239933994399539963997399839994000400140024003400440054006400740084009401040114012401340144015401640174018401940204021402240234024402540264027402840294030403140324033403440354036403740384039404040414042404340444045404640474048404940504051405240534054405540564057405840594060406140624063406440654066406740684069407040714072407340744075407640774078407940804081408240834084408540864087408840894090409140924093409440954096409740984099410041014102410341044105410641074108410941104111411241134114411541164117411841194120412141224123412441254126412741284129413041314132413341344135413641374138413941404141414241434144414541464147414841494150415141524153415441554156415741584159416041614162416341644165416641674168416941704171417241734174417541764177417841794180418141824183418441854186418741884189419041914192419341944195419641974198419942004201420242034204420542064207420842094210421142124213421442154216421742184219422042214222422342244225422642274228422942304231423242334234423542364237423842394240424142424243424442454246424742484249425042514252425342544255425642574258425942604261426242634264426542664267426842694270427142724273427442754276427742784279428042814282428342844285428642874288428942904291429242934294429542964297429842994300430143024303430443054306430743084309431043114312431343144315431643174318431943204321432243234324432543264327432843294330433143324333433443354336433743384339434043414342434343444345434643474348434943504351435243534354435543564357435843594360436143624363436443654366436743684369437043714372437343744375437643774378437943804381438243834384438543864387438843894390439143924393439443954396439743984399440044014402440344044405440644074408440944104411441244134414441544164417441844194420442144224423442444254426442744284429443044314432443344344435443644374438443944404441444244434444444544464447444844494450445144524453445444554456445744584459446044614462446344644465446644674468446944704471447244734474447544764477447844794480448144824483448444854486448744884489449044914492449344944495449644974498449945004501450245034504450545064507450845094510451145124513451445154516451745184519452045214522452345244525452645274528452945304531453245334534453545364537453845394540454145424543454445454546454745484549455045514552455345544555455645574558455945604561456245634564456545664567456845694570457145724573457445754576457745784579458045814582458345844585458645874588458945904591459245934594459545964597459845994600460146024603460446054606460746084609461046114612461346144615461646174618461946204621462246234624462546264627462846294630463146324633463446354636463746384639464046414642464346444645464646474648464946504651465246534654465546564657465846594660466146624663466446654666466746684669467046714672467346744675467646774678467946804681468246834684468546864687468846894690469146924693469446954696469746984699470047014702470347044705470647074708470947104711471247134714471547164717471847194720472147224723472447254726472747284729473047314732473347344735473647374738473947404741474247434744474547464747474847494750475147524753475447554756475747584759476047614762476347644765476647674768476947704771477247734774477547764777477847794780478147824783478447854786478747884789479047914792479347944795479647974798479948004801480248034804480548064807480848094810481148124813481448154816481748184819482048214822482348244825482648274828482948304831483248334834483548364837483848394840484148424843484448454846484748484849485048514852485348544855485648574858485948604861486248634864486548664867486848694870487148724873487448754876487748784879488048814882488348844885488648874888488948904891489248934894489548964897489848994900490149024903490449054906490749084909491049114912491349144915491649174918491949204921492249234924492549264927492849294930493149324933493449354936493749384939494049414942494349444945494649474948494949504951495249534954495549564957495849594960496149624963496449654966496749684969497049714972497349744975497649774978497949804981498249834984498549864987498849894990499149924993499449954996499749984999500050015002500350045005500650075008500950105011501250135014501550165017501850195020502150225023502450255026502750285029503050315032503350345035503650375038503950405041504250435044504550465047504850495050505150525053505450555056505750585059506050615062506350645065506650675068506950705071507250735074507550765077507850795080508150825083508450855086508750885089509050915092509350945095509650975098509951005101510251035104510551065107510851095110511151125113511451155116511751185119512051215122512351245125512651275128512951305131513251335134513551365137513851395140514151425143514451455146514751485149515051515152515351545155515651575158515951605161516251635164516551665167516851695170517151725173517451755176517751785179518051815182518351845185518651875188518951905191519251935194519551965197519851995200520152025203520452055206520752085209521052115212521352145215521652175218521952205221522252235224522552265227522852295230523152325233523452355236523752385239524052415242524352445245524652475248524952505251525252535254525552565257525852595260526152625263526452655266526752685269527052715272527352745275527652775278527952805281528252835284528552865287528852895290529152925293529452955296529752985299530053015302530353045305530653075308530953105311531253135314531553165317531853195320532153225323532453255326532753285329533053315332533353345335533653375338533953405341534253435344534553465347534853495350535153525353535453555356535753585359536053615362536353645365536653675368536953705371537253735374537553765377537853795380538153825383538453855386538753885389539053915392539353945395539653975398539954005401540254035404540554065407540854095410541154125413541454155416541754185419542054215422542354245425542654275428542954305431543254335434543554365437543854395440544154425443544454455446544754485449545054515452545354545455545654575458545954605461546254635464546554665467546854695470547154725473547454755476547754785479548054815482548354845485548654875488548954905491549254935494549554965497549854995500550155025503550455055506550755085509551055115512551355145515551655175518551955205521552255235524552555265527552855295530553155325533553455355536553755385539554055415542554355445545554655475548554955505551555255535554555555565557555855595560556155625563556455655566556755685569557055715572557355745575557655775578557955805581558255835584558555865587558855895590559155925593559455955596559755985599560056015602560356045605560656075608560956105611561256135614561556165617561856195620562156225623562456255626562756285629563056315632563356345635563656375638563956405641564256435644564556465647564856495650565156525653565456555656565756585659566056615662566356645665566656675668566956705671567256735674567556765677567856795680568156825683568456855686568756885689569056915692569356945695569656975698569957005701570257035704570557065707570857095710571157125713571457155716571757185719572057215722572357245725572657275728572957305731573257335734573557365737573857395740574157425743574457455746574757485749575057515752575357545755575657575758575957605761576257635764576557665767576857695770577157725773577457755776577757785779578057815782578357845785578657875788578957905791579257935794579557965797579857995800580158025803580458055806580758085809581058115812581358145815581658175818581958205821582258235824582558265827582858295830583158325833583458355836583758385839584058415842584358445845584658475848584958505851585258535854585558565857585858595860586158625863586458655866586758685869587058715872587358745875587658775878587958805881588258835884588558865887588858895890589158925893589458955896589758985899590059015902590359045905590659075908590959105911591259135914591559165917591859195920592159225923592459255926592759285929593059315932593359345935593659375938593959405941594259435944594559465947594859495950595159525953595459555956595759585959596059615962596359645965596659675968596959705971597259735974597559765977597859795980598159825983598459855986598759885989599059915992599359945995599659975998599960006001600260036004600560066007600860096010601160126013601460156016601760186019602060216022602360246025602660276028602960306031603260336034603560366037603860396040604160426043604460456046604760486049605060516052605360546055605660576058605960606061606260636064606560666067606860696070607160726073607460756076607760786079608060816082608360846085608660876088608960906091609260936094609560966097609860996100610161026103610461056106610761086109611061116112611361146115611661176118611961206121612261236124612561266127612861296130613161326133613461356136613761386139614061416142614361446145614661476148614961506151615261536154615561566157615861596160616161626163616461656166616761686169617061716172617361746175617661776178617961806181618261836184618561866187618861896190619161926193619461956196619761986199620062016202620362046205620662076208620962106211621262136214621562166217621862196220622162226223622462256226622762286229623062316232623362346235623662376238623962406241624262436244624562466247624862496250625162526253625462556256625762586259626062616262626362646265626662676268626962706271627262736274627562766277627862796280628162826283628462856286628762886289629062916292629362946295629662976298629963006301630263036304630563066307630863096310631163126313631463156316631763186319632063216322632363246325632663276328632963306331633263336334633563366337633863396340634163426343634463456346634763486349635063516352635363546355635663576358635963606361636263636364636563666367636863696370637163726373637463756376637763786379638063816382638363846385638663876388638963906391639263936394639563966397639863996400640164026403640464056406640764086409641064116412641364146415641664176418641964206421642264236424642564266427642864296430643164326433643464356436643764386439644064416442644364446445644664476448644964506451645264536454645564566457645864596460646164626463646464656466646764686469647064716472647364746475647664776478647964806481648264836484648564866487648864896490649164926493649464956496649764986499650065016502650365046505650665076508650965106511651265136514651565166517651865196520652165226523652465256526652765286529653065316532653365346535653665376538653965406541654265436544654565466547654865496550655165526553655465556556655765586559656065616562656365646565656665676568656965706571657265736574657565766577657865796580658165826583658465856586658765886589659065916592659365946595659665976598659966006601660266036604660566066607660866096610661166126613661466156616661766186619662066216622662366246625662666276628662966306631663266336634663566366637663866396640664166426643664466456646664766486649665066516652665366546655665666576658665966606661666266636664666566666667666866696670667166726673667466756676667766786679668066816682668366846685668666876688668966906691669266936694669566966697669866996700670167026703670467056706670767086709671067116712671367146715671667176718671967206721672267236724672567266727672867296730673167326733673467356736673767386739674067416742674367446745674667476748674967506751675267536754675567566757675867596760676167626763676467656766676767686769677067716772677367746775677667776778677967806781678267836784678567866787678867896790679167926793679467956796679767986799680068016802680368046805680668076808680968106811681268136814681568166817681868196820682168226823682468256826682768286829683068316832683368346835683668376838683968406841684268436844684568466847684868496850685168526853685468556856685768586859686068616862686368646865686668676868686968706871687268736874687568766877687868796880688168826883688468856886688768886889689068916892689368946895689668976898689969006901690269036904690569066907690869096910691169126913691469156916691769186919692069216922692369246925692669276928692969306931693269336934693569366937693869396940694169426943694469456946694769486949695069516952695369546955695669576958695969606961696269636964696569666967696869696970697169726973697469756976697769786979698069816982698369846985698669876988698969906991699269936994699569966997699869997000700170027003700470057006700770087009701070117012701370147015701670177018701970207021702270237024702570267027702870297030703170327033703470357036703770387039704070417042704370447045704670477048704970507051705270537054705570567057705870597060706170627063706470657066706770687069707070717072707370747075707670777078707970807081708270837084708570867087708870897090709170927093709470957096709770987099710071017102710371047105710671077108710971107111711271137114711571167117711871197120712171227123712471257126712771287129713071317132713371347135713671377138713971407141714271437144714571467147714871497150715171527153715471557156715771587159716071617162716371647165716671677168716971707171717271737174717571767177717871797180718171827183718471857186718771887189719071917192719371947195719671977198719972007201720272037204720572067207720872097210721172127213721472157216721772187219722072217222722372247225722672277228722972307231723272337234723572367237723872397240724172427243724472457246724772487249725072517252725372547255725672577258725972607261726272637264726572667267726872697270727172727273727472757276727772787279728072817282728372847285728672877288728972907291729272937294729572967297729872997300730173027303730473057306730773087309731073117312731373147315731673177318731973207321732273237324732573267327732873297330733173327333733473357336733773387339734073417342734373447345734673477348734973507351735273537354735573567357735873597360736173627363736473657366736773687369737073717372737373747375737673777378737973807381738273837384738573867387738873897390739173927393739473957396739773987399740074017402740374047405740674077408740974107411741274137414741574167417741874197420742174227423742474257426742774287429743074317432743374347435743674377438743974407441744274437444744574467447744874497450745174527453745474557456745774587459746074617462746374647465746674677468746974707471747274737474747574767477747874797480748174827483748474857486748774887489749074917492749374947495749674977498749975007501750275037504750575067507750875097510751175127513751475157516751775187519752075217522752375247525752675277528752975307531753275337534753575367537753875397540754175427543754475457546754775487549755075517552755375547555755675577558755975607561756275637564756575667567756875697570757175727573757475757576757775787579758075817582758375847585758675877588758975907591759275937594759575967597759875997600760176027603760476057606760776087609761076117612761376147615761676177618761976207621762276237624762576267627762876297630763176327633763476357636763776387639764076417642764376447645764676477648764976507651765276537654765576567657765876597660766176627663766476657666766776687669767076717672767376747675767676777678767976807681768276837684768576867687768876897690769176927693769476957696769776987699770077017702770377047705770677077708770977107711771277137714771577167717771877197720772177227723772477257726772777287729773077317732773377347735773677377738773977407741774277437744774577467747774877497750775177527753775477557756775777587759776077617762776377647765776677677768776977707771777277737774777577767777777877797780778177827783778477857786778777887789779077917792779377947795779677977798779978007801780278037804780578067807780878097810781178127813781478157816781778187819782078217822782378247825782678277828782978307831783278337834783578367837783878397840784178427843784478457846784778487849785078517852785378547855785678577858785978607861786278637864786578667867786878697870787178727873787478757876787778787879788078817882788378847885788678877888788978907891789278937894789578967897789878997900790179027903790479057906790779087909791079117912791379147915791679177918791979207921792279237924792579267927792879297930793179327933793479357936793779387939794079417942794379447945794679477948794979507951795279537954795579567957795879597960796179627963796479657966796779687969797079717972797379747975797679777978797979807981798279837984798579867987798879897990799179927993799479957996799779987999800080018002 |
- /**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
- /**
- *
- * About Marlin
- *
- * This firmware is a mashup between Sprinter and grbl.
- * - https://github.com/kliment/Sprinter
- * - https://github.com/simen/grbl/tree
- *
- * It has preliminary support for Matthew Roberts advance algorithm
- * - http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
- */
-
- #include "Marlin.h"
-
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
- #include "vector_3.h"
- #if ENABLED(AUTO_BED_LEVELING_GRID)
- #include "qr_solve.h"
- #endif
- #endif // AUTO_BED_LEVELING_FEATURE
-
- #if ENABLED(MESH_BED_LEVELING)
- #include "mesh_bed_leveling.h"
- #endif
-
- #include "ultralcd.h"
- #include "planner.h"
- #include "stepper.h"
- #include "temperature.h"
- #include "cardreader.h"
- #include "configuration_store.h"
- #include "language.h"
- #include "pins_arduino.h"
- #include "math.h"
- #include "buzzer.h"
-
- #if ENABLED(USE_WATCHDOG)
- #include "watchdog.h"
- #endif
-
- #if ENABLED(BLINKM)
- #include "blinkm.h"
- #include "Wire.h"
- #endif
-
- #if HAS_SERVOS
- #include "servo.h"
- #endif
-
- #if HAS_DIGIPOTSS
- #include <SPI.h>
- #endif
-
- #if ENABLED(DAC_STEPPER_CURRENT)
- #include "stepper_dac.h"
- #endif
-
- #if ENABLED(EXPERIMENTAL_I2CBUS)
- #include "twibus.h"
- #endif
-
- /**
- * Look here for descriptions of G-codes:
- * - http://linuxcnc.org/handbook/gcode/g-code.html
- * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
- *
- * Help us document these G-codes online:
- * - https://github.com/MarlinFirmware/Marlin/wiki/G-Code-in-Marlin
- * - http://reprap.org/wiki/G-code
- *
- * -----------------
- * Implemented Codes
- * -----------------
- *
- * "G" Codes
- *
- * G0 -> G1
- * G1 - Coordinated Movement X Y Z E
- * G2 - CW ARC
- * G3 - CCW ARC
- * G4 - Dwell S<seconds> or P<milliseconds>
- * G10 - retract filament according to settings of M207
- * G11 - retract recover filament according to settings of M208
- * G28 - Home one or more axes
- * G29 - Detailed Z probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
- * G30 - Single Z probe, probes bed at current XY location.
- * G31 - Dock sled (Z_PROBE_SLED only)
- * G32 - Undock sled (Z_PROBE_SLED only)
- * G90 - Use Absolute Coordinates
- * G91 - Use Relative Coordinates
- * G92 - Set current position to coordinates given
- *
- * "M" Codes
- *
- * M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
- * M1 - Same as M0
- * M17 - Enable/Power all stepper motors
- * M18 - Disable all stepper motors; same as M84
- * M20 - List SD card
- * M21 - Init SD card
- * M22 - Release SD card
- * M23 - Select SD file (M23 filename.g)
- * M24 - Start/resume SD print
- * M25 - Pause SD print
- * M26 - Set SD position in bytes (M26 S12345)
- * M27 - Report SD print status
- * M28 - Start SD write (M28 filename.g)
- * M29 - Stop SD write
- * M30 - Delete file from SD (M30 filename.g)
- * M31 - Output time since last M109 or SD card start to serial
- * M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
- * syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
- * Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
- * The '#' is necessary when calling from within sd files, as it stops buffer prereading
- * M33 - Get the longname version of a path
- * 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.
- * M48 - Measure Z_Probe repeatability. M48 [P # of points] [X position] [Y position] [V_erboseness #] [E_ngage Probe] [L # of legs of travel]
- * M80 - Turn on Power Supply
- * M81 - Turn off Power Supply
- * M82 - Set E codes absolute (default)
- * M83 - Set E codes relative while in Absolute Coordinates (G90) mode
- * M84 - Disable steppers until next move,
- * or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
- * M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
- * M92 - Set axis_steps_per_unit - same syntax as G92
- * M104 - Set extruder target temp
- * M105 - Read current temp
- * M106 - Fan on
- * M107 - Fan off
- * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
- * Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
- * IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
- * M110 - Set the current line number
- * M111 - Set debug flags with S<mask>. See flag bits defined in Marlin.h.
- * M112 - Emergency stop
- * M113 - Get or set the timeout interval for Host Keepalive "busy" messages
- * M114 - Output current position to serial port
- * M115 - Capabilities string
- * M117 - Display a message on the controller screen
- * M119 - Output Endstop status to serial port
- * M120 - Enable endstop detection
- * M121 - Disable endstop detection
- * M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
- * M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
- * M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
- * M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
- * M140 - Set bed target temp
- * M145 - Set the heatup state H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
- * 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.
- * M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
- * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
- * M200 - set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).:D<millimeters>-
- * M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
- * M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
- * M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
- * 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
- * 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
- * M206 - Set additional homing offset
- * M207 - Set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
- * M208 - Set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
- * 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.
- * M218 - Set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
- * M220 - Set speed factor override percentage: S<factor in percent>
- * M221 - Set extrude factor override percentage: S<factor in percent>
- * M226 - Wait until the specified pin reaches the state required: P<pin number> S<pin state>
- * M240 - Trigger a camera to take a photograph
- * M250 - Set LCD contrast C<contrast value> (value 0..63)
- * M280 - Set servo position absolute. P: servo index, S: angle or microseconds
- * M300 - Play beep sound S<frequency Hz> P<duration ms>
- * M301 - Set PID parameters P I and D
- * M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
- * M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
- * M304 - Set bed PID parameters P I and D
- * M380 - Activate solenoid on active extruder
- * M381 - Disable all solenoids
- * M400 - Finish all moves
- * M401 - Lower Z probe if present
- * M402 - Raise Z probe if present
- * M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
- * M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
- * M406 - Turn off Filament Sensor extrusion control
- * M407 - Display measured filament diameter
- * M410 - Quickstop. Abort all the planned moves
- * M420 - Enable/Disable Mesh Leveling (with current values) S1=enable S0=disable
- * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<mm> Y<mm> Z<mm>
- * M428 - Set the home_offset logically based on the current_position
- * M500 - Store parameters in EEPROM
- * M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
- * M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
- * M503 - Print the current settings (from memory not from EEPROM). Use S0 to leave off headings.
- * M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
- * M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
- * M665 - Set delta configurations: L<diagonal rod> R<delta radius> S<segments/s>
- * M666 - Set delta endstop adjustment
- * M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
- * M907 - Set digital trimpot motor current using axis codes.
- * M908 - Control digital trimpot directly.
- * M909 - DAC_STEPPER_CURRENT: Print digipot/DAC current value
- * M910 - DAC_STEPPER_CURRENT: Commit digipot/DAC value to external EEPROM via I2C
- * M350 - Set microstepping mode.
- * M351 - Toggle MS1 MS2 pins directly.
- *
- * ************ SCARA Specific - This can change to suit future G-code regulations
- * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
- * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
- * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
- * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
- * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
- * M365 - SCARA calibration: Scaling factor, X, Y, Z axis
- * ************* SCARA End ***************
- *
- * ************ Custom codes - This can change to suit future G-code regulations
- * M100 - Watch Free Memory (For Debugging Only)
- * M851 - Set Z probe's Z offset (mm above extruder -- The value will always be negative)
-
-
- * M928 - Start SD logging (M928 filename.g) - ended by M29
- * M999 - Restart after being stopped by error
- *
- * "T" Codes
- *
- * T0-T3 - Select a tool by index (usually an extruder) [ F<mm/min> ]
- *
- */
-
- #if ENABLED(M100_FREE_MEMORY_WATCHER)
- void gcode_M100();
- #endif
-
- #if ENABLED(SDSUPPORT)
- CardReader card;
- #endif
-
- #if ENABLED(EXPERIMENTAL_I2CBUS)
- TWIBus i2c;
- #endif
-
- bool Running = true;
-
- uint8_t marlin_debug_flags = DEBUG_NONE;
-
- static float feedrate = 1500.0, saved_feedrate;
- float current_position[NUM_AXIS] = { 0.0 };
- static float destination[NUM_AXIS] = { 0.0 };
- bool axis_known_position[3] = { false };
- bool axis_homed[3] = { false };
-
- static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
-
- static char* current_command, *current_command_args;
- static int cmd_queue_index_r = 0;
- static int cmd_queue_index_w = 0;
- static int commands_in_queue = 0;
- static char command_queue[BUFSIZE][MAX_CMD_SIZE];
-
- const float homing_feedrate[] = HOMING_FEEDRATE;
- bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
- int feedrate_multiplier = 100; //100->1 200->2
- int saved_feedrate_multiplier;
- int extruder_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
- bool volumetric_enabled = false;
- float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA);
- float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
-
- float position_shift[3] = { 0 };
- float home_offset[3] = { 0 };
- float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
- float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
-
- #if FAN_COUNT > 0
- int fanSpeeds[FAN_COUNT] = { 0 };
- #endif
-
- uint8_t active_extruder = 0;
- bool cancel_heatup = false;
-
- const char errormagic[] PROGMEM = "Error:";
- const char echomagic[] PROGMEM = "echo:";
- const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
-
- static bool relative_mode = false; //Determines Absolute or Relative Coordinates
- static int serial_count = 0;
- static char* seen_pointer; ///< A pointer to find chars in the command string (X, Y, Z, E, etc.)
- const char* queued_commands_P = NULL; /* pointer to the current line in the active sequence of commands, or NULL when none */
- const int sensitive_pins[] = SENSITIVE_PINS; ///< Sensitive pin list for M42
- // Inactivity shutdown
- millis_t previous_cmd_ms = 0;
- static millis_t max_inactive_time = 0;
- static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
- Stopwatch print_job_timer = Stopwatch();
- static uint8_t target_extruder;
-
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
- int xy_travel_speed = XY_TRAVEL_SPEED;
- float zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER;
- #endif
-
- #if ENABLED(Z_DUAL_ENDSTOPS) && DISABLED(DELTA)
- float z_endstop_adj = 0;
- #endif
-
- // Extruder offsets
- #if EXTRUDERS > 1
- #ifndef EXTRUDER_OFFSET_X
- #define EXTRUDER_OFFSET_X { 0 } // X offsets for each extruder
- #endif
- #ifndef EXTRUDER_OFFSET_Y
- #define EXTRUDER_OFFSET_Y { 0 } // Y offsets for each extruder
- #endif
- float extruder_offset[][EXTRUDERS] = {
- EXTRUDER_OFFSET_X,
- EXTRUDER_OFFSET_Y
- #if ENABLED(DUAL_X_CARRIAGE)
- , { 0 } // Z offsets for each extruder
- #endif
- };
- #endif
-
- #if HAS_SERVO_ENDSTOPS
- const int servo_endstop_id[] = SERVO_ENDSTOP_IDS;
- const int servo_endstop_angle[][2] = SERVO_ENDSTOP_ANGLES;
- #endif
-
- #if ENABLED(BARICUDA)
- int ValvePressure = 0;
- int EtoPPressure = 0;
- #endif
-
- #if ENABLED(FWRETRACT)
-
- bool autoretract_enabled = false;
- bool retracted[EXTRUDERS] = { false };
- bool retracted_swap[EXTRUDERS] = { false };
-
- float retract_length = RETRACT_LENGTH;
- float retract_length_swap = RETRACT_LENGTH_SWAP;
- float retract_feedrate = RETRACT_FEEDRATE;
- float retract_zlift = RETRACT_ZLIFT;
- float retract_recover_length = RETRACT_RECOVER_LENGTH;
- float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
- float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
-
- #endif // FWRETRACT
-
- #if ENABLED(ULTIPANEL) && HAS_POWER_SWITCH
- bool powersupply =
- #if ENABLED(PS_DEFAULT_OFF)
- false
- #else
- true
- #endif
- ;
- #endif
-
- #if ENABLED(DELTA)
-
- #define TOWER_1 X_AXIS
- #define TOWER_2 Y_AXIS
- #define TOWER_3 Z_AXIS
-
- float delta[3] = { 0 };
- #define SIN_60 0.8660254037844386
- #define COS_60 0.5
- float endstop_adj[3] = { 0 };
- // these are the default values, can be overriden with M665
- float delta_radius = DELTA_RADIUS;
- float delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
- float delta_tower1_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1);
- float delta_tower2_x = SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
- float delta_tower2_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2);
- float delta_tower3_x = 0; // back middle tower
- float delta_tower3_y = (delta_radius + DELTA_RADIUS_TRIM_TOWER_3);
- float delta_diagonal_rod = DELTA_DIAGONAL_ROD;
- float delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1;
- float delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2;
- float delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3;
- float delta_diagonal_rod_2_tower_1 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_1);
- float delta_diagonal_rod_2_tower_2 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_2);
- float delta_diagonal_rod_2_tower_3 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_3);
- //float delta_diagonal_rod_2 = sq(delta_diagonal_rod);
- float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
- int delta_grid_spacing[2] = { 0, 0 };
- float bed_level[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
- #endif
- #else
- static bool home_all_axis = true;
- #endif
-
- #if ENABLED(SCARA)
- float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
- static float delta[3] = { 0 };
- float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
- #endif
-
- #if ENABLED(FILAMENT_WIDTH_SENSOR)
- //Variables for Filament Sensor input
- float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
- bool filament_sensor = false; //M405 turns on filament_sensor control, M406 turns it off
- float filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter
- int8_t measurement_delay[MAX_MEASUREMENT_DELAY + 1]; //ring buffer to delay measurement store extruder factor after subtracting 100
- int filwidth_delay_index1 = 0; //index into ring buffer
- int filwidth_delay_index2 = -1; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
- int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
- #endif
-
- #if ENABLED(FILAMENT_RUNOUT_SENSOR)
- static bool filrunoutEnqueued = false;
- #endif
-
- static bool send_ok[BUFSIZE];
-
- #if HAS_SERVOS
- Servo servo[NUM_SERVOS];
- #endif
-
- #ifdef CHDK
- millis_t chdkHigh = 0;
- boolean chdkActive = false;
- #endif
-
- #if ENABLED(PID_ADD_EXTRUSION_RATE)
- int lpq_len = 20;
- #endif
-
- #if ENABLED(HOST_KEEPALIVE_FEATURE)
-
- // States for managing Marlin and host communication
- // Marlin sends messages if blocked or busy
- enum MarlinBusyState {
- NOT_BUSY, // Not in a handler
- IN_HANDLER, // Processing a GCode
- IN_PROCESS, // Known to be blocking command input (as in G29)
- PAUSED_FOR_USER, // Blocking pending any input
- PAUSED_FOR_INPUT // Blocking pending text input (concept)
- };
-
- static MarlinBusyState busy_state = NOT_BUSY;
- static millis_t next_busy_signal_ms = 0;
- uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
- #define KEEPALIVE_STATE(n) do{ busy_state = n; }while(0)
- #else
- #define host_keepalive() ;
- #define KEEPALIVE_STATE(n) ;
- #endif // HOST_KEEPALIVE_FEATURE
-
- /**
- * ***************************************************************************
- * ******************************** FUNCTIONS ********************************
- * ***************************************************************************
- */
-
- void get_available_commands();
- void process_next_command();
-
- void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
-
- bool setTargetedHotend(int code);
-
- void serial_echopair_P(const char* s_P, int v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
- void serial_echopair_P(const char* s_P, long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
- void serial_echopair_P(const char* s_P, float v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
- void serial_echopair_P(const char* s_P, double v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
- void serial_echopair_P(const char* s_P, unsigned long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
-
- void gcode_M114();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- void print_xyz(const char* prefix, const float x, const float y, const float z) {
- SERIAL_ECHO(prefix);
- SERIAL_ECHOPAIR(": (", x);
- SERIAL_ECHOPAIR(", ", y);
- SERIAL_ECHOPAIR(", ", z);
- SERIAL_ECHOLNPGM(")");
- }
- void print_xyz(const char* prefix, const float xyz[]) {
- print_xyz(prefix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
- }
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
- void print_xyz(const char* prefix, const vector_3 &xyz) {
- print_xyz(prefix, xyz.x, xyz.y, xyz.z);
- }
- #endif
- #define DEBUG_POS(PREFIX,VAR) do{ SERIAL_ECHOPGM(PREFIX); print_xyz(" > " STRINGIFY(VAR), VAR); }while(0)
- #endif
-
- #if ENABLED(DELTA) || ENABLED(SCARA)
- inline void sync_plan_position_delta() {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_delta", current_position);
- #endif
- calculate_delta(current_position);
- plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
- }
- #endif
-
- #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
- float extrude_min_temp = EXTRUDE_MINTEMP;
- #endif
-
- #if ENABLED(HAS_Z_MIN_PROBE)
- extern volatile bool z_probe_is_active;
- #endif
-
- #if ENABLED(SDSUPPORT)
- #include "SdFatUtil.h"
- int freeMemory() { return SdFatUtil::FreeRam(); }
- #else
- extern "C" {
- extern unsigned int __bss_end;
- extern unsigned int __heap_start;
- extern void* __brkval;
-
- int freeMemory() {
- int free_memory;
- if ((int)__brkval == 0)
- free_memory = ((int)&free_memory) - ((int)&__bss_end);
- else
- free_memory = ((int)&free_memory) - ((int)__brkval);
- return free_memory;
- }
- }
- #endif //!SDSUPPORT
-
- /**
- * Inject the next "immediate" command, when possible.
- * Return true if any immediate commands remain to inject.
- */
- static bool drain_queued_commands_P() {
- if (queued_commands_P != NULL) {
- size_t i = 0;
- char c, cmd[30];
- strncpy_P(cmd, queued_commands_P, sizeof(cmd) - 1);
- cmd[sizeof(cmd) - 1] = '\0';
- while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
- cmd[i] = '\0';
- if (enqueue_and_echo_command(cmd)) { // success?
- if (c) // newline char?
