My Marlin configs for Fabrikator Mini and CTC i3 Pro B
Du kannst nicht mehr als 25 Themen auswählen Themen müssen mit entweder einem Buchstaben oder einer Ziffer beginnen. Sie können Bindestriche („-“) enthalten und bis zu 35 Zeichen lang sein.

Marlin_main.cpp 280KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. /**
  23. *
  24. * About Marlin
  25. *
  26. * This firmware is a mashup between Sprinter and grbl.
  27. * - https://github.com/kliment/Sprinter
  28. * - https://github.com/simen/grbl/tree
  29. *
  30. * It has preliminary support for Matthew Roberts advance algorithm
  31. * - http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  32. */
  33. #include "Marlin.h"
  34. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  35. #include "vector_3.h"
  36. #endif
  37. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  38. #include "qr_solve.h"
  39. #elif ENABLED(MESH_BED_LEVELING)
  40. #include "mesh_bed_leveling.h"
  41. #endif
  42. #if ENABLED(BEZIER_CURVE_SUPPORT)
  43. #include "planner_bezier.h"
  44. #endif
  45. #include "ultralcd.h"
  46. #include "planner.h"
  47. #include "stepper.h"
  48. #include "endstops.h"
  49. #include "temperature.h"
  50. #include "cardreader.h"
  51. #include "configuration_store.h"
  52. #include "language.h"
  53. #include "pins_arduino.h"
  54. #include "math.h"
  55. #include "nozzle.h"
  56. #include "duration_t.h"
  57. #include "types.h"
  58. #if ENABLED(USE_WATCHDOG)
  59. #include "watchdog.h"
  60. #endif
  61. #if ENABLED(BLINKM)
  62. #include "blinkm.h"
  63. #include "Wire.h"
  64. #endif
  65. #if HAS_SERVOS
  66. #include "servo.h"
  67. #endif
  68. #if HAS_DIGIPOTSS
  69. #include <SPI.h>
  70. #endif
  71. #if ENABLED(DAC_STEPPER_CURRENT)
  72. #include "stepper_dac.h"
  73. #endif
  74. #if ENABLED(EXPERIMENTAL_I2CBUS)
  75. #include "twibus.h"
  76. #endif
  77. /**
  78. * Look here for descriptions of G-codes:
  79. * - http://linuxcnc.org/handbook/gcode/g-code.html
  80. * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  81. *
  82. * Help us document these G-codes online:
  83. * - https://github.com/MarlinFirmware/Marlin/wiki/G-Code-in-Marlin
  84. * - http://reprap.org/wiki/G-code
  85. *
  86. * -----------------
  87. * Implemented Codes
  88. * -----------------
  89. *
  90. * "G" Codes
  91. *
  92. * G0 -> G1
  93. * G1 - Coordinated Movement X Y Z E
  94. * G2 - CW ARC
  95. * G3 - CCW ARC
  96. * G4 - Dwell S<seconds> or P<milliseconds>
  97. * G5 - Cubic B-spline with XYZE destination and IJPQ offsets
  98. * G10 - Retract filament according to settings of M207
  99. * G11 - Retract recover filament according to settings of M208
  100. * G12 - Clean tool
  101. * G20 - Set input units to inches
  102. * G21 - Set input units to millimeters
  103. * G28 - Home one or more axes
  104. * G29 - Detailed Z probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  105. * G30 - Single Z probe, probes bed at current XY location.
  106. * G31 - Dock sled (Z_PROBE_SLED only)
  107. * G32 - Undock sled (Z_PROBE_SLED only)
  108. * G90 - Use Absolute Coordinates
  109. * G91 - Use Relative Coordinates
  110. * G92 - Set current position to coordinates given
  111. *
  112. * "M" Codes
  113. *
  114. * M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
  115. * M1 - Same as M0
  116. * M17 - Enable/Power all stepper motors
  117. * M18 - Disable all stepper motors; same as M84
  118. * M20 - List SD card
  119. * M21 - Init SD card
  120. * M22 - Release SD card
  121. * M23 - Select SD file (M23 filename.g)
  122. * M24 - Start/resume SD print
  123. * M25 - Pause SD print
  124. * M26 - Set SD position in bytes (M26 S12345)
  125. * M27 - Report SD print status
  126. * M28 - Start SD write (M28 filename.g)
  127. * M29 - Stop SD write
  128. * M30 - Delete file from SD (M30 filename.g)
  129. * M31 - Output time since last M109 or SD card start to serial
  130. * M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  131. * syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  132. * Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  133. * The '#' is necessary when calling from within sd files, as it stops buffer prereading
  134. * M33 - Get the longname version of a path
  135. * 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.
  136. * M48 - Measure Z_Probe repeatability. M48 [P # of points] [X position] [Y position] [V_erboseness #] [E_ngage Probe] [L # of legs of travel]
  137. * M75 - Start the print job timer
  138. * M76 - Pause the print job timer
  139. * M77 - Stop the print job timer
  140. * M78 - Show statistical information about the print jobs
  141. * M80 - Turn on Power Supply
  142. * M81 - Turn off Power Supply
  143. * M82 - Set E codes absolute (default)
  144. * M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  145. * M84 - Disable steppers until next move,
  146. * or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  147. * M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  148. * M92 - Set planner.axis_steps_per_mm - same syntax as G92
  149. * M104 - Set extruder target temp
  150. * M105 - Read current temp
  151. * M106 - Fan on
  152. * M107 - Fan off
  153. * M108 - Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
  154. * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  155. * Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  156. * IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  157. * M110 - Set the current line number
  158. * M111 - Set debug flags with S<mask>. See flag bits defined in enum.h.
  159. * M112 - Emergency stop
  160. * M113 - Get or set the timeout interval for Host Keepalive "busy" messages
  161. * M114 - Output current position to serial port
  162. * M115 - Capabilities string
  163. * M117 - Display a message on the controller screen
  164. * M119 - Output Endstop status to serial port
  165. * M120 - Enable endstop detection
  166. * M121 - Disable endstop detection
  167. * M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  168. * M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  169. * M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  170. * M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  171. * M140 - Set bed target temp
  172. * M145 - Set the heatup state H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
  173. * M149 - Set temperature units
  174. * 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.
  175. * M163 - Set a single proportion for a mixing extruder. Requires MIXING_EXTRUDER.
  176. * M164 - Save the mix as a virtual extruder. Requires MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS.
  177. * M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. Requires MIXING_EXTRUDER.
  178. * M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  179. * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  180. * M200 - Set filament diameter, D<diameter>, setting E axis units to cubic. (Use S0 to revert to linear units.)
  181. * M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  182. * M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  183. * M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
  184. * 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 units/sec^2
  185. * M205 - Set advanced settings. Current units apply:
  186. S<print> T<travel> minimum speeds
  187. B<minimum segment time>
  188. X<max xy jerk>, Z<max Z jerk>, E<max E jerk>
  189. * M206 - Set additional homing offset
  190. * M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>
  191. * M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>
  192. * M209 - Turn Automatic Retract Detection on/off: S<bool> (For slicers that don't support G10/11).
  193. Every normal extrude-only move will be classified as retract depending on the direction.
  194. * M211 - Enable, Disable, and/or Report software endstops: [S<bool>]
  195. * M218 - Set a tool offset: T<index> X<offset> Y<offset>
  196. * M220 - Set Feedrate Percentage: S<percent> ("FR" on your LCD)
  197. * M221 - Set Flow Percentage: S<percent>
  198. * M226 - Wait until the specified pin reaches the state required: P<pin number> S<pin state>
  199. * M240 - Trigger a camera to take a photograph
  200. * M250 - Set LCD contrast C<contrast value> (value 0..63)
  201. * M280 - Set servo position absolute. P: servo index, S: angle or microseconds
  202. * M300 - Play beep sound S<frequency Hz> P<duration ms>
  203. * M301 - Set PID parameters P I and D
  204. * M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  205. * M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  206. * M304 - Set bed PID parameters P I and D
  207. * M380 - Activate solenoid on active extruder
  208. * M381 - Disable all solenoids
  209. * M400 - Finish all moves
  210. * M401 - Lower Z probe if present
  211. * M402 - Raise Z probe if present
  212. * M404 - Display or set the Nominal Filament Width: [ N<diameter> ]
  213. * M405 - Enable Filament Sensor extrusion control. Optional delay between sensor and extruder: D<cm>
  214. * M406 - Disable Filament Sensor extrusion control
  215. * M407 - Display measured filament diameter in millimeters
  216. * M410 - Quickstop. Abort all the planned moves
  217. * M420 - Enable/Disable Mesh Leveling (with current values) S1=enable S0=disable
  218. * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units>
  219. * M428 - Set the home_offset logically based on the current_position
  220. * M500 - Store parameters in EEPROM
  221. * M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
  222. * M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  223. * M503 - Print the current settings (from memory not from EEPROM). Use S0 to leave off headings.
  224. * M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  225. * M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  226. * M665 - Set delta configurations: L<diagonal rod> R<delta radius> S<segments/s>
  227. * M666 - Set delta endstop adjustment
  228. * M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  229. * M851 - Set Z probe's Z offset in current units. (Negative values apply to probes that extend below the nozzle.)
  230. * M907 - Set digital trimpot motor current using axis codes.
  231. * M908 - Control digital trimpot directly.
  232. * M909 - DAC_STEPPER_CURRENT: Print digipot/DAC current value
  233. * M910 - DAC_STEPPER_CURRENT: Commit digipot/DAC value to external EEPROM via I2C
  234. * M350 - Set microstepping mode.
  235. * M351 - Toggle MS1 MS2 pins directly.
  236. *
  237. * ************ SCARA Specific - This can change to suit future G-code regulations
  238. * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  239. * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  240. * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  241. * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  242. * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  243. * M365 - SCARA calibration: Scaling factor, X, Y, Z axis
  244. * ************* SCARA End ***************
  245. *
  246. * ************ Custom codes - This can change to suit future G-code regulations
  247. * M100 - Watch Free Memory (For Debugging Only)
  248. * M928 - Start SD logging (M928 filename.g) - ended by M29
  249. * M999 - Restart after being stopped by error
  250. *
  251. * "T" Codes
  252. *
  253. * T0-T3 - Select a tool by index (usually an extruder) [ F<units/min> ]
  254. *
  255. */
  256. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  257. void gcode_M100();
  258. #endif
  259. #if ENABLED(SDSUPPORT)
  260. CardReader card;
  261. #endif
  262. #if ENABLED(EXPERIMENTAL_I2CBUS)
  263. TWIBus i2c;
  264. #endif
  265. bool Running = true;
  266. uint8_t marlin_debug_flags = DEBUG_NONE;
  267. float current_position[NUM_AXIS] = { 0.0 };
  268. static float destination[NUM_AXIS] = { 0.0 };
  269. bool axis_known_position[XYZ] = { false };
  270. bool axis_homed[XYZ] = { false };
  271. static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
  272. static char command_queue[BUFSIZE][MAX_CMD_SIZE];
  273. static char* current_command, *current_command_args;
  274. static uint8_t cmd_queue_index_r = 0,
  275. cmd_queue_index_w = 0,
  276. commands_in_queue = 0;
  277. #if ENABLED(INCH_MODE_SUPPORT)
  278. float linear_unit_factor = 1.0;
  279. float volumetric_unit_factor = 1.0;
  280. #endif
  281. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  282. TempUnit input_temp_units = TEMPUNIT_C;
  283. #endif
  284. /**
  285. * Feed rates are often configured with mm/m
  286. * but the planner and stepper like mm/s units.
  287. */
  288. const float homing_feedrate_mm_s[] = {
  289. #if ENABLED(DELTA)
  290. MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z),
  291. #else
  292. MMM_TO_MMS(HOMING_FEEDRATE_XY), MMM_TO_MMS(HOMING_FEEDRATE_XY),
  293. #endif
  294. MMM_TO_MMS(HOMING_FEEDRATE_Z), 0
  295. };
  296. static float feedrate_mm_s = MMM_TO_MMS(1500.0), saved_feedrate_mm_s;
  297. int feedrate_percentage = 100, saved_feedrate_percentage;
  298. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  299. int flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
  300. bool volumetric_enabled = false;
  301. float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA);
  302. float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
  303. // The distance that XYZ has been offset by G92. Reset by G28.
  304. float position_shift[XYZ] = { 0 };
  305. // This offset is added to the configured home position.
  306. // Set by M206, M428, or menu item. Saved to EEPROM.
  307. float home_offset[XYZ] = { 0 };
  308. // Software Endstops are based on the configured limits.
  309. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  310. bool soft_endstops_enabled = true;
  311. #endif
  312. float soft_endstop_min[XYZ] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
  313. soft_endstop_max[XYZ] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  314. #if FAN_COUNT > 0
  315. int fanSpeeds[FAN_COUNT] = { 0 };
  316. #endif
  317. // The active extruder (tool). Set with T<extruder> command.
  318. uint8_t active_extruder = 0;
  319. // Relative Mode. Enable with G91, disable with G90.
  320. static bool relative_mode = false;
  321. volatile bool wait_for_heatup = true;
  322. #if ENABLED(EMERGENCY_PARSER) && DISABLED(ULTIPANEL)
  323. wait_for_user = false;
  324. #endif
  325. const char errormagic[] PROGMEM = "Error:";
  326. const char echomagic[] PROGMEM = "echo:";
  327. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  328. static int serial_count = 0;
  329. // GCode parameter pointer used by code_seen(), code_value_float(), etc.
  330. static char* seen_pointer;
  331. // Next Immediate GCode Command pointer. NULL if none.
  332. const char* queued_commands_P = NULL;
  333. const int sensitive_pins[] = SENSITIVE_PINS; ///< Sensitive pin list for M42
  334. // Inactivity shutdown
  335. millis_t previous_cmd_ms = 0;
  336. static millis_t max_inactive_time = 0;
  337. static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
  338. // Print Job Timer
  339. #if ENABLED(PRINTCOUNTER)
  340. PrintCounter print_job_timer = PrintCounter();
  341. #else
  342. Stopwatch print_job_timer = Stopwatch();
  343. #endif
  344. // Buzzer - I2C on the LCD or a BEEPER_PIN
  345. #if ENABLED(LCD_USE_I2C_BUZZER)
  346. #define BUZZ(d,f) lcd_buzz(d, f)
  347. #elif HAS_BUZZER
  348. Buzzer buzzer;
  349. #define BUZZ(d,f) buzzer.tone(d, f)
  350. #else
  351. #define BUZZ(d,f) NOOP
  352. #endif
  353. static uint8_t target_extruder;
  354. #if HAS_BED_PROBE
  355. float zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER;
  356. #endif
  357. #define PLANNER_XY_FEEDRATE() (min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]))
  358. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  359. float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
  360. bool bed_leveling_in_progress = false;
  361. #define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s
  362. #elif defined(XY_PROBE_SPEED)
  363. #define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED)
  364. #else
  365. #define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
  366. #endif
  367. #if ENABLED(Z_DUAL_ENDSTOPS)
  368. float z_endstop_adj = 0;
  369. #endif
  370. // Extruder offsets
  371. #if HOTENDS > 1
  372. float hotend_offset[][HOTENDS] = {
  373. HOTEND_OFFSET_X,
  374. HOTEND_OFFSET_Y
  375. #ifdef HOTEND_OFFSET_Z
  376. , HOTEND_OFFSET_Z
  377. #endif
  378. };
  379. #endif
  380. #if HAS_Z_SERVO_ENDSTOP
  381. const int z_servo_angle[2] = Z_SERVO_ANGLES;
  382. #endif
  383. #if ENABLED(BARICUDA)
  384. int baricuda_valve_pressure = 0;
  385. int baricuda_e_to_p_pressure = 0;
  386. #endif
  387. #if ENABLED(FWRETRACT)
  388. bool autoretract_enabled = false;
  389. bool retracted[EXTRUDERS] = { false };
  390. bool retracted_swap[EXTRUDERS] = { false };
  391. float retract_length = RETRACT_LENGTH;
  392. float retract_length_swap = RETRACT_LENGTH_SWAP;
  393. float retract_feedrate_mm_s = RETRACT_FEEDRATE;
  394. float retract_zlift = RETRACT_ZLIFT;
  395. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  396. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  397. float retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE;
  398. #endif // FWRETRACT
  399. #if ENABLED(ULTIPANEL) && HAS_POWER_SWITCH
  400. bool powersupply =
  401. #if ENABLED(PS_DEFAULT_OFF)
  402. false
  403. #else
  404. true
  405. #endif
  406. ;
  407. #endif
  408. #if ENABLED(DELTA)
  409. #define SIN_60 0.8660254037844386
  410. #define COS_60 0.5
  411. float delta[ABC],
  412. endstop_adj[ABC] = { 0 };
  413. // these are the default values, can be overriden with M665
  414. float delta_radius = DELTA_RADIUS,
  415. delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower
  416. delta_tower1_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1),
  417. delta_tower2_x = SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower
  418. delta_tower2_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2),
  419. delta_tower3_x = 0, // back middle tower
  420. delta_tower3_y = (delta_radius + DELTA_RADIUS_TRIM_TOWER_3),
  421. delta_diagonal_rod = DELTA_DIAGONAL_ROD,
  422. delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1,
  423. delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2,
  424. delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3,
  425. delta_diagonal_rod_2_tower_1 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_1),
  426. delta_diagonal_rod_2_tower_2 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_2),
  427. delta_diagonal_rod_2_tower_3 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_3),
  428. delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND,
  429. delta_clip_start_height = Z_MAX_POS;
  430. float delta_safe_distance_from_top();
  431. #else
  432. static bool home_all_axis = true;
  433. #endif
  434. #if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
  435. int nonlinear_grid_spacing[2] = { 0 };
  436. float bed_level_grid[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
  437. #endif
  438. #if IS_SCARA
  439. // Float constants for SCARA calculations
  440. const float L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
  441. L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
  442. L2_2 = sq(float(L2));
  443. float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
  444. delta[ABC],
  445. axis_scaling[ABC] = { 1, 1, 1 }; // Build size scaling, default to 1
  446. #endif
  447. float cartes[XYZ] = { 0 };
  448. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  449. bool filament_sensor = false; //M405 turns on filament_sensor control, M406 turns it off
  450. float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA, // Nominal filament width. Change with M404
  451. filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA; // Measured filament diameter
  452. int8_t measurement_delay[MAX_MEASUREMENT_DELAY + 1]; // Ring buffer to delayed measurement. Store extruder factor after subtracting 100
  453. int filwidth_delay_index[2] = { 0, -1 }; // Indexes into ring buffer
  454. int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
  455. #endif
  456. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  457. static bool filament_ran_out = false;
  458. #endif
  459. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  460. FilamentChangeMenuResponse filament_change_menu_response;
  461. #endif
  462. #if ENABLED(MIXING_EXTRUDER)
  463. float mixing_factor[MIXING_STEPPERS];
  464. #if MIXING_VIRTUAL_TOOLS > 1
  465. float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
  466. #endif
  467. #endif
  468. static bool send_ok[BUFSIZE];
  469. #if HAS_SERVOS
  470. Servo servo[NUM_SERVOS];
  471. #define MOVE_SERVO(I, P) servo[I].move(P)
  472. #if HAS_Z_SERVO_ENDSTOP
  473. #define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0])
  474. #define STOW_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[1])
  475. #endif
  476. #endif
  477. #ifdef CHDK
  478. millis_t chdkHigh = 0;
  479. boolean chdkActive = false;
  480. #endif
  481. #if ENABLED(PID_EXTRUSION_SCALING)
  482. int lpq_len = 20;
  483. #endif
  484. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  485. static MarlinBusyState busy_state = NOT_BUSY;
  486. static millis_t next_busy_signal_ms = 0;
  487. uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
  488. #define KEEPALIVE_STATE(n) do{ busy_state = n; }while(0)
  489. #else
  490. #define host_keepalive() ;
  491. #define KEEPALIVE_STATE(n) ;
  492. #endif // HOST_KEEPALIVE_FEATURE
  493. #define DEFINE_PGM_READ_ANY(type, reader) \
  494. static inline type pgm_read_any(const type *p) \
  495. { return pgm_read_##reader##_near(p); }
  496. DEFINE_PGM_READ_ANY(float, float);
  497. DEFINE_PGM_READ_ANY(signed char, byte);
  498. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  499. static const PROGMEM type array##_P[XYZ] = \
  500. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  501. static inline type array(int axis) \
  502. { return pgm_read_any(&array##_P[axis]); }
  503. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  504. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  505. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  506. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  507. XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM);
  508. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  509. /**
  510. * ***************************************************************************
  511. * ******************************** FUNCTIONS ********************************
  512. * ***************************************************************************
  513. */
  514. void stop();
  515. void get_available_commands();
  516. void process_next_command();
  517. void prepare_move_to_destination();
  518. void get_cartesian_from_steppers();
  519. void set_current_from_steppers_for_axis(AxisEnum axis);
  520. #if ENABLED(ARC_SUPPORT)
  521. void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
  522. #endif
  523. #if ENABLED(BEZIER_CURVE_SUPPORT)
  524. void plan_cubic_move(const float offset[4]);
  525. #endif
  526. void serial_echopair_P(const char* s_P, const char *v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  527. void serial_echopair_P(const char* s_P, char v) { serialprintPGM(s_P); SERIAL_CHAR(v); }
  528. void serial_echopair_P(const char* s_P, int v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  529. void serial_echopair_P(const char* s_P, long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  530. void serial_echopair_P(const char* s_P, float v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  531. void serial_echopair_P(const char* s_P, double v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  532. void serial_echopair_P(const char* s_P, unsigned long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  533. void tool_change(const uint8_t tmp_extruder, const float fr_mm_s=0.0, bool no_move=false);
  534. static void report_current_position();
  535. #if ENABLED(DEBUG_LEVELING_FEATURE)
  536. void print_xyz(const char* prefix, const char* suffix, const float x, const float y, const float z) {
  537. serialprintPGM(prefix);
  538. SERIAL_ECHOPAIR("(", x);
  539. SERIAL_ECHOPAIR(", ", y);
  540. SERIAL_ECHOPAIR(", ", z);
  541. SERIAL_ECHOPGM(")");
  542. if (suffix) serialprintPGM(suffix);
  543. else SERIAL_EOL;
  544. }
  545. void print_xyz(const char* prefix, const char* suffix, const float xyz[]) {
  546. print_xyz(prefix, suffix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
  547. }
  548. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  549. void print_xyz(const char* prefix, const char* suffix, const vector_3 &xyz) {
  550. print_xyz(prefix, suffix, xyz.x, xyz.y, xyz.z);
  551. }
  552. #endif
  553. #define DEBUG_POS(SUFFIX,VAR) do { \
  554. print_xyz(PSTR(STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); } while(0)
  555. #endif
  556. /**
  557. * sync_plan_position
  558. * Set planner / stepper positions to the cartesian current_position.
  559. * The stepper code translates these coordinates into step units.
  560. * Allows translation between steps and millimeters for cartesian & core robots
  561. */
  562. inline void sync_plan_position() {
  563. #if ENABLED(DEBUG_LEVELING_FEATURE)
  564. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
  565. #endif
  566. planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  567. }
  568. inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
  569. #if IS_KINEMATIC
  570. inline void sync_plan_position_kinematic() {
  571. #if ENABLED(DEBUG_LEVELING_FEATURE)
  572. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
  573. #endif
  574. inverse_kinematics(current_position);
  575. planner.set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
  576. }
  577. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
  578. #else
  579. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
  580. #endif
  581. #if ENABLED(SDSUPPORT)
  582. #include "SdFatUtil.h"
  583. int freeMemory() { return SdFatUtil::FreeRam(); }
  584. #else
  585. extern "C" {
  586. extern unsigned int __bss_end;
  587. extern unsigned int __heap_start;
  588. extern void* __brkval;
  589. int freeMemory() {
  590. int free_memory;
  591. if ((int)__brkval == 0)
  592. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  593. else
  594. free_memory = ((int)&free_memory) - ((int)__brkval);
  595. return free_memory;
  596. }
  597. }
  598. #endif //!SDSUPPORT
  599. #if ENABLED(DIGIPOT_I2C)
  600. extern void digipot_i2c_set_current(int channel, float current);
  601. extern void digipot_i2c_init();
  602. #endif
  603. /**
  604. * Inject the next "immediate" command, when possible.
  605. * Return true if any immediate commands remain to inject.
  606. */
  607. static bool drain_queued_commands_P() {
  608. if (queued_commands_P != NULL) {
  609. size_t i = 0;
  610. char c, cmd[30];
  611. strncpy_P(cmd, queued_commands_P, sizeof(cmd) - 1);
  612. cmd[sizeof(cmd) - 1] = '\0';
  613. while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
  614. cmd[i] = '\0';
  615. if (enqueue_and_echo_command(cmd)) { // success?
  616. if (c) // newline char?
  617. queued_commands_P += i + 1; // advance to the next command
  618. else
  619. queued_commands_P = NULL; // nul char? no more commands
  620. }
  621. }
  622. return (queued_commands_P != NULL); // return whether any more remain
  623. }
  624. /**
  625. * Record one or many commands to run from program memory.
  626. * Aborts the current queue, if any.
  627. * Note: drain_queued_commands_P() must be called repeatedly to drain the commands afterwards
  628. */
  629. void enqueue_and_echo_commands_P(const char* pgcode) {
  630. queued_commands_P = pgcode;
  631. drain_queued_commands_P(); // first command executed asap (when possible)
  632. }
  633. void clear_command_queue() {
  634. cmd_queue_index_r = cmd_queue_index_w;
  635. commands_in_queue = 0;
  636. }
  637. /**
  638. * Once a new command is in the ring buffer, call this to commit it
  639. */
  640. inline void _commit_command(bool say_ok) {
  641. send_ok[cmd_queue_index_w] = say_ok;
  642. cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE;
  643. commands_in_queue++;
  644. }
  645. /**
  646. * Copy a command directly into the main command buffer, from RAM.
  647. * Returns true if successfully adds the command
  648. */
  649. inline bool _enqueuecommand(const char* cmd, bool say_ok=false) {
  650. if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
  651. strcpy(command_queue[cmd_queue_index_w], cmd);
  652. _commit_command(say_ok);
  653. return true;
  654. }
  655. void enqueue_and_echo_command_now(const char* cmd) {
  656. while (!enqueue_and_echo_command(cmd)) idle();
  657. }
  658. /**
  659. * Enqueue with Serial Echo
  660. */
  661. bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
  662. if (_enqueuecommand(cmd, say_ok)) {
  663. SERIAL_ECHO_START;
  664. SERIAL_ECHOPAIR(MSG_Enqueueing, cmd);
  665. SERIAL_ECHOLNPGM("\"");
  666. return true;
  667. }
  668. return false;
  669. }
  670. void setup_killpin() {
  671. #if HAS_KILL
  672. SET_INPUT(KILL_PIN);
  673. WRITE(KILL_PIN, HIGH);
  674. #endif
  675. }
  676. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  677. void setup_filrunoutpin() {
  678. pinMode(FIL_RUNOUT_PIN, INPUT);
  679. #if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
  680. WRITE(FIL_RUNOUT_PIN, HIGH);
  681. #endif
  682. }
  683. #endif
  684. // Set home pin
  685. void setup_homepin(void) {
  686. #if HAS_HOME
  687. SET_INPUT(HOME_PIN);
  688. WRITE(HOME_PIN, HIGH);
  689. #endif
  690. }
  691. void setup_photpin() {
  692. #if HAS_PHOTOGRAPH
  693. OUT_WRITE(PHOTOGRAPH_PIN, LOW);
  694. #endif
  695. }
  696. void setup_powerhold() {
  697. #if HAS_SUICIDE
  698. OUT_WRITE(SUICIDE_PIN, HIGH);
  699. #endif
  700. #if HAS_POWER_SWITCH
  701. #if ENABLED(PS_DEFAULT_OFF)
  702. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  703. #else
  704. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
  705. #endif
  706. #endif
  707. }
  708. void suicide() {
  709. #if HAS_SUICIDE
  710. OUT_WRITE(SUICIDE_PIN, LOW);
  711. #endif
  712. }
  713. void servo_init() {
  714. #if NUM_SERVOS >= 1 && HAS_SERVO_0
  715. servo[0].attach(SERVO0_PIN);
  716. servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
  717. #endif
  718. #if NUM_SERVOS >= 2 && HAS_SERVO_1
  719. servo[1].attach(SERVO1_PIN);
  720. servo[1].detach();
  721. #endif
  722. #if NUM_SERVOS >= 3 && HAS_SERVO_2
  723. servo[2].attach(SERVO2_PIN);
  724. servo[2].detach();
  725. #endif
  726. #if NUM_SERVOS >= 4 && HAS_SERVO_3
  727. servo[3].attach(SERVO3_PIN);
  728. servo[3].detach();
  729. #endif
  730. #if HAS_Z_SERVO_ENDSTOP
  731. /**
  732. * Set position of Z Servo Endstop
  733. *
  734. * The servo might be deployed and positioned too low to stow
  735. * when starting up the machine or rebooting the board.