- queued_commands_P += i + 1; // advance to the next command
- else
- queued_commands_P = NULL; // nul char? no more commands
- }
- }
- return (queued_commands_P != NULL); // return whether any more remain
- }
-
- /**
- * Record one or many commands to run from program memory.
- * Aborts the current queue, if any.
- * Note: drain_queued_commands_P() must be called repeatedly to drain the commands afterwards
- */
- void enqueue_and_echo_commands_P(const char* pgcode) {
- queued_commands_P = pgcode;
- drain_queued_commands_P(); // first command executed asap (when possible)
- }
-
- /**
- * Once a new command is in the ring buffer, call this to commit it
- */
- inline void _commit_command(bool say_ok) {
- send_ok[cmd_queue_index_w] = say_ok;
- cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE;
- commands_in_queue++;
- }
-
- /**
- * Copy a command directly into the main command buffer, from RAM.
- * Returns true if successfully adds the command
- */
- inline bool _enqueuecommand(const char* cmd, bool say_ok=false) {
- if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
- strcpy(command_queue[cmd_queue_index_w], cmd);
- _commit_command(say_ok);
- return true;
- }
-
- void enqueue_and_echo_command_now(const char* cmd) {
- while (!enqueue_and_echo_command(cmd)) idle();
- }
-
- /**
- * Enqueue with Serial Echo
- */
- bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
- if (_enqueuecommand(cmd, say_ok)) {
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_Enqueueing);
- SERIAL_ECHO(cmd);
- SERIAL_ECHOLNPGM("\"");
- return true;
- }
- return false;
- }
-
- void setup_killpin() {
- #if HAS_KILL
- SET_INPUT(KILL_PIN);
- WRITE(KILL_PIN, HIGH);
- #endif
- }
-
- void setup_filrunoutpin() {
- #if HAS_FILRUNOUT
- pinMode(FILRUNOUT_PIN, INPUT);
- #if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
- WRITE(FILRUNOUT_PIN, HIGH);
- #endif
- #endif
- }
-
- // Set home pin
- void setup_homepin(void) {
- #if HAS_HOME
- SET_INPUT(HOME_PIN);
- WRITE(HOME_PIN, HIGH);
- #endif
- }
-
-
- void setup_photpin() {
- #if HAS_PHOTOGRAPH
- OUT_WRITE(PHOTOGRAPH_PIN, LOW);
- #endif
- }
-
- void setup_powerhold() {
- #if HAS_SUICIDE
- OUT_WRITE(SUICIDE_PIN, HIGH);
- #endif
- #if HAS_POWER_SWITCH
- #if ENABLED(PS_DEFAULT_OFF)
- OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
- #else
- OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
- #endif
- #endif
- }
-
- void suicide() {
- #if HAS_SUICIDE
- OUT_WRITE(SUICIDE_PIN, LOW);
- #endif
- }
-
- void servo_init() {
- #if NUM_SERVOS >= 1 && HAS_SERVO_0
- servo[0].attach(SERVO0_PIN);
- servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
- #endif
- #if NUM_SERVOS >= 2 && HAS_SERVO_1
- servo[1].attach(SERVO1_PIN);
- servo[1].detach();
- #endif
- #if NUM_SERVOS >= 3 && HAS_SERVO_2
- servo[2].attach(SERVO2_PIN);
- servo[2].detach();
- #endif
- #if NUM_SERVOS >= 4 && HAS_SERVO_3
- servo[3].attach(SERVO3_PIN);
- servo[3].detach();
- #endif
-
- #if HAS_SERVO_ENDSTOPS
-
- z_probe_is_active = false;
-
- /**
- * Set position of all defined Servo Endstops
- *
- * ** UNSAFE! - NEEDS UPDATE! **
- *
- * The servo might be deployed and positioned too low to stow
- * when starting up the machine or rebooting the board.
- * There's no way to know where the nozzle is positioned until
- * homing has been done - no homing with z-probe without init!
- *
- */
- for (int i = 0; i < 3; i++)
- if (servo_endstop_id[i] >= 0)
- servo[servo_endstop_id[i]].move(servo_endstop_angle[i][1]);
-
- #endif // HAS_SERVO_ENDSTOPS
-
- }
-
- /**
- * Stepper Reset (RigidBoard, et.al.)
- */
- #if HAS_STEPPER_RESET
- void disableStepperDrivers() {
- pinMode(STEPPER_RESET_PIN, OUTPUT);
- digitalWrite(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
- }
- void enableStepperDrivers() { pinMode(STEPPER_RESET_PIN, INPUT); } // set to input, which allows it to be pulled high by pullups
- #endif
-
- /**
- * Marlin entry-point: Set up before the program loop
- * - Set up the kill pin, filament runout, power hold
- * - Start the serial port
- * - Print startup messages and diagnostics
- * - Get EEPROM or default settings
- * - Initialize managers for:
- * • temperature
- * • planner
- * • watchdog
- * • stepper
- * • photo pin
- * • servos
- * • LCD controller
- * • Digipot I2C
- * • Z probe sled
- * • status LEDs
- */
- void setup() {
-
- #ifdef DISABLE_JTAG
- // Disable JTAG on AT90USB chips to free up pins for IO
- MCUCR = 0x80;
- MCUCR = 0x80;
- #endif
-
- setup_killpin();
- setup_filrunoutpin();
- setup_powerhold();
-
- #if HAS_STEPPER_RESET
- disableStepperDrivers();
- #endif
-
- MYSERIAL.begin(BAUDRATE);
- SERIAL_PROTOCOLLNPGM("start");
- SERIAL_ECHO_START;
-
- // Check startup - does nothing if bootloader sets MCUSR to 0
- byte mcu = MCUSR;
- if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
- if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
- if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
- if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
- if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
- MCUSR = 0;
-
- SERIAL_ECHOPGM(MSG_MARLIN);
- SERIAL_ECHOLNPGM(" " SHORT_BUILD_VERSION);
-
- #ifdef STRING_DISTRIBUTION_DATE
- #ifdef STRING_CONFIG_H_AUTHOR
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
- SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
- SERIAL_ECHOPGM(MSG_AUTHOR);
- SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
- SERIAL_ECHOPGM("Compiled: ");
- SERIAL_ECHOLNPGM(__DATE__);
- #endif // STRING_CONFIG_H_AUTHOR
- #endif // STRING_DISTRIBUTION_DATE
-
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_FREE_MEMORY);
- SERIAL_ECHO(freeMemory());
- SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
- SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
-
- // Send "ok" after commands by default
- for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
-
- // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
- Config_RetrieveSettings();
-
- lcd_init();
-
- tp_init(); // Initialize temperature loop
- plan_init(); // Initialize planner;
-
- #if ENABLED(DELTA) || ENABLED(SCARA)
- // Vital to init kinematic equivalent for X0 Y0 Z0
- sync_plan_position_delta();
- #endif
-
- #if ENABLED(USE_WATCHDOG)
- watchdog_init();
- #endif
-
- st_init(); // Initialize stepper, this enables interrupts!
- setup_photpin();
- servo_init();
-
- #if HAS_CONTROLLERFAN
- SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
- #endif
-
- #if HAS_STEPPER_RESET
- enableStepperDrivers();
- #endif
-
- #if ENABLED(DIGIPOT_I2C)
- digipot_i2c_init();
- #endif
-
- #if ENABLED(Z_PROBE_SLED)
- pinMode(SLED_PIN, OUTPUT);
- digitalWrite(SLED_PIN, LOW); // turn it off
- #endif // Z_PROBE_SLED
-
- setup_homepin();
-
- #ifdef STAT_LED_RED
- pinMode(STAT_LED_RED, OUTPUT);
- digitalWrite(STAT_LED_RED, LOW); // turn it off
- #endif
-
- #ifdef STAT_LED_BLUE
- pinMode(STAT_LED_BLUE, OUTPUT);
- digitalWrite(STAT_LED_BLUE, LOW); // turn it off
- #endif
- }
-
- /**
- * The main Marlin program loop
- *
- * - Save or log commands to SD
- * - Process available commands (if not saving)
- * - Call heater manager
- * - Call inactivity manager
- * - Call endstop manager
- * - Call LCD update
- */
- void loop() {
- if (commands_in_queue < BUFSIZE) get_available_commands();
-
- #if ENABLED(SDSUPPORT)
- card.checkautostart(false);
- #endif
-
- if (commands_in_queue) {
-
- #if ENABLED(SDSUPPORT)
-
- if (card.saving) {
- char* command = command_queue[cmd_queue_index_r];
- if (strstr_P(command, PSTR("M29"))) {
- // M29 closes the file
- card.closefile();
- SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
- ok_to_send();
- }
- else {
- // Write the string from the read buffer to SD
- card.write_command(command);
- if (card.logging)
- process_next_command(); // The card is saving because it's logging
- else
- ok_to_send();
- }
- }
- else
- process_next_command();
-
- #else
-
- process_next_command();
-
- #endif // SDSUPPORT
-
- commands_in_queue--;
- cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
- }
- checkHitEndstops();
- idle();
- }
-
- void gcode_line_error(const char* err, bool doFlush = true) {
- SERIAL_ERROR_START;
- serialprintPGM(err);
- SERIAL_ERRORLN(gcode_LastN);
- //Serial.println(gcode_N);
- if (doFlush) FlushSerialRequestResend();
- serial_count = 0;
- }
-
- inline void get_serial_commands() {
- static char serial_line_buffer[MAX_CMD_SIZE];
- static boolean serial_comment_mode = false;
-
- // If the command buffer is empty for too long,
- // send "wait" to indicate Marlin is still waiting.
- #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
- static millis_t last_command_time = 0;
- millis_t ms = millis();
- if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
- SERIAL_ECHOLNPGM(MSG_WAIT);
- last_command_time = ms;
- }
- #endif
-
- /**
- * Loop while serial characters are incoming and the queue is not full
- */
- while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) {
-
- char serial_char = MYSERIAL.read();
-
- /**
- * If the character ends the line
- */
- if (serial_char == '\n' || serial_char == '\r') {
-
- serial_comment_mode = false; // end of line == end of comment
-
- if (!serial_count) continue; // skip empty lines
-
- serial_line_buffer[serial_count] = 0; // terminate string
- serial_count = 0; //reset buffer
-
- char* command = serial_line_buffer;
-
- while (*command == ' ') command++; // skip any leading spaces
- char* npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
- char* apos = strchr(command, '*');
-
- if (npos) {
-
- boolean M110 = strstr_P(command, PSTR("M110")) != NULL;
-
- if (M110) {
- char* n2pos = strchr(command + 4, 'N');
- if (n2pos) npos = n2pos;
- }
-
- gcode_N = strtol(npos + 1, NULL, 10);
-
- if (gcode_N != gcode_LastN + 1 && !M110) {
- gcode_line_error(PSTR(MSG_ERR_LINE_NO));
- return;
- }
-
- if (apos) {
- byte checksum = 0, count = 0;
- while (command[count] != '*') checksum ^= command[count++];
-
- if (strtol(apos + 1, NULL, 10) != checksum) {
- gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
- return;
- }
- // if no errors, continue parsing
- }
- else {
- gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
- return;
- }
-
- gcode_LastN = gcode_N;
- // if no errors, continue parsing
- }
- else if (apos) { // No '*' without 'N'
- gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false);
- return;
- }
-
- // Movement commands alert when stopped
- if (IsStopped()) {
- char* gpos = strchr(command, 'G');
- if (gpos) {
- int codenum = strtol(gpos + 1, NULL, 10);
- switch (codenum) {
- case 0:
- case 1:
- case 2:
- case 3:
- SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
- LCD_MESSAGEPGM(MSG_STOPPED);
- break;
- }
- }
- }
-
- // If command was e-stop process now
- if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
-
- #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
- last_command_time = ms;
- #endif
-
- // Add the command to the queue
- _enqueuecommand(serial_line_buffer, true);
- }
- else if (serial_count >= MAX_CMD_SIZE - 1) {
- // Keep fetching, but ignore normal characters beyond the max length
- // The command will be injected when EOL is reached
- }
- else if (serial_char == '\\') { // Handle escapes
- if (MYSERIAL.available() > 0) {
- // if we have one more character, copy it over
- serial_char = MYSERIAL.read();
- if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
- }
- // otherwise do nothing
- }
- else { // it's not a newline, carriage return or escape char
- if (serial_char == ';') serial_comment_mode = true;
- if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
- }
-
- } // queue has space, serial has data
- }
-
- #if ENABLED(SDSUPPORT)
-
- inline void get_sdcard_commands() {
- static bool stop_buffering = false,
- sd_comment_mode = false;
-
- if (!card.sdprinting) return;
-
- /**
- * '#' stops reading from SD to the buffer prematurely, so procedural
- * macro calls are possible. If it occurs, stop_buffering is triggered
- * and the buffer is run dry; this character _can_ occur in serial com
- * due to checksums, however, no checksums are used in SD printing.
- */
-
- if (commands_in_queue == 0) stop_buffering = false;
-
- uint16_t sd_count = 0;
- bool card_eof = card.eof();
- while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
- int16_t n = card.get();
- char sd_char = (char)n;
- card_eof = card.eof();
- if (card_eof || n == -1
- || sd_char == '\n' || sd_char == '\r'
- || ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
- ) {
- if (card_eof) {
- SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
- print_job_timer.stop();
- char time[30];
- millis_t t = print_job_timer.duration();
- int hours = t / 60 / 60, minutes = (t / 60) % 60;
- sprintf_P(time, PSTR("%i " MSG_END_HOUR " %i " MSG_END_MINUTE), hours, minutes);
- SERIAL_ECHO_START;
- SERIAL_ECHOLN(time);
- lcd_setstatus(time, true);
- card.printingHasFinished();
- card.checkautostart(true);
- }
- if (sd_char == '#') stop_buffering = true;
-
- sd_comment_mode = false; //for new command
-
- if (!sd_count) continue; //skip empty lines
-
- command_queue[cmd_queue_index_w][sd_count] = '\0'; //terminate string
- sd_count = 0; //clear buffer
-
- _commit_command(false);
- }
- else if (sd_count >= MAX_CMD_SIZE - 1) {
- /**
- * Keep fetching, but ignore normal characters beyond the max length
- * The command will be injected when EOL is reached
- */
- }
- else {
- if (sd_char == ';') sd_comment_mode = true;
- if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
- }
- }
- }
-
- #endif // SDSUPPORT
-
- /**
- * Add to the circular command queue the next command from:
- * - The command-injection queue (queued_commands_P)
- * - The active serial input (usually USB)
- * - The SD card file being actively printed
- */
- void get_available_commands() {
-
- // if any immediate commands remain, don't get other commands yet
- if (drain_queued_commands_P()) return;
-
- get_serial_commands();
-
- #if ENABLED(SDSUPPORT)
- get_sdcard_commands();
- #endif
- }
-
- bool code_has_value() {
- int i = 1;
- char c = seen_pointer[i];
- while (c == ' ') c = seen_pointer[++i];
- if (c == '-' || c == '+') c = seen_pointer[++i];
- if (c == '.') c = seen_pointer[++i];
- return NUMERIC(c);
- }
-
- float code_value() {
- float ret;
- char* e = strchr(seen_pointer, 'E');
- if (e) {
- *e = 0;
- ret = strtod(seen_pointer + 1, NULL);
- *e = 'E';
- }
- else
- ret = strtod(seen_pointer + 1, NULL);
- return ret;
- }
-
- long code_value_long() { return strtol(seen_pointer + 1, NULL, 10); }
-
- int16_t code_value_short() { return (int16_t)strtol(seen_pointer + 1, NULL, 10); }
-
- bool code_seen(char code) {
- seen_pointer = strchr(current_command_args, code);
- return (seen_pointer != NULL); // Return TRUE if the code-letter was found
- }
-
- #define DEFINE_PGM_READ_ANY(type, reader) \
- static inline type pgm_read_any(const type *p) \
- { return pgm_read_##reader##_near(p); }
-
- DEFINE_PGM_READ_ANY(float, float);
- DEFINE_PGM_READ_ANY(signed char, byte);
-
- #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
- static const PROGMEM type array##_P[3] = \
- { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
- static inline type array(int axis) \
- { return pgm_read_any(&array##_P[axis]); }
-
- XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
- XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
- XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
- XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
- XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM);
- XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
-
- #if ENABLED(DUAL_X_CARRIAGE)
-
- #define DXC_FULL_CONTROL_MODE 0
- #define DXC_AUTO_PARK_MODE 1
- #define DXC_DUPLICATION_MODE 2
-
- static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
-
- static float x_home_pos(int extruder) {
- if (extruder == 0)
- return base_home_pos(X_AXIS) + home_offset[X_AXIS];
- else
- /**
- * In dual carriage mode the extruder offset provides an override of the
- * second X-carriage offset when homed - otherwise X2_HOME_POS is used.
- * This allow soft recalibration of the second extruder offset position
- * without firmware reflash (through the M218 command).
- */
- return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
- }
-
- static int x_home_dir(int extruder) {
- return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
- }
-
- static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
- static bool active_extruder_parked = false; // used in mode 1 & 2
- static float raised_parked_position[NUM_AXIS]; // used in mode 1
- static millis_t delayed_move_time = 0; // used in mode 1
- static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
- static float duplicate_extruder_temp_offset = 0; // used in mode 2
- bool extruder_duplication_enabled = false; // used in mode 2
-
- #endif //DUAL_X_CARRIAGE
-
- /**
- * Software endstops can be used to monitor the open end of
- * an axis that has a hardware endstop on the other end. Or
- * they can prevent axes from moving past endstops and grinding.
- *
- * To keep doing their job as the coordinate system changes,
- * the software endstop positions must be refreshed to remain
- * at the same positions relative to the machine.
- */
- static void update_software_endstops(AxisEnum axis) {
- float offs = home_offset[axis] + position_shift[axis];
- #if ENABLED(DUAL_X_CARRIAGE)
- if (axis == X_AXIS) {
- float dual_max_x = max(extruder_offset[X_AXIS][1], X2_MAX_POS);
- if (active_extruder != 0) {
- min_pos[X_AXIS] = X2_MIN_POS + offs;
- max_pos[X_AXIS] = dual_max_x + offs;
- return;
- }
- else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
- min_pos[X_AXIS] = base_min_pos(X_AXIS) + offs;
- max_pos[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
- return;
- }
- }
- else
- #endif
- {
- min_pos[axis] = base_min_pos(axis) + offs;
- max_pos[axis] = base_max_pos(axis) + offs;
- }
- }
-
- static void set_home_offset(AxisEnum axis, float v) {
- current_position[axis] += v - home_offset[axis];
- home_offset[axis] = v;
- update_software_endstops(axis);
- }
-
- static void set_axis_is_at_home(AxisEnum axis) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("set_axis_is_at_home(", axis);
- SERIAL_ECHOLNPGM(") >>>");
- }
- #endif
-
- position_shift[axis] = 0;
-
- #if ENABLED(DUAL_X_CARRIAGE)
- if (axis == X_AXIS && (active_extruder != 0 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
- if (active_extruder != 0)
- current_position[X_AXIS] = x_home_pos(active_extruder);
- else
- current_position[X_AXIS] = base_home_pos(X_AXIS) + home_offset[X_AXIS];
- update_software_endstops(X_AXIS);
- return;
- }
- #endif
-
- #if ENABLED(SCARA)
-
- if (axis == X_AXIS || axis == Y_AXIS) {
-
- float homeposition[3];
- for (int i = 0; i < 3; i++) homeposition[i] = base_home_pos(i);
-
- // SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
- // SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
-
- /**
- * Works out real Homeposition angles using inverse kinematics,
- * and calculates homing offset using forward kinematics
- */
- calculate_delta(homeposition);
-
- // SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]);
- // SERIAL_ECHOPGM(" base Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
-
- for (int i = 0; i < 2; i++) delta[i] -= home_offset[i];
-
- // SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(home_offset[X_AXIS]);
- // SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(home_offset[Y_AXIS]);
- // SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
- // SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
-
- calculate_SCARA_forward_Transform(delta);
-
- // SERIAL_ECHOPGM("Delta X="); SERIAL_ECHO(delta[X_AXIS]);
- // SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);
-
- current_position[axis] = delta[axis];
-
- /**
- * SCARA home positions are based on configuration since the actual
- * limits are determined by the inverse kinematic transform.
- */
- min_pos[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
- max_pos[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
- }
- else
- #endif
- {
- current_position[axis] = base_home_pos(axis) + home_offset[axis];
- update_software_endstops(axis);
-
- #if ENABLED(AUTO_BED_LEVELING_FEATURE) && Z_HOME_DIR < 0
- if (axis == Z_AXIS) {
- current_position[Z_AXIS] -= zprobe_zoffset;
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("> zprobe_zoffset==", zprobe_zoffset);
- SERIAL_EOL;
- }
- #endif
- }
- #endif
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("> home_offset[axis]==", home_offset[axis]);
- DEBUG_POS("", current_position);
- }
- #endif
- }
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis);
- SERIAL_ECHOLNPGM(")");
- }
- #endif
- }
-
- /**
- * Some planner shorthand inline functions
- */
- inline void set_homing_bump_feedrate(AxisEnum axis) {
- const int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
- int hbd = homing_bump_divisor[axis];
- if (hbd < 1) {
- hbd = 10;
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
- }
- feedrate = homing_feedrate[axis] / hbd;
- }
- //
- // line_to_current_position
- // Move the planner to the current position from wherever it last moved
- // (or from wherever it has been told it is located).
- //
- inline void line_to_current_position() {
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
- }
- inline void line_to_z(float zPosition) {
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate / 60, active_extruder);
- }
- //
- // line_to_destination
- // Move the planner, not necessarily synced with current_position
- //
- inline void line_to_destination(float mm_m) {
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], mm_m / 60, active_extruder);
- }
- inline void line_to_destination() {
- line_to_destination(feedrate);
- }
- /**
- * sync_plan_position
- * Set planner / stepper positions to the cartesian current_position.
- * The stepper code translates these coordinates into step units.
- * Allows translation between steps and units (mm) for cartesian & core robots
- */
- inline void sync_plan_position() {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
- #endif
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- }
- inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
- inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
-
- static void setup_for_endstop_move() {
- saved_feedrate = feedrate;
- saved_feedrate_multiplier = feedrate_multiplier;
- feedrate_multiplier = 100;
- refresh_cmd_timeout();
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("setup_for_endstop_move > enable_endstops(true)");
- #endif
- enable_endstops(true);
- }
-
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
-
- #if ENABLED(DELTA)
- /**
- * Calculate delta, start a line, and set current_position to destination
- */
- void prepare_move_raw() {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_move_raw", destination);
- #endif
- refresh_cmd_timeout();
- calculate_delta(destination);
- plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], (feedrate / 60) * (feedrate_multiplier / 100.0), active_extruder);
- set_current_to_destination();
- }
- #endif
-
- #if ENABLED(AUTO_BED_LEVELING_GRID)
-
- #if DISABLED(DELTA)
-
- static void set_bed_level_equation_lsq(double* plane_equation_coefficients) {
-
- //plan_bed_level_matrix.debug("bed level before");
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- plan_bed_level_matrix.set_to_identity();
- if (DEBUGGING(LEVELING)) {
- vector_3 uncorrected_position = plan_get_position();
- DEBUG_POS(">>> set_bed_level_equation_lsq", uncorrected_position);
- DEBUG_POS(">>> set_bed_level_equation_lsq", current_position);
- }
- #endif
-
- vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
- plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
-
- vector_3 corrected_position = plan_get_position();
- current_position[X_AXIS] = corrected_position.x;
- current_position[Y_AXIS] = corrected_position.y;
- current_position[Z_AXIS] = corrected_position.z;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("<<< set_bed_level_equation_lsq", corrected_position);
- #endif
-
- sync_plan_position();
- }
-
- #endif // !DELTA
-
- #else // !AUTO_BED_LEVELING_GRID
-
- static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
-
- plan_bed_level_matrix.set_to_identity();
-
- vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
- vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
- vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
- vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal();
-
- if (planeNormal.z < 0) {
- planeNormal.x = -planeNormal.x;
- planeNormal.y = -planeNormal.y;
- planeNormal.z = -planeNormal.z;
- }
-
- plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
-
- vector_3 corrected_position = plan_get_position();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- vector_3 uncorrected_position = corrected_position;
- DEBUG_POS("set_bed_level_equation_3pts", uncorrected_position);
- }
- #endif
-
- current_position[X_AXIS] = corrected_position.x;
- current_position[Y_AXIS] = corrected_position.y;
- current_position[Z_AXIS] = corrected_position.z;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("set_bed_level_equation_3pts", corrected_position);
- #endif
-
- sync_plan_position();
- }
-
- #endif // !AUTO_BED_LEVELING_GRID
-
- static void run_z_probe() {
-
- /**
- * To prevent stepper_inactive_time from running out and
- * EXTRUDER_RUNOUT_PREVENT from extruding
- */
- refresh_cmd_timeout();
-
- #if ENABLED(DELTA)
-
- float start_z = current_position[Z_AXIS];
- long start_steps = st_get_position(Z_AXIS);
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("run_z_probe (DELTA) 1");
- #endif
-
- // move down slowly until you find the bed
- feedrate = homing_feedrate[Z_AXIS] / 4;
- destination[Z_AXIS] = -10;
- prepare_move_raw(); // this will also set_current_to_destination
- st_synchronize();
- endstops_hit_on_purpose(); // clear endstop hit flags
-
- /**
- * We have to let the planner know where we are right now as it
- * is not where we said to go.
- */
- long stop_steps = st_get_position(Z_AXIS);
- float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
- current_position[Z_AXIS] = mm;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe (DELTA) 2", current_position);
- #endif
-
- sync_plan_position_delta();
-
- #else // !DELTA
-
- plan_bed_level_matrix.set_to_identity();
- feedrate = homing_feedrate[Z_AXIS];
-
- // Move down until the Z probe (or endstop?) is triggered
- float zPosition = -(Z_MAX_LENGTH + 10);
- line_to_z(zPosition);
- st_synchronize();
-
- // Tell the planner where we ended up - Get this from the stepper handler
- zPosition = st_get_axis_position_mm(Z_AXIS);
- plan_set_position(
- current_position[X_AXIS], current_position[Y_AXIS], zPosition,
- current_position[E_AXIS]
- );
-
- // move up the retract distance
- zPosition += home_bump_mm(Z_AXIS);
- line_to_z(zPosition);
- st_synchronize();
- endstops_hit_on_purpose(); // clear endstop hit flags
-
- // move back down slowly to find bed
- set_homing_bump_feedrate(Z_AXIS);
-
- zPosition -= home_bump_mm(Z_AXIS) * 2;
- line_to_z(zPosition);
- st_synchronize();
- endstops_hit_on_purpose(); // clear endstop hit flags
-
- // Get the current stepper position after bumping an endstop
- current_position[Z_AXIS] = st_get_axis_position_mm(Z_AXIS);
- sync_plan_position();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe", current_position);
- #endif
-
- #endif // !DELTA
- }
-
- /**
- * Plan a move to (X, Y, Z) and set the current_position
- * The final current_position may not be the one that was requested
- */
- static void do_blocking_move_to(float x, float y, float z) {
- float oldFeedRate = feedrate;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) print_xyz("do_blocking_move_to", x, y, z);
- #endif
-
- #if ENABLED(DELTA)
-
- feedrate = XY_TRAVEL_SPEED;
-
- destination[X_AXIS] = x;
- destination[Y_AXIS] = y;
- destination[Z_AXIS] = z;
- prepare_move_raw(); // this will also set_current_to_destination
- st_synchronize();
-
- #else
-
- feedrate = homing_feedrate[Z_AXIS];
-
- current_position[Z_AXIS] = z;
- line_to_current_position();
- st_synchronize();
-
- feedrate = xy_travel_speed;
-
- current_position[X_AXIS] = x;
- current_position[Y_AXIS] = y;
- line_to_current_position();
- st_synchronize();
-
- #endif
-
- feedrate = oldFeedRate;
- }
-
- inline void do_blocking_move_to_xy(float x, float y) {
- do_blocking_move_to(x, y, current_position[Z_AXIS]);
- }
-
- inline void do_blocking_move_to_x(float x) {
- do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]);
- }
-
- inline void do_blocking_move_to_z(float z) {
- do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z);
- }
-
- inline void raise_z_after_probing() {
- do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
- }
-
- static void clean_up_after_endstop_move() {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("clean_up_after_endstop_move > ENDSTOPS_ONLY_FOR_HOMING > endstops_not_homing()");
- #endif
- endstops_not_homing();
- feedrate = saved_feedrate;
- feedrate_multiplier = saved_feedrate_multiplier;
- refresh_cmd_timeout();
- }
-
- #if ENABLED(HAS_Z_MIN_PROBE)
-
- static void deploy_z_probe() {
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("deploy_z_probe", current_position);
- #endif
-
- if (z_probe_is_active) return;
-
- #if HAS_SERVO_ENDSTOPS
-
- // Engage Z Servo endstop if enabled
- if (servo_endstop_id[Z_AXIS] >= 0) servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][0]);
-
- #elif ENABLED(Z_PROBE_ALLEN_KEY)
- feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE;
-
- // If endstop is already false, the Z probe is deployed
- #if ENABLED(Z_MIN_PROBE_ENDSTOP)
- bool z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
- if (z_probe_endstop)
- #else
- bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
- if (z_min_endstop)
- #endif
- {
-
- // Move to the start position to initiate deployment
- destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_X;
- destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_Y;
- destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_Z;
- prepare_move_raw(); // this will also set_current_to_destination
-
- // Move to engage deployment
- if (Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE)
- feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE;
- if (Z_PROBE_ALLEN_KEY_DEPLOY_2_X != Z_PROBE_ALLEN_KEY_DEPLOY_1_X)
- destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_X;
- if (Z_PROBE_ALLEN_KEY_DEPLOY_2_Y != Z_PROBE_ALLEN_KEY_DEPLOY_1_Y)
- destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_Y;
- if (Z_PROBE_ALLEN_KEY_DEPLOY_2_Z != Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
- destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_Z;
- prepare_move_raw();
-
- #ifdef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
- if (Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE)
- feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE;
-
- // Move to trigger deployment
- if (Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE)
- feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE;
- if (Z_PROBE_ALLEN_KEY_DEPLOY_3_X != Z_PROBE_ALLEN_KEY_DEPLOY_2_X)
- destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_X;
- if (Z_PROBE_ALLEN_KEY_DEPLOY_3_Y != Z_PROBE_ALLEN_KEY_DEPLOY_2_Y)
- destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_Y;
- if (Z_PROBE_ALLEN_KEY_DEPLOY_3_Z != Z_PROBE_ALLEN_KEY_DEPLOY_2_Z)
- destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_Z;
-
- prepare_move_raw();
- #endif
- }
-
- // Partially Home X,Y for safety
- destination[X_AXIS] = destination[X_AXIS] * 0.75;
- destination[Y_AXIS] = destination[Y_AXIS] * 0.75;
- prepare_move_raw(); // this will also set_current_to_destination
-
- st_synchronize();
-
- #if ENABLED(Z_MIN_PROBE_ENDSTOP)
- z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
- if (z_probe_endstop)
- #else
- z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
- if (z_min_endstop)
- #endif
- {
- if (IsRunning()) {
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
- LCD_ALERTMESSAGEPGM("Err: ZPROBE");
- }
- Stop();
- }
-
- #endif // Z_PROBE_ALLEN_KEY
-
- #if ENABLED(FIX_MOUNTED_PROBE)
- // Noting to be done. Just set z_probe_is_active
- #endif
-
- z_probe_is_active = true;
-
- }
-
- static void stow_z_probe(bool doRaise = true) {
- #if !(HAS_SERVO_ENDSTOPS && (Z_RAISE_AFTER_PROBING > 0))
- UNUSED(doRaise);
- #endif
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("stow_z_probe", current_position);
- #endif
-
- if (!z_probe_is_active) return;
-
- #if HAS_SERVO_ENDSTOPS
-
- // Retract Z Servo endstop if enabled
- if (servo_endstop_id[Z_AXIS] >= 0) {
-
- #if Z_RAISE_AFTER_PROBING > 0
- if (doRaise) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("Raise Z (after) by ", Z_RAISE_AFTER_PROBING);
- SERIAL_EOL;
- SERIAL_ECHO("> SERVO_ENDSTOPS > raise_z_after_probing()");
- SERIAL_EOL;
- }
- #endif
- raise_z_after_probing(); // this also updates current_position
- st_synchronize();
- }
- #endif
-
- // Change the Z servo angle
- servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][1]);
- }
-
- #elif ENABLED(Z_PROBE_ALLEN_KEY)
-
- // Move up for safety
- feedrate = Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE;
-
- #if Z_RAISE_AFTER_PROBING > 0
- destination[Z_AXIS] = current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING;
- prepare_move_raw(); // this will also set_current_to_destination
- #endif
-
- // Move to the start position to initiate retraction
- destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_X;
- destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_Y;
- destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_Z;
- prepare_move_raw();
-
- // Move the nozzle down to push the Z probe into retracted position
- if (Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE != Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE)
- feedrate = Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE;
- if (Z_PROBE_ALLEN_KEY_STOW_2_X != Z_PROBE_ALLEN_KEY_STOW_1_X)
- destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_X;
- if (Z_PROBE_ALLEN_KEY_STOW_2_Y != Z_PROBE_ALLEN_KEY_STOW_1_Y)
- destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_Y;
- destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_Z;
- prepare_move_raw();
-
- // Move up for safety
- if (Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE != Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE)
- feedrate = Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE;
- if (Z_PROBE_ALLEN_KEY_STOW_3_X != Z_PROBE_ALLEN_KEY_STOW_2_X)
- destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_X;
- if (Z_PROBE_ALLEN_KEY_STOW_3_Y != Z_PROBE_ALLEN_KEY_STOW_2_Y)
- destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_Y;
- destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_Z;
- prepare_move_raw();
-
- // Home XY for safety
- feedrate = homing_feedrate[X_AXIS] / 2;
- destination[X_AXIS] = 0;
- destination[Y_AXIS] = 0;
- prepare_move_raw(); // this will also set_current_to_destination
-
- st_synchronize();
-
- #if ENABLED(Z_MIN_PROBE_ENDSTOP)
- bool z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
- if (!z_probe_endstop)
- #else
- bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
- if (!z_min_endstop)
- #endif
- {
- if (IsRunning()) {
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
- LCD_ALERTMESSAGEPGM("Err: ZPROBE");
- }
- Stop();
- }
- #endif // Z_PROBE_ALLEN_KEY
-
- #if ENABLED(FIX_MOUNTED_PROBE)
- // Nothing to do here. Just clear z_probe_is_active
- #endif
-
- z_probe_is_active = false;
- }
- #endif // HAS_Z_MIN_PROBE
-
- enum ProbeAction {
- ProbeStay = 0,
- ProbeDeploy = _BV(0),
- ProbeStow = _BV(1),
- ProbeDeployAndStow = (ProbeDeploy | ProbeStow)
- };
-
- // Probe bed height at position (x,y), returns the measured z value
- static float probe_pt(float x, float y, float z_before, ProbeAction probe_action = ProbeDeployAndStow, int verbose_level = 1) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPGM("probe_pt >>>");
- SERIAL_ECHOPAIR("> ProbeAction:", probe_action);
- SERIAL_EOL;
- DEBUG_POS("", current_position);
- }
- #endif
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("Z Raise to z_before ", z_before);
- SERIAL_EOL;
- SERIAL_ECHOPAIR("> do_blocking_move_to_z ", z_before);
- SERIAL_EOL;
- }
- #endif
-
- // Move Z up to the z_before height, then move the Z probe to the given XY
- do_blocking_move_to_z(z_before); // this also updates current_position
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("> do_blocking_move_to_xy ", x - (X_PROBE_OFFSET_FROM_EXTRUDER));
- SERIAL_ECHOPAIR(", ", y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
- SERIAL_EOL;
- }
- #endif
-
- // this also updates current_position
- do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
-
- #if DISABLED(Z_PROBE_SLED) && DISABLED(Z_PROBE_ALLEN_KEY)
- if (probe_action & ProbeDeploy) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> ProbeDeploy");
- #endif
- deploy_z_probe();
- }
- #endif
-
- run_z_probe();
- float measured_z = current_position[Z_AXIS];
-
- #if DISABLED(Z_PROBE_SLED) && DISABLED(Z_PROBE_ALLEN_KEY)
- if (probe_action & ProbeStow) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> ProbeStow (stow_z_probe will do Z Raise)");
- #endif
- stow_z_probe();
- }
- #endif
-
- if (verbose_level > 2) {
- SERIAL_PROTOCOLPGM("Bed X: ");
- SERIAL_PROTOCOL_F(x, 3);
- SERIAL_PROTOCOLPGM(" Y: ");
- SERIAL_PROTOCOL_F(y, 3);
- SERIAL_PROTOCOLPGM(" Z: ");
- SERIAL_PROTOCOL_F(measured_z, 3);
- SERIAL_EOL;
- }
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
- #endif
-
- return measured_z;
- }
-
- #if ENABLED(DELTA)
-
- /**
- * All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
- */
- static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
- if (bed_level[x][y] != 0.0) {
- return; // Don't overwrite good values.
- }
- float a = 2 * bed_level[x + xdir][y] - bed_level[x + xdir * 2][y]; // Left to right.
- float b = 2 * bed_level[x][y + ydir] - bed_level[x][y + ydir * 2]; // Front to back.
- float c = 2 * bed_level[x + xdir][y + ydir] - bed_level[x + xdir * 2][y + ydir * 2]; // Diagonal.
- float median = c; // Median is robust (ignores outliers).
- if (a < b) {
- if (b < c) median = b;
- if (c < a) median = a;
- }
- else { // b <= a
- if (c < b) median = b;
- if (a < c) median = a;
- }
- bed_level[x][y] = median;
- }
-
- /**
- * Fill in the unprobed points (corners of circular print surface)
- * using linear extrapolation, away from the center.
- */
- static void extrapolate_unprobed_bed_level() {
- int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
- for (int y = 0; y <= half; y++) {
- for (int x = 0; x <= half; x++) {
- if (x + y < 3) continue;
- extrapolate_one_point(half - x, half - y, x > 1 ? +1 : 0, y > 1 ? +1 : 0);
- extrapolate_one_point(half + x, half - y, x > 1 ? -1 : 0, y > 1 ? +1 : 0);
- extrapolate_one_point(half - x, half + y, x > 1 ? +1 : 0, y > 1 ? -1 : 0);
- extrapolate_one_point(half + x, half + y, x > 1 ? -1 : 0, y > 1 ? -1 : 0);
- }
- }
- }
-
- /**
- * Print calibration results for plotting or manual frame adjustment.
- */
- static void print_bed_level() {
- for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
- for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
- SERIAL_PROTOCOL_F(bed_level[x][y], 2);
- SERIAL_PROTOCOLCHAR(' ');
- }
- SERIAL_EOL;
- }
- }
-
- /**
- * Reset calibration results to zero.
- */
- void reset_bed_level() {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
- #endif
- for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
- for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
- bed_level[x][y] = 0.0;
- }
- }
- }
-
- #endif // DELTA
-
- #if HAS_SERVO_ENDSTOPS && DISABLED(Z_PROBE_SLED)
-
- void raise_z_for_servo() {
- float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_PROBING;
- /**
- * The zprobe_zoffset is negative any switch below the nozzle, so
- * multiply by Z_HOME_DIR (-1) to move enough away from bed for the probe
- */
- z_dest += axis_homed[Z_AXIS] ? zprobe_zoffset * Z_HOME_DIR : zpos;
- if (zpos < z_dest) do_blocking_move_to_z(z_dest); // also updates current_position
- }
-
- #endif
-
- #endif // AUTO_BED_LEVELING_FEATURE
-
- #if ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || ENABLED(AUTO_BED_LEVELING_FEATURE)
- static void axis_unhomed_error() {
- LCD_MESSAGEPGM(MSG_YX_UNHOMED);
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_YX_UNHOMED);
- }
- #endif
-
- #if ENABLED(Z_PROBE_SLED)
-
- #ifndef SLED_DOCKING_OFFSET
- #define SLED_DOCKING_OFFSET 0
- #endif
-
- /**
- * Method to dock/undock a sled designed by Charles Bell.
- *
- * dock[in] If true, move to MAX_X and engage the electromagnet
- * offset[in] The additional distance to move to adjust docking location
- */
- static void dock_sled(bool dock, int offset = 0) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("dock_sled(", dock);
- SERIAL_ECHOLNPGM(")");
- }
- #endif
-
- if (z_probe_is_active == dock) return;
-
- if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS]) {
- axis_unhomed_error();
- return;
- }
-
- float oldXpos = current_position[X_AXIS]; // save x position
- if (dock) {
- #if Z_RAISE_AFTER_PROBING > 0
- raise_z_after_probing(); // raise Z
- #endif
- // Dock sled a bit closer to ensure proper capturing
- do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1);
- digitalWrite(SLED_PIN, LOW); // turn off magnet
- }
- else {
- float z_loc = current_position[Z_AXIS];
- if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING;
- do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], z_loc); // this also updates current_position
- digitalWrite(SLED_PIN, HIGH); // turn on magnet
- }
- do_blocking_move_to_x(oldXpos); // return to position before docking
-
- z_probe_is_active = dock;
- }
-
- #endif // Z_PROBE_SLED
-
-
-
- /**
- * Home an individual axis
- */
-
- #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
-
- static void homeaxis(AxisEnum axis) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR(">>> homeaxis(", axis);
- SERIAL_ECHOLNPGM(")");
- }
- #endif
- #define HOMEAXIS_DO(LETTER) \
- ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
-
- if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) {
-
- int axis_home_dir =
- #if ENABLED(DUAL_X_CARRIAGE)
- (axis == X_AXIS) ? x_home_dir(active_extruder) :
- #endif
- home_dir(axis);
-
- // Set the axis position as setup for the move
- current_position[axis] = 0;
- sync_plan_position();
-
- #if ENABLED(Z_PROBE_SLED)
- #define _Z_SERVO_TEST (axis != Z_AXIS) // deploy Z, servo.move XY
- #define _Z_PROBE_SUBTEST false // Z will never be invoked
- #define _Z_DEPLOY (dock_sled(false))
- #define _Z_STOW (dock_sled(true))
- #elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
- #define _Z_SERVO_TEST (axis != Z_AXIS) // servo.move XY
- #define _Z_PROBE_SUBTEST false // Z will never be invoked
- #define _Z_DEPLOY (deploy_z_probe())
- #define _Z_STOW (stow_z_probe())
- #elif HAS_SERVO_ENDSTOPS
- #define _Z_SERVO_TEST true // servo.move X, Y, Z
- #define _Z_PROBE_SUBTEST (axis == Z_AXIS) // Z is a probe
- #endif
-
- if (axis == Z_AXIS) {
- // If there's a Z probe that needs deployment...
- #if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
- // ...and homing Z towards the bed? Deploy it.
- if (axis_home_dir < 0) _Z_DEPLOY;
- #endif
- }
-
- #if HAS_SERVO_ENDSTOPS
- // Engage an X or Y Servo endstop if enabled
- if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) {
- servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][0]);
- if (_Z_PROBE_SUBTEST) z_probe_is_active = true;
- }
- #endif
-
- // Set a flag for Z motor locking
- #if ENABLED(Z_DUAL_ENDSTOPS)
- if (axis == Z_AXIS) In_Homing_Process(true);
- #endif
-
- // Move towards the endstop until an endstop is triggered
- destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
- feedrate = homing_feedrate[axis];
- line_to_destination();
- st_synchronize();
-
- // Set the axis position as setup for the move
- current_position[axis] = 0;
- sync_plan_position();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> enable_endstops(false)");
- #endif
- enable_endstops(false); // Disable endstops while moving away
-
- // Move away from the endstop by the axis HOME_BUMP_MM
- destination[axis] = -home_bump_mm(axis) * axis_home_dir;
- line_to_destination();
- st_synchronize();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> enable_endstops(true)");
- #endif
- enable_endstops(true); // Enable endstops for next homing move
-
- // Slow down the feedrate for the next move
- set_homing_bump_feedrate(axis);
-
- // Move slowly towards the endstop until triggered
- destination[axis] = 2 * home_bump_mm(axis) * axis_home_dir;
- line_to_destination();
- st_synchronize();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("> TRIGGER ENDSTOP", current_position);
- #endif
-
- #if ENABLED(Z_DUAL_ENDSTOPS)
- if (axis == Z_AXIS) {
- float adj = fabs(z_endstop_adj);
- bool lockZ1;
- if (axis_home_dir > 0) {
- adj = -adj;
- lockZ1 = (z_endstop_adj > 0);
- }
- else
- lockZ1 = (z_endstop_adj < 0);
-
- if (lockZ1) Lock_z_motor(true); else Lock_z2_motor(true);
- sync_plan_position();
-
- // Move to the adjusted endstop height
- feedrate = homing_feedrate[axis];
- destination[Z_AXIS] = adj;
- line_to_destination();
- st_synchronize();
-
- if (lockZ1) Lock_z_motor(false); else Lock_z2_motor(false);
- In_Homing_Process(false);
- } // Z_AXIS
- #endif
-
- #if ENABLED(DELTA)
- // retrace by the amount specified in endstop_adj
- if (endstop_adj[axis] * axis_home_dir < 0) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> enable_endstops(false)");
- #endif
- enable_endstops(false); // Disable endstops while moving away
- sync_plan_position();
- destination[axis] = endstop_adj[axis];
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis]);
- DEBUG_POS("", destination);
- }
- #endif
- line_to_destination();
- st_synchronize();
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> enable_endstops(true)");
- #endif
- enable_endstops(true); // Enable endstops for next homing move
- }
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- else {
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("> endstop_adj * axis_home_dir = ", endstop_adj[axis] * axis_home_dir);
- SERIAL_EOL;
- }
- }
- #endif
- #endif
-
- // Set the axis position to its home position (plus home offsets)
- set_axis_is_at_home(axis);
- sync_plan_position();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
- #endif
-
- destination[axis] = current_position[axis];
- feedrate = 0.0;
- endstops_hit_on_purpose(); // clear endstop hit flags
- axis_known_position[axis] = true;
- axis_homed[axis] = true;
-
- // Put away the Z probe
- #if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
- if (axis == Z_AXIS && axis_home_dir < 0) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_STOW));
- #endif
- _Z_STOW;
- }
- #endif
-
- // Retract Servo endstop if enabled
- #if HAS_SERVO_ENDSTOPS
- if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()");
- #endif
- servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]);
- if (_Z_PROBE_SUBTEST) z_probe_is_active = false;
- }
- #endif
-
- }
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("<<< homeaxis(", axis);
- SERIAL_ECHOLNPGM(")");
- }
- #endif
- }
-
- #if ENABLED(FWRETRACT)
-
- void retract(bool retracting, bool swapping = false) {
-
- if (retracting == retracted[active_extruder]) return;
-
- float oldFeedrate = feedrate;
-
- set_destination_to_current();
-
- if (retracting) {
-
- feedrate = retract_feedrate * 60;
- current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
- plan_set_e_position(current_position[E_AXIS]);
- prepare_move();
-
- if (retract_zlift > 0.01) {
- current_position[Z_AXIS] -= retract_zlift;
- #if ENABLED(DELTA)
- sync_plan_position_delta();
- #else
- sync_plan_position();
- #endif
- prepare_move();
- }
- }
- else {
-
- if (retract_zlift > 0.01) {
- current_position[Z_AXIS] += retract_zlift;
- #if ENABLED(DELTA)
- sync_plan_position_delta();
- #else
- sync_plan_position();
- #endif
- //prepare_move();
- }
-
- feedrate = retract_recover_feedrate * 60;
- float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
- current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
- plan_set_e_position(current_position[E_AXIS]);
- prepare_move();
- }
-
- feedrate = oldFeedrate;
- retracted[active_extruder] = retracting;
-
- } // retract()
-
- #endif // FWRETRACT
-
- /**
- * ***************************************************************************
- * ***************************** G-CODE HANDLING *****************************
- * ***************************************************************************
- */
-
- /**
- * Set XYZE destination and feedrate from the current GCode command
- *
- * - Set destination from included axis codes
- * - Set to current for missing axis codes
- * - Set the feedrate, if included
- */
- void gcode_get_destination() {
- for (int i = 0; i < NUM_AXIS; i++) {
- if (code_seen(axis_codes[i]))
- destination[i] = code_value() + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
- else
- destination[i] = current_position[i];
- }
- if (code_seen('F')) {
- float next_feedrate = code_value();
- if (next_feedrate > 0.0) feedrate = next_feedrate;
- }
- }
-
- void unknown_command_error() {
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
- SERIAL_ECHO(current_command);
- SERIAL_ECHOPGM("\"\n");
- }
-
- #if ENABLED(HOST_KEEPALIVE_FEATURE)
-
- /**
- * Output a "busy" message at regular intervals
- * while the machine is not accepting commands.
- */
- void host_keepalive() {
- millis_t ms = millis();
- if (host_keepalive_interval && busy_state != NOT_BUSY) {
- if (PENDING(ms, next_busy_signal_ms)) return;
- switch (busy_state) {
- case IN_HANDLER:
- case IN_PROCESS:
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_BUSY_PROCESSING);
- break;
- case PAUSED_FOR_USER:
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_USER);
- break;
- case PAUSED_FOR_INPUT:
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_INPUT);
- break;
- default:
- break;
- }
- }
- next_busy_signal_ms = ms + host_keepalive_interval * 1000UL;
- }
-
- #endif //HOST_KEEPALIVE_FEATURE
-
- /**
- * G0, G1: Coordinated movement of X Y Z E axes
- */
- inline void gcode_G0_G1() {
- if (IsRunning()) {
- gcode_get_destination(); // For X Y Z E F
-
- #if ENABLED(FWRETRACT)
-
- if (autoretract_enabled && !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
- float echange = destination[E_AXIS] - current_position[E_AXIS];
- // Is this move an attempt to retract or recover?
- if ((echange < -MIN_RETRACT && !retracted[active_extruder]) || (echange > MIN_RETRACT && retracted[active_extruder])) {
- current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations
- plan_set_e_position(current_position[E_AXIS]); // AND from the planner
- retract(!retracted[active_extruder]);
- return;
- }
- }
-
- #endif //FWRETRACT
-
- prepare_move();
- }
- }
-
- /**
- * G2: Clockwise Arc
- * G3: Counterclockwise Arc
- */
- inline void gcode_G2_G3(bool clockwise) {
- if (IsRunning()) {
-
- #if ENABLED(SF_ARC_FIX)
- bool relative_mode_backup = relative_mode;
- relative_mode = true;
- #endif
-
- gcode_get_destination();
-
- #if ENABLED(SF_ARC_FIX)
- relative_mode = relative_mode_backup;
- #endif
-
- // Center of arc as offset from current_position
- float arc_offset[2] = {
- code_seen('I') ? code_value() : 0,
- code_seen('J') ? code_value() : 0
- };
-
- // Send an arc to the planner
- plan_arc(destination, arc_offset, clockwise);
-
- refresh_cmd_timeout();
- }
- }
-
- /**
- * G4: Dwell S<seconds> or P<milliseconds>
- */
- inline void gcode_G4() {
- millis_t codenum = 0;
-
- if (code_seen('P')) codenum = code_value_long(); // milliseconds to wait
- if (code_seen('S')) codenum = code_value() * 1000UL; // seconds to wait
-
- st_synchronize();
- refresh_cmd_timeout();
- codenum += previous_cmd_ms; // keep track of when we started waiting
-
- if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
-
- while (PENDING(millis(), codenum)) idle();
- }
-
- #if ENABLED(FWRETRACT)
-
- /**
- * G10 - Retract filament according to settings of M207
- * G11 - Recover filament according to settings of M208
- */
- inline void gcode_G10_G11(bool doRetract=false) {
- #if EXTRUDERS > 1
- if (doRetract) {
- retracted_swap[active_extruder] = (code_seen('S') && code_value_short() == 1); // checks for swap retract argument
- }
- #endif
- retract(doRetract
- #if EXTRUDERS > 1
- , retracted_swap[active_extruder]
- #endif
- );
- }
-
- #endif //FWRETRACT
-
- /**
- * G28: Home all axes according to settings
- *
- * Parameters
- *
- * None Home to all axes with no parameters.
- * With QUICK_HOME enabled XY will home together, then Z.
- *
- * Cartesian parameters
- *
- * X Home to the X endstop
- * Y Home to the Y endstop
- * Z Home to the Z endstop
- *
- */
- inline void gcode_G28() {
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("gcode_G28 >>>");
- #endif
-
- // Wait for planner moves to finish!
- st_synchronize();
-
- // For auto bed leveling, clear the level matrix
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
- plan_bed_level_matrix.set_to_identity();
- #if ENABLED(DELTA)
- reset_bed_level();
- #endif
- #endif
-
- /**
- * For mesh bed leveling deactivate the mesh calculations, will be turned
- * on again when homing all axis
- */
- #if ENABLED(MESH_BED_LEVELING)
- uint8_t mbl_was_active = mbl.active;
- mbl.active = false;
- #endif
-
- setup_for_endstop_move();
-
- /**
- * Directly after a reset this is all 0. Later we get a hint if we have
- * to raise z or not.
- */
- set_destination_to_current();
-
- feedrate = 0.0;
-
- #if ENABLED(DELTA)
- /**
- * A delta can only safely home all axis at the same time
- * all axis have to home at the same time
- */
-
- // Pretend the current position is 0,0,0
- for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0;
- sync_plan_position();
-
- // Move all carriages up together until the first endstop is hit.
- for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * (Z_MAX_LENGTH);
- feedrate = 1.732 * homing_feedrate[X_AXIS];
- line_to_destination();
- st_synchronize();
- endstops_hit_on_purpose(); // clear endstop hit flags
-
- // Destination reached
- for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i];
-
- // take care of back off and rehome now we are all at the top
- HOMEAXIS(X);
- HOMEAXIS(Y);
- HOMEAXIS(Z);
-
- sync_plan_position_delta();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("(DELTA)", current_position);
- #endif
-
- #else // NOT DELTA
-
- bool homeX = code_seen(axis_codes[X_AXIS]),
- homeY = code_seen(axis_codes[Y_AXIS]),
- homeZ = code_seen(axis_codes[Z_AXIS]);
-
- home_all_axis = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
-
- #if Z_HOME_DIR > 0 // If homing away from BED do Z first
-
- if (home_all_axis || homeZ) {
- HOMEAXIS(Z);
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("> HOMEAXIS(Z)", current_position);
- #endif
- }
-
- #elif defined(MIN_Z_HEIGHT_FOR_HOMING) && MIN_Z_HEIGHT_FOR_HOMING > 0
-
- // Raise Z before homing any other axes and z is not already high enough (never lower z)
- if (current_position[Z_AXIS] <= MIN_Z_HEIGHT_FOR_HOMING) {
- destination[Z_AXIS] = MIN_Z_HEIGHT_FOR_HOMING;
- feedrate = max_feedrate[Z_AXIS] * 60; // feedrate (mm/m) = max_feedrate (mm/s)
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("Raise Z (before homing) to ", (MIN_Z_HEIGHT_FOR_HOMING));
- SERIAL_EOL;
- DEBUG_POS("> (home_all_axis || homeZ)", current_position);
- DEBUG_POS("> (home_all_axis || homeZ)", destination);
- }
- #endif
- line_to_destination();
- st_synchronize();
-
- /**
- * Update the current Z position even if it currently not real from
- * Z-home otherwise each call to line_to_destination() will want to
- * move Z-axis by MIN_Z_HEIGHT_FOR_HOMING.
- */
- current_position[Z_AXIS] = destination[Z_AXIS];
- }
- #endif
-
- #if ENABLED(QUICK_HOME)
-
- if (home_all_axis || (homeX && homeY)) { // First diagonal move
-
- current_position[X_AXIS] = current_position[Y_AXIS] = 0;
-
- #if ENABLED(DUAL_X_CARRIAGE)
- int x_axis_home_dir = x_home_dir(active_extruder);
- extruder_duplication_enabled = false;
- #else
- int x_axis_home_dir = home_dir(X_AXIS);
- #endif
-
- sync_plan_position();
-
- float mlx = max_length(X_AXIS), mly = max_length(Y_AXIS),
- mlratio = mlx > mly ? mly / mlx : mlx / mly;
-
- destination[X_AXIS] = 1.5 * mlx * x_axis_home_dir;
- destination[Y_AXIS] = 1.5 * mly * home_dir(Y_AXIS);
- feedrate = min(homing_feedrate[X_AXIS], homing_feedrate[Y_AXIS]) * sqrt(mlratio * mlratio + 1);
- line_to_destination();
- st_synchronize();
-
- set_axis_is_at_home(X_AXIS);
- set_axis_is_at_home(Y_AXIS);
- sync_plan_position();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("> QUICK_HOME 1", current_position);
- #endif
-
- destination[X_AXIS] = current_position[X_AXIS];
- destination[Y_AXIS] = current_position[Y_AXIS];
- line_to_destination();
- feedrate = 0.0;
- st_synchronize();
- endstops_hit_on_purpose(); // clear endstop hit flags
-
- current_position[X_AXIS] = destination[X_AXIS];
- current_position[Y_AXIS] = destination[Y_AXIS];
- #if DISABLED(SCARA)
- current_position[Z_AXIS] = destination[Z_AXIS];
- #endif
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("> QUICK_HOME 2", current_position);
- #endif
- }
-
- #endif // QUICK_HOME
-
- #if ENABLED(HOME_Y_BEFORE_X)
- // Home Y
- if (home_all_axis || homeY) HOMEAXIS(Y);
- #endif
-
- // Home X
- if (home_all_axis || homeX) {
- #if ENABLED(DUAL_X_CARRIAGE)
- int tmp_extruder = active_extruder;
- extruder_duplication_enabled = false;
- active_extruder = !active_extruder;
- HOMEAXIS(X);
- inactive_extruder_x_pos = current_position[X_AXIS];
- active_extruder = tmp_extruder;
- HOMEAXIS(X);
- // reset state used by the different modes
- memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
- delayed_move_time = 0;
- active_extruder_parked = true;
- #else
- HOMEAXIS(X);
- #endif
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
- #endif
- }
-
- #if DISABLED(HOME_Y_BEFORE_X)
- // Home Y
- if (home_all_axis || homeY) {
- HOMEAXIS(Y);
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
- #endif
- }
- #endif
-
- // Home Z last if homing towards the bed
- #if Z_HOME_DIR < 0
-
- if (home_all_axis || homeZ) {
-
- #if ENABLED(Z_SAFE_HOMING)
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPGM("> Z_SAFE_HOMING >>>");
- }
- #endif
-
- if (home_all_axis) {
-
- /**
- * At this point we already have Z at MIN_Z_HEIGHT_FOR_HOMING height
- * No need to move Z any more as this height should already be safe
- * enough to reach Z_SAFE_HOMING XY positions.
- * Just make sure the planner is in sync.
- */
- sync_plan_position();
-
- /**
- * Set the Z probe (or just the nozzle) destination to the safe
- * homing point
- */
- destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - (X_PROBE_OFFSET_FROM_EXTRUDER));
- destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - (Y_PROBE_OFFSET_FROM_EXTRUDER));
- destination[Z_AXIS] = current_position[Z_AXIS]; //z is already at the right height
- feedrate = XY_TRAVEL_SPEED;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- DEBUG_POS("> Z_SAFE_HOMING > home_all_axis", current_position);
- DEBUG_POS("> Z_SAFE_HOMING > home_all_axis", destination);
- }
- #endif
-
- // Move in the XY plane
- line_to_destination();
- st_synchronize();
-
- /**
- * Update the current positions for XY, Z is still at least at
- * MIN_Z_HEIGHT_FOR_HOMING height, no changes there.
- */
- current_position[X_AXIS] = destination[X_AXIS];
- current_position[Y_AXIS] = destination[Y_AXIS];
-
- // Home the Z axis
- HOMEAXIS(Z);
- }
-
- else if (homeZ) { // Don't need to Home Z twice
-
- // Let's see if X and Y are homed
- if (axis_homed[X_AXIS] && axis_homed[Y_AXIS]) {
-
- /**
- * Make sure the Z probe is within the physical limits
- * NOTE: This doesn't necessarily ensure the Z probe is also
- * within the bed!