  736. * There's no way to know where the nozzle is positioned until
  737. * homing has been done - no homing with z-probe without init!
  738. *
  739. */
  740. STOW_Z_SERVO();
  741. #endif
  742. }
  743. /**
  744. * Stepper Reset (RigidBoard, et.al.)
  745. */
  746. #if HAS_STEPPER_RESET
  747. void disableStepperDrivers() {
  748. pinMode(STEPPER_RESET_PIN, OUTPUT);
  749. digitalWrite(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
  750. }
  751. void enableStepperDrivers() { pinMode(STEPPER_RESET_PIN, INPUT); } // set to input, which allows it to be pulled high by pullups
  752. #endif
  753. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  754. void i2c_on_receive(int bytes) { // just echo all bytes received to serial
  755. i2c.receive(bytes);
  756. }
  757. void i2c_on_request() { // just send dummy data for now
  758. i2c.reply("Hello World!\n");
  759. }
  760. #endif
  761. void gcode_line_error(const char* err, bool doFlush = true) {
  762. SERIAL_ERROR_START;
  763. serialprintPGM(err);
  764. SERIAL_ERRORLN(gcode_LastN);
  765. //Serial.println(gcode_N);
  766. if (doFlush) FlushSerialRequestResend();
  767. serial_count = 0;
  768. }
  769. inline void get_serial_commands() {
  770. static char serial_line_buffer[MAX_CMD_SIZE];
  771. static boolean serial_comment_mode = false;
  772. // If the command buffer is empty for too long,
  773. // send "wait" to indicate Marlin is still waiting.
  774. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  775. static millis_t last_command_time = 0;
  776. millis_t ms = millis();
  777. if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
  778. SERIAL_ECHOLNPGM(MSG_WAIT);
  779. last_command_time = ms;
  780. }
  781. #endif
  782. /**
  783. * Loop while serial characters are incoming and the queue is not full
  784. */
  785. while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) {
  786. char serial_char = MYSERIAL.read();
  787. /**
  788. * If the character ends the line
  789. */
  790. if (serial_char == '\n' || serial_char == '\r') {
  791. serial_comment_mode = false; // end of line == end of comment
  792. if (!serial_count) continue; // skip empty lines
  793. serial_line_buffer[serial_count] = 0; // terminate string
  794. serial_count = 0; //reset buffer
  795. char* command = serial_line_buffer;
  796. while (*command == ' ') command++; // skip any leading spaces
  797. char* npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
  798. char* apos = strchr(command, '*');
  799. if (npos) {
  800. boolean M110 = strstr_P(command, PSTR("M110")) != NULL;
  801. if (M110) {
  802. char* n2pos = strchr(command + 4, 'N');
  803. if (n2pos) npos = n2pos;
  804. }
  805. gcode_N = strtol(npos + 1, NULL, 10);
  806. if (gcode_N != gcode_LastN + 1 && !M110) {
  807. gcode_line_error(PSTR(MSG_ERR_LINE_NO));
  808. return;
  809. }
  810. if (apos) {
  811. byte checksum = 0, count = 0;
  812. while (command[count] != '*') checksum ^= command[count++];
  813. if (strtol(apos + 1, NULL, 10) != checksum) {
  814. gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
  815. return;
  816. }
  817. // if no errors, continue parsing
  818. }
  819. else {
  820. gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
  821. return;
  822. }
  823. gcode_LastN = gcode_N;
  824. // if no errors, continue parsing
  825. }
  826. else if (apos) { // No '*' without 'N'
  827. gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false);
  828. return;
  829. }
  830. // Movement commands alert when stopped
  831. if (IsStopped()) {
  832. char* gpos = strchr(command, 'G');
  833. if (gpos) {
  834. int codenum = strtol(gpos + 1, NULL, 10);
  835. switch (codenum) {
  836. case 0:
  837. case 1:
  838. case 2:
  839. case 3:
  840. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  841. LCD_MESSAGEPGM(MSG_STOPPED);
  842. break;
  843. }
  844. }
  845. }
  846. #if DISABLED(EMERGENCY_PARSER)
  847. // If command was e-stop process now
  848. if (strcmp(command, "M108") == 0) wait_for_heatup = false;
  849. if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
  850. if (strcmp(command, "M410") == 0) { quickstop_stepper(); }
  851. #endif
  852. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  853. last_command_time = ms;
  854. #endif
  855. // Add the command to the queue
  856. _enqueuecommand(serial_line_buffer, true);
  857. }
  858. else if (serial_count >= MAX_CMD_SIZE - 1) {
  859. // Keep fetching, but ignore normal characters beyond the max length
  860. // The command will be injected when EOL is reached
  861. }
  862. else if (serial_char == '\\') { // Handle escapes
  863. if (MYSERIAL.available() > 0) {
  864. // if we have one more character, copy it over
  865. serial_char = MYSERIAL.read();
  866. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  867. }
  868. // otherwise do nothing
  869. }
  870. else { // it's not a newline, carriage return or escape char
  871. if (serial_char == ';') serial_comment_mode = true;
  872. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  873. }
  874. } // queue has space, serial has data
  875. }
  876. #if ENABLED(SDSUPPORT)
  877. inline void get_sdcard_commands() {
  878. static bool stop_buffering = false,
  879. sd_comment_mode = false;
  880. if (!card.sdprinting) return;
  881. /**
  882. * '#' stops reading from SD to the buffer prematurely, so procedural
  883. * macro calls are possible. If it occurs, stop_buffering is triggered
  884. * and the buffer is run dry; this character _can_ occur in serial com
  885. * due to checksums, however, no checksums are used in SD printing.
  886. */
  887. if (commands_in_queue == 0) stop_buffering = false;
  888. uint16_t sd_count = 0;
  889. bool card_eof = card.eof();
  890. while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
  891. int16_t n = card.get();
  892. char sd_char = (char)n;
  893. card_eof = card.eof();
  894. if (card_eof || n == -1
  895. || sd_char == '\n' || sd_char == '\r'
  896. || ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
  897. ) {
  898. if (card_eof) {
  899. SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
  900. card.printingHasFinished();
  901. card.checkautostart(true);
  902. }
  903. else if (n == -1) {
  904. SERIAL_ERROR_START;
  905. SERIAL_ECHOLNPGM(MSG_SD_ERR_READ);
  906. }
  907. if (sd_char == '#') stop_buffering = true;
  908. sd_comment_mode = false; //for new command
  909. if (!sd_count) continue; //skip empty lines
  910. command_queue[cmd_queue_index_w][sd_count] = '\0'; //terminate string
  911. sd_count = 0; //clear buffer
  912. _commit_command(false);
  913. }
  914. else if (sd_count >= MAX_CMD_SIZE - 1) {
  915. /**
  916. * Keep fetching, but ignore normal characters beyond the max length
  917. * The command will be injected when EOL is reached
  918. */
  919. }
  920. else {
  921. if (sd_char == ';') sd_comment_mode = true;
  922. if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
  923. }
  924. }
  925. }
  926. #endif // SDSUPPORT
  927. /**
  928. * Add to the circular command queue the next command from:
  929. * - The command-injection queue (queued_commands_P)
  930. * - The active serial input (usually USB)
  931. * - The SD card file being actively printed
  932. */
  933. void get_available_commands() {
  934. // if any immediate commands remain, don't get other commands yet
  935. if (drain_queued_commands_P()) return;
  936. get_serial_commands();
  937. #if ENABLED(SDSUPPORT)
  938. get_sdcard_commands();
  939. #endif
  940. }
  941. inline bool code_has_value() {
  942. int i = 1;
  943. char c = seen_pointer[i];
  944. while (c == ' ') c = seen_pointer[++i];
  945. if (c == '-' || c == '+') c = seen_pointer[++i];
  946. if (c == '.') c = seen_pointer[++i];
  947. return NUMERIC(c);
  948. }
  949. inline float code_value_float() {
  950. float ret;
  951. char* e = strchr(seen_pointer, 'E');
  952. if (e) {
  953. *e = 0;
  954. ret = strtod(seen_pointer + 1, NULL);
  955. *e = 'E';
  956. }
  957. else
  958. ret = strtod(seen_pointer + 1, NULL);
  959. return ret;
  960. }
  961. inline unsigned long code_value_ulong() { return strtoul(seen_pointer + 1, NULL, 10); }
  962. inline long code_value_long() { return strtol(seen_pointer + 1, NULL, 10); }
  963. inline int code_value_int() { return (int)strtol(seen_pointer + 1, NULL, 10); }
  964. inline uint16_t code_value_ushort() { return (uint16_t)strtoul(seen_pointer + 1, NULL, 10); }
  965. inline uint8_t code_value_byte() { return (uint8_t)(constrain(strtol(seen_pointer + 1, NULL, 10), 0, 255)); }
  966. inline bool code_value_bool() { return code_value_byte() > 0; }
  967. #if ENABLED(INCH_MODE_SUPPORT)
  968. inline void set_input_linear_units(LinearUnit units) {
  969. switch (units) {
  970. case LINEARUNIT_INCH:
  971. linear_unit_factor = 25.4;
  972. break;
  973. case LINEARUNIT_MM:
  974. default:
  975. linear_unit_factor = 1.0;
  976. break;
  977. }
  978. volumetric_unit_factor = pow(linear_unit_factor, 3.0);
  979. }
  980. inline float axis_unit_factor(int axis) {
  981. return (axis == E_AXIS && volumetric_enabled ? volumetric_unit_factor : linear_unit_factor);
  982. }
  983. inline float code_value_linear_units() { return code_value_float() * linear_unit_factor; }
  984. inline float code_value_axis_units(int axis) { return code_value_float() * axis_unit_factor(axis); }
  985. inline float code_value_per_axis_unit(int axis) { return code_value_float() / axis_unit_factor(axis); }
  986. #else
  987. inline float code_value_linear_units() { return code_value_float(); }
  988. inline float code_value_axis_units(int axis) { UNUSED(axis); return code_value_float(); }
  989. inline float code_value_per_axis_unit(int axis) { UNUSED(axis); return code_value_float(); }
  990. #endif
  991. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  992. inline void set_input_temp_units(TempUnit units) { input_temp_units = units; }
  993. float code_value_temp_abs() {
  994. switch (input_temp_units) {
  995. case TEMPUNIT_C:
  996. return code_value_float();
  997. case TEMPUNIT_F:
  998. return (code_value_float() - 32) * 0.5555555556;
  999. case TEMPUNIT_K:
  1000. return code_value_float() - 272.15;
  1001. default:
  1002. return code_value_float();
  1003. }
  1004. }
  1005. float code_value_temp_diff() {
  1006. switch (input_temp_units) {
  1007. case TEMPUNIT_C:
  1008. case TEMPUNIT_K:
  1009. return code_value_float();
  1010. case TEMPUNIT_F:
  1011. return code_value_float() * 0.5555555556;
  1012. default:
  1013. return code_value_float();
  1014. }
  1015. }
  1016. #else
  1017. float code_value_temp_abs() { return code_value_float(); }
  1018. float code_value_temp_diff() { return code_value_float(); }
  1019. #endif
  1020. FORCE_INLINE millis_t code_value_millis() { return code_value_ulong(); }
  1021. inline millis_t code_value_millis_from_seconds() { return code_value_float() * 1000; }
  1022. bool code_seen(char code) {
  1023. seen_pointer = strchr(current_command_args, code);
  1024. return (seen_pointer != NULL); // Return TRUE if the code-letter was found
  1025. }
  1026. /**
  1027. * Set target_extruder from the T parameter or the active_extruder
  1028. *
  1029. * Returns TRUE if the target is invalid
  1030. */
  1031. bool get_target_extruder_from_command(int code) {
  1032. if (code_seen('T')) {
  1033. if (code_value_byte() >= EXTRUDERS) {
  1034. SERIAL_ECHO_START;
  1035. SERIAL_CHAR('M');
  1036. SERIAL_ECHO(code);
  1037. SERIAL_ECHOLNPAIR(" " MSG_INVALID_EXTRUDER " ", code_value_byte());
  1038. return true;
  1039. }
  1040. target_extruder = code_value_byte();
  1041. }
  1042. else
  1043. target_extruder = active_extruder;
  1044. return false;
  1045. }
  1046. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  1047. bool extruder_duplication_enabled = false; // Used in Dual X mode 2
  1048. #endif
  1049. #if ENABLED(DUAL_X_CARRIAGE)
  1050. #define DXC_FULL_CONTROL_MODE 0
  1051. #define DXC_AUTO_PARK_MODE 1
  1052. #define DXC_DUPLICATION_MODE 2
  1053. static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  1054. static float x_home_pos(int extruder) {
  1055. if (extruder == 0)
  1056. return LOGICAL_X_POSITION(base_home_pos(X_AXIS));
  1057. else
  1058. /**
  1059. * In dual carriage mode the extruder offset provides an override of the
  1060. * second X-carriage offset when homed - otherwise X2_HOME_POS is used.