- */
- float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS];
- if ( cpx >= X_MIN_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
- && cpx <= X_MAX_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
- && cpy >= Y_MIN_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)
- && cpy <= Y_MAX_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)) {
-
- // Home the Z axis
- HOMEAXIS(Z);
- }
- else {
- LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
- }
- }
- else {
- axis_unhomed_error();
- }
-
- } // !home_all_axes && homeZ
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
- }
- #endif
-
- #else // !Z_SAFE_HOMING
-
- HOMEAXIS(Z);
-
- #endif // !Z_SAFE_HOMING
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all_axis || homeZ) > final", current_position);
- #endif
-
- } // home_all_axis || homeZ
-
- #endif // Z_HOME_DIR < 0
-
- sync_plan_position();
-
- #endif // else DELTA
-
- #if ENABLED(SCARA)
- sync_plan_position_delta();
- #endif
-
- #if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
- enable_endstops(false);
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPGM("ENDSTOPS_ONLY_FOR_HOMING enable_endstops(false)");
- }
- #endif
- #endif
-
- // For mesh leveling move back to Z=0
- #if ENABLED(MESH_BED_LEVELING)
- if (mbl_was_active && home_all_axis) {
- current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
- sync_plan_position();
- mbl.active = 1;
- current_position[Z_AXIS] = 0.0;
- set_destination_to_current();
- feedrate = homing_feedrate[Z_AXIS];
- line_to_destination();
- st_synchronize();
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("mbl_was_active", current_position);
- #endif
- }
- #endif
-
- feedrate = saved_feedrate;
- feedrate_multiplier = saved_feedrate_multiplier;
- refresh_cmd_timeout();
- endstops_hit_on_purpose(); // clear endstop hit flags
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPGM("<<< gcode_G28");
- }
- #endif
-
- gcode_M114(); // Send end position to RepetierHost
-
- }
-
- #if ENABLED(MESH_BED_LEVELING)
-
- enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet, MeshSetZOffset };
-
- inline void _mbl_goto_xy(float x, float y) {
- saved_feedrate = feedrate;
- feedrate = homing_feedrate[X_AXIS];
-
- current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
- #if MIN_Z_HEIGHT_FOR_HOMING > 0
- + MIN_Z_HEIGHT_FOR_HOMING
- #endif
- ;
- line_to_current_position();
-
- current_position[X_AXIS] = x + home_offset[X_AXIS];
- current_position[Y_AXIS] = y + home_offset[Y_AXIS];
- line_to_current_position();
-
- #if MIN_Z_HEIGHT_FOR_HOMING > 0
- current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
- line_to_current_position();
- #endif
-
- feedrate = saved_feedrate;
- st_synchronize();
- }
-
- /**
- * G29: Mesh-based Z probe, probes a grid and produces a
- * mesh to compensate for variable bed height
- *
- * Parameters With MESH_BED_LEVELING:
- *
- * S0 Produce a mesh report
- * S1 Start probing mesh points
- * S2 Probe the next mesh point
- * S3 Xn Yn Zn.nn Manually modify a single point
- * S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.
- *
- * The S0 report the points as below
- *
- * +----> X-axis 1-n
- * |
- * |
- * v Y-axis 1-n
- *
- */
- inline void gcode_G29() {
-
- static int probe_point = -1;
- MeshLevelingState state = code_seen('S') ? (MeshLevelingState)code_value_short() : MeshReport;
- if (state < 0 || state > 4) {
- SERIAL_PROTOCOLLNPGM("S out of range (0-4).");
- return;
- }
-
- int ix, iy;
- float z;
-
- switch (state) {
- case MeshReport:
- if (mbl.active) {
- SERIAL_PROTOCOLPGM("Num X,Y: ");
- SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
- SERIAL_PROTOCOLCHAR(',');
- SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
- SERIAL_PROTOCOLPGM("\nZ search height: ");
- SERIAL_PROTOCOL(MESH_HOME_SEARCH_Z);
- SERIAL_PROTOCOLPGM("\nZ offset: ");
- SERIAL_PROTOCOL_F(mbl.z_offset, 5);
- SERIAL_PROTOCOLLNPGM("\nMeasured points:");
- for (int y = 0; y < MESH_NUM_Y_POINTS; y++) {
- for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
- SERIAL_PROTOCOLPGM(" ");
- SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
- }
- SERIAL_EOL;
- }
- }
- else
- SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
- break;
-
- case MeshStart:
- mbl.reset();
- probe_point = 0;
- enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
- break;
-
- case MeshNext:
- if (probe_point < 0) {
- SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
- return;
- }
- // For each G29 S2...
- if (probe_point == 0) {
- // For the intial G29 S2 make Z a positive value (e.g., 4.0)
- current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
- sync_plan_position();
- }
- else {
- // For G29 S2 after adjusting Z.
- mbl.set_zigzag_z(probe_point - 1, current_position[Z_AXIS]);
- }
- // If there's another point to sample, move there with optional lift.
- if (probe_point < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) {
- mbl.zigzag(probe_point, ix, iy);
- _mbl_goto_xy(mbl.get_x(ix), mbl.get_y(iy));
- probe_point++;
- }
- else {
- // One last "return to the bed" (as originally coded) at completion
- current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
- line_to_current_position();
- st_synchronize();
-
- // After recording the last point, activate the mbl and home
- SERIAL_PROTOCOLLNPGM("Mesh probing done.");
- probe_point = -1;
- mbl.active = true;
- enqueue_and_echo_commands_P(PSTR("G28"));
- }
- break;
-
- case MeshSet:
- if (code_seen('X')) {
- ix = code_value_long() - 1;
- if (ix < 0 || ix >= MESH_NUM_X_POINTS) {
- SERIAL_PROTOCOLPGM("X out of range (1-" STRINGIFY(MESH_NUM_X_POINTS) ").\n");
- return;
- }
- }
- else {
- SERIAL_PROTOCOLPGM("X not entered.\n");
- return;
- }
- if (code_seen('Y')) {
- iy = code_value_long() - 1;
- if (iy < 0 || iy >= MESH_NUM_Y_POINTS) {
- SERIAL_PROTOCOLPGM("Y out of range (1-" STRINGIFY(MESH_NUM_Y_POINTS) ").\n");
- return;
- }
- }
- else {
- SERIAL_PROTOCOLPGM("Y not entered.\n");
- return;
- }
- if (code_seen('Z')) {
- z = code_value();
- }
- else {
- SERIAL_PROTOCOLPGM("Z not entered.\n");
- return;
- }
- mbl.z_values[iy][ix] = z;
- break;
-
- case MeshSetZOffset:
- if (code_seen('Z')) {
- z = code_value();
- }
- else {
- SERIAL_PROTOCOLPGM("Z not entered.\n");
- return;
- }
- mbl.z_offset = z;
-
- } // switch(state)
- }
-
- #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
-
- void out_of_range_error(const char* p_edge) {
- SERIAL_PROTOCOLPGM("?Probe ");
- serialprintPGM(p_edge);
- SERIAL_PROTOCOLLNPGM(" position out of range.");
- }
-
- /**
- * G29: Detailed Z probe, probes the bed at 3 or more points.
- * Will fail if the printer has not been homed with G28.
- *
- * Enhanced G29 Auto Bed Leveling Probe Routine
- *
- * Parameters With AUTO_BED_LEVELING_GRID:
- *
- * P Set the size of the grid that will be probed (P x P points).
- * Not supported by non-linear delta printer bed leveling.
- * Example: "G29 P4"
- *
- * S Set the XY travel speed between probe points (in mm/min)
- *
- * D Dry-Run mode. Just evaluate the bed Topology - Don't apply
- * or clean the rotation Matrix. Useful to check the topology
- * after a first run of G29.
- *
- * V Set the verbose level (0-4). Example: "G29 V3"
- *
- * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
- * This is useful for manual bed leveling and finding flaws in the bed (to
- * assist with part placement).
- * Not supported by non-linear delta printer bed leveling.
- *
- * F Set the Front limit of the probing grid
- * B Set the Back limit of the probing grid
- * L Set the Left limit of the probing grid
- * R Set the Right limit of the probing grid
- *
- * Global Parameters:
- *
- * E/e By default G29 will engage the Z probe, test the bed, then disengage.
- * Include "E" to engage/disengage the Z probe for each sample.
- * There's no extra effect if you have a fixed Z probe.
- * Usage: "G29 E" or "G29 e"
- *
- */
- inline void gcode_G29() {
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPGM("gcode_G29 >>>");
- DEBUG_POS("", current_position);
- }
- #endif
-
- // Don't allow auto-leveling without homing first
- if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS]) {
- axis_unhomed_error();
- return;
- }
-
- int verbose_level = code_seen('V') ? code_value_short() : 1;
- if (verbose_level < 0 || verbose_level > 4) {
- SERIAL_ECHOLNPGM("?(V)erbose Level is implausible (0-4).");
- return;
- }
-
- bool dryrun = code_seen('D'),
- deploy_probe_for_each_reading = code_seen('E');
-
- #if ENABLED(AUTO_BED_LEVELING_GRID)
-
- #if DISABLED(DELTA)
- bool do_topography_map = verbose_level > 2 || code_seen('T');
- #endif
-
- if (verbose_level > 0) {
- SERIAL_PROTOCOLPGM("G29 Auto Bed Leveling\n");
- if (dryrun) SERIAL_ECHOLNPGM("Running in DRY-RUN mode");
- }
-
- int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;
-
- #if DISABLED(DELTA)
- if (code_seen('P')) auto_bed_leveling_grid_points = code_value_short();
- if (auto_bed_leveling_grid_points < 2) {
- SERIAL_PROTOCOLPGM("?Number of probed (P)oints is implausible (2 minimum).\n");
- return;
- }
- #endif
-
- xy_travel_speed = code_seen('S') ? code_value_short() : XY_TRAVEL_SPEED;
-
- int left_probe_bed_position = code_seen('L') ? code_value_short() : LEFT_PROBE_BED_POSITION,
- right_probe_bed_position = code_seen('R') ? code_value_short() : RIGHT_PROBE_BED_POSITION,
- front_probe_bed_position = code_seen('F') ? code_value_short() : FRONT_PROBE_BED_POSITION,
- back_probe_bed_position = code_seen('B') ? code_value_short() : BACK_PROBE_BED_POSITION;
-
- bool left_out_l = left_probe_bed_position < MIN_PROBE_X,
- left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE),
- right_out_r = right_probe_bed_position > MAX_PROBE_X,
- right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
- front_out_f = front_probe_bed_position < MIN_PROBE_Y,
- front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE),
- back_out_b = back_probe_bed_position > MAX_PROBE_Y,
- back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
-
- if (left_out || right_out || front_out || back_out) {
- if (left_out) {
- out_of_range_error(PSTR("(L)eft"));
- left_probe_bed_position = left_out_l ? MIN_PROBE_X : right_probe_bed_position - (MIN_PROBE_EDGE);
- }
- if (right_out) {
- out_of_range_error(PSTR("(R)ight"));
- right_probe_bed_position = right_out_r ? MAX_PROBE_X : left_probe_bed_position + MIN_PROBE_EDGE;
- }
- if (front_out) {
- out_of_range_error(PSTR("(F)ront"));
- front_probe_bed_position = front_out_f ? MIN_PROBE_Y : back_probe_bed_position - (MIN_PROBE_EDGE);
- }
- if (back_out) {
- out_of_range_error(PSTR("(B)ack"));
- back_probe_bed_position = back_out_b ? MAX_PROBE_Y : front_probe_bed_position + MIN_PROBE_EDGE;
- }
- return;
- }
-
- #endif // AUTO_BED_LEVELING_GRID
-
- if (!dryrun) {
-
- // make sure the bed_level_rotation_matrix is identity or the planner will get it wrong
- plan_bed_level_matrix.set_to_identity();
-
- #if ENABLED(DELTA)
- reset_bed_level();
- #else //!DELTA
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- vector_3 corrected_position = plan_get_position();
- DEBUG_POS("BEFORE matrix.set_to_identity", corrected_position);
- DEBUG_POS("BEFORE matrix.set_to_identity", current_position);
- }
- #endif
-
- //vector_3 corrected_position = plan_get_position();
- //corrected_position.debug("position before G29");
- vector_3 uncorrected_position = plan_get_position();
- //uncorrected_position.debug("position during G29");
- current_position[X_AXIS] = uncorrected_position.x;
- current_position[Y_AXIS] = uncorrected_position.y;
- current_position[Z_AXIS] = uncorrected_position.z;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("AFTER matrix.set_to_identity", uncorrected_position);
- #endif
-
- sync_plan_position();
-
- #endif // !DELTA
- }
-
- #if ENABLED(Z_PROBE_SLED)
- dock_sled(false); // engage (un-dock) the Z probe
- #elif ENABLED(MECHANICAL_PROBE) || (ENABLED(DELTA) && SERVO_LEVELING)
- deploy_z_probe();
- #endif
-
- st_synchronize();
-
- setup_for_endstop_move();
-
- feedrate = homing_feedrate[Z_AXIS];
-
- #if ENABLED(AUTO_BED_LEVELING_GRID)
-
- // probe at the points of a lattice grid
- const int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1),
- yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
-
- #if ENABLED(DELTA)
- delta_grid_spacing[0] = xGridSpacing;
- delta_grid_spacing[1] = yGridSpacing;
- float zoffset = zprobe_zoffset;
- if (code_seen(axis_codes[Z_AXIS])) zoffset += code_value();
- #else // !DELTA
- /**
- * solve the plane equation ax + by + d = z
- * A is the matrix with rows [x y 1] for all the probed points
- * B is the vector of the Z positions
- * the normal vector to the plane is formed by the coefficients of the
- * plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
- * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
- */
-
- int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points;
-
- double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
- eqnBVector[abl2], // "B" vector of Z points
- mean = 0.0;
- int8_t indexIntoAB[auto_bed_leveling_grid_points][auto_bed_leveling_grid_points];
- #endif // !DELTA
-
- int probePointCounter = 0;
- bool zig = (auto_bed_leveling_grid_points & 1) ? true : false; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
-
- for (int yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) {
- double yProbe = front_probe_bed_position + yGridSpacing * yCount;
- int xStart, xStop, xInc;
-
- if (zig) {
- xStart = 0;
- xStop = auto_bed_leveling_grid_points;
- xInc = 1;
- }
- else {
- xStart = auto_bed_leveling_grid_points - 1;
- xStop = -1;
- xInc = -1;
- }
-
- zig = !zig;
-
- for (int xCount = xStart; xCount != xStop; xCount += xInc) {
- double xProbe = left_probe_bed_position + xGridSpacing * xCount;
-
- // raise extruder
- float measured_z,
- z_before = probePointCounter ? Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS] : Z_RAISE_BEFORE_PROBING + home_offset[Z_AXIS];
-
- if (probePointCounter) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("z_before = (between) ", (Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS]));
- SERIAL_EOL;
- }
- #endif
- }
- else {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("z_before = (before) ", Z_RAISE_BEFORE_PROBING + home_offset[Z_AXIS]);
- SERIAL_EOL;
- }
- #endif
- }
-
- #if ENABLED(DELTA)
- // Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
- float distance_from_center = sqrt(xProbe * xProbe + yProbe * yProbe);
- if (distance_from_center > DELTA_PROBEABLE_RADIUS) continue;
- #endif //DELTA
-
- ProbeAction act;
- if (deploy_probe_for_each_reading) // G29 E - Stow between probes
- act = ProbeDeployAndStow;
- else if (yCount == 0 && xCount == xStart)
- act = ProbeDeploy;
- else if (yCount == auto_bed_leveling_grid_points - 1 && xCount == xStop - xInc)
- act = ProbeStow;
- else
- act = ProbeStay;
-
- measured_z = probe_pt(xProbe, yProbe, z_before, act, verbose_level);
-
- #if DISABLED(DELTA)
- mean += measured_z;
-
- eqnBVector[probePointCounter] = measured_z;
- eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
- eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
- eqnAMatrix[probePointCounter + 2 * abl2] = 1;
- indexIntoAB[xCount][yCount] = probePointCounter;
- #else
- bed_level[xCount][yCount] = measured_z + zoffset;
- #endif
-
- probePointCounter++;
-
- idle();
-
- } //xProbe
- } //yProbe
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
- #endif
-
- clean_up_after_endstop_move();
-
- #if ENABLED(DELTA)
-
- if (!dryrun) extrapolate_unprobed_bed_level();
- print_bed_level();
-
- #else // !DELTA
-
- // solve lsq problem
- double plane_equation_coefficients[3];
- qr_solve(plane_equation_coefficients, abl2, 3, eqnAMatrix, eqnBVector);
-
- mean /= abl2;
-
- if (verbose_level) {
- SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
- SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
- SERIAL_PROTOCOLPGM(" b: ");
- SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
- SERIAL_PROTOCOLPGM(" d: ");
- SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
- SERIAL_EOL;
- if (verbose_level > 2) {
- SERIAL_PROTOCOLPGM("Mean of sampled points: ");
- SERIAL_PROTOCOL_F(mean, 8);
- SERIAL_EOL;
- }
- }
-
- if (!dryrun) set_bed_level_equation_lsq(plane_equation_coefficients);
-
- // Show the Topography map if enabled
- if (do_topography_map) {
-
- SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n");
- SERIAL_PROTOCOLPGM(" +--- BACK --+\n");
- SERIAL_PROTOCOLPGM(" | |\n");
- SERIAL_PROTOCOLPGM(" L | (+) | R\n");
- SERIAL_PROTOCOLPGM(" E | | I\n");
- SERIAL_PROTOCOLPGM(" F | (-) N (+) | G\n");
- SERIAL_PROTOCOLPGM(" T | | H\n");
- SERIAL_PROTOCOLPGM(" | (-) | T\n");
- SERIAL_PROTOCOLPGM(" | |\n");
- SERIAL_PROTOCOLPGM(" O-- FRONT --+\n");
- SERIAL_PROTOCOLPGM(" (0,0)\n");
-
- float min_diff = 999;
-
- for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
- for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
- int ind = indexIntoAB[xx][yy];
- float diff = eqnBVector[ind] - mean;
-
- float x_tmp = eqnAMatrix[ind + 0 * abl2],
- y_tmp = eqnAMatrix[ind + 1 * abl2],
- z_tmp = 0;
-
- apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);
-
- NOMORE(min_diff, eqnBVector[ind] - z_tmp);
-
- if (diff >= 0.0)
- SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
- else
- SERIAL_PROTOCOLCHAR(' ');
- SERIAL_PROTOCOL_F(diff, 5);
- } // xx
- SERIAL_EOL;
- } // yy
- SERIAL_EOL;
- if (verbose_level > 3) {
- SERIAL_PROTOCOLPGM(" \nCorrected Bed Height vs. Bed Topology: \n");
-
- for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
- for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
- int ind = indexIntoAB[xx][yy];
- float x_tmp = eqnAMatrix[ind + 0 * abl2],
- y_tmp = eqnAMatrix[ind + 1 * abl2],
- z_tmp = 0;
-
- apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);
-
- float diff = eqnBVector[ind] - z_tmp - min_diff;
- if (diff >= 0.0)
- SERIAL_PROTOCOLPGM(" +");
- // Include + for column alignment
- else
- SERIAL_PROTOCOLCHAR(' ');
- SERIAL_PROTOCOL_F(diff, 5);
- } // xx
- SERIAL_EOL;
- } // yy
- SERIAL_EOL;
- }
- } //do_topography_map
- #endif //!DELTA
-
- #else // !AUTO_BED_LEVELING_GRID
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPGM("> 3-point Leveling");
- }
- #endif
-
- // Actions for each probe
- ProbeAction p1, p2, p3;
- if (deploy_probe_for_each_reading)
- p1 = p2 = p3 = ProbeDeployAndStow;
- else
- p1 = ProbeDeploy, p2 = ProbeStay, p3 = ProbeStow;
-
- // Probe at 3 arbitrary points
- float z_at_pt_1 = probe_pt( ABL_PROBE_PT_1_X + home_offset[X_AXIS],
- ABL_PROBE_PT_1_Y + home_offset[Y_AXIS],
- Z_RAISE_BEFORE_PROBING + home_offset[Z_AXIS],
- p1, verbose_level),
- z_at_pt_2 = probe_pt( ABL_PROBE_PT_2_X + home_offset[X_AXIS],
- ABL_PROBE_PT_2_Y + home_offset[Y_AXIS],
- current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,
- p2, verbose_level),
- z_at_pt_3 = probe_pt( ABL_PROBE_PT_3_X + home_offset[X_AXIS],
- ABL_PROBE_PT_3_Y + home_offset[Y_AXIS],
- current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,
- p3, verbose_level);
- clean_up_after_endstop_move();
- if (!dryrun) set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
-
- #endif // !AUTO_BED_LEVELING_GRID
-
- #if ENABLED(DELTA)
- // Allen Key Probe for Delta
- #if ENABLED(Z_PROBE_ALLEN_KEY) || SERVO_LEVELING
- stow_z_probe();
- #elif Z_RAISE_AFTER_PROBING > 0
- raise_z_after_probing(); // for non Allen Key probes, such as simple mechanical probe
- #endif
- #else // !DELTA
- if (verbose_level > 0)
- plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
-
- if (!dryrun) {
- /**
- * Correct the Z height difference from Z probe position and nozzle tip position.
- * The Z height on homing is measured by Z probe, but the Z probe is quite far
- * from the nozzle. When the bed is uneven, this height must be corrected.
- */
- float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
- y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
- z_tmp = current_position[Z_AXIS],
- real_z = st_get_axis_position_mm(Z_AXIS); //get the real Z (since plan_get_position is now correcting the plane)
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > z_tmp = ", z_tmp);
- SERIAL_EOL;
- SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > real_z = ", real_z);
- SERIAL_EOL;
- }
- #endif
-
- // Apply the correction sending the Z probe offset
- apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);
-
- /*
- * Get the current Z position and send it to the planner.
- *
- * >> (z_tmp - real_z) : The rotated current Z minus the uncorrected Z
- * (most recent plan_set_position/sync_plan_position)
- *
- * >> zprobe_zoffset : Z distance from nozzle to Z probe
- * (set by default, M851, EEPROM, or Menu)
- *
- * >> Z_RAISE_AFTER_PROBING : The distance the Z probe will have lifted
- * after the last probe
- *
- * >> Should home_offset[Z_AXIS] be included?
- *
- *
- * Discussion: home_offset[Z_AXIS] was applied in G28 to set the
- * starting Z. If Z is not tweaked in G29 -and- the Z probe in G29 is
- * not actually "homing" Z... then perhaps it should not be included
- * here. The purpose of home_offset[] is to adjust for inaccurate
- * endstops, not for reasonably accurate probes. If it were added
- * here, it could be seen as a compensating factor for the Z probe.
- */
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("> AFTER apply_rotation_xyz > z_tmp = ", z_tmp);
- SERIAL_EOL;
- }
- #endif
-
- current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z)
- #if HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
- + Z_RAISE_AFTER_PROBING
- #endif
- ;
- // current_position[Z_AXIS] += home_offset[Z_AXIS]; // The Z probe determines Z=0, not "Z home"
- sync_plan_position();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("> corrected Z in G29", current_position);
- #endif
- }
-
- // Sled assembly for Cartesian bots
- #if ENABLED(Z_PROBE_SLED)
- dock_sled(true); // dock the sled
- #elif Z_RAISE_AFTER_PROBING > 0
- // Raise Z axis for non-delta and non servo based probes
- #if !defined(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED)
- raise_z_after_probing();
- #endif
- #endif
-
- #endif // !DELTA
-
- #ifdef Z_PROBE_END_SCRIPT
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHO("Z Probe End Script: ");
- SERIAL_ECHOLNPGM(Z_PROBE_END_SCRIPT);
- }
- #endif
- enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
- #if ENABLED(HAS_Z_MIN_PROBE)
- z_probe_is_active = false;
- #endif
- st_synchronize();
- #endif
-
- KEEPALIVE_STATE(IN_HANDLER);
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPGM("<<< gcode_G29");
- }
- #endif
-
- gcode_M114(); // Send end position to RepetierHost
-
- }
-
- #if DISABLED(Z_PROBE_SLED) // could be avoided
-
- /**
- * G30: Do a single Z probe at the current XY
- */
- inline void gcode_G30() {
- #if HAS_SERVO_ENDSTOPS
- raise_z_for_servo();
- #endif
- deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here.
-
- st_synchronize();
- // TODO: clear the leveling matrix or the planner will be set incorrectly
- setup_for_endstop_move(); // Too late. Must be done before deploying.
-
- feedrate = homing_feedrate[Z_AXIS];
-
- run_z_probe();
- SERIAL_PROTOCOLPGM("Bed X: ");
- SERIAL_PROTOCOL(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
- SERIAL_PROTOCOLPGM(" Y: ");
- SERIAL_PROTOCOL(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
- SERIAL_PROTOCOLPGM(" Z: ");
- SERIAL_PROTOCOL(current_position[Z_AXIS] + 0.0001);
- SERIAL_EOL;
-
- clean_up_after_endstop_move(); // Too early. must be done after the stowing.
-
- #if HAS_SERVO_ENDSTOPS
- raise_z_for_servo();
- #endif
- stow_z_probe(false); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here.
-
- gcode_M114(); // Send end position to RepetierHost
- }
-
- #endif //!Z_PROBE_SLED
-
- #endif //AUTO_BED_LEVELING_FEATURE
-
- /**
- * G92: Set current position to given X Y Z E
- */
- inline void gcode_G92() {
- if (!code_seen(axis_codes[E_AXIS]))
- st_synchronize();
-
- bool didXYZ = false;
- for (int i = 0; i < NUM_AXIS; i++) {
- if (code_seen(axis_codes[i])) {
- float p = current_position[i],
- v = code_value();
-
- current_position[i] = v;
-
- position_shift[i] += v - p; // Offset the coordinate space
- update_software_endstops((AxisEnum)i);
-
- if (i == E_AXIS)
- plan_set_e_position(v);
- else
- didXYZ = true;
- }
- }
- if (didXYZ) {
- #if ENABLED(DELTA) || ENABLED(SCARA)
- sync_plan_position_delta();
- #else
- sync_plan_position();
- #endif
- }
- }
-
- #if ENABLED(ULTIPANEL)
-
- /**
- * M0: // M0 - Unconditional stop - Wait for user button press on LCD
- * M1: // M1 - Conditional stop - Wait for user button press on LCD
- */
- inline void gcode_M0_M1() {
- char* args = current_command_args;
-
- uint8_t test_value = 12;
- SERIAL_ECHOPAIR("TEST", test_value);
-
- millis_t codenum = 0;
- bool hasP = false, hasS = false;
- if (code_seen('P')) {
- codenum = code_value_short(); // milliseconds to wait
- hasP = codenum > 0;
- }
- if (code_seen('S')) {
- codenum = code_value() * 1000UL; // seconds to wait
- hasS = codenum > 0;
- }
-
- if (!hasP && !hasS && *args != '\0')
- lcd_setstatus(args, true);
- else {
- LCD_MESSAGEPGM(MSG_USERWAIT);
- #if ENABLED(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
- dontExpireStatus();
- #endif
- }
-
- lcd_ignore_click();
- st_synchronize();
- refresh_cmd_timeout();
- if (codenum > 0) {
- codenum += previous_cmd_ms; // wait until this time for a click
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- while (PENDING(millis(), codenum) && !lcd_clicked()) idle();
- KEEPALIVE_STATE(IN_HANDLER);
- lcd_ignore_click(false);
- }
- else {
- if (!lcd_detected()) return;
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- while (!lcd_clicked()) idle();
- KEEPALIVE_STATE(IN_HANDLER);
- }
- if (IS_SD_PRINTING)
- LCD_MESSAGEPGM(MSG_RESUMING);
- else
- LCD_MESSAGEPGM(WELCOME_MSG);
- }
-
- #endif // ULTIPANEL
-
- /**
- * M17: Enable power on all stepper motors
- */
- inline void gcode_M17() {
- LCD_MESSAGEPGM(MSG_NO_MOVE);
- enable_all_steppers();
- }
-
- #if ENABLED(SDSUPPORT)
-
- /**
- * M20: List SD card to serial output
- */
- inline void gcode_M20() {
- SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
- card.ls();
- SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
- }
-
- /**
- * M21: Init SD Card
- */
- inline void gcode_M21() {
- card.initsd();
- }
-
- /**
- * M22: Release SD Card
- */
- inline void gcode_M22() {
- card.release();
- }
-
- /**
- * M23: Open a file
- */
- inline void gcode_M23() {
- card.openFile(current_command_args, true);
- }
-
- /**
- * M24: Start SD Print
- */
- inline void gcode_M24() {
- card.startFileprint();
- print_job_timer.start();
- }
-
- /**
- * M25: Pause SD Print
- */
- inline void gcode_M25() {
- card.pauseSDPrint();
- }
-
- /**
- * M26: Set SD Card file index
- */
- inline void gcode_M26() {
- if (card.cardOK && code_seen('S'))
- card.setIndex(code_value_short());
- }
-
- /**
- * M27: Get SD Card status
- */
- inline void gcode_M27() {
- card.getStatus();
- }
-
- /**
- * M28: Start SD Write
- */
- inline void gcode_M28() {
- card.openFile(current_command_args, false);
- }
-
- /**
- * M29: Stop SD Write
- * Processed in write to file routine above
- */
- inline void gcode_M29() {
- // card.saving = false;
- }
-
- /**
- * M30 <filename>: Delete SD Card file
- */
- inline void gcode_M30() {
- if (card.cardOK) {
- card.closefile();
- card.removeFile(current_command_args);
- }
- }
-
- #endif //SDSUPPORT
-
- /**
- * M31: Get the time since the start of SD Print (or last M109)
- */
- inline void gcode_M31() {
- millis_t t = print_job_timer.duration();
- int min = t / 60, sec = t % 60;
- char time[30];
- sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
- SERIAL_ECHO_START;
- SERIAL_ECHOLN(time);
- lcd_setstatus(time);
- autotempShutdown();
- }
-
- #if ENABLED(SDSUPPORT)
-
- /**
- * M32: Select file and start SD Print
- */
- inline void gcode_M32() {
- if (card.sdprinting)
- st_synchronize();
-
- char* namestartpos = strchr(current_command_args, '!'); // Find ! to indicate filename string start.
- if (!namestartpos)
- namestartpos = current_command_args; // Default name position, 4 letters after the M
- else
- namestartpos++; //to skip the '!'
-
- bool call_procedure = code_seen('P') && (seen_pointer < namestartpos);
-
- if (card.cardOK) {
- card.openFile(namestartpos, true, call_procedure);
-
- if (code_seen('S') && seen_pointer < namestartpos) // "S" (must occur _before_ the filename!)
- card.setIndex(code_value_short());
-
- card.startFileprint();
-
- // Procedure calls count as normal print time.
- if (!call_procedure) print_job_timer.start();
- }
- }
-
- #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
-
- /**
- * M33: Get the long full path of a file or folder
- *
- * Parameters:
- * <dospath> Case-insensitive DOS-style path to a file or folder
- *
- * Example:
- * M33 miscel~1/armchair/armcha~1.gco
- *
- * Output:
- * /Miscellaneous/Armchair/Armchair.gcode
- */
- inline void gcode_M33() {
- card.printLongPath(current_command_args);
- }
-
- #endif
-
- /**
- * M928: Start SD Write
- */
- inline void gcode_M928() {
- card.openLogFile(current_command_args);
- }
-
- #endif // SDSUPPORT
-
- /**
- * M42: Change pin status via GCode
- *
- * P<pin> Pin number (LED if omitted)
- * S<byte> Pin status from 0 - 255
- */
- inline void gcode_M42() {
- if (code_seen('S')) {
- int pin_status = code_value_short();
- if (pin_status < 0 || pin_status > 255) return;
-
- int pin_number = code_seen('P') ? code_value_short() : LED_PIN;
- if (pin_number < 0) return;
-
- for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
- if (pin_number == sensitive_pins[i]) return;
-
- pinMode(pin_number, OUTPUT);
- digitalWrite(pin_number, pin_status);
- analogWrite(pin_number, pin_status);
-
- #if FAN_COUNT > 0
- switch (pin_number) {
- #if HAS_FAN0
- case FAN_PIN: fanSpeeds[0] = pin_status; break;
- #endif
- #if HAS_FAN1
- case FAN1_PIN: fanSpeeds[1] = pin_status; break;
- #endif
- #if HAS_FAN2
- case FAN2_PIN: fanSpeeds[2] = pin_status; break;
- #endif
- }
- #endif
-
- } // code_seen('S')
- }
-
- #if ENABLED(AUTO_BED_LEVELING_FEATURE) && ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
-
- /**
- * This is redundant since the SanityCheck.h already checks for a valid
- * Z_MIN_PROBE_PIN, but here for clarity.
- */
- #if ENABLED(Z_MIN_PROBE_ENDSTOP)
- #if !HAS_Z_PROBE
- #error You must define Z_MIN_PROBE_PIN to enable Z probe repeatability calculation.
- #endif
- #elif !HAS_Z_MIN
- #error You must define Z_MIN_PIN to enable Z probe repeatability calculation.
- #endif
-
- /**
- * M48: Z probe repeatability measurement function.
- *
- * Usage:
- * M48 <P#> <X#> <Y#> <V#> <E> <L#>
- * P = Number of sampled points (4-50, default 10)
- * X = Sample X position
- * Y = Sample Y position
- * V = Verbose level (0-4, default=1)
- * E = Engage Z probe for each reading
- * L = Number of legs of movement before probe
- * S = Schizoid (Or Star if you prefer)
- *
- * This function assumes the bed has been homed. Specifically, that a G28 command
- * as been issued prior to invoking the M48 Z probe repeatability measurement function.
- * Any information generated by a prior G29 Bed leveling command will be lost and need to be
- * regenerated.
- */
- inline void gcode_M48() {
-
- if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_AXIS]) {
- axis_unhomed_error();
- return;
- }
-
- double sum = 0.0, mean = 0.0, sigma = 0.0, sample_set[50];
- int8_t verbose_level = 1, n_samples = 10, n_legs = 0, schizoid_flag = 0;
-
- if (code_seen('V')) {
- verbose_level = code_value_short();
- if (verbose_level < 0 || verbose_level > 4) {
- SERIAL_PROTOCOLPGM("?Verbose Level not plausible (0-4).\n");
- return;
- }
- }
-
- if (verbose_level > 0)
- SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test\n");
-
- if (code_seen('P')) {
- n_samples = code_value_short();
- if (n_samples < 4 || n_samples > 50) {
- SERIAL_PROTOCOLPGM("?Sample size not plausible (4-50).\n");
- return;
- }
- }
-
- float X_current = current_position[X_AXIS],
- Y_current = current_position[Y_AXIS],
- Z_current = current_position[Z_AXIS],
- X_probe_location = X_current + X_PROBE_OFFSET_FROM_EXTRUDER,
- Y_probe_location = Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER,
- Z_start_location = Z_current + Z_RAISE_BEFORE_PROBING;
- bool deploy_probe_for_each_reading = code_seen('E');
-
- if (code_seen('X')) {
- X_probe_location = code_value();
- #if DISABLED(DELTA)
- if (X_probe_location < MIN_PROBE_X || X_probe_location > MAX_PROBE_X) {
- out_of_range_error(PSTR("X"));
- return;
- }
- #endif
- }
-
- if (code_seen('Y')) {
- Y_probe_location = code_value();
- #if DISABLED(DELTA)
- if (Y_probe_location < MIN_PROBE_Y || Y_probe_location > MAX_PROBE_Y) {
- out_of_range_error(PSTR("Y"));
- return;
- }
- #endif
- }
-
- #if ENABLED(DELTA)
- if (sqrt(X_probe_location * X_probe_location + Y_probe_location * Y_probe_location) > DELTA_PROBEABLE_RADIUS) {
- SERIAL_PROTOCOLPGM("? (X,Y) location outside of probeable radius.\n");
- return;
- }
- #endif
-
- bool seen_L = code_seen('L');
-
- if (seen_L) {
- n_legs = code_value_short();
- if (n_legs < 0 || n_legs > 15) {
- SERIAL_PROTOCOLPGM("?Number of legs in movement not plausible (0-15).\n");
- return;
- }
- if (n_legs == 1) n_legs = 2;
- }
-
- if (code_seen('S')) {
- schizoid_flag++;
- if (!seen_L) n_legs = 7;
- }
-
- /**
- * Now get everything to the specified probe point So we can safely do a
- * probe to get us close to the bed. If the Z-Axis is far from the bed,
- * we don't want to use that as a starting point for each probe.
- */
- if (verbose_level > 2)
- SERIAL_PROTOCOLPGM("Positioning the probe...\n");
-
- #if ENABLED(DELTA)
- // we don't do bed level correction in M48 because we want the raw data when we probe
- reset_bed_level();
- #else
- // we don't do bed level correction in M48 because we want the raw data when we probe
- plan_bed_level_matrix.set_to_identity();
- #endif
-
- if (Z_start_location < Z_RAISE_BEFORE_PROBING * 2.0)
- do_blocking_move_to_z(Z_start_location);
-
- do_blocking_move_to_xy(X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER), Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER));
-
- /**
- * OK, do the initial probe to get us close to the bed.
- * Then retrace the right amount and use that in subsequent probes
- */
- setup_for_endstop_move();
-
- probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING,
- deploy_probe_for_each_reading ? ProbeDeployAndStow : ProbeDeploy,
- verbose_level);
-
- raise_z_after_probing();
-
- for (uint8_t n = 0; n < n_samples; n++) {
- randomSeed(millis());
- delay(500);
- if (n_legs) {
- float radius, angle = random(0.0, 360.0);
- int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
-
- radius = random(
- #if ENABLED(DELTA)
- DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3
- #else
- 5, X_MAX_LENGTH / 8
- #endif
- );
-
- if (verbose_level > 3) {
- SERIAL_ECHOPAIR("Starting radius: ", radius);
- SERIAL_ECHOPAIR(" angle: ", angle);
- delay(100);
- if (dir > 0)
- SERIAL_ECHO(" Direction: Counter Clockwise \n");
- else
- SERIAL_ECHO(" Direction: Clockwise \n");
- delay(100);
- }
-
- for (uint8_t l = 0; l < n_legs - 1; l++) {
- double delta_angle;
-
- if (schizoid_flag)
- // The points of a 5 point star are 72 degrees apart. We need to
- // skip a point and go to the next one on the star.
- delta_angle = dir * 2.0 * 72.0;
-
- else
- // If we do this line, we are just trying to move further
- // around the circle.
- delta_angle = dir * (float) random(25, 45);
-
- angle += delta_angle;
-
- while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
- angle -= 360.0; // Arduino documentation says the trig functions should not be given values
- while (angle < 0.0) // outside of this range. It looks like they behave correctly with
- angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
-
- X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
- Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
-
- #if DISABLED(DELTA)
- X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
- Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
- #else
- // If we have gone out too far, we can do a simple fix and scale the numbers
- // back in closer to the origin.
- while (sqrt(X_current * X_current + Y_current * Y_current) > DELTA_PROBEABLE_RADIUS) {
- X_current /= 1.25;
- Y_current /= 1.25;
- if (verbose_level > 3) {
- SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
- SERIAL_ECHOPAIR(", ", Y_current);
- SERIAL_EOL;
- delay(50);
- }
- }
- #endif
- if (verbose_level > 3) {
- SERIAL_PROTOCOL("Going to:");
- SERIAL_ECHOPAIR("x: ", X_current);
- SERIAL_ECHOPAIR("y: ", Y_current);
- SERIAL_ECHOPAIR(" z: ", current_position[Z_AXIS]);
- SERIAL_EOL;
- delay(55);
- }
- do_blocking_move_to_xy(X_current, Y_current);
- } // n_legs loop
- } // n_legs
-
- /**
- * We don't really have to do this move, but if we don't we can see a
- * funny shift in the Z Height because the user might not have the
- * Z_RAISE_BEFORE_PROBING height identical to the Z_RAISE_BETWEEN_PROBING
- * height. This gets us back to the probe location at the same height that
- * we have been running around the circle at.
- */
- do_blocking_move_to_xy(X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER), Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER));
- if (deploy_probe_for_each_reading)
- sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeDeployAndStow, verbose_level);
- else {
- if (n == n_samples - 1)
- sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeStow, verbose_level); else
- sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeStay, verbose_level);
- }
-
- /**
- * Get the current mean for the data points we have so far
- */
- sum = 0.0;
- for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
- mean = sum / (n + 1);
-
- /**
- * Now, use that mean to calculate the standard deviation for the
- * data points we have so far
- */
- sum = 0.0;
- for (uint8_t j = 0; j <= n; j++) {
- float ss = sample_set[j] - mean;
- sum += ss * ss;
- }
- sigma = sqrt(sum / (n + 1));
- if (verbose_level > 1) {
- SERIAL_PROTOCOL(n + 1);
- SERIAL_PROTOCOLPGM(" of ");
- SERIAL_PROTOCOL((int)n_samples);
- SERIAL_PROTOCOLPGM(" z: ");
- SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
- delay(50);
- if (verbose_level > 2) {
- SERIAL_PROTOCOLPGM(" mean: ");
- SERIAL_PROTOCOL_F(mean, 6);
- SERIAL_PROTOCOLPGM(" sigma: ");
- SERIAL_PROTOCOL_F(sigma, 6);
- }
- }
- if (verbose_level > 0) SERIAL_EOL;
- delay(50);
- do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
- } // End of probe loop code
-
- // raise_z_after_probing();
-
- if (verbose_level > 0) {
- SERIAL_PROTOCOLPGM("Mean: ");
- SERIAL_PROTOCOL_F(mean, 6);
- SERIAL_EOL;
- delay(25);
- }
-
- SERIAL_PROTOCOLPGM("Standard Deviation: ");
- SERIAL_PROTOCOL_F(sigma, 6);
- SERIAL_EOL; SERIAL_EOL;
- delay(25);
-
- clean_up_after_endstop_move();
-
- gcode_M114(); // Send end position to RepetierHost
- }
-
- #endif // AUTO_BED_LEVELING_FEATURE && Z_MIN_PROBE_REPEATABILITY_TEST
-
- /**
- * M75: Start print timer
- */
- inline void gcode_M75() {
- print_job_timer.start();
- }
-
- /**
- * M76: Pause print timer
- */
- inline void gcode_M76() {
- print_job_timer.pause();
- }
-
- /**
- * M77: Stop print timer
- */
- inline void gcode_M77() {
- print_job_timer.stop();
- }
-
- /**
- * M104: Set hot end temperature
- */
- inline void gcode_M104() {
- if (setTargetedHotend(104)) return;
- if (DEBUGGING(DRYRUN)) return;
-
- if (code_seen('S')) {
- float temp = code_value();
- setTargetHotend(temp, target_extruder);
- #if ENABLED(DUAL_X_CARRIAGE)
- if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
- setTargetHotend1(temp == 0.0 ? 0.0 : temp + duplicate_extruder_temp_offset);
- #endif
-
- /**
- * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
- * stand by mode, for instance in a dual extruder setup, without affecting
- * the running print timer.
- */
- if (temp <= (EXTRUDE_MINTEMP)/2) {
- print_job_timer.stop();
- LCD_MESSAGEPGM(WELCOME_MSG);
- }
- /**
- * We do not check if the timer is already running because this check will
- * be done for us inside the Stopwatch::start() method thus a running timer
- * will not restart.
- */
- else print_job_timer.start();
-
- if (temp > degHotend(target_extruder)) LCD_MESSAGEPGM(MSG_HEATING);
- }
- }
-
- #if HAS_TEMP_HOTEND || HAS_TEMP_BED
-
- void print_heaterstates() {
- #if HAS_TEMP_HOTEND
- SERIAL_PROTOCOLPGM(" T:");
- SERIAL_PROTOCOL_F(degHotend(target_extruder), 1);
- SERIAL_PROTOCOLPGM(" /");
- SERIAL_PROTOCOL_F(degTargetHotend(target_extruder), 1);
- #endif
- #if HAS_TEMP_BED
- SERIAL_PROTOCOLPGM(" B:");
- SERIAL_PROTOCOL_F(degBed(), 1);
- SERIAL_PROTOCOLPGM(" /");
- SERIAL_PROTOCOL_F(degTargetBed(), 1);
- #endif
- #if EXTRUDERS > 1
- for (int8_t e = 0; e < EXTRUDERS; ++e) {
- SERIAL_PROTOCOLPGM(" T");
- SERIAL_PROTOCOL(e);
- SERIAL_PROTOCOLCHAR(':');
- SERIAL_PROTOCOL_F(degHotend(e), 1);
- SERIAL_PROTOCOLPGM(" /");
- SERIAL_PROTOCOL_F(degTargetHotend(e), 1);
- }
- #endif
- #if HAS_TEMP_BED
- SERIAL_PROTOCOLPGM(" B@:");
- #ifdef BED_WATTS
- SERIAL_PROTOCOL(((BED_WATTS) * getHeaterPower(-1)) / 127);
- SERIAL_PROTOCOLCHAR('W');
- #else
- SERIAL_PROTOCOL(getHeaterPower(-1));
- #endif
- #endif
- SERIAL_PROTOCOLPGM(" @:");
- #ifdef EXTRUDER_WATTS
- SERIAL_PROTOCOL(((EXTRUDER_WATTS) * getHeaterPower(target_extruder)) / 127);
- SERIAL_PROTOCOLCHAR('W');
- #else
- SERIAL_PROTOCOL(getHeaterPower(target_extruder));
- #endif
- #if EXTRUDERS > 1
- for (int8_t e = 0; e < EXTRUDERS; ++e) {
- SERIAL_PROTOCOLPGM(" @");
- SERIAL_PROTOCOL(e);
- SERIAL_PROTOCOLCHAR(':');
- #ifdef EXTRUDER_WATTS
- SERIAL_PROTOCOL(((EXTRUDER_WATTS) * getHeaterPower(e)) / 127);
- SERIAL_PROTOCOLCHAR('W');
- #else
- SERIAL_PROTOCOL(getHeaterPower(e));
- #endif
- }
- #endif
- #if ENABLED(SHOW_TEMP_ADC_VALUES)
- #if HAS_TEMP_BED
- SERIAL_PROTOCOLPGM(" ADC B:");
- SERIAL_PROTOCOL_F(degBed(), 1);
- SERIAL_PROTOCOLPGM("C->");
- SERIAL_PROTOCOL_F(rawBedTemp() / OVERSAMPLENR, 0);
- #endif
- for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
- SERIAL_PROTOCOLPGM(" T");
- SERIAL_PROTOCOL(cur_extruder);
- SERIAL_PROTOCOLCHAR(':');
- SERIAL_PROTOCOL_F(degHotend(cur_extruder), 1);
- SERIAL_PROTOCOLPGM("C->");
- SERIAL_PROTOCOL_F(rawHotendTemp(cur_extruder) / OVERSAMPLENR, 0);
- }
- #endif
- }
- #endif
-
- /**
- * M105: Read hot end and bed temperature
- */
- inline void gcode_M105() {
- if (setTargetedHotend(105)) return;
-
- #if HAS_TEMP_HOTEND || HAS_TEMP_BED
- SERIAL_PROTOCOLPGM(MSG_OK);
- print_heaterstates();
- #else // !HAS_TEMP_HOTEND && !HAS_TEMP_BED
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
- #endif
-
- SERIAL_EOL;
- }
-
- #if FAN_COUNT > 0
-
- /**
- * M106: Set Fan Speed
- *
- * S<int> Speed between 0-255
- * P<index> Fan index, if more than one fan
- */
- inline void gcode_M106() {
- uint16_t s = code_seen('S') ? code_value_short() : 255,
- p = code_seen('P') ? code_value_short() : 0;
- NOMORE(s, 255);
- if (p < FAN_COUNT) fanSpeeds[p] = s;
- }
-
- /**
- * M107: Fan Off
- */
- inline void gcode_M107() {
- uint16_t p = code_seen('P') ? code_value_short() : 0;
- if (p < FAN_COUNT) fanSpeeds[p] = 0;
- }
-
- #endif // FAN_COUNT > 0
-
- /**
- * M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
- * Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
- */
- inline void gcode_M109() {
-
- if (setTargetedHotend(109)) return;
- if (DEBUGGING(DRYRUN)) return;
-
- bool no_wait_for_cooling = code_seen('S');
- if (no_wait_for_cooling || code_seen('R')) {
- float temp = code_value();
- setTargetHotend(temp, target_extruder);
- #if ENABLED(DUAL_X_CARRIAGE)
- if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
- setTargetHotend1(temp == 0.0 ? 0.0 : temp + duplicate_extruder_temp_offset);
- #endif
-
- /**
- * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
- * stand by mode, for instance in a dual extruder setup, without affecting
- * the running print timer.
- */
- if (temp <= (EXTRUDE_MINTEMP)/2) {
- print_job_timer.stop();
- LCD_MESSAGEPGM(WELCOME_MSG);
- }
- /**
- * We do not check if the timer is already running because this check will
- * be done for us inside the Stopwatch::start() method thus a running timer
- * will not restart.
- */
- else print_job_timer.start();
-
- if (temp > degHotend(target_extruder)) LCD_MESSAGEPGM(MSG_HEATING);
- }
-
- #if ENABLED(AUTOTEMP)
- autotemp_enabled = code_seen('F');
- if (autotemp_enabled) autotemp_factor = code_value();
- if (code_seen('S')) autotemp_min = code_value();
- if (code_seen('B')) autotemp_max = code_value();
- #endif
-
- bool wants_to_cool = isCoolingHotend(target_extruder);
-
- // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
- if (no_wait_for_cooling && wants_to_cool) return;
-
- // Prevents a wait-forever situation if R is misused i.e. M109 R0
- // Try to calculate a ballpark safe margin by halving EXTRUDE_MINTEMP
- if (wants_to_cool && degTargetHotend(target_extruder) < (EXTRUDE_MINTEMP)/2) return;
-
- #if TEMP_RESIDENCY_TIME > 0
- millis_t residency_start_ms = 0;
- // Loop until the temperature has stabilized
- #define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL))
- #else
- // Loop until the temperature is very close target
- #define TEMP_CONDITIONS (wants_to_cool ? isCoolingHotend(target_extruder) : isHeatingHotend(target_extruder))
- #endif //TEMP_RESIDENCY_TIME > 0
-
- cancel_heatup = false;
- millis_t now, next_temp_ms = 0;
- do {
- now = millis();
- if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting
- next_temp_ms = now + 1000UL;
- #if HAS_TEMP_HOTEND || HAS_TEMP_BED
- print_heaterstates();
- #endif
- #if TEMP_RESIDENCY_TIME > 0
- SERIAL_PROTOCOLPGM(" W:");
- if (residency_start_ms) {
- long rem = (((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
- SERIAL_PROTOCOLLN(rem);
- }
- else {
- SERIAL_PROTOCOLLNPGM("?");
- }
- #else
- SERIAL_EOL;
- #endif
- }
-
- idle();
- refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
-
- #if TEMP_RESIDENCY_TIME > 0
-
- float temp_diff = fabs(degTargetHotend(target_extruder) - degHotend(target_extruder));
-
- if (!residency_start_ms) {
- // Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
- if (temp_diff < TEMP_WINDOW) residency_start_ms = millis();
- }
- else if (temp_diff > TEMP_HYSTERESIS) {
- // Restart the timer whenever the temperature falls outside the hysteresis.
- residency_start_ms = millis();
- }
-
- #endif //TEMP_RESIDENCY_TIME > 0
-
- } while (!cancel_heatup && TEMP_CONDITIONS);
-
- LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
- }
-
- #if HAS_TEMP_BED
-
- /**
- * M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
- * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
- */
- inline void gcode_M190() {
- if (DEBUGGING(DRYRUN)) return;
-
- LCD_MESSAGEPGM(MSG_BED_HEATING);
- bool no_wait_for_cooling = code_seen('S');
- if (no_wait_for_cooling || code_seen('R')) setTargetBed(code_value());
-
- bool wants_to_cool = isCoolingBed();
-
- // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
- if (no_wait_for_cooling && wants_to_cool) return;
-
- #if TEMP_BED_RESIDENCY_TIME > 0
- millis_t residency_start_ms = 0;
- // Loop until the temperature has stabilized
- #define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL))
- #else
- // Loop until the temperature is very close target
- #define TEMP_BED_CONDITIONS (wants_to_cool ? isCoolingBed() : isHeatingBed())
- #endif //TEMP_BED_RESIDENCY_TIME > 0
-
- cancel_heatup = false;
- millis_t now, next_temp_ms = 0;
-
- // Wait for temperature to come close enough
- do {
- now = millis();
- if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up.
- next_temp_ms = now + 1000UL;
- print_heaterstates();
- #if TEMP_BED_RESIDENCY_TIME > 0
- SERIAL_PROTOCOLPGM(" W:");
- if (residency_start_ms) {
- long rem = (((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
- SERIAL_PROTOCOLLN(rem);
- }
- else {
- SERIAL_PROTOCOLLNPGM("?");
- }
- #else
- SERIAL_EOL;
- #endif
- }
-
- idle();
- refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
-
- #if TEMP_BED_RESIDENCY_TIME > 0
-
- float temp_diff = fabs(degBed() - degTargetBed());
-
- if (!residency_start_ms) {
- // Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
- if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = millis();
- }
- else if (temp_diff > TEMP_BED_HYSTERESIS) {
- // Restart the timer whenever the temperature falls outside the hysteresis.
- residency_start_ms = millis();
- }
-
- #endif //TEMP_BED_RESIDENCY_TIME > 0
-
- } while (!cancel_heatup && TEMP_BED_CONDITIONS);
- LCD_MESSAGEPGM(MSG_BED_DONE);
- }
-
- #endif // HAS_TEMP_BED
-
- /**
- * M110: Set Current Line Number
- */
- inline void gcode_M110() {
- if (code_seen('N')) gcode_N = code_value_long();
- }
-
- /**
- * M111: Set the debug level
- */
- inline void gcode_M111() {
- marlin_debug_flags = code_seen('S') ? code_value_short() : DEBUG_NONE;
-
- const static char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO;
- const static char str_debug_2[] PROGMEM = MSG_DEBUG_INFO;
- const static char str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS;
- const static char str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN;
- const static char str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION;
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- const static char str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING;
- #endif
-
- const static char* const debug_strings[] PROGMEM = {
- str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16,
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- str_debug_32
- #endif
- };
-
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_DEBUG_PREFIX);
- if (marlin_debug_flags) {
- uint8_t comma = 0;
- for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
- if (TEST(marlin_debug_flags, i)) {
- if (comma++) SERIAL_CHAR(',');
- serialprintPGM((char*)pgm_read_word(&(debug_strings[i])));
- }
- }
- }
- else {
- SERIAL_ECHOPGM(MSG_DEBUG_OFF);
- }
- SERIAL_EOL;
- }
-
- /**
- * M112: Emergency Stop
- */
- inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
-
- #if ENABLED(HOST_KEEPALIVE_FEATURE)
-
- /**
- * M113: Get or set Host Keepalive interval (0 to disable)
- *
- * S<seconds> Optional. Set the keepalive interval.
- */
- inline void gcode_M113() {
- if (code_seen('S')) {
- host_keepalive_interval = (uint8_t)code_value_short();
- NOMORE(host_keepalive_interval, 60);
- }
- else {
- SERIAL_ECHO_START;
- SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
- SERIAL_EOL;
- }
- }
-
- #endif
-
- #if ENABLED(BARICUDA)
-
- #if HAS_HEATER_1
- /**
- * M126: Heater 1 valve open
- */
- inline void gcode_M126() { ValvePressure = code_seen('S') ? constrain(code_value(), 0, 255) : 255; }
- /**
- * M127: Heater 1 valve close
- */
- inline void gcode_M127() { ValvePressure = 0; }
- #endif
-
- #if HAS_HEATER_2
- /**
- * M128: Heater 2 valve open
- */
- inline void gcode_M128() { EtoPPressure = code_seen('S') ? constrain(code_value(), 0, 255) : 255; }
- /**
- * M129: Heater 2 valve close
- */
- inline void gcode_M129() { EtoPPressure = 0; }
- #endif
-
- #endif //BARICUDA
-
- /**
- * M140: Set bed temperature
- */
- inline void gcode_M140() {
- if (DEBUGGING(DRYRUN)) return;
- if (code_seen('S')) setTargetBed(code_value());
- }
-
- #if ENABLED(ULTIPANEL)
-
- /**
- * M145: Set the heatup state for a material in the LCD menu
- * S<material> (0=PLA, 1=ABS)
- * H<hotend temp>
- * B<bed temp>
- * F<fan speed>
- */
- inline void gcode_M145() {
- int8_t material = code_seen('S') ? code_value_short() : 0;
- if (material < 0 || material > 1) {
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
- }
- else {
- int v;
- switch (material) {
- case 0:
- if (code_seen('H')) {
- v = code_value_short();
- plaPreheatHotendTemp = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
- }
- if (code_seen('F')) {
- v = code_value_short();
- plaPreheatFanSpeed = constrain(v, 0, 255);
- }
- #if TEMP_SENSOR_BED != 0
- if (code_seen('B')) {
- v = code_value_short();
- plaPreheatHPBTemp = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
- }
- #endif
- break;
- case 1:
- if (code_seen('H')) {
- v = code_value_short();
- absPreheatHotendTemp = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
- }
- if (code_seen('F')) {
- v = code_value_short();
- absPreheatFanSpeed = constrain(v, 0, 255);
- }
- #if TEMP_SENSOR_BED != 0
- if (code_seen('B')) {
- v = code_value_short();
- absPreheatHPBTemp = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
- }
- #endif
- break;
- }
- }
- }
-
- #endif
-
- #if HAS_POWER_SWITCH
-
- /**
- * M80: Turn on Power Supply
- */
- inline void gcode_M80() {
- OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND
-
- /**
- * If you have a switch on suicide pin, this is useful
- * if you want to start another print with suicide feature after
- * a print without suicide...
- */
- #if HAS_SUICIDE
- OUT_WRITE(SUICIDE_PIN, HIGH);
- #endif
-
- #if ENABLED(ULTIPANEL)
- powersupply = true;
- LCD_MESSAGEPGM(WELCOME_MSG);
- lcd_update();
- #endif
- }
-
- #endif // HAS_POWER_SWITCH
-
- /**
- * M81: Turn off Power, including Power Supply, if there is one.
- *
- * This code should ALWAYS be available for EMERGENCY SHUTDOWN!