  1061. * This allow soft recalibration of the second extruder offset position
  1062. * without firmware reflash (through the M218 command).
  1063. */
  1064. return (hotend_offset[X_AXIS][1] > 0) ? hotend_offset[X_AXIS][1] : X2_HOME_POS;
  1065. }
  1066. static int x_home_dir(int extruder) {
  1067. return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
  1068. }
  1069. static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
  1070. static bool active_extruder_parked = false; // used in mode 1 & 2
  1071. static float raised_parked_position[NUM_AXIS]; // used in mode 1
  1072. static millis_t delayed_move_time = 0; // used in mode 1
  1073. static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
  1074. static float duplicate_extruder_temp_offset = 0; // used in mode 2
  1075. #endif //DUAL_X_CARRIAGE
  1076. /**
  1077. * Software endstops can be used to monitor the open end of
  1078. * an axis that has a hardware endstop on the other end. Or
  1079. * they can prevent axes from moving past endstops and grinding.
  1080. *
  1081. * To keep doing their job as the coordinate system changes,
  1082. * the software endstop positions must be refreshed to remain
  1083. * at the same positions relative to the machine.
  1084. */
  1085. void update_software_endstops(AxisEnum axis) {
  1086. float offs = LOGICAL_POSITION(0, axis);
  1087. #if ENABLED(DUAL_X_CARRIAGE)
  1088. if (axis == X_AXIS) {
  1089. float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
  1090. if (active_extruder != 0) {
  1091. soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
  1092. soft_endstop_max[X_AXIS] = dual_max_x + offs;
  1093. return;
  1094. }
  1095. else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
  1096. soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
  1097. soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
  1098. return;
  1099. }
  1100. }
  1101. else
  1102. #endif
  1103. {
  1104. soft_endstop_min[axis] = base_min_pos(axis) + offs;
  1105. soft_endstop_max[axis] = base_max_pos(axis) + offs;
  1106. }
  1107. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1108. if (DEBUGGING(LEVELING)) {
  1109. SERIAL_ECHOPAIR("For ", axis_codes[axis]);
  1110. SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
  1111. SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
  1112. SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
  1113. SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
  1114. }
  1115. #endif
  1116. #if ENABLED(DELTA)
  1117. if (axis == Z_AXIS)
  1118. delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
  1119. #endif
  1120. }
  1121. /**
  1122. * Change the home offset for an axis, update the current
  1123. * position and the software endstops to retain the same
  1124. * relative distance to the new home.
  1125. *
  1126. * Since this changes the current_position, code should
  1127. * call sync_plan_position soon after this.
  1128. */
  1129. static void set_home_offset(AxisEnum axis, float v) {
  1130. current_position[axis] += v - home_offset[axis];
  1131. home_offset[axis] = v;
  1132. update_software_endstops(axis);
  1133. }
  1134. static void set_axis_is_at_home(AxisEnum axis) {
  1135. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1136. if (DEBUGGING(LEVELING)) {
  1137. SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]);
  1138. SERIAL_ECHOLNPGM(")");
  1139. }
  1140. #endif
  1141. position_shift[axis] = 0;
  1142. #if ENABLED(DUAL_X_CARRIAGE)
  1143. if (axis == X_AXIS && (active_extruder != 0 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
  1144. if (active_extruder != 0)
  1145. current_position[X_AXIS] = x_home_pos(active_extruder);
  1146. else
  1147. current_position[X_AXIS] = LOGICAL_X_POSITION(base_home_pos(X_AXIS));
  1148. update_software_endstops(X_AXIS);
  1149. return;
  1150. }
  1151. #endif
  1152. #if ENABLED(MORGAN_SCARA)
  1153. if (axis == X_AXIS || axis == Y_AXIS) {
  1154. float homeposition[XYZ];
  1155. LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos(i), i);
  1156. // SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
  1157. // SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
  1158. /**
  1159. * Works out real Homeposition angles using inverse kinematics,
  1160. * and calculates homing offset using forward kinematics
  1161. */
  1162. inverse_kinematics(homeposition);
  1163. forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
  1164. // SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
  1165. // SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
  1166. current_position[axis] = LOGICAL_POSITION(cartes[axis], axis);
  1167. /**
  1168. * SCARA home positions are based on configuration since the actual
  1169. * limits are determined by the inverse kinematic transform.
  1170. */
  1171. soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis));
  1172. soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis));
  1173. }
  1174. else
  1175. #endif
  1176. {
  1177. current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis);
  1178. update_software_endstops(axis);
  1179. if (axis == Z_AXIS) {
  1180. #if HAS_BED_PROBE && Z_HOME_DIR < 0
  1181. #if HOMING_Z_WITH_PROBE
  1182. current_position[Z_AXIS] -= zprobe_zoffset;
  1183. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1184. if (DEBUGGING(LEVELING)) {
  1185. SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***");
  1186. SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset);
  1187. }
  1188. #endif
  1189. #elif ENABLED(DEBUG_LEVELING_FEATURE)
  1190. if (DEBUGGING(LEVELING))
  1191. SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP (Z_MIN_PROBE_ENDSTOP) ***");
  1192. #endif
  1193. #endif
  1194. }
  1195. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1196. if (DEBUGGING(LEVELING)) {
  1197. SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
  1198. SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
  1199. DEBUG_POS("", current_position);
  1200. }
  1201. #endif
  1202. }
  1203. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1204. if (DEBUGGING(LEVELING)) {
  1205. SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
  1206. SERIAL_ECHOLNPGM(")");
  1207. }
  1208. #endif
  1209. axis_known_position[axis] = axis_homed[axis] = true;
  1210. }
  1211. /**
  1212. * Some planner shorthand inline functions
  1213. */
  1214. inline float get_homing_bump_feedrate(AxisEnum axis) {
  1215. const int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
  1216. int hbd = homing_bump_divisor[axis];
  1217. if (hbd < 1) {
  1218. hbd = 10;
  1219. SERIAL_ECHO_START;
  1220. SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
  1221. }
  1222. return homing_feedrate_mm_s[axis] / hbd;
  1223. }
  1224. //
  1225. // line_to_current_position
  1226. // Move the planner to the current position from wherever it last moved
  1227. // (or from wherever it has been told it is located).
  1228. //
  1229. inline void line_to_current_position() {
  1230. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
  1231. }
  1232. inline void line_to_z(float zPosition) {
  1233. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate_mm_s, active_extruder);
  1234. }
  1235. //
  1236. // line_to_destination
  1237. // Move the planner, not necessarily synced with current_position
  1238. //
  1239. inline void line_to_destination(float fr_mm_s) {
  1240. planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
  1241. }
  1242. inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
  1243. inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
  1244. inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
  1245. #if ENABLED(DELTA)
  1246. /**
  1247. * Calculate delta, start a line, and set current_position to destination
  1248. */
  1249. void prepare_move_to_destination_raw() {
  1250. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1251. if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_move_to_destination_raw", destination);
  1252. #endif
  1253. refresh_cmd_timeout();
  1254. inverse_kinematics(destination);
  1255. planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], MMS_SCALED(feedrate_mm_s), active_extruder);
  1256. set_current_to_destination();
  1257. }
  1258. #endif
  1259. /**
  1260. * Plan a move to (X, Y, Z) and set the current_position
  1261. * The final current_position may not be the one that was requested
  1262. */
  1263. void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s /*=0.0*/) {
  1264. float old_feedrate_mm_s = feedrate_mm_s;
  1265. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1266. if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, x, y, z);
  1267. #endif
  1268. #if ENABLED(DELTA)
  1269. feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  1270. set_destination_to_current(); // sync destination at the start
  1271. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1272. if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_to_current", destination);
  1273. #endif
  1274. // when in the danger zone
  1275. if (current_position[Z_AXIS] > delta_clip_start_height) {
  1276. if (z > delta_clip_start_height) { // staying in the danger zone
  1277. destination[X_AXIS] = x; // move directly (uninterpolated)
  1278. destination[Y_AXIS] = y;
  1279. destination[Z_AXIS] = z;
  1280. prepare_move_to_destination_raw(); // set_current_to_destination
  1281. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1282. if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
  1283. #endif
  1284. return;
  1285. }
  1286. else {
  1287. destination[Z_AXIS] = delta_clip_start_height;
  1288. prepare_move_to_destination_raw(); // set_current_to_destination
  1289. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1290. if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
  1291. #endif
  1292. }
  1293. }
  1294. if (z > current_position[Z_AXIS]) { // raising?
  1295. destination[Z_AXIS] = z;
  1296. prepare_move_to_destination_raw(); // set_current_to_destination
  1297. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1298. if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
  1299. #endif
  1300. }
  1301. destination[X_AXIS] = x;
  1302. destination[Y_AXIS] = y;
  1303. prepare_move_to_destination(); // set_current_to_destination
  1304. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1305. if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
  1306. #endif
  1307. if (z < current_position[Z_AXIS]) { // lowering?
  1308. destination[Z_AXIS] = z;
  1309. prepare_move_to_destination_raw(); // set_current_to_destination
  1310. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1311. if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
  1312. #endif
  1313. }
  1314. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1315. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
  1316. #endif
  1317. #else
  1318. // If Z needs to raise, do it before moving XY
  1319. if (current_position[Z_AXIS] < z) {
  1320. feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
  1321. current_position[Z_AXIS] = z;
  1322. line_to_current_position();
  1323. }
  1324. feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  1325. current_position[X_AXIS] = x;
  1326. current_position[Y_AXIS] = y;
  1327. line_to_current_position();
  1328. // If Z needs to lower, do it after moving XY
  1329. if (current_position[Z_AXIS] > z) {
  1330. feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
  1331. current_position[Z_AXIS] = z;
  1332. line_to_current_position();
  1333. }
  1334. #endif
  1335. stepper.synchronize();
  1336. feedrate_mm_s = old_feedrate_mm_s;
  1337. }
  1338. void do_blocking_move_to_x(const float &x, const float &fr_mm_s/*=0.0*/) {
  1339. do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
  1340. }
  1341. void do_blocking_move_to_z(const float &z, const float &fr_mm_s/*=0.0*/) {
  1342. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, fr_mm_s);
  1343. }
  1344. void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s/*=0.0*/) {
  1345. do_blocking_move_to(x, y, current_position[Z_AXIS], fr_mm_s);
  1346. }
  1347. //
  1348. // Prepare to do endstop or probe moves
  1349. // with custom feedrates.
  1350. //
  1351. // - Save current feedrates
  1352. // - Reset the rate multiplier
  1353. // - Reset the command timeout
  1354. // - Enable the endstops (for endstop moves)
  1355. //
  1356. static void setup_for_endstop_or_probe_move() {
  1357. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1358. if (DEBUGGING(LEVELING)) DEBUG_POS("setup_for_endstop_or_probe_move", current_position);
  1359. #endif
  1360. saved_feedrate_mm_s = feedrate_mm_s;
  1361. saved_feedrate_percentage = feedrate_percentage;
  1362. feedrate_percentage = 100;
  1363. refresh_cmd_timeout();
  1364. }
  1365. static void clean_up_after_endstop_or_probe_move() {
  1366. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1367. if (DEBUGGING(LEVELING)) DEBUG_POS("clean_up_after_endstop_or_probe_move", current_position);
  1368. #endif
  1369. feedrate_mm_s = saved_feedrate_mm_s;
  1370. feedrate_percentage = saved_feedrate_percentage;
  1371. refresh_cmd_timeout();
  1372. }
  1373. #if HAS_BED_PROBE
  1374. /**
  1375. * Raise Z to a minimum height to make room for a probe to move
  1376. */
  1377. inline void do_probe_raise(float z_raise) {
  1378. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1379. if (DEBUGGING(LEVELING)) {
  1380. SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
  1381. SERIAL_ECHOLNPGM(")");
  1382. }
  1383. #endif
  1384. float z_dest = LOGICAL_Z_POSITION(z_raise);
  1385. if (z_dest > current_position[Z_AXIS])
  1386. do_blocking_move_to_z(z_dest);
  1387. }
  1388. #endif //HAS_BED_PROBE
  1389. #if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
  1390. static bool axis_unhomed_error(const bool x, const bool y, const bool z) {
  1391. const bool xx = x && !axis_homed[X_AXIS],
  1392. yy = y && !axis_homed[Y_AXIS],
  1393. zz = z && !axis_homed[Z_AXIS];
  1394. if (xx || yy || zz) {
  1395. SERIAL_ECHO_START;
  1396. SERIAL_ECHOPGM(MSG_HOME " ");
  1397. if (xx) SERIAL_ECHOPGM(MSG_X);
  1398. if (yy) SERIAL_ECHOPGM(MSG_Y);
  1399. if (zz) SERIAL_ECHOPGM(MSG_Z);
  1400. SERIAL_ECHOLNPGM(" " MSG_FIRST);
  1401. #if ENABLED(ULTRA_LCD)
  1402. char message[3 * (LCD_WIDTH) + 1] = ""; // worst case is kana.utf with up to 3*LCD_WIDTH+1
  1403. strcat_P(message, PSTR(MSG_HOME " "));
  1404. if (xx) strcat_P(message, PSTR(MSG_X));
  1405. if (yy) strcat_P(message, PSTR(MSG_Y));
  1406. if (zz) strcat_P(message, PSTR(MSG_Z));
  1407. strcat_P(message, PSTR(" " MSG_FIRST));
  1408. lcd_setstatus(message);
  1409. #endif
  1410. return true;
  1411. }
  1412. return false;
  1413. }
  1414. #endif
  1415. #if ENABLED(Z_PROBE_SLED)
  1416. #ifndef SLED_DOCKING_OFFSET
  1417. #define SLED_DOCKING_OFFSET 0
  1418. #endif
  1419. /**
  1420. * Method to dock/undock a sled designed by Charles Bell.