- */
- inline void gcode_M81() {
- disable_all_heaters();
- finishAndDisableSteppers();
- #if FAN_COUNT > 0
- #if FAN_COUNT > 1
- for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
- #else
- fanSpeeds[0] = 0;
- #endif
- #endif
- delay(1000); // Wait 1 second before switching off
- #if HAS_SUICIDE
- st_synchronize();
- suicide();
- #elif HAS_POWER_SWITCH
- OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
- #endif
- #if ENABLED(ULTIPANEL)
- #if HAS_POWER_SWITCH
- powersupply = false;
- #endif
- LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
- lcd_update();
- #endif
- }
-
-
- /**
- * M82: Set E codes absolute (default)
- */
- inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
-
- /**
- * M83: Set E codes relative while in Absolute Coordinates (G90) mode
- */
- inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; }
-
- /**
- * M18, M84: Disable all stepper motors
- */
- inline void gcode_M18_M84() {
- if (code_seen('S')) {
- stepper_inactive_time = code_value() * 1000UL;
- }
- else {
- 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])));
- if (all_axis) {
- finishAndDisableSteppers();
- }
- else {
- st_synchronize();
- if (code_seen('X')) disable_x();
- if (code_seen('Y')) disable_y();
- if (code_seen('Z')) disable_z();
- #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
- if (code_seen('E')) {
- disable_e0();
- disable_e1();
- disable_e2();
- disable_e3();
- }
- #endif
- }
- }
- }
-
- /**
- * M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
- */
- inline void gcode_M85() {
- if (code_seen('S')) max_inactive_time = code_value() * 1000UL;
- }
-
- /**
- * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
- * (Follows the same syntax as G92)
- */
- inline void gcode_M92() {
- for (int8_t i = 0; i < NUM_AXIS; i++) {
- if (code_seen(axis_codes[i])) {
- if (i == E_AXIS) {
- float value = code_value();
- if (value < 20.0) {
- float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
- max_e_jerk *= factor;
- max_feedrate[i] *= factor;
- axis_steps_per_sqr_second[i] *= factor;
- }
- axis_steps_per_unit[i] = value;
- }
- else {
- axis_steps_per_unit[i] = code_value();
- }
- }
- }
- }
-
- /**
- * M114: Output current position to serial port
- */
- inline void gcode_M114() {
- SERIAL_PROTOCOLPGM("X:");
- SERIAL_PROTOCOL(current_position[X_AXIS]);
- SERIAL_PROTOCOLPGM(" Y:");
- SERIAL_PROTOCOL(current_position[Y_AXIS]);
- SERIAL_PROTOCOLPGM(" Z:");
- SERIAL_PROTOCOL(current_position[Z_AXIS]);
- SERIAL_PROTOCOLPGM(" E:");
- SERIAL_PROTOCOL(current_position[E_AXIS]);
-
- CRITICAL_SECTION_START;
- extern volatile long count_position[NUM_AXIS];
- long xpos = count_position[X_AXIS],
- ypos = count_position[Y_AXIS],
- zpos = count_position[Z_AXIS];
- CRITICAL_SECTION_END;
-
- #if ENABLED(COREXY) || ENABLED(COREXZ)
- SERIAL_PROTOCOLPGM(MSG_COUNT_A);
- #else
- SERIAL_PROTOCOLPGM(MSG_COUNT_X);
- #endif
- SERIAL_PROTOCOL(xpos);
-
- #if ENABLED(COREXY)
- SERIAL_PROTOCOLPGM(" B:");
- #else
- SERIAL_PROTOCOLPGM(" Y:");
- #endif
- SERIAL_PROTOCOL(ypos);
-
- #if ENABLED(COREXZ)
- SERIAL_PROTOCOLPGM(" C:");
- #else
- SERIAL_PROTOCOLPGM(" Z:");
- #endif
- SERIAL_PROTOCOL(zpos);
-
- SERIAL_EOL;
-
- #if ENABLED(SCARA)
- SERIAL_PROTOCOLPGM("SCARA Theta:");
- SERIAL_PROTOCOL(delta[X_AXIS]);
- SERIAL_PROTOCOLPGM(" Psi+Theta:");
- SERIAL_PROTOCOL(delta[Y_AXIS]);
- SERIAL_EOL;
-
- SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
- SERIAL_PROTOCOL(delta[X_AXIS] + home_offset[X_AXIS]);
- SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
- SERIAL_PROTOCOL(delta[Y_AXIS] - delta[X_AXIS] - 90 + home_offset[Y_AXIS]);
- SERIAL_EOL;
-
- SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
- SERIAL_PROTOCOL(delta[X_AXIS] / 90 * axis_steps_per_unit[X_AXIS]);
- SERIAL_PROTOCOLPGM(" Psi+Theta:");
- SERIAL_PROTOCOL((delta[Y_AXIS] - delta[X_AXIS]) / 90 * axis_steps_per_unit[Y_AXIS]);
- SERIAL_EOL; SERIAL_EOL;
- #endif
- }
-
- /**
- * M115: Capabilities string
- */
- inline void gcode_M115() {
- SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
- }
-
- /**
- * M117: Set LCD Status Message
- */
- inline void gcode_M117() {
- lcd_setstatus(current_command_args);
- }
-
- /**
- * M119: Output endstop states to serial output
- */
- inline void gcode_M119() {
- SERIAL_PROTOCOLLN(MSG_M119_REPORT);
- #if HAS_X_MIN
- SERIAL_PROTOCOLPGM(MSG_X_MIN);
- SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
- #endif
- #if HAS_X_MAX
- SERIAL_PROTOCOLPGM(MSG_X_MAX);
- SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
- #endif
- #if HAS_Y_MIN
- SERIAL_PROTOCOLPGM(MSG_Y_MIN);
- SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
- #endif
- #if HAS_Y_MAX
- SERIAL_PROTOCOLPGM(MSG_Y_MAX);
- SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
- #endif
- #if HAS_Z_MIN
- SERIAL_PROTOCOLPGM(MSG_Z_MIN);
- SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
- #endif
- #if HAS_Z_MAX
- SERIAL_PROTOCOLPGM(MSG_Z_MAX);
- SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
- #endif
- #if HAS_Z2_MAX
- SERIAL_PROTOCOLPGM(MSG_Z2_MAX);
- SERIAL_PROTOCOLLN(((READ(Z2_MAX_PIN)^Z2_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
- #endif
- #if HAS_Z_PROBE
- SERIAL_PROTOCOLPGM(MSG_Z_PROBE);
- SERIAL_PROTOCOLLN(((READ(Z_MIN_PROBE_PIN)^Z_MIN_PROBE_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
- #endif
- }
-
- /**
- * M120: Enable endstops and set non-homing endstop state to "enabled"
- */
- inline void gcode_M120() { enable_endstops_globally(true); }
-
- /**
- * M121: Disable endstops and set non-homing endstop state to "disabled"
- */
- inline void gcode_M121() { enable_endstops_globally(false); }
-
- #if ENABLED(BLINKM)
-
- /**
- * M150: Set Status LED Color - Use R-U-B for R-G-B
- */
- inline void gcode_M150() {
- SendColors(
- code_seen('R') ? (byte)code_value_short() : 0,
- code_seen('U') ? (byte)code_value_short() : 0,
- code_seen('B') ? (byte)code_value_short() : 0
- );
- }
-
- #endif // BLINKM
-
- #if ENABLED(EXPERIMENTAL_I2CBUS)
-
- /**
- * M155: Send data to a I2C slave device
- *
- * This is a PoC, the formating and arguments for the GCODE will
- * change to be more compatible, the current proposal is:
- *
- * M155 A<slave device address base 10> ; Sets the I2C slave address the data will be sent to
- *
- * M155 B<byte-1 value in base 10>
- * M155 B<byte-2 value in base 10>
- * M155 B<byte-3 value in base 10>
- *
- * M155 S1 ; Send the buffered data and reset the buffer
- * M155 R1 ; Reset the buffer without sending data
- *
- */
- inline void gcode_M155() {
- // Set the target address
- if (code_seen('A'))
- i2c.address((uint8_t) code_value_short());
-
- // Add a new byte to the buffer
- else if (code_seen('B'))
- i2c.addbyte((int) code_value_short());
-
- // Flush the buffer to the bus
- else if (code_seen('S')) i2c.send();
-
- // Reset and rewind the buffer
- else if (code_seen('R')) i2c.reset();
- }
-
- /**
- * M156: Request X bytes from I2C slave device
- *
- * Usage: M156 A<slave device address base 10> B<number of bytes>
- */
- inline void gcode_M156() {
- uint8_t addr = code_seen('A') ? code_value_short() : 0;
- int bytes = code_seen('B') ? code_value_short() : 0;
-
- if (addr && bytes) {
- i2c.address(addr);
- i2c.reqbytes(bytes);
- }
- }
-
- #endif //EXPERIMENTAL_I2CBUS
-
- /**
- * M200: Set filament diameter and set E axis units to cubic millimeters
- *
- * T<extruder> - Optional extruder number. Current extruder if omitted.
- * D<mm> - Diameter of the filament. Use "D0" to set units back to millimeters.
- */
- inline void gcode_M200() {
-
- if (setTargetedHotend(200)) return;
-
- if (code_seen('D')) {
- float diameter = code_value();
- // setting any extruder filament size disables volumetric on the assumption that
- // slicers either generate in extruder values as cubic mm or as as filament feeds
- // for all extruders
- volumetric_enabled = (diameter != 0.0);
- if (volumetric_enabled) {
- filament_size[target_extruder] = diameter;
- // make sure all extruders have some sane value for the filament size
- for (int i = 0; i < EXTRUDERS; i++)
- if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
- }
- }
- else {
- //reserved for setting filament diameter via UFID or filament measuring device
- return;
- }
- calculate_volumetric_multipliers();
- }
-
- /**
- * M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
- */
- inline void gcode_M201() {
- for (int8_t i = 0; i < NUM_AXIS; i++) {
- if (code_seen(axis_codes[i])) {
- max_acceleration_units_per_sq_second[i] = code_value();
- }
- }
- // 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)
- reset_acceleration_rates();
- }
-
- #if 0 // Not used for Sprinter/grbl gen6
- inline void gcode_M202() {
- for (int8_t i = 0; i < NUM_AXIS; i++) {
- if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
- }
- }
- #endif
-
-
- /**
- * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
- */
- inline void gcode_M203() {
- for (int8_t i = 0; i < NUM_AXIS; i++) {
- if (code_seen(axis_codes[i])) {
- max_feedrate[i] = code_value();
- }
- }
- }
-
- /**
- * M204: Set Accelerations in mm/sec^2 (M204 P1200 R3000 T3000)
- *
- * P = Printing moves
- * R = Retract only (no X, Y, Z) moves
- * T = Travel (non printing) moves
- *
- * Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
- */
- inline void gcode_M204() {
- if (code_seen('S')) { // Kept for legacy compatibility. Should NOT BE USED for new developments.
- travel_acceleration = acceleration = code_value();
- SERIAL_ECHOPAIR("Setting Print and Travel Acceleration: ", acceleration);
- SERIAL_EOL;
- }
- if (code_seen('P')) {
- acceleration = code_value();
- SERIAL_ECHOPAIR("Setting Print Acceleration: ", acceleration);
- SERIAL_EOL;
- }
- if (code_seen('R')) {
- retract_acceleration = code_value();
- SERIAL_ECHOPAIR("Setting Retract Acceleration: ", retract_acceleration);
- SERIAL_EOL;
- }
- if (code_seen('T')) {
- travel_acceleration = code_value();
- SERIAL_ECHOPAIR("Setting Travel Acceleration: ", travel_acceleration);
- SERIAL_EOL;
- }
- }
-
- /**
- * M205: Set Advanced Settings
- *
- * S = Min Feed Rate (mm/s)
- * T = Min Travel Feed Rate (mm/s)
- * B = Min Segment Time (µs)
- * X = Max XY Jerk (mm/s/s)
- * Z = Max Z Jerk (mm/s/s)
- * E = Max E Jerk (mm/s/s)
- */
- inline void gcode_M205() {
- if (code_seen('S')) minimumfeedrate = code_value();
- if (code_seen('T')) mintravelfeedrate = code_value();
- if (code_seen('B')) minsegmenttime = code_value();
- if (code_seen('X')) max_xy_jerk = code_value();
- if (code_seen('Z')) max_z_jerk = code_value();
- if (code_seen('E')) max_e_jerk = code_value();
- }
-
- /**
- * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
- */
- inline void gcode_M206() {
- for (int8_t i = X_AXIS; i <= Z_AXIS; i++)
- if (code_seen(axis_codes[i]))
- set_home_offset((AxisEnum)i, code_value());
-
- #if ENABLED(SCARA)
- if (code_seen('T')) set_home_offset(X_AXIS, code_value()); // Theta
- if (code_seen('P')) set_home_offset(Y_AXIS, code_value()); // Psi
- #endif
- sync_plan_position();
- }
-
- #if ENABLED(DELTA)
- /**
- * M665: Set delta configurations
- *
- * L = diagonal rod
- * R = delta radius
- * S = segments per second
- * A = Alpha (Tower 1) diagonal rod trim
- * B = Beta (Tower 2) diagonal rod trim
- * C = Gamma (Tower 3) diagonal rod trim
- */
- inline void gcode_M665() {
- if (code_seen('L')) delta_diagonal_rod = code_value();
- if (code_seen('R')) delta_radius = code_value();
- if (code_seen('S')) delta_segments_per_second = code_value();
- if (code_seen('A')) delta_diagonal_rod_trim_tower_1 = code_value();
- if (code_seen('B')) delta_diagonal_rod_trim_tower_2 = code_value();
- if (code_seen('C')) delta_diagonal_rod_trim_tower_3 = code_value();
- recalc_delta_settings(delta_radius, delta_diagonal_rod);
- }
- /**
- * M666: Set delta endstop adjustment
- */
- inline void gcode_M666() {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPGM(">>> gcode_M666");
- }
- #endif
- for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
- if (code_seen(axis_codes[i])) {
- endstop_adj[i] = code_value();
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPGM("endstop_adj[");
- SERIAL_ECHO(axis_codes[i]);
- SERIAL_ECHOPAIR("] = ", endstop_adj[i]);
- SERIAL_EOL;
- }
- #endif
- }
- }
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPGM("<<< gcode_M666");
- }
- #endif
- }
-
- #elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
-
- /**
- * M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
- */
- inline void gcode_M666() {
- if (code_seen('Z')) z_endstop_adj = code_value();
- SERIAL_ECHOPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj);
- SERIAL_EOL;
- }
-
- #endif // !DELTA && Z_DUAL_ENDSTOPS
-
- #if ENABLED(FWRETRACT)
-
- /**
- * M207: Set firmware retraction values
- *
- * S[+mm] retract_length
- * W[+mm] retract_length_swap (multi-extruder)
- * F[mm/min] retract_feedrate
- * Z[mm] retract_zlift
- */
- inline void gcode_M207() {
- if (code_seen('S')) retract_length = code_value();
- if (code_seen('F')) retract_feedrate = code_value() / 60;
- if (code_seen('Z')) retract_zlift = code_value();
- #if EXTRUDERS > 1
- if (code_seen('W')) retract_length_swap = code_value();
- #endif
- }
-
- /**
- * M208: Set firmware un-retraction values
- *
- * S[+mm] retract_recover_length (in addition to M207 S*)
- * W[+mm] retract_recover_length_swap (multi-extruder)
- * F[mm/min] retract_recover_feedrate
- */
- inline void gcode_M208() {
- if (code_seen('S')) retract_recover_length = code_value();
- if (code_seen('F')) retract_recover_feedrate = code_value() / 60;
- #if EXTRUDERS > 1
- if (code_seen('W')) retract_recover_length_swap = code_value();
- #endif
- }
-
- /**
- * M209: Enable automatic retract (M209 S1)
- * detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
- */
- inline void gcode_M209() {
- if (code_seen('S')) {
- int t = code_value_short();
- switch (t) {
- case 0:
- autoretract_enabled = false;
- break;
- case 1:
- autoretract_enabled = true;
- break;
- default:
- unknown_command_error();
- return;
- }
- for (int i = 0; i < EXTRUDERS; i++) retracted[i] = false;
- }
- }
-
- #endif // FWRETRACT
-
- #if EXTRUDERS > 1
-
- /**
- * M218 - set hotend offset (in mm)
- *
- * T<tool>
- * X<xoffset>
- * Y<yoffset>
- * Z<zoffset> - Available with DUAL_X_CARRIAGE
- */
- inline void gcode_M218() {
- if (setTargetedHotend(218)) return;
-
- if (code_seen('X')) extruder_offset[X_AXIS][target_extruder] = code_value();
- if (code_seen('Y')) extruder_offset[Y_AXIS][target_extruder] = code_value();
-
- #if ENABLED(DUAL_X_CARRIAGE)
- if (code_seen('Z')) extruder_offset[Z_AXIS][target_extruder] = code_value();
- #endif
-
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
- for (int e = 0; e < EXTRUDERS; e++) {
- SERIAL_CHAR(' ');
- SERIAL_ECHO(extruder_offset[X_AXIS][e]);
- SERIAL_CHAR(',');
- SERIAL_ECHO(extruder_offset[Y_AXIS][e]);
- #if ENABLED(DUAL_X_CARRIAGE)
- SERIAL_CHAR(',');
- SERIAL_ECHO(extruder_offset[Z_AXIS][e]);
- #endif
- }
- SERIAL_EOL;
- }
-
- #endif // EXTRUDERS > 1
-
- /**
- * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
- */
- inline void gcode_M220() {
- if (code_seen('S')) feedrate_multiplier = code_value();
- }
-
- /**
- * M221: Set extrusion percentage (M221 T0 S95)
- */
- inline void gcode_M221() {
- if (code_seen('S')) {
- int sval = code_value();
- if (setTargetedHotend(221)) return;
- extruder_multiplier[target_extruder] = sval;
- }
- }
-
- /**
- * M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
- */
- inline void gcode_M226() {
- if (code_seen('P')) {
- int pin_number = code_value();
-
- int pin_state = code_seen('S') ? code_value() : -1; // required pin state - default is inverted
-
- if (pin_state >= -1 && pin_state <= 1) {
-
- for (uint8_t i = 0; i < COUNT(sensitive_pins); i++) {
- if (sensitive_pins[i] == pin_number) {
- pin_number = -1;
- break;
- }
- }
-
- if (pin_number > -1) {
- int target = LOW;
-
- st_synchronize();
-
- pinMode(pin_number, INPUT);
-
- switch (pin_state) {
- case 1:
- target = HIGH;
- break;
-
- case 0:
- target = LOW;
- break;
-
- case -1:
- target = !digitalRead(pin_number);
- break;
- }
-
- while (digitalRead(pin_number) != target) idle();
-
- } // pin_number > -1
- } // pin_state -1 0 1
- } // code_seen('P')
- }
-
- #if HAS_SERVOS
-
- /**
- * M280: Get or set servo position. P<index> S<angle>
- */
- inline void gcode_M280() {
- int servo_index = code_seen('P') ? code_value_short() : -1;
- int servo_position = 0;
- if (code_seen('S')) {
- servo_position = code_value_short();
- if (servo_index >= 0 && servo_index < NUM_SERVOS)
- servo[servo_index].move(servo_position);
- else {
- SERIAL_ERROR_START;
- SERIAL_ERROR("Servo ");
- SERIAL_ERROR(servo_index);
- SERIAL_ERRORLN(" out of range");
- }
- }
- else if (servo_index >= 0) {
- SERIAL_ECHO_START;
- SERIAL_ECHO(" Servo ");
- SERIAL_ECHO(servo_index);
- SERIAL_ECHO(": ");
- SERIAL_ECHOLN(servo[servo_index].read());
- }
- }
-
- #endif // HAS_SERVOS
-
- #if HAS_BUZZER
-
- /**
- * M300: Play beep sound S<frequency Hz> P<duration ms>
- */
- inline void gcode_M300() {
- uint16_t beepS = code_seen('S') ? code_value_short() : 110;
- uint32_t beepP = code_seen('P') ? code_value_long() : 1000;
- if (beepP > 5000) beepP = 5000; // limit to 5 seconds
- buzz(beepP, beepS);
- }
-
- #endif // HAS_BUZZER
-
- #if ENABLED(PIDTEMP)
-
- /**
- * M301: Set PID parameters P I D (and optionally C, L)
- *
- * P[float] Kp term
- * I[float] Ki term (unscaled)
- * D[float] Kd term (unscaled)
- *
- * With PID_ADD_EXTRUSION_RATE:
- *
- * C[float] Kc term
- * L[float] LPQ length
- */
- inline void gcode_M301() {
-
- // multi-extruder PID patch: M301 updates or prints a single extruder's PID values
- // default behaviour (omitting E parameter) is to update for extruder 0 only
- int e = code_seen('E') ? code_value() : 0; // extruder being updated
-
- if (e < EXTRUDERS) { // catch bad input value
- if (code_seen('P')) PID_PARAM(Kp, e) = code_value();
- if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value());
- if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value());
- #if ENABLED(PID_ADD_EXTRUSION_RATE)
- if (code_seen('C')) PID_PARAM(Kc, e) = code_value();
- if (code_seen('L')) lpq_len = code_value();
- NOMORE(lpq_len, LPQ_MAX_LEN);
- #endif
-
- updatePID();
- SERIAL_ECHO_START;
- #if ENABLED(PID_PARAMS_PER_EXTRUDER)
- SERIAL_ECHO(" e:"); // specify extruder in serial output
- SERIAL_ECHO(e);
- #endif // PID_PARAMS_PER_EXTRUDER
- SERIAL_ECHO(" p:");
- SERIAL_ECHO(PID_PARAM(Kp, e));
- SERIAL_ECHO(" i:");
- SERIAL_ECHO(unscalePID_i(PID_PARAM(Ki, e)));
- SERIAL_ECHO(" d:");
- SERIAL_ECHO(unscalePID_d(PID_PARAM(Kd, e)));
- #if ENABLED(PID_ADD_EXTRUSION_RATE)
- SERIAL_ECHO(" c:");
- //Kc does not have scaling applied above, or in resetting defaults
- SERIAL_ECHO(PID_PARAM(Kc, e));
- #endif
- SERIAL_EOL;
- }
- else {
- SERIAL_ERROR_START;
- SERIAL_ERRORLN(MSG_INVALID_EXTRUDER);
- }
- }
-
- #endif // PIDTEMP
-
- #if ENABLED(PIDTEMPBED)
-
- inline void gcode_M304() {
- if (code_seen('P')) bedKp = code_value();
- if (code_seen('I')) bedKi = scalePID_i(code_value());
- if (code_seen('D')) bedKd = scalePID_d(code_value());
-
- updatePID();
- SERIAL_ECHO_START;
- SERIAL_ECHO(" p:");
- SERIAL_ECHO(bedKp);
- SERIAL_ECHO(" i:");
- SERIAL_ECHO(unscalePID_i(bedKi));
- SERIAL_ECHO(" d:");
- SERIAL_ECHOLN(unscalePID_d(bedKd));
- }
-
- #endif // PIDTEMPBED
-
- #if defined(CHDK) || HAS_PHOTOGRAPH
-
- /**
- * M240: Trigger a camera by emulating a Canon RC-1
- * See http://www.doc-diy.net/photo/rc-1_hacked/
- */
- inline void gcode_M240() {
- #ifdef CHDK
-
- OUT_WRITE(CHDK, HIGH);
- chdkHigh = millis();
- chdkActive = true;
-
- #elif HAS_PHOTOGRAPH
-
- const uint8_t NUM_PULSES = 16;
- const float PULSE_LENGTH = 0.01524;
- for (int i = 0; i < NUM_PULSES; i++) {
- WRITE(PHOTOGRAPH_PIN, HIGH);
- _delay_ms(PULSE_LENGTH);
- WRITE(PHOTOGRAPH_PIN, LOW);
- _delay_ms(PULSE_LENGTH);
- }
- delay(7.33);
- for (int i = 0; i < NUM_PULSES; i++) {
- WRITE(PHOTOGRAPH_PIN, HIGH);
- _delay_ms(PULSE_LENGTH);
- WRITE(PHOTOGRAPH_PIN, LOW);
- _delay_ms(PULSE_LENGTH);
- }
-
- #endif // !CHDK && HAS_PHOTOGRAPH
- }
-
- #endif // CHDK || PHOTOGRAPH_PIN
-
- #if ENABLED(HAS_LCD_CONTRAST)
-
- /**
- * M250: Read and optionally set the LCD contrast
- */
- inline void gcode_M250() {
- if (code_seen('C')) lcd_setcontrast(code_value_short() & 0x3F);
- SERIAL_PROTOCOLPGM("lcd contrast value: ");
- SERIAL_PROTOCOL(lcd_contrast);
- SERIAL_EOL;
- }
-
- #endif // HAS_LCD_CONTRAST
-
- #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
-
- void set_extrude_min_temp(float temp) { extrude_min_temp = temp; }
-
- /**
- * M302: Allow cold extrudes, or set the minimum extrude S<temperature>.
- */
- inline void gcode_M302() {
- set_extrude_min_temp(code_seen('S') ? code_value() : 0);
- }
-
- #endif // PREVENT_DANGEROUS_EXTRUDE
-
- /**
- * M303: PID relay autotune
- *
- * S<temperature> sets the target temperature. (default 150C)
- * E<extruder> (-1 for the bed) (default 0)
- * C<cycles>
- * U<bool> with a non-zero value will apply the result to current settings
- */
- inline void gcode_M303() {
- int e = code_seen('E') ? code_value_short() : 0;
- int c = code_seen('C') ? code_value_short() : 5;
- bool u = code_seen('U') && code_value_short() != 0;
-
- float temp = code_seen('S') ? code_value() : (e < 0 ? 70.0 : 150.0);
-
- if (e >= 0 && e < EXTRUDERS)
- target_extruder = e;
-
- KEEPALIVE_STATE(NOT_BUSY); // don't send "busy: processing" messages during autotune output
-
- PID_autotune(temp, e, c, u);
-
- KEEPALIVE_STATE(IN_HANDLER);
- }
-
- #if ENABLED(SCARA)
- bool SCARA_move_to_cal(uint8_t delta_x, uint8_t delta_y) {
- //SoftEndsEnabled = false; // Ignore soft endstops during calibration
- //SERIAL_ECHOLN(" Soft endstops disabled ");
- if (IsRunning()) {
- //gcode_get_destination(); // For X Y Z E F
- delta[X_AXIS] = delta_x;
- delta[Y_AXIS] = delta_y;
- calculate_SCARA_forward_Transform(delta);
- destination[X_AXIS] = delta[X_AXIS] / axis_scaling[X_AXIS];
- destination[Y_AXIS] = delta[Y_AXIS] / axis_scaling[Y_AXIS];
- prepare_move();
- //ok_to_send();
- return true;
- }
- return false;
- }
-
- /**
- * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
- */
- inline bool gcode_M360() {
- SERIAL_ECHOLN(" Cal: Theta 0 ");
- return SCARA_move_to_cal(0, 120);
- }
-
- /**
- * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
- */
- inline bool gcode_M361() {
- SERIAL_ECHOLN(" Cal: Theta 90 ");
- return SCARA_move_to_cal(90, 130);
- }
-
- /**
- * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
- */
- inline bool gcode_M362() {
- SERIAL_ECHOLN(" Cal: Psi 0 ");
- return SCARA_move_to_cal(60, 180);
- }
-
- /**
- * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
- */
- inline bool gcode_M363() {
- SERIAL_ECHOLN(" Cal: Psi 90 ");
- return SCARA_move_to_cal(50, 90);
- }
-
- /**
- * M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
- */
- inline bool gcode_M364() {
- SERIAL_ECHOLN(" Cal: Theta-Psi 90 ");
- return SCARA_move_to_cal(45, 135);
- }
-
- /**
- * M365: SCARA calibration: Scaling factor, X, Y, Z axis
- */
- inline void gcode_M365() {
- for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
- if (code_seen(axis_codes[i])) {
- axis_scaling[i] = code_value();
- }
- }
- }
-
- #endif // SCARA
-
- #if ENABLED(EXT_SOLENOID)
-
- void enable_solenoid(uint8_t num) {
- switch (num) {
- case 0:
- OUT_WRITE(SOL0_PIN, HIGH);
- break;
- #if HAS_SOLENOID_1
- case 1:
- OUT_WRITE(SOL1_PIN, HIGH);
- break;
- #endif
- #if HAS_SOLENOID_2
- case 2:
- OUT_WRITE(SOL2_PIN, HIGH);
- break;
- #endif
- #if HAS_SOLENOID_3
- case 3:
- OUT_WRITE(SOL3_PIN, HIGH);
- break;
- #endif
- default:
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
- break;
- }
- }
-
- void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
-
- void disable_all_solenoids() {
- OUT_WRITE(SOL0_PIN, LOW);
- OUT_WRITE(SOL1_PIN, LOW);
- OUT_WRITE(SOL2_PIN, LOW);
- OUT_WRITE(SOL3_PIN, LOW);
- }
-
- /**
- * M380: Enable solenoid on the active extruder
- */
- inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
-
- /**
- * M381: Disable all solenoids
- */
- inline void gcode_M381() { disable_all_solenoids(); }
-
- #endif // EXT_SOLENOID
-
- /**
- * M400: Finish all moves
- */
- inline void gcode_M400() { st_synchronize(); }
-
- #if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY))
-
- /**
- * M401: Engage Z Servo endstop if available
- */
- inline void gcode_M401() {
- #if HAS_SERVO_ENDSTOPS
- raise_z_for_servo();
- #endif
- deploy_z_probe();
- }
-
- /**
- * M402: Retract Z Servo endstop if enabled
- */
- inline void gcode_M402() {
- #if HAS_SERVO_ENDSTOPS
- raise_z_for_servo();
- #endif
- stow_z_probe(false);
- }
-
- #endif // AUTO_BED_LEVELING_FEATURE && (HAS_SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
-
- #if ENABLED(FILAMENT_WIDTH_SENSOR)
-
- /**
- * M404: Display or set the nominal filament width (3mm, 1.75mm ) W<3.0>
- */
- inline void gcode_M404() {
- if (code_seen('W')) {
- filament_width_nominal = code_value();
- }
- else {
- SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
- SERIAL_PROTOCOLLN(filament_width_nominal);
- }
- }
-
- /**
- * M405: Turn on filament sensor for control
- */
- inline void gcode_M405() {
- if (code_seen('D')) meas_delay_cm = code_value();
- NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY);
-
- if (filwidth_delay_index2 == -1) { // Initialize the ring buffer if not done since startup
- int temp_ratio = widthFil_to_size_ratio();
-
- for (uint8_t i = 0; i < COUNT(measurement_delay); ++i)
- measurement_delay[i] = temp_ratio - 100; // Subtract 100 to scale within a signed byte
-
- filwidth_delay_index1 = filwidth_delay_index2 = 0;
- }
-
- filament_sensor = true;
-
- //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
- //SERIAL_PROTOCOL(filament_width_meas);
- //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
- //SERIAL_PROTOCOL(extruder_multiplier[active_extruder]);
- }
-
- /**
- * M406: Turn off filament sensor for control
- */
- inline void gcode_M406() { filament_sensor = false; }
-
- /**
- * M407: Get measured filament diameter on serial output
- */
- inline void gcode_M407() {
- SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
- SERIAL_PROTOCOLLN(filament_width_meas);
- }
-
- #endif // FILAMENT_WIDTH_SENSOR
-
- /**
- * M410: Quickstop - Abort all planned moves
- *
- * This will stop the carriages mid-move, so most likely they
- * will be out of sync with the stepper position after this.
- */
- inline void gcode_M410() { quickStop(); }
-
-
- #if ENABLED(MESH_BED_LEVELING)
-
- /**
- * M420: Enable/Disable Mesh Bed Leveling
- */
- inline void gcode_M420() { if (code_seen('S') && code_has_value()) mbl.active = !!code_value_short(); }
-
- /**
- * M421: Set a single Mesh Bed Leveling Z coordinate
- */
- inline void gcode_M421() {
- float x = 0, y = 0, z = 0;
- bool err = false, hasX, hasY, hasZ;
- if ((hasX = code_seen('X'))) x = code_value();
- if ((hasY = code_seen('Y'))) y = code_value();
- if ((hasZ = code_seen('Z'))) z = code_value();
-
- if (!hasX || !hasY || !hasZ) {
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_M421_REQUIRES_XYZ);
- err = true;
- }
-
- if (x >= MESH_NUM_X_POINTS || y >= MESH_NUM_Y_POINTS) {
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_MESH_INDEX_OOB);
- err = true;
- }
-
- if (!err) mbl.set_z(mbl.select_x_index(x), mbl.select_y_index(y), z);
- }
-
- #endif
-
- /**
- * M428: Set home_offset based on the distance between the
- * current_position and the nearest "reference point."
- * If an axis is past center its endstop position
- * is the reference-point. Otherwise it uses 0. This allows
- * the Z offset to be set near the bed when using a max endstop.
- *
- * M428 can't be used more than 2cm away from 0 or an endstop.
- *
- * Use M206 to set these values directly.
- */
- inline void gcode_M428() {
- bool err = false;
- for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
- if (axis_homed[i]) {
- float base = (current_position[i] > (min_pos[i] + max_pos[i]) / 2) ? base_home_pos(i) : 0,
- diff = current_position[i] - base;
- if (diff > -20 && diff < 20) {
- set_home_offset((AxisEnum)i, home_offset[i] - diff);
- }
- else {
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
- LCD_ALERTMESSAGEPGM("Err: Too far!");
- #if HAS_BUZZER
- buzz(200, 40);
- #endif
- err = true;
- break;
- }
- }
- }
-
- if (!err) {
- sync_plan_position();
- LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
- #if HAS_BUZZER
- buzz(200, 659);
- buzz(200, 698);
- #endif
- }
- }
-
- /**
- * M500: Store settings in EEPROM
- */
- inline void gcode_M500() {
- Config_StoreSettings();
- }
-
- /**
- * M501: Read settings from EEPROM
- */
- inline void gcode_M501() {
- Config_RetrieveSettings();
- }
-
- /**
- * M502: Revert to default settings
- */
- inline void gcode_M502() {
- Config_ResetDefault();
- }
-
- /**
- * M503: print settings currently in memory
- */
- inline void gcode_M503() {
- Config_PrintSettings(code_seen('S') && code_value() == 0);
- }
-
- #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
-
- /**
- * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
- */
- inline void gcode_M540() {
- if (code_seen('S')) abort_on_endstop_hit = (code_value() > 0);
- }
-
- #endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
-
- #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
-
- inline void gcode_SET_Z_PROBE_OFFSET() {
-
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
- SERIAL_CHAR(' ');
-
- if (code_seen('Z')) {
- float value = code_value();
- if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
- zprobe_zoffset = value;
- SERIAL_ECHO(zprobe_zoffset);
- }
- else {
- SERIAL_ECHOPGM(MSG_Z_MIN);
- SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
- SERIAL_ECHOPGM(MSG_Z_MAX);
- SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
- }
- }
- else {
- SERIAL_ECHOPAIR(": ", zprobe_zoffset);
- }
-
- SERIAL_EOL;
- }
-
- #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
-
- #if ENABLED(FILAMENTCHANGEENABLE)
-
- /**
- * M600: Pause for filament change
- *
- * E[distance] - Retract the filament this far (negative value)
- * Z[distance] - Move the Z axis by this distance
- * X[position] - Move to this X position, with Y
- * Y[position] - Move to this Y position, with X
- * L[distance] - Retract distance for removal (manual reload)
- *
- * Default values are used for omitted arguments.
- *
- */
- inline void gcode_M600() {
-
- if (degHotend(active_extruder) < extrude_min_temp) {
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
- return;
- }
-
- float lastpos[NUM_AXIS];
- #if ENABLED(DELTA)
- float fr60 = feedrate / 60;
- #endif
-
- for (int i = 0; i < NUM_AXIS; i++)
- lastpos[i] = destination[i] = current_position[i];
-
- #if ENABLED(DELTA)
- #define RUNPLAN calculate_delta(destination); \
- plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], fr60, active_extruder);
- #else
- #define RUNPLAN line_to_destination();
- #endif
-
- //retract by E
- if (code_seen('E')) destination[E_AXIS] += code_value();
- #ifdef FILAMENTCHANGE_FIRSTRETRACT
- else destination[E_AXIS] += FILAMENTCHANGE_FIRSTRETRACT;
- #endif
-
- RUNPLAN;
-
- //lift Z
- if (code_seen('Z')) destination[Z_AXIS] += code_value();
- #ifdef FILAMENTCHANGE_ZADD
- else destination[Z_AXIS] += FILAMENTCHANGE_ZADD;
- #endif
-
- RUNPLAN;
-
- //move xy
- if (code_seen('X')) destination[X_AXIS] = code_value();
- #ifdef FILAMENTCHANGE_XPOS
- else destination[X_AXIS] = FILAMENTCHANGE_XPOS;
- #endif
-
- if (code_seen('Y')) destination[Y_AXIS] = code_value();
- #ifdef FILAMENTCHANGE_YPOS
- else destination[Y_AXIS] = FILAMENTCHANGE_YPOS;
- #endif
-
- RUNPLAN;
-
- if (code_seen('L')) destination[E_AXIS] += code_value();
- #ifdef FILAMENTCHANGE_FINALRETRACT
- else destination[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
- #endif
-
- RUNPLAN;
-
- //finish moves
- st_synchronize();
- //disable extruder steppers so filament can be removed
- disable_e0();
- disable_e1();
- disable_e2();
- disable_e3();
- delay(100);
- LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
- #if DISABLED(AUTO_FILAMENT_CHANGE)
- millis_t next_tick = 0;
- #endif
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- while (!lcd_clicked()) {
- #if DISABLED(AUTO_FILAMENT_CHANGE)
- millis_t ms = millis();
- if (ELAPSED(ms, next_tick)) {
- lcd_quick_feedback();
- next_tick = ms + 2500UL; // feedback every 2.5s while waiting
- }
- idle(true);
- #else
- current_position[E_AXIS] += AUTO_FILAMENT_CHANGE_LENGTH;
- destination[E_AXIS] = current_position[E_AXIS];
- line_to_destination(AUTO_FILAMENT_CHANGE_FEEDRATE);
- st_synchronize();
- #endif
- } // while(!lcd_clicked)
- KEEPALIVE_STATE(IN_HANDLER);
- lcd_quick_feedback(); // click sound feedback
-
- #if ENABLED(AUTO_FILAMENT_CHANGE)
- current_position[E_AXIS] = 0;
- st_synchronize();
- #endif
-
- //return to normal
- if (code_seen('L')) destination[E_AXIS] -= code_value();
- #ifdef FILAMENTCHANGE_FINALRETRACT
- else destination[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
- #endif
-
- current_position[E_AXIS] = destination[E_AXIS]; //the long retract of L is compensated by manual filament feeding
- plan_set_e_position(current_position[E_AXIS]);
-
- RUNPLAN; //should do nothing
-
- lcd_reset_alert_level();
-
- #if ENABLED(DELTA)
- // Move XYZ to starting position, then E
- calculate_delta(lastpos);
- plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], fr60, active_extruder);
- plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder);
- #else
- // Move XY to starting position, then Z, then E
- destination[X_AXIS] = lastpos[X_AXIS];
- destination[Y_AXIS] = lastpos[Y_AXIS];
- line_to_destination();
- destination[Z_AXIS] = lastpos[Z_AXIS];
- line_to_destination();
- destination[E_AXIS] = lastpos[E_AXIS];
- line_to_destination();
- #endif
-
- #if ENABLED(FILAMENT_RUNOUT_SENSOR)
- filrunoutEnqueued = false;
- #endif
-
- }
-
- #endif // FILAMENTCHANGEENABLE
-
- #if ENABLED(DUAL_X_CARRIAGE)
-
- /**
- * M605: Set dual x-carriage movement mode
- *
- * M605 S0: Full control mode. The slicer has full control over x-carriage movement
- * M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
- * M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
- * millimeters x-offset and an optional differential hotend temperature of
- * mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
- * the first with a spacing of 100mm in the x direction and 2 degrees hotter.
- *
- * Note: the X axis should be homed after changing dual x-carriage mode.
- */
- inline void gcode_M605() {
- st_synchronize();
- if (code_seen('S')) dual_x_carriage_mode = code_value();
- switch (dual_x_carriage_mode) {
- case DXC_DUPLICATION_MODE:
- if (code_seen('X')) duplicate_extruder_x_offset = max(code_value(), X2_MIN_POS - x_home_pos(0));
- if (code_seen('R')) duplicate_extruder_temp_offset = code_value();
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
- SERIAL_CHAR(' ');
- SERIAL_ECHO(extruder_offset[X_AXIS][0]);
- SERIAL_CHAR(',');
- SERIAL_ECHO(extruder_offset[Y_AXIS][0]);
- SERIAL_CHAR(' ');
- SERIAL_ECHO(duplicate_extruder_x_offset);
- SERIAL_CHAR(',');
- SERIAL_ECHOLN(extruder_offset[Y_AXIS][1]);
- break;
- case DXC_FULL_CONTROL_MODE:
- case DXC_AUTO_PARK_MODE:
- break;
- default:
- dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
- break;
- }
- active_extruder_parked = false;
- extruder_duplication_enabled = false;
- delayed_move_time = 0;
- }
-
- #endif // DUAL_X_CARRIAGE
-
- /**
- * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
- */
- inline void gcode_M907() {
- #if HAS_DIGIPOTSS
- for (int i = 0; i < NUM_AXIS; i++)
- if (code_seen(axis_codes[i])) digipot_current(i, code_value());
- if (code_seen('B')) digipot_current(4, code_value());
- if (code_seen('S')) for (int i = 0; i <= 4; i++) digipot_current(i, code_value());
- #endif
- #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
- if (code_seen('X')) digipot_current(0, code_value());
- #endif
- #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
- if (code_seen('Z')) digipot_current(1, code_value());
- #endif
- #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
- if (code_seen('E')) digipot_current(2, code_value());
- #endif
- #if ENABLED(DIGIPOT_I2C)
- // this one uses actual amps in floating point
- for (int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value());
- // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
- 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());
- #endif
- #if ENABLED(DAC_STEPPER_CURRENT)
- if (code_seen('S')) {
- float dac_percent = code_value();
- for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
- }
- for (uint8_t i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) dac_current_percent(i, code_value());
- #endif
- }
-
- #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
-
- /**
- * M908: Control digital trimpot directly (M908 P<pin> S<current>)
- */
- inline void gcode_M908() {
- #if HAS_DIGIPOTSS
- digitalPotWrite(
- code_seen('P') ? code_value() : 0,
- code_seen('S') ? code_value() : 0
- );
- #endif
- #ifdef DAC_STEPPER_CURRENT
- dac_current_raw(
- code_seen('P') ? code_value_long() : -1,
- code_seen('S') ? code_value_short() : 0
- );
- #endif
- }
-
- #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
-
- inline void gcode_M909() { dac_print_values(); }
-
- inline void gcode_M910() { dac_commit_eeprom(); }
-
- #endif
-
- #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
-
- #if HAS_MICROSTEPS
-
- // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
- inline void gcode_M350() {
- if (code_seen('S')) for (int i = 0; i <= 4; i++) microstep_mode(i, code_value());
- for (int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) microstep_mode(i, (uint8_t)code_value());
- if (code_seen('B')) microstep_mode(4, code_value());
- microstep_readings();
- }
-
- /**
- * M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
- * S# determines MS1 or MS2, X# sets the pin high/low.
- */
- inline void gcode_M351() {
- if (code_seen('S')) switch (code_value_short()) {
- case 1:
- for (int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) microstep_ms(i, code_value(), -1);
- if (code_seen('B')) microstep_ms(4, code_value(), -1);
- break;
- case 2:
- for (int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) microstep_ms(i, -1, code_value());
- if (code_seen('B')) microstep_ms(4, -1, code_value());
- break;
- }
- microstep_readings();
- }
-
- #endif // HAS_MICROSTEPS
-
- /**
- * M999: Restart after being stopped
- */
- inline void gcode_M999() {
- Running = true;
- lcd_reset_alert_level();
- // gcode_LastN = Stopped_gcode_LastN;
- FlushSerialRequestResend();
- }
-
- /**
- * T0-T3: Switch tool, usually switching extruders
- *
- * F[mm/min] Set the movement feedrate
- */
- inline void gcode_T(uint8_t tmp_extruder) {
- if (tmp_extruder >= EXTRUDERS) {
- SERIAL_ECHO_START;
- SERIAL_CHAR('T');
- SERIAL_PROTOCOL_F(tmp_extruder, DEC);
- SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
- }
- else {
- target_extruder = tmp_extruder;
-
- #if EXTRUDERS > 1
- bool make_move = false;
- #endif
-
- if (code_seen('F')) {
-
- #if EXTRUDERS > 1
- make_move = true;
- #endif
-
- float next_feedrate = code_value();
- if (next_feedrate > 0.0) feedrate = next_feedrate;
- }
- #if EXTRUDERS > 1
- if (tmp_extruder != active_extruder) {
- // Save current position to return to after applying extruder offset
- set_destination_to_current();
- #if ENABLED(DUAL_X_CARRIAGE)
- if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() &&
- (delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder))) {
- // Park old head: 1) raise 2) move to park position 3) lower
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
- current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
- plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
- current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
- plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
- current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
- st_synchronize();
- }
-
- // apply Y & Z extruder offset (x offset is already used in determining home pos)
- current_position[Y_AXIS] -= extruder_offset[Y_AXIS][active_extruder] - extruder_offset[Y_AXIS][tmp_extruder];
- current_position[Z_AXIS] -= extruder_offset[Z_AXIS][active_extruder] - extruder_offset[Z_AXIS][tmp_extruder];
- active_extruder = tmp_extruder;
-
- // This function resets the max/min values - the current position may be overwritten below.
- set_axis_is_at_home(X_AXIS);
-
- if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE) {
- current_position[X_AXIS] = inactive_extruder_x_pos;
- inactive_extruder_x_pos = destination[X_AXIS];
- }
- else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
- active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
- if (active_extruder == 0 || active_extruder_parked)
- current_position[X_AXIS] = inactive_extruder_x_pos;
- else
- current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
- inactive_extruder_x_pos = destination[X_AXIS];
- extruder_duplication_enabled = false;
- }
- else {
- // record raised toolhead position for use by unpark
- memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
- raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
- active_extruder_parked = true;
- delayed_move_time = 0;
- }
- #else // !DUAL_X_CARRIAGE
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
- // Offset extruder, make sure to apply the bed level rotation matrix
- vector_3 tmp_offset_vec = vector_3(extruder_offset[X_AXIS][tmp_extruder],
- extruder_offset[Y_AXIS][tmp_extruder],
- 0),
- act_offset_vec = vector_3(extruder_offset[X_AXIS][active_extruder],
- extruder_offset[Y_AXIS][active_extruder],
- 0),
- offset_vec = tmp_offset_vec - act_offset_vec;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPGM(">>> gcode_T");
- tmp_offset_vec.debug("tmp_offset_vec");
- act_offset_vec.debug("act_offset_vec");
- offset_vec.debug("offset_vec (BEFORE)");
- DEBUG_POS("BEFORE rotation", current_position);
- }
- #endif
-
- offset_vec.apply_rotation(plan_bed_level_matrix.transpose(plan_bed_level_matrix));
-
- current_position[X_AXIS] += offset_vec.x;
- current_position[Y_AXIS] += offset_vec.y;
- current_position[Z_AXIS] += offset_vec.z;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- offset_vec.debug("offset_vec (AFTER)");
- DEBUG_POS("AFTER rotation", current_position);
- SERIAL_ECHOLNPGM("<<< gcode_T");
- }
- #endif
-
- #else // !AUTO_BED_LEVELING_FEATURE
- // Offset extruder (only by XY)
- for (int i=X_AXIS; i<=Y_AXIS; i++)
- current_position[i] += extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder];
- #endif // !AUTO_BED_LEVELING_FEATURE
- // Set the new active extruder and position
- active_extruder = tmp_extruder;
- #endif // !DUAL_X_CARRIAGE
- #if ENABLED(DELTA)
- sync_plan_position_delta();
- #else
- sync_plan_position();
- #endif
- // Move to the old position if 'F' was in the parameters
- if (make_move && IsRunning()) prepare_move();
- }
-
- #if ENABLED(EXT_SOLENOID)
- st_synchronize();
- disable_all_solenoids();
- enable_solenoid_on_active_extruder();
- #endif // EXT_SOLENOID
-
- #endif // EXTRUDERS > 1
- SERIAL_ECHO_START;
- SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
- SERIAL_PROTOCOLLN((int)active_extruder);
- }
- }
-
- /**
- * Process a single command and dispatch it to its handler
- * This is called from the main loop()
- */
- void process_next_command() {
- current_command = command_queue[cmd_queue_index_r];
-
- if (DEBUGGING(ECHO)) {
- SERIAL_ECHO_START;
- SERIAL_ECHOLN(current_command);
- }
-
- // Sanitize the current command:
- // - Skip leading spaces
- // - Bypass N[-0-9][0-9]*[ ]*
- // - Overwrite * with nul to mark the end
- while (*current_command == ' ') ++current_command;
- if (*current_command == 'N' && NUMERIC_SIGNED(current_command[1])) {
- current_command += 2; // skip N[-0-9]
- while (NUMERIC(*current_command)) ++current_command; // skip [0-9]*
- while (*current_command == ' ') ++current_command; // skip [ ]*
- }
- char* starpos = strchr(current_command, '*'); // * should always be the last parameter
- if (starpos) while (*starpos == ' ' || *starpos == '*') *starpos-- = '\0'; // nullify '*' and ' '
-
- char *cmd_ptr = current_command;
-
- // Get the command code, which must be G, M, or T
- char command_code = *cmd_ptr++;
-
- // Skip spaces to get the numeric part
- while (*cmd_ptr == ' ') cmd_ptr++;
-
- uint16_t codenum = 0; // define ahead of goto
-
- // Bail early if there's no code
- bool code_is_good = NUMERIC(*cmd_ptr);
- if (!code_is_good) goto ExitUnknownCommand;
-
- // Get and skip the code number
- do {
- codenum = (codenum * 10) + (*cmd_ptr - '0');
- cmd_ptr++;
- } while (NUMERIC(*cmd_ptr));
-
- // Skip all spaces to get to the first argument, or nul
- while (*cmd_ptr == ' ') cmd_ptr++;
-
- // The command's arguments (if any) start here, for sure!
- current_command_args = cmd_ptr;
-
- KEEPALIVE_STATE(IN_HANDLER);
-
- // Handle a known G, M, or T
- switch (command_code) {
- case 'G': switch (codenum) {
-
- // G0, G1
- case 0:
- case 1:
- gcode_G0_G1();
- break;
-
- // G2, G3
- #if DISABLED(SCARA)
- case 2: // G2 - CW ARC
- case 3: // G3 - CCW ARC
- gcode_G2_G3(codenum == 2);
- break;
- #endif
-
- // G4 Dwell
- case 4:
- gcode_G4();
- break;
-
- #if ENABLED(FWRETRACT)
-
- case 10: // G10: retract
- case 11: // G11: retract_recover
- gcode_G10_G11(codenum == 10);
- break;
-
- #endif //FWRETRACT
-
- case 28: // G28: Home all axes, one at a time
- gcode_G28();
- break;
-
- #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
- case 29: // G29 Detailed Z probe, probes the bed at 3 or more points.
- gcode_G29();
- break;
- #endif
-
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
-
- #if DISABLED(Z_PROBE_SLED)
-
- case 30: // G30 Single Z probe
- gcode_G30();
- break;
-
- #else // Z_PROBE_SLED
-
- case 31: // G31: dock the sled
- case 32: // G32: undock the sled
- dock_sled(codenum == 31);
- break;
-
- #endif // Z_PROBE_SLED
-
- #endif // AUTO_BED_LEVELING_FEATURE
-
- case 90: // G90
- relative_mode = false;
- break;
- case 91: // G91
- relative_mode = true;
- break;
-
- case 92: // G92
- gcode_G92();
- break;
- }
- break;
-
- case 'M': switch (codenum) {
- #if ENABLED(ULTIPANEL)
- case 0: // M0 - Unconditional stop - Wait for user button press on LCD
- case 1: // M1 - Conditional stop - Wait for user button press on LCD
- gcode_M0_M1();
- break;
- #endif // ULTIPANEL
-
- case 17:
- gcode_M17();
- break;
-
- #if ENABLED(SDSUPPORT)
-
- case 20: // M20 - list SD card
- gcode_M20(); break;
- case 21: // M21 - init SD card
- gcode_M21(); break;
- case 22: //M22 - release SD card
- gcode_M22(); break;
- case 23: //M23 - Select file
- gcode_M23(); break;
- case 24: //M24 - Start SD print
- gcode_M24(); break;
- case 25: //M25 - Pause SD print
- gcode_M25(); break;
- case 26: //M26 - Set SD index
- gcode_M26(); break;
- case 27: //M27 - Get SD status
- gcode_M27(); break;
- case 28: //M28 - Start SD write
- gcode_M28(); break;
- case 29: //M29 - Stop SD write
- gcode_M29(); break;
- case 30: //M30 <filename> Delete File
- gcode_M30(); break;
- case 32: //M32 - Select file and start SD print
- gcode_M32(); break;
-
- #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
- case 33: //M33 - Get the long full path to a file or folder
- gcode_M33(); break;
- #endif // LONG_FILENAME_HOST_SUPPORT
-
- case 928: //M928 - Start SD write
- gcode_M928(); break;
-
- #endif //SDSUPPORT
-
- case 31: //M31 take time since the start of the SD print or an M109 command
- gcode_M31();
- break;
-
- case 42: //M42 -Change pin status via gcode
- gcode_M42();
- break;
-
- #if ENABLED(AUTO_BED_LEVELING_FEATURE) && ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
- case 48: // M48 Z probe repeatability
- gcode_M48();
- break;
- #endif // AUTO_BED_LEVELING_FEATURE && Z_MIN_PROBE_REPEATABILITY_TEST
-
- case 75: // Start print timer
- gcode_M75();
- break;
-
- case 76: // Pause print timer
- gcode_M76();
- break;
-
- case 77: // Stop print timer
- gcode_M77();
- break;
-
- #if ENABLED(M100_FREE_MEMORY_WATCHER)
- case 100:
- gcode_M100();
- break;
- #endif
-
- case 104: // M104
- gcode_M104();
- break;
-
- case 110: // M110: Set Current Line Number
- gcode_M110();
- break;
-
- case 111: // M111: Set debug level
- gcode_M111();
- break;
-
- case 112: // M112: Emergency Stop
- gcode_M112();
- break;
-
- #if ENABLED(HOST_KEEPALIVE_FEATURE)
-
- case 113: // M113: Set Host Keepalive interval
- gcode_M113();
- break;
-
- #endif
-
- case 140: // M140: Set bed temp
- gcode_M140();
- break;
-
- case 105: // M105: Read current temperature
- gcode_M105();
- KEEPALIVE_STATE(NOT_BUSY);
- return; // "ok" already printed
-
- case 109: // M109: Wait for temperature
- gcode_M109();
- break;
-
- #if HAS_TEMP_BED
- case 190: // M190: Wait for bed heater to reach target
- gcode_M190();
- break;
- #endif // HAS_TEMP_BED
-
- #if FAN_COUNT > 0
- case 106: // M106: Fan On
- gcode_M106();
- break;
- case 107: // M107: Fan Off
- gcode_M107();
- break;
- #endif // FAN_COUNT > 0
-
- #if ENABLED(BARICUDA)
- // PWM for HEATER_1_PIN
- #if HAS_HEATER_1
- case 126: // M126: valve open
- gcode_M126();
- break;
- case 127: // M127: valve closed
- gcode_M127();
- break;
- #endif // HAS_HEATER_1
-
- // PWM for HEATER_2_PIN
- #if HAS_HEATER_2
- case 128: // M128: valve open
- gcode_M128();
- break;
- case 129: // M129: valve closed
- gcode_M129();
- break;
- #endif // HAS_HEATER_2
- #endif // BARICUDA
-
- #if HAS_POWER_SWITCH
-
- case 80: // M80: Turn on Power Supply
- gcode_M80();
- break;
-
- #endif // HAS_POWER_SWITCH
-
- case 81: // M81: Turn off Power, including Power Supply, if possible
- gcode_M81();
- break;
-
- case 82:
- gcode_M82();
- break;
- case 83:
- gcode_M83();
- break;
- case 18: // (for compatibility)
- case 84: // M84
- gcode_M18_M84();
- break;
- case 85: // M85
- gcode_M85();
- break;
- case 92: // M92: Set the steps-per-unit for one or more axes
- gcode_M92();
- break;
- case 115: // M115: Report capabilities
- gcode_M115();
- break;
- case 117: // M117: Set LCD message text, if possible
- gcode_M117();
- break;
- case 114: // M114: Report current position
- gcode_M114();
- break;
- case 120: // M120: Enable endstops
- gcode_M120();
- break;
- case 121: // M121: Disable endstops
- gcode_M121();
- break;
- case 119: // M119: Report endstop states
- gcode_M119();
- break;
-
- #if ENABLED(ULTIPANEL)
-
- case 145: // M145: Set material heatup parameters
- gcode_M145();
- break;
-
- #endif
-
- #if ENABLED(BLINKM)
-
- case 150: // M150
- gcode_M150();
- break;
-
- #endif //BLINKM
-
- #if ENABLED(EXPERIMENTAL_I2CBUS)
-
- case 155:
- gcode_M155();
- break;
-
- case 156:
- gcode_M156();
- break;
-
- #endif //EXPERIMENTAL_I2CBUS
-
- case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
- gcode_M200();
- break;
- case 201: // M201
- gcode_M201();
- break;
- #if 0 // Not used for Sprinter/grbl gen6
- case 202: // M202
- gcode_M202();
- break;
- #endif
- case 203: // M203 max feedrate mm/sec
- gcode_M203();
- break;
- case 204: // M204 acclereration S normal moves T filmanent only moves
- gcode_M204();
- break;
- 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
- gcode_M205();
- break;
- case 206: // M206 additional homing offset
- gcode_M206();
- break;
-
- #if ENABLED(DELTA)
- case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
- gcode_M665();
- break;
- #endif
-
- #if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS)
- case 666: // M666 set delta / dual endstop adjustment
- gcode_M666();
- break;
- #endif
-
- #if ENABLED(FWRETRACT)
- case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
- gcode_M207();
- break;
- case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
- gcode_M208();
- break;
- 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.
- gcode_M209();
- break;
- #endif // FWRETRACT
-
- #if EXTRUDERS > 1
- case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
- gcode_M218();
- break;
- #endif
-
- case 220: // M220 S<factor in percent>- set speed factor override percentage
- gcode_M220();
- break;
-
- case 221: // M221 S<factor in percent>- set extrude factor override percentage
- gcode_M221();
- break;
-
- case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
- gcode_M226();
- break;
-
- #if HAS_SERVOS
- case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
- gcode_M280();
- break;
- #endif // HAS_SERVOS
-
- #if HAS_BUZZER
- case 300: // M300 - Play beep tone
- gcode_M300();
- break;
- #endif // HAS_BUZZER
-
- #if ENABLED(PIDTEMP)
- case 301: // M301
- gcode_M301();
- break;
- #endif // PIDTEMP
-
- #if ENABLED(PIDTEMPBED)
- case 304: // M304
- gcode_M304();
- break;
- #endif // PIDTEMPBED
-
- #if defined(CHDK) || HAS_PHOTOGRAPH
- case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
- gcode_M240();
- break;
- #endif // CHDK || PHOTOGRAPH_PIN
-
- #if ENABLED(HAS_LCD_CONTRAST)
- case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
- gcode_M250();
- break;
- #endif // HAS_LCD_CONTRAST
-
- #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
- case 302: // allow cold extrudes, or set the minimum extrude temperature
- gcode_M302();
- break;
- #endif // PREVENT_DANGEROUS_EXTRUDE
-
- case 303: // M303 PID autotune
- gcode_M303();
- break;
-
- #if ENABLED(SCARA)
- case 360: // M360 SCARA Theta pos1
- if (gcode_M360()) return;
- break;
- case 361: // M361 SCARA Theta pos2
- if (gcode_M361()) return;
- break;
- case 362: // M362 SCARA Psi pos1
- if (gcode_M362()) return;
- break;
- case 363: // M363 SCARA Psi pos2
- if (gcode_M363()) return;
- break;
- case 364: // M364 SCARA Psi pos3 (90 deg to Theta)
- if (gcode_M364()) return;
- break;
- case 365: // M365 Set SCARA scaling for X Y Z
- gcode_M365();
- break;
- #endif // SCARA
-
- case 400: // M400 finish all moves
- gcode_M400();
- break;
-
- #if ENABLED(AUTO_BED_LEVELING_FEATURE) && (HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY)) && DISABLED(Z_PROBE_SLED)
- case 401:
- gcode_M401();
- break;
- case 402:
- gcode_M402();
- break;
- #endif // AUTO_BED_LEVELING_FEATURE && (HAS_SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
-
- #if ENABLED(FILAMENT_WIDTH_SENSOR)
- case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
- gcode_M404();
- break;
- case 405: //M405 Turn on filament sensor for control
- gcode_M405();
- break;
- case 406: //M406 Turn off filament sensor for control
- gcode_M406();
- break;
- case 407: //M407 Display measured filament diameter
- gcode_M407();
- break;
- #endif // ENABLED(FILAMENT_WIDTH_SENSOR)
-
- case 410: // M410 quickstop - Abort all the planned moves.
- gcode_M410();
- break;
-
- #if ENABLED(MESH_BED_LEVELING)
- case 420: // M420 Enable/Disable Mesh Bed Leveling
- gcode_M420();
- break;
- case 421: // M421 Set a Mesh Bed Leveling Z coordinate
- gcode_M421();
- break;
- #endif
-
- case 428: // M428 Apply current_position to home_offset
- gcode_M428();
- break;
-
- case 500: // M500 Store settings in EEPROM
- gcode_M500();
- break;
- case 501: // M501 Read settings from EEPROM
- gcode_M501();
- break;
- case 502: // M502 Revert to default settings
- gcode_M502();
- break;
- case 503: // M503 print settings currently in memory
- gcode_M503();
- break;
-
- #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
- case 540:
- gcode_M540();
- break;
- #endif
-
- #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
- case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
- gcode_SET_Z_PROBE_OFFSET();
- break;
- #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
-
- #if ENABLED(FILAMENTCHANGEENABLE)
- case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
- gcode_M600();
- break;
- #endif // FILAMENTCHANGEENABLE
-
- #if ENABLED(DUAL_X_CARRIAGE)
- case 605:
- gcode_M605();
- break;
- #endif // DUAL_X_CARRIAGE
-
- case 907: // M907 Set digital trimpot motor current using axis codes.
- gcode_M907();
- break;
-
- #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
-
- case 908: // M908 Control digital trimpot directly.
- gcode_M908();
- break;
-
- #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
-
- case 909: // M909 Print digipot/DAC current value
- gcode_M909();
- break;
-
- case 910: // M910 Commit digipot/DAC value to external EEPROM
- gcode_M910();
- break;
-
- #endif
-
- #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
-
- #if HAS_MICROSTEPS
-
- case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
- gcode_M350();
- break;
-
- case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
- gcode_M351();
- break;
-
- #endif // HAS_MICROSTEPS
-
- case 999: // M999: Restart after being Stopped
- gcode_M999();
- break;
- }
- break;
-
- case 'T':
- gcode_T(codenum);
- break;
-
- default: code_is_good = false;
- }
-
- KEEPALIVE_STATE(NOT_BUSY);
-
- ExitUnknownCommand:
-
- // Still unknown command? Throw an error
- if (!code_is_good) unknown_command_error();
-
- ok_to_send();
- }
-
- void FlushSerialRequestResend() {
- //char command_queue[cmd_queue_index_r][100]="Resend:";
- MYSERIAL.flush();
- SERIAL_PROTOCOLPGM(MSG_RESEND);
- SERIAL_PROTOCOLLN(gcode_LastN + 1);
- ok_to_send();
- }
-
- void ok_to_send() {
- refresh_cmd_timeout();
- if (!send_ok[cmd_queue_index_r]) return;
- SERIAL_PROTOCOLPGM(MSG_OK);
- #if ENABLED(ADVANCED_OK)
- char* p = command_queue[cmd_queue_index_r];
- if (*p == 'N') {
- SERIAL_PROTOCOL(' ');
- SERIAL_ECHO(*p++);
- while (NUMERIC_SIGNED(*p))
- SERIAL_ECHO(*p++);
- }
- SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - movesplanned() - 1));
- SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
- #endif
- SERIAL_EOL;
- }
-
- void clamp_to_software_endstops(float target[3]) {
- if (min_software_endstops) {
- NOLESS(target[X_AXIS], min_pos[X_AXIS]);
- NOLESS(target[Y_AXIS], min_pos[Y_AXIS]);
-
- float negative_z_offset = 0;
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
- if (zprobe_zoffset < 0) negative_z_offset += zprobe_zoffset;
- if (home_offset[Z_AXIS] < 0) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("> clamp_to_software_endstops > Add home_offset[Z_AXIS]:", home_offset[Z_AXIS]);
- SERIAL_EOL;
- }
- #endif
- negative_z_offset += home_offset[Z_AXIS];
- }
- #endif
- NOLESS(target[Z_AXIS], min_pos[Z_AXIS] + negative_z_offset);
- }
-
- if (max_software_endstops) {
- NOMORE(target[X_AXIS], max_pos[X_AXIS]);
- NOMORE(target[Y_AXIS], max_pos[Y_AXIS]);
- NOMORE(target[Z_AXIS], max_pos[Z_AXIS]);
- }
- }
-
- #if ENABLED(DELTA)
-
- void recalc_delta_settings(float radius, float diagonal_rod) {
- delta_tower1_x = -SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
- delta_tower1_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1);
- delta_tower2_x = SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
- delta_tower2_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2);
- delta_tower3_x = 0.0; // back middle tower
- delta_tower3_y = (radius + DELTA_RADIUS_TRIM_TOWER_3);
- delta_diagonal_rod_2_tower_1 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_1);
- delta_diagonal_rod_2_tower_2 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_2);
- delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3);
- }
-
- void calculate_delta(float cartesian[3]) {
-
- delta[TOWER_1] = sqrt(delta_diagonal_rod_2_tower_1
- - sq(delta_tower1_x - cartesian[X_AXIS])
- - sq(delta_tower1_y - cartesian[Y_AXIS])
- ) + cartesian[Z_AXIS];
- delta[TOWER_2] = sqrt(delta_diagonal_rod_2_tower_2
- - sq(delta_tower2_x - cartesian[X_AXIS])
- - sq(delta_tower2_y - cartesian[Y_AXIS])
- ) + cartesian[Z_AXIS];
- delta[TOWER_3] = sqrt(delta_diagonal_rod_2_tower_3
- - sq(delta_tower3_x - cartesian[X_AXIS])
- - sq(delta_tower3_y - cartesian[Y_AXIS])
- ) + cartesian[Z_AXIS];
- /**
- SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
- SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
- SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
-
- SERIAL_ECHOPGM("delta a="); SERIAL_ECHO(delta[TOWER_1]);
- SERIAL_ECHOPGM(" b="); SERIAL_ECHO(delta[TOWER_2]);
- SERIAL_ECHOPGM(" c="); SERIAL_ECHOLN(delta[TOWER_3]);
- */
- }
-
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
-
- // Adjust print surface height by linear interpolation over the bed_level array.