  1421. *
  1422. * stow[in] If false, move to MAX_X and engage the solenoid
  1423. * If true, move to MAX_X and release the solenoid
  1424. */
  1425. static void dock_sled(bool stow) {
  1426. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1427. if (DEBUGGING(LEVELING)) {
  1428. SERIAL_ECHOPAIR("dock_sled(", stow);
  1429. SERIAL_ECHOLNPGM(")");
  1430. }
  1431. #endif
  1432. // Dock sled a bit closer to ensure proper capturing
  1433. do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
  1434. #if PIN_EXISTS(SLED)
  1435. digitalWrite(SLED_PIN, !stow); // switch solenoid
  1436. #endif
  1437. }
  1438. #endif // Z_PROBE_SLED
  1439. #if ENABLED(Z_PROBE_ALLEN_KEY)
  1440. void run_deploy_moves_script() {
  1441. #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
  1442. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
  1443. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
  1444. #endif
  1445. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
  1446. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
  1447. #endif
  1448. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
  1449. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
  1450. #endif
  1451. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
  1452. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
  1453. #endif
  1454. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE));
  1455. #endif
  1456. #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Z)
  1457. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
  1458. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
  1459. #endif
  1460. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
  1461. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
  1462. #endif
  1463. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
  1464. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
  1465. #endif
  1466. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
  1467. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
  1468. #endif
  1469. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE));
  1470. #endif
  1471. #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Z)
  1472. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
  1473. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
  1474. #endif
  1475. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
  1476. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
  1477. #endif
  1478. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
  1479. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
  1480. #endif
  1481. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
  1482. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
  1483. #endif
  1484. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE));
  1485. #endif
  1486. #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Z)
  1487. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
  1488. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
  1489. #endif
  1490. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
  1491. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
  1492. #endif
  1493. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
  1494. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
  1495. #endif
  1496. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
  1497. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
  1498. #endif
  1499. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE));
  1500. #endif
  1501. #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Z)
  1502. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
  1503. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
  1504. #endif
  1505. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
  1506. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
  1507. #endif
  1508. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
  1509. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
  1510. #endif
  1511. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
  1512. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
  1513. #endif
  1514. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE));
  1515. #endif
  1516. }
  1517. void run_stow_moves_script() {
  1518. #if defined(Z_PROBE_ALLEN_KEY_STOW_1_X) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Z)
  1519. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
  1520. #define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
  1521. #endif
  1522. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
  1523. #define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
  1524. #endif
  1525. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
  1526. #define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
  1527. #endif
  1528. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
  1529. #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
  1530. #endif
  1531. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE));
  1532. #endif
  1533. #if defined(Z_PROBE_ALLEN_KEY_STOW_2_X) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Z)
  1534. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
  1535. #define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
  1536. #endif
  1537. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
  1538. #define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
  1539. #endif
  1540. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
  1541. #define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
  1542. #endif
  1543. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
  1544. #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
  1545. #endif
  1546. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE));
  1547. #endif
  1548. #if defined(Z_PROBE_ALLEN_KEY_STOW_3_X) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Z)
  1549. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
  1550. #define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
  1551. #endif
  1552. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
  1553. #define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
  1554. #endif
  1555. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
  1556. #define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
  1557. #endif
  1558. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
  1559. #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
  1560. #endif
  1561. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE));
  1562. #endif
  1563. #if defined(Z_PROBE_ALLEN_KEY_STOW_4_X) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Z)
  1564. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
  1565. #define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
  1566. #endif
  1567. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
  1568. #define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
  1569. #endif
  1570. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
  1571. #define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
  1572. #endif
  1573. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
  1574. #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
  1575. #endif
  1576. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE));
  1577. #endif
  1578. #if defined(Z_PROBE_ALLEN_KEY_STOW_5_X) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Z)
  1579. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
  1580. #define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
  1581. #endif
  1582. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
  1583. #define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
  1584. #endif
  1585. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
  1586. #define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
  1587. #endif
  1588. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
  1589. #define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
  1590. #endif
  1591. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE));
  1592. #endif
  1593. }
  1594. #endif
  1595. #if HAS_BED_PROBE
  1596. // TRIGGERED_WHEN_STOWED_TEST can easily be extended to servo probes, ... if needed.
  1597. #if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST)
  1598. #if ENABLED(Z_MIN_PROBE_ENDSTOP)
  1599. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
  1600. #else
  1601. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
  1602. #endif
  1603. #endif
  1604. #define DEPLOY_PROBE() set_probe_deployed(true)
  1605. #define STOW_PROBE() set_probe_deployed(false)
  1606. // returns false for ok and true for failure
  1607. static bool set_probe_deployed(bool deploy) {
  1608. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1609. if (DEBUGGING(LEVELING)) {
  1610. DEBUG_POS("set_probe_deployed", current_position);
  1611. SERIAL_ECHOLNPAIR("deploy: ", deploy);
  1612. }
  1613. #endif
  1614. if (endstops.z_probe_enabled == deploy) return false;
  1615. // Make room for probe
  1616. do_probe_raise(_Z_PROBE_DEPLOY_HEIGHT);
  1617. #if ENABLED(Z_PROBE_SLED)
  1618. if (axis_unhomed_error(true, false, false)) { stop(); return true; }
  1619. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1620. if (axis_unhomed_error(true, true, true )) { stop(); return true; }
  1621. #endif
  1622. float oldXpos = current_position[X_AXIS],
  1623. oldYpos = current_position[Y_AXIS];
  1624. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1625. // If endstop is already false, the Z probe is deployed
  1626. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
  1627. // Would a goto be less ugly?
  1628. //while (!_TRIGGERED_WHEN_STOWED_TEST) idle(); // would offer the opportunity
  1629. // for a triggered when stowed manual probe.
  1630. if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early
  1631. // otherwise an Allen-Key probe can't be stowed.
  1632. #endif
  1633. #if ENABLED(Z_PROBE_SLED)
  1634. dock_sled(!deploy);
  1635. #elif HAS_Z_SERVO_ENDSTOP
  1636. servo[Z_ENDSTOP_SERVO_NR].move(z_servo_angle[deploy ? 0 : 1]);
  1637. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1638. deploy ? run_deploy_moves_script() : run_stow_moves_script();
  1639. #endif
  1640. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1641. } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  1642. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // State hasn't changed?
  1643. if (IsRunning()) {
  1644. SERIAL_ERROR_START;
  1645. SERIAL_ERRORLNPGM("Z-Probe failed");
  1646. LCD_ALERTMESSAGEPGM("Err: ZPROBE");
  1647. }
  1648. stop();
  1649. return true;
  1650. } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  1651. #endif
  1652. do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
  1653. endstops.enable_z_probe(deploy);
  1654. return false;
  1655. }
  1656. static void do_probe_move(float z, float fr_mm_m) {
  1657. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1658. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
  1659. #endif
  1660. // Move down until probe triggered
  1661. do_blocking_move_to_z(LOGICAL_Z_POSITION(z), MMM_TO_MMS(fr_mm_m));
  1662. // Clear endstop flags
  1663. endstops.hit_on_purpose();
  1664. // Get Z where the steppers were interrupted
  1665. set_current_from_steppers_for_axis(Z_AXIS);
  1666. // Tell the planner where we actually are
  1667. SYNC_PLAN_POSITION_KINEMATIC();
  1668. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1669. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
  1670. #endif
  1671. }
  1672. // Do a single Z probe and return with current_position[Z_AXIS]
  1673. // at the height where the probe triggered.
  1674. static float run_z_probe() {
  1675. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1676. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
  1677. #endif
  1678. // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
  1679. refresh_cmd_timeout();
  1680. #if ENABLED(PROBE_DOUBLE_TOUCH)
  1681. // Do a first probe at the fast speed
  1682. do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_FAST);
  1683. // move up by the bump distance
  1684. do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  1685. #else
  1686. // If the nozzle is above the travel height then
  1687. // move down quickly before doing the slow probe
  1688. float z = LOGICAL_Z_POSITION(Z_PROBE_TRAVEL_HEIGHT);
  1689. if (z < current_position[Z_AXIS])
  1690. do_blocking_move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  1691. #endif
  1692. // move down slowly to find bed
  1693. do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_SLOW);
  1694. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1695. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
  1696. #endif
  1697. return current_position[Z_AXIS];
  1698. }
  1699. //
  1700. // - Move to the given XY
  1701. // - Deploy the probe, if not already deployed
  1702. // - Probe the bed, get the Z position
  1703. // - Depending on the 'stow' flag
  1704. // - Stow the probe, or
  1705. // - Raise to the BETWEEN height
  1706. // - Return the probed Z position
  1707. //
  1708. static float probe_pt(float x, float y, bool stow = true, int verbose_level = 1) {
  1709. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1710. if (DEBUGGING(LEVELING)) {
  1711. SERIAL_ECHOPAIR(">>> probe_pt(", x);
  1712. SERIAL_ECHOPAIR(", ", y);
  1713. SERIAL_ECHOPAIR(", ", stow ? "stow" : "no stow");
  1714. SERIAL_ECHOLNPGM(")");
  1715. DEBUG_POS("", current_position);
  1716. }
  1717. #endif
  1718. float old_feedrate_mm_s = feedrate_mm_s;
  1719. // Ensure a minimum height before moving the probe
  1720. do_probe_raise(Z_PROBE_TRAVEL_HEIGHT);
  1721. // Move to the XY where we shall probe
  1722. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1723. if (DEBUGGING(LEVELING)) {
  1724. SERIAL_ECHOPAIR("> do_blocking_move_to_xy(", x - (X_PROBE_OFFSET_FROM_EXTRUDER));
  1725. SERIAL_ECHOPAIR(", ", y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
  1726. SERIAL_ECHOLNPGM(")");
  1727. }
  1728. #endif
  1729. feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
  1730. do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
  1731. if (DEPLOY_PROBE()) return NAN;
  1732. float measured_z = run_z_probe();
  1733. if (stow) {
  1734. if (STOW_PROBE()) return NAN;
  1735. }
  1736. else {
  1737. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1738. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> do_probe_raise");
  1739. #endif
  1740. do_probe_raise(Z_PROBE_TRAVEL_HEIGHT);
  1741. }
  1742. if (verbose_level > 2) {
  1743. SERIAL_PROTOCOLPGM("Bed X: ");
  1744. SERIAL_PROTOCOL_F(x, 3);
  1745. SERIAL_PROTOCOLPGM(" Y: ");
  1746. SERIAL_PROTOCOL_F(y, 3);
  1747. SERIAL_PROTOCOLPGM(" Z: ");
  1748. SERIAL_PROTOCOL_F(measured_z, 3);
  1749. SERIAL_EOL;
  1750. }
  1751. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1752. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
  1753. #endif
  1754. feedrate_mm_s = old_feedrate_mm_s;
  1755. return measured_z;
  1756. }
  1757. #endif // HAS_BED_PROBE
  1758. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  1759. /**
  1760. * Reset calibration results to zero.
  1761. */
  1762. void reset_bed_level() {
  1763. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1764. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
  1765. #endif
  1766. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  1767. planner.bed_level_matrix.set_to_identity();
  1768. #elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
  1769. memset(bed_level_grid, 0, sizeof(bed_level_grid));
  1770. nonlinear_grid_spacing[X_AXIS] = nonlinear_grid_spacing[Y_AXIS] = 0;
  1771. #endif
  1772. }
  1773. #endif // AUTO_BED_LEVELING_FEATURE
  1774. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  1775. /**
  1776. * Get the stepper positions, apply the rotation matrix
  1777. * using the home XY and Z0 position as the fulcrum.
  1778. */
  1779. vector_3 untilted_stepper_position() {
  1780. get_cartesian_from_steppers();
  1781. vector_3 pos = vector_3(
  1782. cartes[X_AXIS] - X_TILT_FULCRUM,
  1783. cartes[Y_AXIS] - Y_TILT_FULCRUM,
  1784. cartes[Z_AXIS]
  1785. );
  1786. matrix_3x3 inverse = matrix_3x3::transpose(planner.bed_level_matrix);
  1787. //pos.debug("untilted_stepper_position offset");
  1788. //bed_level_matrix.debug("untilted_stepper_position");
  1789. //inverse.debug("in untilted_stepper_position");
  1790. pos.apply_rotation(inverse);
  1791. pos.x = LOGICAL_X_POSITION(pos.x + X_TILT_FULCRUM);
  1792. pos.y = LOGICAL_Y_POSITION(pos.y + Y_TILT_FULCRUM);
  1793. pos.z = LOGICAL_Z_POSITION(pos.z);
  1794. //pos.debug("after rotation and reorientation");
  1795. return pos;
  1796. }
  1797. #elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
  1798. /**
  1799. * All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
  1800. */
  1801. static void extrapolate_one_point(uint8_t x, uint8_t y, int xdir, int ydir) {
  1802. if (bed_level_grid[x][y]) return; // Don't overwrite good values.
  1803. float a = 2 * bed_level_grid[x + xdir][y] - bed_level_grid[x + xdir * 2][y], // Left to right.
  1804. b = 2 * bed_level_grid[x][y + ydir] - bed_level_grid[x][y + ydir * 2], // Front to back.
  1805. c = 2 * bed_level_grid[x + xdir][y + ydir] - bed_level_grid[x + xdir * 2][y + ydir * 2]; // Diagonal.
  1806. // Median is robust (ignores outliers).
  1807. bed_level_grid[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
  1808. : ((c < b) ? b : (a < c) ? a : c);
  1809. }
  1810. /**
  1811. * Fill in the unprobed points (corners of circular print surface)
  1812. * using linear extrapolation, away from the center.
  1813. */
  1814. static void extrapolate_unprobed_bed_level() {
  1815. uint8_t half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
  1816. for (uint8_t y = 0; y <= half; y++) {
  1817. for (uint8_t x = 0; x <= half; x++) {
  1818. if (x + y < 3) continue;
  1819. extrapolate_one_point(half - x, half - y, x > 1 ? +1 : 0, y > 1 ? +1 : 0);
  1820. extrapolate_one_point(half + x, half - y, x > 1 ? -1 : 0, y > 1 ? +1 : 0);
  1821. extrapolate_one_point(half - x, half + y, x > 1 ? +1 : 0, y > 1 ? -1 : 0);
  1822. extrapolate_one_point(half + x, half + y, x > 1 ? -1 : 0, y > 1 ? -1 : 0);
  1823. }
  1824. }
  1825. }
  1826. /**
  1827. * Print calibration results for plotting or manual frame adjustment.
  1828. */
  1829. static void print_bed_level() {
  1830. for (uint8_t y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
  1831. for (uint8_t x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
  1832. SERIAL_PROTOCOL_F(bed_level_grid[x][y], 2);
  1833. SERIAL_PROTOCOLCHAR(' ');
  1834. }
  1835. SERIAL_EOL;
  1836. }
  1837. }
  1838. #endif // AUTO_BED_LEVELING_NONLINEAR
  1839. /**
  1840. * Home an individual axis
  1841. */
  1842. static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) {
  1843. current_position[axis] = 0;
  1844. sync_plan_position();
  1845. current_position[axis] = where;
  1846. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
  1847. stepper.synchronize();
  1848. endstops.hit_on_purpose();
  1849. }
  1850. #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
  1851. static void homeaxis(AxisEnum axis) {
  1852. #define CAN_HOME(A) \
  1853. (axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
  1854. if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
  1855. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1856. if (DEBUGGING(LEVELING)) {
  1857. SERIAL_ECHOPAIR(">>> homeaxis(", axis_codes[axis]);
  1858. SERIAL_ECHOLNPGM(")");
  1859. }
  1860. #endif
  1861. int axis_home_dir =
  1862. #if ENABLED(DUAL_X_CARRIAGE)
  1863. (axis == X_AXIS) ? x_home_dir(active_extruder) :
  1864. #endif
  1865. home_dir(axis);
  1866. // Homing Z towards the bed? Deploy the Z probe or endstop.
  1867. #if HOMING_Z_WITH_PROBE
  1868. if (axis == Z_AXIS && DEPLOY_PROBE()) return;
  1869. #endif
  1870. // Set a flag for Z motor locking
  1871. #if ENABLED(Z_DUAL_ENDSTOPS)
  1872. if (axis == Z_AXIS) stepper.set_homing_flag(true);
  1873. #endif
  1874. // Move towards the endstop until an endstop is triggered
  1875. do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
  1876. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1877. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("> 1st Home ", current_position[axis]);
  1878. #endif
  1879. // Move away from the endstop by the axis HOME_BUMP_MM
  1880. do_homing_move(axis, -home_bump_mm(axis) * axis_home_dir);
  1881. // Move slowly towards the endstop until triggered
  1882. do_homing_move(axis, 2 * home_bump_mm(axis) * axis_home_dir, get_homing_bump_feedrate(axis));
  1883. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1884. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("> 2nd Home ", current_position[axis]);
  1885. #endif
  1886. #if ENABLED(Z_DUAL_ENDSTOPS)
  1887. if (axis == Z_AXIS) {
  1888. float adj = fabs(z_endstop_adj);
  1889. bool lockZ1;
  1890. if (axis_home_dir > 0) {
  1891. adj = -adj;
  1892. lockZ1 = (z_endstop_adj > 0);
  1893. }
  1894. else
  1895. lockZ1 = (z_endstop_adj < 0);
  1896. if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
  1897. // Move to the adjusted endstop height
  1898. do_homing_move(axis, adj);
  1899. if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
  1900. stepper.set_homing_flag(false);
  1901. } // Z_AXIS
  1902. #endif
  1903. // Delta has already moved all three towers up in G28
  1904. // so here it re-homes each tower in turn.
  1905. // Delta homing treats the axes as normal linear axes.
  1906. #if ENABLED(DELTA)
  1907. // retrace by the amount specified in endstop_adj
  1908. if (endstop_adj[axis] * Z_HOME_DIR < 0) {
  1909. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1910. if (DEBUGGING(LEVELING)) {
  1911. SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis] * Z_HOME_DIR);
  1912. DEBUG_POS("", current_position);
  1913. }
  1914. #endif
  1915. do_homing_move(axis, endstop_adj[axis]);
  1916. }
  1917. #else
  1918. // Set the axis position to its home position (plus home offsets)
  1919. set_axis_is_at_home(axis);
  1920. sync_plan_position();
  1921. destination[axis] = current_position[axis];
  1922. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1923. if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
  1924. #endif
  1925. #endif
  1926. // Put away the Z probe
  1927. #if HOMING_Z_WITH_PROBE
  1928. if (axis == Z_AXIS && STOW_PROBE()) return;
  1929. #endif
  1930. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1931. if (DEBUGGING(LEVELING)) {
  1932. SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]);
  1933. SERIAL_ECHOLNPGM(")");
  1934. }
  1935. #endif
  1936. } // homeaxis()
  1937. #if ENABLED(FWRETRACT)
  1938. void retract(bool retracting, bool swapping = false) {
  1939. if (retracting == retracted[active_extruder]) return;
  1940. float old_feedrate_mm_s = feedrate_mm_s;
  1941. set_destination_to_current();
  1942. if (retracting) {
  1943. feedrate_mm_s = retract_feedrate_mm_s;
  1944. current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
  1945. sync_plan_position_e();
  1946. prepare_move_to_destination();
  1947. if (retract_zlift > 0.01) {
  1948. current_position[Z_AXIS] -= retract_zlift;
  1949. SYNC_PLAN_POSITION_KINEMATIC();
  1950. prepare_move_to_destination();
  1951. }
  1952. }
  1953. else {
  1954. if (retract_zlift > 0.01) {
  1955. current_position[Z_AXIS] += retract_zlift;
  1956. SYNC_PLAN_POSITION_KINEMATIC();
  1957. }
  1958. feedrate_mm_s = retract_recover_feedrate_mm_s;
  1959. float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
  1960. current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
  1961. sync_plan_position_e();
  1962. prepare_move_to_destination();
  1963. }
  1964. feedrate_mm_s = old_feedrate_mm_s;
  1965. retracted[active_extruder] = retracting;
  1966. } // retract()
  1967. #endif // FWRETRACT
  1968. #if ENABLED(MIXING_EXTRUDER)
  1969. void normalize_mix() {
  1970. float mix_total = 0.0;
  1971. for (int i = 0; i < MIXING_STEPPERS; i++) {
  1972. float v = mixing_factor[i];
  1973. if (v < 0) v = mixing_factor[i] = 0;
  1974. mix_total += v;
  1975. }
  1976. // Scale all values if they don't add up to ~1.0
  1977. if (mix_total < 0.9999 || mix_total > 1.0001) {
  1978. SERIAL_PROTOCOLLNPGM("Warning: Mix factors must add up to 1.0. Scaling.");
  1979. float mix_scale = 1.0 / mix_total;
  1980. for (int i = 0; i < MIXING_STEPPERS; i++)
  1981. mixing_factor[i] *= mix_scale;
  1982. }
  1983. }
  1984. #if ENABLED(DIRECT_MIXING_IN_G1)
  1985. // Get mixing parameters from the GCode
  1986. // Factors that are left out are set to 0
  1987. // The total "must" be 1.0 (but it will be normalized)
  1988. void gcode_get_mix() {
  1989. const char* mixing_codes = "ABCDHI";
  1990. for (int i = 0; i < MIXING_STEPPERS; i++)
  1991. mixing_factor[i] = code_seen(mixing_codes[i]) ? code_value_float() : 0;
  1992. normalize_mix();
  1993. }
  1994. #endif
  1995. #endif
  1996. /**
  1997. * ***************************************************************************
  1998. * ***************************** G-CODE HANDLING *****************************
  1999. * ***************************************************************************
  2000. */
  2001. /**
  2002. * Set XYZE destination and feedrate from the current GCode command
  2003. *
  2004. * - Set destination from included axis codes
  2005. * - Set to current for missing axis codes
  2006. * - Set the feedrate, if included
  2007. */
  2008. void gcode_get_destination() {
  2009. LOOP_XYZE(i) {
  2010. if (code_seen(axis_codes[i]))
  2011. destination[i] = code_value_axis_units(i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
  2012. else
  2013. destination[i] = current_position[i];
  2014. }
  2015. if (code_seen('F') && code_value_linear_units() > 0.0)
  2016. feedrate_mm_s = MMM_TO_MMS(code_value_linear_units());
  2017. #if ENABLED(PRINTCOUNTER)
  2018. if (!DEBUGGING(DRYRUN))
  2019. print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
  2020. #endif
  2021. // Get ABCDHI mixing factors
  2022. #if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1)
  2023. gcode_get_mix();
  2024. #endif
  2025. }
  2026. void unknown_command_error() {
  2027. SERIAL_ECHO_START;
  2028. SERIAL_ECHOPAIR(MSG_UNKNOWN_COMMAND, current_command);
  2029. SERIAL_ECHOLNPGM("\"");
  2030. }
  2031. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  2032. /**
  2033. * Output a "busy" message at regular intervals
  2034. * while the machine is not accepting commands.
  2035. */
  2036. void host_keepalive() {
  2037. millis_t ms = millis();
  2038. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  2039. if (PENDING(ms, next_busy_signal_ms)) return;
  2040. switch (busy_state) {
  2041. case IN_HANDLER:
  2042. case IN_PROCESS:
  2043. SERIAL_ECHO_START;
  2044. SERIAL_ECHOLNPGM(MSG_BUSY_PROCESSING);
  2045. break;
  2046. case PAUSED_FOR_USER:
  2047. SERIAL_ECHO_START;
  2048. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_USER);
  2049. break;
  2050. case PAUSED_FOR_INPUT:
  2051. SERIAL_ECHO_START;
  2052. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_INPUT);
  2053. break;
  2054. default:
  2055. break;
  2056. }
  2057. }
  2058. next_busy_signal_ms = ms + host_keepalive_interval * 1000UL;
  2059. }
  2060. #endif //HOST_KEEPALIVE_FEATURE
  2061. bool position_is_reachable(float target[XYZ]) {
  2062. float dx = RAW_X_POSITION(target[X_AXIS]),
  2063. dy = RAW_Y_POSITION(target[Y_AXIS]);
  2064. #if ENABLED(DELTA)
  2065. return HYPOT2(dx, dy) <= sq(DELTA_PRINTABLE_RADIUS);
  2066. #else
  2067. float dz = RAW_Z_POSITION(target[Z_AXIS]);
  2068. return dx >= X_MIN_POS - 0.0001 && dx <= X_MAX_POS + 0.0001
  2069. && dy >= Y_MIN_POS - 0.0001 && dy <= Y_MAX_POS + 0.0001
  2070. && dz >= Z_MIN_POS - 0.0001 && dz <= Z_MAX_POS + 0.0001;
  2071. #endif
  2072. }
  2073. /**************************************************
  2074. ***************** GCode Handlers *****************
  2075. **************************************************/
  2076. /**
  2077. * G0, G1: Coordinated movement of X Y Z E axes
  2078. */
  2079. inline void gcode_G0_G1() {
  2080. if (IsRunning()) {
  2081. gcode_get_destination(); // For X Y Z E F
  2082. #if ENABLED(FWRETRACT)
  2083. if (autoretract_enabled && !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  2084. float echange = destination[E_AXIS] - current_position[E_AXIS];
  2085. // Is this move an attempt to retract or recover?
  2086. if ((echange < -MIN_RETRACT && !retracted[active_extruder]) || (echange > MIN_RETRACT && retracted[active_extruder])) {
  2087. current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations
  2088. sync_plan_position_e(); // AND from the planner
  2089. retract(!retracted[active_extruder]);
  2090. return;
  2091. }
  2092. }
  2093. #endif //FWRETRACT
  2094. prepare_move_to_destination();
  2095. }
  2096. }
  2097. /**
  2098. * G2: Clockwise Arc
  2099. * G3: Counterclockwise Arc
  2100. */
  2101. #if ENABLED(ARC_SUPPORT)
  2102. inline void gcode_G2_G3(bool clockwise) {
  2103. if (IsRunning()) {
  2104. #if ENABLED(SF_ARC_FIX)
  2105. bool relative_mode_backup = relative_mode;
  2106. relative_mode = true;
  2107. #endif
  2108. gcode_get_destination();
  2109. #if ENABLED(SF_ARC_FIX)
  2110. relative_mode = relative_mode_backup;
  2111. #endif
  2112. // Center of arc as offset from current_position
  2113. float arc_offset[2] = {
  2114. code_seen('I') ? code_value_axis_units(X_AXIS) : 0,
  2115. code_seen('J') ? code_value_axis_units(Y_AXIS) : 0
  2116. };
  2117. // Send an arc to the planner
  2118. plan_arc(destination, arc_offset, clockwise);
  2119. refresh_cmd_timeout();
  2120. }
  2121. }
  2122. #endif
  2123. /**
  2124. * G4: Dwell S<seconds> or P<milliseconds>
  2125. */
  2126. inline void gcode_G4() {
  2127. millis_t dwell_ms = 0;
  2128. if (code_seen('P')) dwell_ms = code_value_millis(); // milliseconds to wait
  2129. if (code_seen('S')) dwell_ms = code_value_millis_from_seconds(); // seconds to wait
  2130. stepper.synchronize();
  2131. refresh_cmd_timeout();
  2132. dwell_ms += previous_cmd_ms; // keep track of when we started waiting
  2133. if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
  2134. while (PENDING(millis(), dwell_ms)) idle();
  2135. }
  2136. #if ENABLED(BEZIER_CURVE_SUPPORT)
  2137. /**
  2138. * Parameters interpreted according to:
  2139. * http://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G5-Cubic-Spline
  2140. * However I, J omission is not supported at this point; all
  2141. * parameters can be omitted and default to zero.