- void adjust_delta(float cartesian[3]) {
- if (delta_grid_spacing[0] == 0 || delta_grid_spacing[1] == 0) return; // G29 not done!
-
- int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
- float h1 = 0.001 - half, h2 = half - 0.001,
- grid_x = max(h1, min(h2, cartesian[X_AXIS] / delta_grid_spacing[0])),
- grid_y = max(h1, min(h2, cartesian[Y_AXIS] / delta_grid_spacing[1]));
- int floor_x = floor(grid_x), floor_y = floor(grid_y);
- float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y,
- z1 = bed_level[floor_x + half][floor_y + half],
- z2 = bed_level[floor_x + half][floor_y + half + 1],
- z3 = bed_level[floor_x + half + 1][floor_y + half],
- z4 = bed_level[floor_x + half + 1][floor_y + half + 1],
- left = (1 - ratio_y) * z1 + ratio_y * z2,
- right = (1 - ratio_y) * z3 + ratio_y * z4,
- offset = (1 - ratio_x) * left + ratio_x * right;
-
- delta[X_AXIS] += offset;
- delta[Y_AXIS] += offset;
- delta[Z_AXIS] += offset;
-
- /**
- SERIAL_ECHOPGM("grid_x="); SERIAL_ECHO(grid_x);
- SERIAL_ECHOPGM(" grid_y="); SERIAL_ECHO(grid_y);
- SERIAL_ECHOPGM(" floor_x="); SERIAL_ECHO(floor_x);
- SERIAL_ECHOPGM(" floor_y="); SERIAL_ECHO(floor_y);
- SERIAL_ECHOPGM(" ratio_x="); SERIAL_ECHO(ratio_x);
- SERIAL_ECHOPGM(" ratio_y="); SERIAL_ECHO(ratio_y);
- SERIAL_ECHOPGM(" z1="); SERIAL_ECHO(z1);
- SERIAL_ECHOPGM(" z2="); SERIAL_ECHO(z2);
- SERIAL_ECHOPGM(" z3="); SERIAL_ECHO(z3);
- SERIAL_ECHOPGM(" z4="); SERIAL_ECHO(z4);
- SERIAL_ECHOPGM(" left="); SERIAL_ECHO(left);
- SERIAL_ECHOPGM(" right="); SERIAL_ECHO(right);
- SERIAL_ECHOPGM(" offset="); SERIAL_ECHOLN(offset);
- */
- }
- #endif // AUTO_BED_LEVELING_FEATURE
-
- #endif // DELTA
-
- #if ENABLED(MESH_BED_LEVELING)
-
- // This function is used to split lines on mesh borders so each segment is only part of one mesh area
- 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) {
- if (!mbl.active) {
- plan_buffer_line(x, y, z, e, feed_rate, extruder);
- set_current_to_destination();
- return;
- }
- int pix = mbl.select_x_index(current_position[X_AXIS] - home_offset[X_AXIS]);
- int piy = mbl.select_y_index(current_position[Y_AXIS] - home_offset[Y_AXIS]);
- int ix = mbl.select_x_index(x - home_offset[X_AXIS]);
- int iy = mbl.select_y_index(y - home_offset[Y_AXIS]);
- pix = min(pix, MESH_NUM_X_POINTS - 2);
- piy = min(piy, MESH_NUM_Y_POINTS - 2);
- ix = min(ix, MESH_NUM_X_POINTS - 2);
- iy = min(iy, MESH_NUM_Y_POINTS - 2);
- if (pix == ix && piy == iy) {
- // Start and end on same mesh square
- plan_buffer_line(x, y, z, e, feed_rate, extruder);
- set_current_to_destination();
- return;
- }
- float nx, ny, nz, ne, normalized_dist;
- if (ix > pix && TEST(x_splits, ix)) {
- nx = mbl.get_x(ix) + home_offset[X_AXIS];
- normalized_dist = (nx - current_position[X_AXIS]) / (x - current_position[X_AXIS]);
- ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist;
- nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
- ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
- CBI(x_splits, ix);
- }
- else if (ix < pix && TEST(x_splits, pix)) {
- nx = mbl.get_x(pix) + home_offset[X_AXIS];
- normalized_dist = (nx - current_position[X_AXIS]) / (x - current_position[X_AXIS]);
- ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist;
- nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
- ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
- CBI(x_splits, pix);
- }
- else if (iy > piy && TEST(y_splits, iy)) {
- ny = mbl.get_y(iy) + home_offset[Y_AXIS];
- normalized_dist = (ny - current_position[Y_AXIS]) / (y - current_position[Y_AXIS]);
- nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist;
- nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
- ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
- CBI(y_splits, iy);
- }
- else if (iy < piy && TEST(y_splits, piy)) {
- ny = mbl.get_y(piy) + home_offset[Y_AXIS];
- normalized_dist = (ny - current_position[Y_AXIS]) / (y - current_position[Y_AXIS]);
- nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist;
- nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
- ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
- CBI(y_splits, piy);
- }
- else {
- // Already split on a border
- plan_buffer_line(x, y, z, e, feed_rate, extruder);
- set_current_to_destination();
- return;
- }
- // Do the split and look for more borders
- destination[X_AXIS] = nx;
- destination[Y_AXIS] = ny;
- destination[Z_AXIS] = nz;
- destination[E_AXIS] = ne;
- mesh_plan_buffer_line(nx, ny, nz, ne, feed_rate, extruder, x_splits, y_splits);
- destination[X_AXIS] = x;
- destination[Y_AXIS] = y;
- destination[Z_AXIS] = z;
- destination[E_AXIS] = e;
- mesh_plan_buffer_line(x, y, z, e, feed_rate, extruder, x_splits, y_splits);
- }
- #endif // MESH_BED_LEVELING
-
- #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
-
- inline void prevent_dangerous_extrude(float& curr_e, float& dest_e) {
- if (DEBUGGING(DRYRUN)) return;
- float de = dest_e - curr_e;
- if (de) {
- if (degHotend(active_extruder) < extrude_min_temp) {
- curr_e = dest_e; // Behave as if the move really took place, but ignore E part
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
- }
- #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
- if (labs(de) > EXTRUDE_MAXLENGTH) {
- curr_e = dest_e; // Behave as if the move really took place, but ignore E part
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
- }
- #endif
- }
- }
-
- #endif // PREVENT_DANGEROUS_EXTRUDE
-
- #if ENABLED(DELTA) || ENABLED(SCARA)
-
- inline bool prepare_move_delta(float target[NUM_AXIS]) {
- float difference[NUM_AXIS];
- for (int8_t i = 0; i < NUM_AXIS; i++) difference[i] = target[i] - current_position[i];
-
- float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
- if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
- if (cartesian_mm < 0.000001) return false;
- float seconds = 6000 * cartesian_mm / feedrate / feedrate_multiplier;
- int steps = max(1, int(delta_segments_per_second * seconds));
-
- // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
- // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
- // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
-
- for (int s = 1; s <= steps; s++) {
-
- float fraction = float(s) / float(steps);
-
- for (int8_t i = 0; i < NUM_AXIS; i++)
- target[i] = current_position[i] + difference[i] * fraction;
-
- calculate_delta(target);
-
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
- adjust_delta(target);
- #endif
-
- //SERIAL_ECHOPGM("target[X_AXIS]="); SERIAL_ECHOLN(target[X_AXIS]);
- //SERIAL_ECHOPGM("target[Y_AXIS]="); SERIAL_ECHOLN(target[Y_AXIS]);
- //SERIAL_ECHOPGM("target[Z_AXIS]="); SERIAL_ECHOLN(target[Z_AXIS]);
- //SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]);
- //SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
- //SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
-
- plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feedrate / 60 * feedrate_multiplier / 100.0, active_extruder);
- }
- return true;
- }
-
- #endif // DELTA || SCARA
-
- #if ENABLED(SCARA)
- inline bool prepare_move_scara(float target[NUM_AXIS]) { return prepare_move_delta(target); }
- #endif
-
- #if ENABLED(DUAL_X_CARRIAGE)
-
- inline bool prepare_move_dual_x_carriage() {
- if (active_extruder_parked) {
- if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
- // move duplicate extruder into correct duplication position.
- plan_set_position(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- plan_buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset,
- current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], max_feedrate[X_AXIS], 1);
- sync_plan_position();
- st_synchronize();
- extruder_duplication_enabled = true;
- active_extruder_parked = false;
- }
- else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) { // handle unparking of head
- if (current_position[E_AXIS] == destination[E_AXIS]) {
- // This is a travel move (with no extrusion)
- // Skip it, but keep track of the current position
- // (so it can be used as the start of the next non-travel move)
- if (delayed_move_time != 0xFFFFFFFFUL) {
- set_current_to_destination();
- NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
- delayed_move_time = millis();
- return false;
- }
- }
- delayed_move_time = 0;
- // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
- 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);
- 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);
- 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);
- active_extruder_parked = false;
- }
- }
- return true;
- }
-
- #endif // DUAL_X_CARRIAGE
-
- #if DISABLED(DELTA) && DISABLED(SCARA)
-
- inline bool prepare_move_cartesian() {
- // Do not use feedrate_multiplier for E or Z only moves
- if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
- line_to_destination();
- }
- else {
- #if ENABLED(MESH_BED_LEVELING)
- mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate / 60) * (feedrate_multiplier / 100.0), active_extruder);
- return false;
- #else
- line_to_destination(feedrate * feedrate_multiplier / 100.0);
- #endif
- }
- return true;
- }
-
- #endif // !DELTA && !SCARA
-
- /**
- * Prepare a single move and get ready for the next one
- *
- * (This may call plan_buffer_line several times to put
- * smaller moves into the planner for DELTA or SCARA.)
- */
- void prepare_move() {
- clamp_to_software_endstops(destination);
- refresh_cmd_timeout();
-
- #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
- prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]);
- #endif
-
- #if ENABLED(SCARA)
- if (!prepare_move_scara(destination)) return;
- #elif ENABLED(DELTA)
- if (!prepare_move_delta(destination)) return;
- #endif
-
- #if ENABLED(DUAL_X_CARRIAGE)
- if (!prepare_move_dual_x_carriage()) return;
- #endif
-
- #if DISABLED(DELTA) && DISABLED(SCARA)
- if (!prepare_move_cartesian()) return;
- #endif
-
- set_current_to_destination();
- }
-
- /**
- * Plan an arc in 2 dimensions
- *
- * The arc is approximated by generating many small linear segments.
- * The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
- * Arcs should only be made relatively large (over 5mm), as larger arcs with
- * larger segments will tend to be more efficient. Your slicer should have
- * options for G2/G3 arc generation. In future these options may be GCode tunable.
- */
- void plan_arc(
- float target[NUM_AXIS], // Destination position
- float* offset, // Center of rotation relative to current_position
- uint8_t clockwise // Clockwise?
- ) {
-
- float radius = hypot(offset[X_AXIS], offset[Y_AXIS]),
- center_X = current_position[X_AXIS] + offset[X_AXIS],
- center_Y = current_position[Y_AXIS] + offset[Y_AXIS],
- linear_travel = target[Z_AXIS] - current_position[Z_AXIS],
- extruder_travel = target[E_AXIS] - current_position[E_AXIS],
- r_X = -offset[X_AXIS], // Radius vector from center to current location
- r_Y = -offset[Y_AXIS],
- rt_X = target[X_AXIS] - center_X,
- rt_Y = target[Y_AXIS] - center_Y;
-
- // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
- float angular_travel = atan2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y);
- if (angular_travel < 0) angular_travel += RADIANS(360);
- if (clockwise) angular_travel -= RADIANS(360);
-
- // Make a circle if the angular rotation is 0
- if (angular_travel == 0 && current_position[X_AXIS] == target[X_AXIS] && current_position[Y_AXIS] == target[Y_AXIS])
- angular_travel += RADIANS(360);
-
- float mm_of_travel = hypot(angular_travel * radius, fabs(linear_travel));
- if (mm_of_travel < 0.001) return;
- uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT));
- if (segments == 0) segments = 1;
-
- float theta_per_segment = angular_travel / segments;
- float linear_per_segment = linear_travel / segments;
- float extruder_per_segment = extruder_travel / segments;
-
- /**
- * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
- * and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
- * r_T = [cos(phi) -sin(phi);
- * sin(phi) cos(phi] * r ;
- *
- * For arc generation, the center of the circle is the axis of rotation and the radius vector is
- * defined from the circle center to the initial position. Each line segment is formed by successive
- * vector rotations. This requires only two cos() and sin() computations to form the rotation
- * matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
- * all double numbers are single precision on the Arduino. (True double precision will not have
- * round off issues for CNC applications.) Single precision error can accumulate to be greater than
- * tool precision in some cases. Therefore, arc path correction is implemented.
- *
- * Small angle approximation may be used to reduce computation overhead further. This approximation
- * holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
- * theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
- * to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
- * numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
- * issue for CNC machines with the single precision Arduino calculations.
- *
- * This approximation also allows plan_arc to immediately insert a line segment into the planner
- * without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
- * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
- * This is important when there are successive arc motions.
- */
- // Vector rotation matrix values
- float cos_T = 1 - 0.5 * theta_per_segment * theta_per_segment; // Small angle approximation
- float sin_T = theta_per_segment;
-
- float arc_target[NUM_AXIS];
- float sin_Ti, cos_Ti, r_new_Y;
- uint16_t i;
- int8_t count = 0;
-
- // Initialize the linear axis
- arc_target[Z_AXIS] = current_position[Z_AXIS];
-
- // Initialize the extruder axis
- arc_target[E_AXIS] = current_position[E_AXIS];
-
- float feed_rate = feedrate * feedrate_multiplier / 60 / 100.0;
-
- for (i = 1; i < segments; i++) { // Iterate (segments-1) times
-
- if (++count < N_ARC_CORRECTION) {
- // Apply vector rotation matrix to previous r_X / 1
- r_new_Y = r_X * sin_T + r_Y * cos_T;
- r_X = r_X * cos_T - r_Y * sin_T;
- r_Y = r_new_Y;
- }
- else {
- // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
- // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
- // To reduce stuttering, the sin and cos could be computed at different times.
- // For now, compute both at the same time.
- cos_Ti = cos(i * theta_per_segment);
- sin_Ti = sin(i * theta_per_segment);
- r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti;
- r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti;
- count = 0;
- }
-
- // Update arc_target location
- arc_target[X_AXIS] = center_X + r_X;
- arc_target[Y_AXIS] = center_Y + r_Y;
- arc_target[Z_AXIS] += linear_per_segment;
- arc_target[E_AXIS] += extruder_per_segment;
-
- clamp_to_software_endstops(arc_target);
-
- #if ENABLED(DELTA) || ENABLED(SCARA)
- calculate_delta(arc_target);
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
- adjust_delta(arc_target);
- #endif
- plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder);
- #else
- plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder);
- #endif
- }
-
- // Ensure last segment arrives at target location.
- #if ENABLED(DELTA) || ENABLED(SCARA)
- calculate_delta(target);
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
- adjust_delta(target);
- #endif
- plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feed_rate, active_extruder);
- #else
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, active_extruder);
- #endif
-
- // As far as the parser is concerned, the position is now == target. In reality the
- // motion control system might still be processing the action and the real tool position
- // in any intermediate location.
- set_current_to_destination();
- }
-
- #if HAS_CONTROLLERFAN
-
- void controllerFan() {
- static millis_t lastMotorOn = 0; // Last time a motor was turned on
- static millis_t nextMotorCheck = 0; // Last time the state was checked
- millis_t ms = millis();
- if (ELAPSED(ms, nextMotorCheck)) {
- nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s
- if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || soft_pwm_bed > 0
- || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
- #if EXTRUDERS > 1
- || E1_ENABLE_READ == E_ENABLE_ON
- #if HAS_X2_ENABLE
- || X2_ENABLE_READ == X_ENABLE_ON
- #endif
- #if EXTRUDERS > 2
- || E2_ENABLE_READ == E_ENABLE_ON
- #if EXTRUDERS > 3
- || E3_ENABLE_READ == E_ENABLE_ON
- #endif
- #endif
- #endif
- ) {
- lastMotorOn = ms; //... set time to NOW so the fan will turn on
- }
-
- // Fan off if no steppers have been enabled for CONTROLLERFAN_SECS seconds
- uint8_t speed = (!lastMotorOn || ELAPSED(ms, lastMotorOn + (CONTROLLERFAN_SECS) * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
-
- // allows digital or PWM fan output to be used (see M42 handling)
- digitalWrite(CONTROLLERFAN_PIN, speed);
- analogWrite(CONTROLLERFAN_PIN, speed);
- }
- }
-
- #endif // HAS_CONTROLLERFAN
-
- #if ENABLED(SCARA)
-
- void calculate_SCARA_forward_Transform(float f_scara[3]) {
- // Perform forward kinematics, and place results in delta[3]
- // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
-
- float x_sin, x_cos, y_sin, y_cos;
-
- //SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]);
- //SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]);
-
- x_sin = sin(f_scara[X_AXIS] / SCARA_RAD2DEG) * Linkage_1;
- x_cos = cos(f_scara[X_AXIS] / SCARA_RAD2DEG) * Linkage_1;
- y_sin = sin(f_scara[Y_AXIS] / SCARA_RAD2DEG) * Linkage_2;
- y_cos = cos(f_scara[Y_AXIS] / SCARA_RAD2DEG) * Linkage_2;
-
- //SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin);
- //SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos);
- //SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin);
- //SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos);
-
- delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta
- delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi
-
- //SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
- //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
- }
-
- void calculate_delta(float cartesian[3]) {
- //reverse kinematics.
- // Perform reversed kinematics, and place results in delta[3]
- // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
-
- float SCARA_pos[2];
- static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi;
-
- SCARA_pos[X_AXIS] = cartesian[X_AXIS] * axis_scaling[X_AXIS] - SCARA_offset_x; //Translate SCARA to standard X Y
- SCARA_pos[Y_AXIS] = cartesian[Y_AXIS] * axis_scaling[Y_AXIS] - SCARA_offset_y; // With scaling factor.
-
- #if (Linkage_1 == Linkage_2)
- SCARA_C2 = ((sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS])) / (2 * (float)L1_2)) - 1;
- #else
- SCARA_C2 = (sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2) / 45000;
- #endif
-
- SCARA_S2 = sqrt(1 - sq(SCARA_C2));
-
- SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2;
- SCARA_K2 = Linkage_2 * SCARA_S2;
-
- SCARA_theta = (atan2(SCARA_pos[X_AXIS], SCARA_pos[Y_AXIS]) - atan2(SCARA_K1, SCARA_K2)) * -1;
- SCARA_psi = atan2(SCARA_S2, SCARA_C2);
-
- delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG; // Multiply by 180/Pi - theta is support arm angle
- delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG; // - equal to sub arm angle (inverted motor)
- delta[Z_AXIS] = cartesian[Z_AXIS];
-
- /**
- SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
- SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
- SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
-
- SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]);
- SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]);
-
- SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
- SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
- SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
-
- SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2);
- SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2);
- SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta);
- SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi);
- SERIAL_EOL;
- */
- }
-
- #endif // SCARA
-
- #if ENABLED(TEMP_STAT_LEDS)
-
- static bool red_led = false;
- static millis_t next_status_led_update_ms = 0;
-
- void handle_status_leds(void) {
- float max_temp = 0.0;
- if (ELAPSED(millis(), next_status_led_update_ms)) {
- next_status_led_update_ms += 500; // Update every 0.5s
- for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder)
- max_temp = max(max(max_temp, degHotend(cur_extruder)), degTargetHotend(cur_extruder));
- #if HAS_TEMP_BED
- max_temp = max(max(max_temp, degTargetBed()), degBed());
- #endif
- bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
- if (new_led != red_led) {
- red_led = new_led;
- digitalWrite(STAT_LED_RED, new_led ? HIGH : LOW);
- digitalWrite(STAT_LED_BLUE, new_led ? LOW : HIGH);
- }
- }
- }
-
- #endif
-
- void enable_all_steppers() {
- enable_x();
- enable_y();
- enable_z();
- enable_e0();
- enable_e1();
- enable_e2();
- enable_e3();
- }
-
- void disable_all_steppers() {
- disable_x();
- disable_y();
- disable_z();
- disable_e0();
- disable_e1();
- disable_e2();
- disable_e3();
- }
-
- /**
- * Standard idle routine keeps the machine alive
- */
- void idle(
- #if ENABLED(FILAMENTCHANGEENABLE)
- bool no_stepper_sleep/*=false*/
- #endif
- ) {
- manage_heater();
- manage_inactivity(
- #if ENABLED(FILAMENTCHANGEENABLE)
- no_stepper_sleep
- #endif
- );
- host_keepalive();
- lcd_update();
- }
-
- /**
- * Manage several activities:
- * - Check for Filament Runout
- * - Keep the command buffer full
- * - Check for maximum inactive time between commands
- * - Check for maximum inactive time between stepper commands
- * - Check if pin CHDK needs to go LOW
- * - Check for KILL button held down
- * - Check for HOME button held down
- * - Check if cooling fan needs to be switched on
- * - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
- */
- void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
-
- #if HAS_FILRUNOUT
- if (IS_SD_PRINTING && !(READ(FILRUNOUT_PIN) ^ FIL_RUNOUT_INVERTING))
- filrunout();
- #endif
-
- if (commands_in_queue < BUFSIZE) get_available_commands();
-
- millis_t ms = millis();
-
- if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) kill(PSTR(MSG_KILLED));
-
- if (stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
- && !ignore_stepper_queue && !blocks_queued()) {
- #if ENABLED(DISABLE_INACTIVE_X)
- disable_x();
- #endif
- #if ENABLED(DISABLE_INACTIVE_Y)
- disable_y();
- #endif
- #if ENABLED(DISABLE_INACTIVE_Z)
- disable_z();
- #endif
- #if ENABLED(DISABLE_INACTIVE_E)
- disable_e0();
- disable_e1();
- disable_e2();
- disable_e3();
- #endif
- }
-
- #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
- if (chdkActive && PENDING(ms, chdkHigh + CHDK_DELAY)) {
- chdkActive = false;
- WRITE(CHDK, LOW);
- }
- #endif
-
- #if HAS_KILL
-
- // Check if the kill button was pressed and wait just in case it was an accidental
- // key kill key press
- // -------------------------------------------------------------------------------
- static int killCount = 0; // make the inactivity button a bit less responsive
- const int KILL_DELAY = 750;
- if (!READ(KILL_PIN))
- killCount++;
- else if (killCount > 0)
- killCount--;
-
- // Exceeded threshold and we can confirm that it was not accidental
- // KILL the machine
- // ----------------------------------------------------------------
- if (killCount >= KILL_DELAY) kill(PSTR(MSG_KILLED));
- #endif
-
- #if HAS_HOME
- // Check to see if we have to home, use poor man's debouncer
- // ---------------------------------------------------------
- static int homeDebounceCount = 0; // poor man's debouncing count
- const int HOME_DEBOUNCE_DELAY = 2500;
- if (!READ(HOME_PIN)) {
- if (!homeDebounceCount) {
- enqueue_and_echo_commands_P(PSTR("G28"));
- LCD_MESSAGEPGM(MSG_AUTO_HOME);
- }
- if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
- homeDebounceCount++;
- else
- homeDebounceCount = 0;
- }
- #endif
-
- #if HAS_CONTROLLERFAN
- controllerFan(); // Check if fan should be turned on to cool stepper drivers down
- #endif
-
- #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
- if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL))
- if (degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
- bool oldstatus;
- switch (active_extruder) {
- case 0:
- oldstatus = E0_ENABLE_READ;
- enable_e0();
- break;
- #if EXTRUDERS > 1
- case 1:
- oldstatus = E1_ENABLE_READ;
- enable_e1();
- break;
- #if EXTRUDERS > 2
- case 2:
- oldstatus = E2_ENABLE_READ;
- enable_e2();
- break;
- #if EXTRUDERS > 3
- case 3:
- oldstatus = E3_ENABLE_READ;
- enable_e3();
- break;
- #endif
- #endif
- #endif
- }
- float oldepos = current_position[E_AXIS], oldedes = destination[E_AXIS];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
- destination[E_AXIS] + (EXTRUDER_RUNOUT_EXTRUDE) * (EXTRUDER_RUNOUT_ESTEPS) / axis_steps_per_unit[E_AXIS],
- (EXTRUDER_RUNOUT_SPEED) / 60. * (EXTRUDER_RUNOUT_ESTEPS) / axis_steps_per_unit[E_AXIS], active_extruder);
- current_position[E_AXIS] = oldepos;
- destination[E_AXIS] = oldedes;
- plan_set_e_position(oldepos);
- previous_cmd_ms = ms; // refresh_cmd_timeout()
- st_synchronize();
- switch (active_extruder) {
- case 0:
- E0_ENABLE_WRITE(oldstatus);
- break;
- #if EXTRUDERS > 1
- case 1:
- E1_ENABLE_WRITE(oldstatus);
- break;
- #if EXTRUDERS > 2
- case 2:
- E2_ENABLE_WRITE(oldstatus);
- break;
- #if EXTRUDERS > 3
- case 3:
- E3_ENABLE_WRITE(oldstatus);
- break;
- #endif
- #endif
- #endif
- }
- }
- #endif
-
- #if ENABLED(DUAL_X_CARRIAGE)
- // handle delayed move timeout
- if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
- // travel moves have been received so enact them
- delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
- set_destination_to_current();
- prepare_move();
- }
- #endif
-
- #if ENABLED(TEMP_STAT_LEDS)
- handle_status_leds();
- #endif
-
- check_axes_activity();
- }
-
- void kill(const char* lcd_msg) {
- #if ENABLED(ULTRA_LCD)
- lcd_setalertstatuspgm(lcd_msg);
- #else
- UNUSED(lcd_msg);
- #endif
-
- cli(); // Stop interrupts
- disable_all_heaters();
- disable_all_steppers();
-
- #if HAS_POWER_SWITCH
- pinMode(PS_ON_PIN, INPUT);
- #endif
-
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
-
- // FMC small patch to update the LCD before ending
- sei(); // enable interrupts
- for (int i = 5; i--; lcd_update()) delay(200); // Wait a short time
- cli(); // disable interrupts
- suicide();
- while (1) {
- #if ENABLED(USE_WATCHDOG)
- watchdog_reset();
- #endif
- } // Wait for reset
- }
-
- #if ENABLED(FILAMENT_RUNOUT_SENSOR)
-
- void filrunout() {
- if (!filrunoutEnqueued) {
- filrunoutEnqueued = true;
- enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
- st_synchronize();
- }
- }
-
- #endif // FILAMENT_RUNOUT_SENSOR
-
- #if ENABLED(FAST_PWM_FAN)
-
- void setPwmFrequency(uint8_t pin, int val) {
- val &= 0x07;
- switch (digitalPinToTimer(pin)) {
- #if defined(TCCR0A)
- case TIMER0A:
- case TIMER0B:
- // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
- // TCCR0B |= val;
- break;
- #endif
- #if defined(TCCR1A)
- case TIMER1A:
- case TIMER1B:
- // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
- // TCCR1B |= val;
- break;
- #endif
- #if defined(TCCR2)
- case TIMER2:
- case TIMER2:
- TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
- TCCR2 |= val;
- break;
- #endif
- #if defined(TCCR2A)
- case TIMER2A:
- case TIMER2B:
- TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
- TCCR2B |= val;
- break;
- #endif
- #if defined(TCCR3A)
- case TIMER3A:
- case TIMER3B:
- case TIMER3C:
- TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
- TCCR3B |= val;
- break;
- #endif
- #if defined(TCCR4A)
- case TIMER4A:
- case TIMER4B:
- case TIMER4C:
- TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
- TCCR4B |= val;
- break;
- #endif
- #if defined(TCCR5A)
- case TIMER5A:
- case TIMER5B:
- case TIMER5C:
- TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
- TCCR5B |= val;
- break;
- #endif
- }
- }
- #endif // FAST_PWM_FAN
-
- void Stop() {
- disable_all_heaters();
- if (IsRunning()) {
- Running = false;
- Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
- LCD_MESSAGEPGM(MSG_STOPPED);
- }
- }
-
- /**
- * Set target_extruder from the T parameter or the active_extruder
- *
- * Returns TRUE if the target is invalid
- */
- bool setTargetedHotend(int code) {
- target_extruder = active_extruder;
- if (code_seen('T')) {
- target_extruder = code_value_short();
- if (target_extruder >= EXTRUDERS) {
- SERIAL_ECHO_START;
- SERIAL_CHAR('M');
- SERIAL_ECHO(code);
- SERIAL_ECHOPGM(" " MSG_INVALID_EXTRUDER " ");
- SERIAL_ECHOLN((int)target_extruder);
- return true;
- }
- }
- return false;
- }
-
- float calculate_volumetric_multiplier(float diameter) {
- if (!volumetric_enabled || diameter == 0) return 1.0;
- float d2 = diameter * 0.5;
- return 1.0 / (M_PI * d2 * d2);
- }
-
- void calculate_volumetric_multipliers() {
- for (int i = 0; i < EXTRUDERS; i++)
- volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
- }
|