  2142. */
  2143. /**
  2144. * G5: Cubic B-spline
  2145. */
  2146. inline void gcode_G5() {
  2147. if (IsRunning()) {
  2148. gcode_get_destination();
  2149. float offset[] = {
  2150. code_seen('I') ? code_value_axis_units(X_AXIS) : 0.0,
  2151. code_seen('J') ? code_value_axis_units(Y_AXIS) : 0.0,
  2152. code_seen('P') ? code_value_axis_units(X_AXIS) : 0.0,
  2153. code_seen('Q') ? code_value_axis_units(Y_AXIS) : 0.0
  2154. };
  2155. plan_cubic_move(offset);
  2156. }
  2157. }
  2158. #endif // BEZIER_CURVE_SUPPORT
  2159. #if ENABLED(FWRETRACT)
  2160. /**
  2161. * G10 - Retract filament according to settings of M207
  2162. * G11 - Recover filament according to settings of M208
  2163. */
  2164. inline void gcode_G10_G11(bool doRetract=false) {
  2165. #if EXTRUDERS > 1
  2166. if (doRetract) {
  2167. retracted_swap[active_extruder] = (code_seen('S') && code_value_bool()); // checks for swap retract argument
  2168. }
  2169. #endif
  2170. retract(doRetract
  2171. #if EXTRUDERS > 1
  2172. , retracted_swap[active_extruder]
  2173. #endif
  2174. );
  2175. }
  2176. #endif //FWRETRACT
  2177. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  2178. /**
  2179. * G12: Clean the nozzle
  2180. */
  2181. inline void gcode_G12() {
  2182. // Don't allow nozzle cleaning without homing first
  2183. if (axis_unhomed_error(true, true, true)) { return; }
  2184. uint8_t const pattern = code_seen('P') ? code_value_ushort() : 0;
  2185. uint8_t const strokes = code_seen('S') ? code_value_ushort() : NOZZLE_CLEAN_STROKES;
  2186. uint8_t const objects = code_seen('T') ? code_value_ushort() : 3;
  2187. Nozzle::clean(pattern, strokes, objects);
  2188. }
  2189. #endif
  2190. #if ENABLED(INCH_MODE_SUPPORT)
  2191. /**
  2192. * G20: Set input mode to inches
  2193. */
  2194. inline void gcode_G20() { set_input_linear_units(LINEARUNIT_INCH); }
  2195. /**
  2196. * G21: Set input mode to millimeters
  2197. */
  2198. inline void gcode_G21() { set_input_linear_units(LINEARUNIT_MM); }
  2199. #endif
  2200. #if ENABLED(NOZZLE_PARK_FEATURE)
  2201. /**
  2202. * G27: Park the nozzle
  2203. */
  2204. inline void gcode_G27() {
  2205. // Don't allow nozzle parking without homing first
  2206. if (axis_unhomed_error(true, true, true)) { return; }
  2207. uint8_t const z_action = code_seen('P') ? code_value_ushort() : 0;
  2208. Nozzle::park(z_action);
  2209. }
  2210. #endif // NOZZLE_PARK_FEATURE
  2211. #if ENABLED(QUICK_HOME)
  2212. static void quick_home_xy() {
  2213. // Pretend the current position is 0,0
  2214. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  2215. sync_plan_position();
  2216. int x_axis_home_dir =
  2217. #if ENABLED(DUAL_X_CARRIAGE)
  2218. x_home_dir(active_extruder)
  2219. #else
  2220. home_dir(X_AXIS)
  2221. #endif
  2222. ;
  2223. float mlx = max_length(X_AXIS),
  2224. mly = max_length(Y_AXIS),
  2225. mlratio = mlx > mly ? mly / mlx : mlx / mly,
  2226. fr_mm_s = min(homing_feedrate_mm_s[X_AXIS], homing_feedrate_mm_s[Y_AXIS]) * sqrt(sq(mlratio) + 1.0);
  2227. do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
  2228. endstops.hit_on_purpose(); // clear endstop hit flags
  2229. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  2230. }
  2231. #endif // QUICK_HOME
  2232. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2233. void log_machine_info() {
  2234. SERIAL_ECHOPGM("Machine Type: ");
  2235. #if ENABLED(DELTA)
  2236. SERIAL_ECHOLNPGM("Delta");
  2237. #elif IS_SCARA
  2238. SERIAL_ECHOLNPGM("SCARA");
  2239. #elif ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
  2240. SERIAL_ECHOLNPGM("Core");
  2241. #else
  2242. SERIAL_ECHOLNPGM("Cartesian");
  2243. #endif
  2244. SERIAL_ECHOPGM("Probe: ");
  2245. #if ENABLED(FIX_MOUNTED_PROBE)
  2246. SERIAL_ECHOLNPGM("FIX_MOUNTED_PROBE");
  2247. #elif HAS_Z_SERVO_ENDSTOP
  2248. SERIAL_ECHOLNPGM("SERVO PROBE");
  2249. #elif ENABLED(BLTOUCH)
  2250. SERIAL_ECHOLNPGM("BLTOUCH");
  2251. #elif ENABLED(Z_PROBE_SLED)
  2252. SERIAL_ECHOLNPGM("Z_PROBE_SLED");
  2253. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  2254. SERIAL_ECHOLNPGM("Z_PROBE_ALLEN_KEY");
  2255. #else
  2256. SERIAL_ECHOLNPGM("NONE");
  2257. #endif
  2258. #if HAS_BED_PROBE
  2259. SERIAL_ECHOPAIR("Probe Offset X:", X_PROBE_OFFSET_FROM_EXTRUDER);
  2260. SERIAL_ECHOPAIR(" Y:", Y_PROBE_OFFSET_FROM_EXTRUDER);
  2261. SERIAL_ECHOPAIR(" Z:", zprobe_zoffset);
  2262. #if (X_PROBE_OFFSET_FROM_EXTRUDER > 0)
  2263. SERIAL_ECHOPGM(" (Right");
  2264. #elif (X_PROBE_OFFSET_FROM_EXTRUDER < 0)
  2265. SERIAL_ECHOPGM(" (Left");
  2266. #endif
  2267. #if (Y_PROBE_OFFSET_FROM_EXTRUDER > 0)
  2268. SERIAL_ECHOPGM("-Back");
  2269. #elif (Y_PROBE_OFFSET_FROM_EXTRUDER < 0)
  2270. SERIAL_ECHOPGM("-Front");
  2271. #endif
  2272. if (zprobe_zoffset < 0)
  2273. SERIAL_ECHOPGM(" & Below");
  2274. else if (zprobe_zoffset > 0)
  2275. SERIAL_ECHOPGM(" & Above");
  2276. else
  2277. SERIAL_ECHOPGM(" & Same Z as");
  2278. SERIAL_ECHOLNPGM(" Nozzle)");
  2279. #endif
  2280. }
  2281. #endif // DEBUG_LEVELING_FEATURE
  2282. #if ENABLED(DELTA)
  2283. /**
  2284. * A delta can only safely home all axes at the same time
  2285. * This is like quick_home_xy() but for 3 towers.
  2286. */
  2287. inline void home_delta() {
  2288. // Init the current position of all carriages to 0,0,0
  2289. memset(current_position, 0, sizeof(current_position));
  2290. sync_plan_position();
  2291. // Move all carriages together linearly until an endstop is hit.
  2292. current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10);
  2293. feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
  2294. line_to_current_position();
  2295. stepper.synchronize();
  2296. endstops.hit_on_purpose(); // clear endstop hit flags
  2297. // Probably not needed. Double-check this line:
  2298. memset(current_position, 0, sizeof(current_position));
  2299. // At least one carriage has reached the top.
  2300. // Now back off and re-home each carriage separately.
  2301. HOMEAXIS(A);
  2302. HOMEAXIS(B);
  2303. HOMEAXIS(C);
  2304. // Set all carriages to their home positions
  2305. // Do this here all at once for Delta, because
  2306. // XYZ isn't ABC. Applying this per-tower would
  2307. // give the impression that they are the same.
  2308. LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
  2309. SYNC_PLAN_POSITION_KINEMATIC();
  2310. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2311. if (DEBUGGING(LEVELING)) DEBUG_POS("(DELTA)", current_position);
  2312. #endif
  2313. }
  2314. #endif // DELTA
  2315. #if ENABLED(Z_SAFE_HOMING)
  2316. inline void home_z_safely() {
  2317. // Disallow Z homing if X or Y are unknown
  2318. if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
  2319. LCD_MESSAGEPGM(MSG_ERR_Z_HOMING);
  2320. SERIAL_ECHO_START;
  2321. SERIAL_ECHOLNPGM(MSG_ERR_Z_HOMING);
  2322. return;
  2323. }
  2324. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2325. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>");
  2326. #endif
  2327. SYNC_PLAN_POSITION_KINEMATIC();
  2328. /**
  2329. * Move the Z probe (or just the nozzle) to the safe homing point
  2330. */
  2331. destination[X_AXIS] = LOGICAL_X_POSITION(Z_SAFE_HOMING_X_POINT);
  2332. destination[Y_AXIS] = LOGICAL_Y_POSITION(Z_SAFE_HOMING_Y_POINT);
  2333. destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
  2334. #if HAS_BED_PROBE
  2335. destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
  2336. destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
  2337. #endif
  2338. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2339. if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
  2340. #endif
  2341. if (position_is_reachable(destination)) {
  2342. do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
  2343. HOMEAXIS(Z);
  2344. }
  2345. else {
  2346. LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
  2347. SERIAL_ECHO_START;
  2348. SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
  2349. }
  2350. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2351. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
  2352. #endif
  2353. }
  2354. #endif // Z_SAFE_HOMING
  2355. /**
  2356. * G28: Home all axes according to settings
  2357. *
  2358. * Parameters
  2359. *
  2360. * None Home to all axes with no parameters.
  2361. * With QUICK_HOME enabled XY will home together, then Z.
  2362. *
  2363. * Cartesian parameters
  2364. *
  2365. * X Home to the X endstop
  2366. * Y Home to the Y endstop
  2367. * Z Home to the Z endstop
  2368. *
  2369. */
  2370. inline void gcode_G28() {
  2371. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2372. if (DEBUGGING(LEVELING)) {
  2373. SERIAL_ECHOLNPGM(">>> gcode_G28");
  2374. log_machine_info();
  2375. }
  2376. #endif
  2377. // Wait for planner moves to finish!
  2378. stepper.synchronize();
  2379. // For auto bed leveling, clear the level matrix
  2380. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  2381. reset_bed_level();
  2382. #endif
  2383. // Always home with tool 0 active
  2384. #if HOTENDS > 1
  2385. uint8_t old_tool_index = active_extruder;
  2386. tool_change(0, 0, true);
  2387. #endif
  2388. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  2389. extruder_duplication_enabled = false;
  2390. #endif
  2391. /**
  2392. * For mesh bed leveling deactivate the mesh calculations, will be turned
  2393. * on again when homing all axis
  2394. */
  2395. #if ENABLED(MESH_BED_LEVELING)
  2396. float pre_home_z = MESH_HOME_SEARCH_Z;
  2397. if (mbl.active()) {
  2398. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2399. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL was active");
  2400. #endif
  2401. // Save known Z position if already homed
  2402. if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) {
  2403. pre_home_z = current_position[Z_AXIS];
  2404. pre_home_z += mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS));
  2405. }
  2406. mbl.set_active(false);
  2407. current_position[Z_AXIS] = pre_home_z;
  2408. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2409. if (DEBUGGING(LEVELING)) DEBUG_POS("Set Z to pre_home_z", current_position);
  2410. #endif
  2411. }
  2412. #endif
  2413. setup_for_endstop_or_probe_move();
  2414. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2415. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
  2416. #endif
  2417. endstops.enable(true); // Enable endstops for next homing move
  2418. #if ENABLED(DELTA)
  2419. home_delta();
  2420. #else // NOT DELTA
  2421. bool homeX = code_seen('X'), homeY = code_seen('Y'), homeZ = code_seen('Z');
  2422. home_all_axis = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
  2423. set_destination_to_current();
  2424. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2425. if (home_all_axis || homeZ) {
  2426. HOMEAXIS(Z);
  2427. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2428. if (DEBUGGING(LEVELING)) DEBUG_POS("> HOMEAXIS(Z)", current_position);
  2429. #endif
  2430. }
  2431. #else
  2432. if (home_all_axis || homeX || homeY) {
  2433. // Raise Z before homing any other axes and z is not already high enough (never lower z)
  2434. destination[Z_AXIS] = LOGICAL_Z_POSITION(Z_HOMING_HEIGHT);
  2435. if (destination[Z_AXIS] > current_position[Z_AXIS]) {
  2436. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2437. if (DEBUGGING(LEVELING))
  2438. SERIAL_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
  2439. #endif
  2440. do_blocking_move_to_z(destination[Z_AXIS]);
  2441. }
  2442. }
  2443. #endif
  2444. #if ENABLED(QUICK_HOME)
  2445. if (home_all_axis || (homeX && homeY)) quick_home_xy();
  2446. #endif
  2447. #if ENABLED(HOME_Y_BEFORE_X)
  2448. // Home Y
  2449. if (home_all_axis || homeY) {
  2450. HOMEAXIS(Y);
  2451. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2452. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  2453. #endif
  2454. }
  2455. #endif
  2456. // Home X
  2457. if (home_all_axis || homeX) {
  2458. #if ENABLED(DUAL_X_CARRIAGE)
  2459. int tmp_extruder = active_extruder;
  2460. active_extruder = !active_extruder;
  2461. HOMEAXIS(X);
  2462. inactive_extruder_x_pos = RAW_X_POSITION(current_position[X_AXIS]);
  2463. active_extruder = tmp_extruder;
  2464. HOMEAXIS(X);
  2465. // reset state used by the different modes
  2466. memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
  2467. delayed_move_time = 0;
  2468. active_extruder_parked = true;
  2469. #else
  2470. HOMEAXIS(X);
  2471. #endif
  2472. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2473. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
  2474. #endif
  2475. }
  2476. #if DISABLED(HOME_Y_BEFORE_X)
  2477. // Home Y
  2478. if (home_all_axis || homeY) {
  2479. HOMEAXIS(Y);
  2480. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2481. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  2482. #endif
  2483. }
  2484. #endif
  2485. // Home Z last if homing towards the bed
  2486. #if Z_HOME_DIR < 0
  2487. if (home_all_axis || homeZ) {
  2488. #if ENABLED(Z_SAFE_HOMING)
  2489. home_z_safely();
  2490. #else
  2491. HOMEAXIS(Z);
  2492. #endif
  2493. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2494. if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all_axis || homeZ) > final", current_position);
  2495. #endif
  2496. } // home_all_axis || homeZ
  2497. #endif // Z_HOME_DIR < 0
  2498. SYNC_PLAN_POSITION_KINEMATIC();
  2499. #endif // !DELTA (gcode_G28)
  2500. endstops.not_homing();
  2501. // Enable mesh leveling again
  2502. #if ENABLED(MESH_BED_LEVELING)
  2503. if (mbl.has_mesh()) {
  2504. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2505. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL has mesh");
  2506. #endif
  2507. if (home_all_axis || (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && homeZ)) {
  2508. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2509. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL Z homing");
  2510. #endif
  2511. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  2512. #if Z_HOME_DIR > 0
  2513. + Z_MAX_POS
  2514. #endif
  2515. ;
  2516. SYNC_PLAN_POSITION_KINEMATIC();
  2517. mbl.set_active(true);
  2518. #if ENABLED(MESH_G28_REST_ORIGIN)
  2519. current_position[Z_AXIS] = 0.0;
  2520. set_destination_to_current();
  2521. feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS];
  2522. line_to_destination();
  2523. stepper.synchronize();
  2524. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2525. if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Rest Origin", current_position);
  2526. #endif
  2527. #else
  2528. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z -
  2529. mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS))
  2530. #if Z_HOME_DIR > 0
  2531. + Z_MAX_POS
  2532. #endif
  2533. ;
  2534. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2535. if (DEBUGGING(LEVELING)) DEBUG_POS("MBL adjusted MESH_HOME_SEARCH_Z", current_position);
  2536. #endif
  2537. #endif
  2538. }
  2539. else if ((axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) && (homeX || homeY)) {
  2540. current_position[Z_AXIS] = pre_home_z;
  2541. SYNC_PLAN_POSITION_KINEMATIC();
  2542. mbl.set_active(true);
  2543. current_position[Z_AXIS] = pre_home_z -
  2544. mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS));
  2545. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2546. if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Home X or Y", current_position);
  2547. #endif
  2548. }
  2549. }
  2550. #endif
  2551. #if ENABLED(DELTA)
  2552. // move to a height where we can use the full xy-area
  2553. do_blocking_move_to_z(delta_clip_start_height);
  2554. #endif
  2555. clean_up_after_endstop_or_probe_move();
  2556. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2557. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28");
  2558. #endif
  2559. // Restore the active tool after homing
  2560. #if HOTENDS > 1
  2561. tool_change(old_tool_index, 0, true);
  2562. #endif
  2563. report_current_position();
  2564. }
  2565. #if HAS_PROBING_PROCEDURE
  2566. void out_of_range_error(const char* p_edge) {
  2567. SERIAL_PROTOCOLPGM("?Probe ");
  2568. serialprintPGM(p_edge);
  2569. SERIAL_PROTOCOLLNPGM(" position out of range.");
  2570. }
  2571. #endif
  2572. #if ENABLED(MESH_BED_LEVELING)
  2573. inline void _mbl_goto_xy(float x, float y) {
  2574. float old_feedrate_mm_s = feedrate_mm_s;
  2575. feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
  2576. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  2577. #if Z_PROBE_TRAVEL_HEIGHT > Z_HOMING_HEIGHT
  2578. + Z_PROBE_TRAVEL_HEIGHT
  2579. #elif Z_HOMING_HEIGHT > 0
  2580. + Z_HOMING_HEIGHT
  2581. #endif
  2582. ;
  2583. line_to_current_position();
  2584. current_position[X_AXIS] = LOGICAL_X_POSITION(x);
  2585. current_position[Y_AXIS] = LOGICAL_Y_POSITION(y);
  2586. line_to_current_position();
  2587. #if Z_PROBE_TRAVEL_HEIGHT > 0 || Z_HOMING_HEIGHT > 0
  2588. current_position[Z_AXIS] = LOGICAL_Z_POSITION(MESH_HOME_SEARCH_Z);
  2589. line_to_current_position();
  2590. #endif
  2591. feedrate_mm_s = old_feedrate_mm_s;
  2592. stepper.synchronize();
  2593. }
  2594. /**
  2595. * G29: Mesh-based Z probe, probes a grid and produces a
  2596. * mesh to compensate for variable bed height
  2597. *
  2598. * Parameters With MESH_BED_LEVELING:
  2599. *
  2600. * S0 Produce a mesh report
  2601. * S1 Start probing mesh points
  2602. * S2 Probe the next mesh point
  2603. * S3 Xn Yn Zn.nn Manually modify a single point
  2604. * S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.
  2605. * S5 Reset and disable mesh
  2606. *
  2607. * The S0 report the points as below
  2608. *
  2609. * +----> X-axis 1-n
  2610. * |
  2611. * |
  2612. * v Y-axis 1-n
  2613. *
  2614. */
  2615. inline void gcode_G29() {
  2616. static int probe_point = -1;
  2617. MeshLevelingState state = code_seen('S') ? (MeshLevelingState)code_value_byte() : MeshReport;
  2618. if (state < 0 || state > 5) {
  2619. SERIAL_PROTOCOLLNPGM("S out of range (0-5).");
  2620. return;
  2621. }
  2622. int8_t px, py;
  2623. switch (state) {
  2624. case MeshReport:
  2625. if (mbl.has_mesh()) {
  2626. SERIAL_PROTOCOLPAIR("State: ", mbl.active() ? MSG_ON : MSG_OFF);
  2627. SERIAL_PROTOCOLLNPGM("\nNum X,Y: " STRINGIFY(MESH_NUM_X_POINTS) "," STRINGIFY(MESH_NUM_Y_POINTS));
  2628. SERIAL_PROTOCOLLNPGM("Z search height: " STRINGIFY(MESH_HOME_SEARCH_Z));
  2629. SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
  2630. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  2631. for (py = 0; py < MESH_NUM_Y_POINTS; py++) {
  2632. for (px = 0; px < MESH_NUM_X_POINTS; px++) {
  2633. SERIAL_PROTOCOLPGM(" ");
  2634. SERIAL_PROTOCOL_F(mbl.z_values[py][px], 5);
  2635. }
  2636. SERIAL_EOL;
  2637. }
  2638. }
  2639. else
  2640. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  2641. break;
  2642. case MeshStart:
  2643. mbl.reset();
  2644. probe_point = 0;
  2645. enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
  2646. break;
  2647. case MeshNext:
  2648. if (probe_point < 0) {
  2649. SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
  2650. return;
  2651. }
  2652. // For each G29 S2...
  2653. if (probe_point == 0) {
  2654. // For the initial G29 S2 make Z a positive value (e.g., 4.0)
  2655. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  2656. #if Z_HOME_DIR > 0
  2657. + Z_MAX_POS
  2658. #endif
  2659. ;
  2660. SYNC_PLAN_POSITION_KINEMATIC();
  2661. }
  2662. else {
  2663. // For G29 S2 after adjusting Z.
  2664. mbl.set_zigzag_z(probe_point - 1, current_position[Z_AXIS]);
  2665. }
  2666. // If there's another point to sample, move there with optional lift.
  2667. if (probe_point < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) {
  2668. mbl.zigzag(probe_point, px, py);
  2669. _mbl_goto_xy(mbl.get_probe_x(px), mbl.get_probe_y(py));
  2670. probe_point++;
  2671. }
  2672. else {
  2673. // One last "return to the bed" (as originally coded) at completion
  2674. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  2675. #if Z_PROBE_TRAVEL_HEIGHT > Z_HOMING_HEIGHT
  2676. + Z_PROBE_TRAVEL_HEIGHT
  2677. #elif Z_HOMING_HEIGHT > 0
  2678. + Z_HOMING_HEIGHT
  2679. #endif
  2680. ;
  2681. line_to_current_position();
  2682. stepper.synchronize();
  2683. // After recording the last point, activate the mbl and home
  2684. SERIAL_PROTOCOLLNPGM("Mesh probing done.");
  2685. probe_point = -1;
  2686. mbl.set_has_mesh(true);
  2687. enqueue_and_echo_commands_P(PSTR("G28"));
  2688. }
  2689. break;
  2690. case MeshSet:
  2691. if (code_seen('X')) {
  2692. px = code_value_int() - 1;
  2693. if (px < 0 || px >= MESH_NUM_X_POINTS) {
  2694. SERIAL_PROTOCOLLNPGM("X out of range (1-" STRINGIFY(MESH_NUM_X_POINTS) ").");
  2695. return;
  2696. }
  2697. }
  2698. else {
  2699. SERIAL_PROTOCOLLNPGM("X not entered.");
  2700. return;
  2701. }
  2702. if (code_seen('Y')) {
  2703. py = code_value_int() - 1;
  2704. if (py < 0 || py >= MESH_NUM_Y_POINTS) {
  2705. SERIAL_PROTOCOLLNPGM("Y out of range (1-" STRINGIFY(MESH_NUM_Y_POINTS) ").");
  2706. return;
  2707. }
  2708. }
  2709. else {
  2710. SERIAL_PROTOCOLLNPGM("Y not entered.");
  2711. return;
  2712. }
  2713. if (code_seen('Z')) {
  2714. mbl.z_values[py][px] = code_value_axis_units(Z_AXIS);
  2715. }
  2716. else {
  2717. SERIAL_PROTOCOLLNPGM("Z not entered.");
  2718. return;
  2719. }
  2720. break;
  2721. case MeshSetZOffset:
  2722. if (code_seen('Z')) {
  2723. mbl.z_offset = code_value_axis_units(Z_AXIS);
  2724. }
  2725. else {
  2726. SERIAL_PROTOCOLLNPGM("Z not entered.");
  2727. return;
  2728. }
  2729. break;
  2730. case MeshReset:
  2731. if (mbl.active()) {
  2732. current_position[Z_AXIS] +=
  2733. mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS)) - MESH_HOME_SEARCH_Z;
  2734. mbl.reset();
  2735. SYNC_PLAN_POSITION_KINEMATIC();
  2736. }
  2737. else
  2738. mbl.reset();
  2739. } // switch(state)
  2740. report_current_position();
  2741. }
  2742. #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
  2743. /**
  2744. * G29: Detailed Z probe, probes the bed at 3 or more points.
  2745. * Will fail if the printer has not been homed with G28.
  2746. *
  2747. * Enhanced G29 Auto Bed Leveling Probe Routine
  2748. *
  2749. * Parameters With AUTO_BED_LEVELING_GRID:
  2750. *
  2751. * P Set the size of the grid that will be probed (P x P points).
  2752. * Not supported by non-linear delta printer bed leveling.
  2753. * Example: "G29 P4"
  2754. *
  2755. * S Set the XY travel speed between probe points (in units/min)
  2756. *
  2757. * D Dry-Run mode. Just evaluate the bed Topology - Don't apply
  2758. * or clean the rotation Matrix. Useful to check the topology
  2759. * after a first run of G29.
  2760. *
  2761. * V Set the verbose level (0-4). Example: "G29 V3"
  2762. *
  2763. * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
  2764. * This is useful for manual bed leveling and finding flaws in the bed (to
  2765. * assist with part placement).
  2766. * Not supported by non-linear delta printer bed leveling.
  2767. *
  2768. * F Set the Front limit of the probing grid
  2769. * B Set the Back limit of the probing grid
  2770. * L Set the Left limit of the probing grid
  2771. * R Set the Right limit of the probing grid
  2772. *
  2773. * Global Parameters:
  2774. *
  2775. * E/e By default G29 will engage the Z probe, test the bed, then disengage.
  2776. * Include "E" to engage/disengage the Z probe for each sample.
  2777. * There's no extra effect if you have a fixed Z probe.
  2778. * Usage: "G29 E" or "G29 e"
  2779. *
  2780. */
  2781. inline void gcode_G29() {
  2782. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2783. if (DEBUGGING(LEVELING)) {
  2784. SERIAL_ECHOLNPGM(">>> gcode_G29");
  2785. DEBUG_POS("", current_position);
  2786. log_machine_info();
  2787. }
  2788. #endif
  2789. // Don't allow auto-leveling without homing first
  2790. if (axis_unhomed_error(true, true, true)) return;
  2791. int verbose_level = code_seen('V') ? code_value_int() : 1;
  2792. if (verbose_level < 0 || verbose_level > 4) {
  2793. SERIAL_PROTOCOLLNPGM("?(V)erbose Level is implausible (0-4).");
  2794. return;
  2795. }
  2796. bool dryrun = code_seen('D');
  2797. bool stow_probe_after_each = code_seen('E');
  2798. #if ENABLED(AUTO_BED_LEVELING_GRID)
  2799. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  2800. bool do_topography_map = verbose_level > 2 || code_seen('T');
  2801. #endif
  2802. if (verbose_level > 0) {
  2803. SERIAL_PROTOCOLLNPGM("G29 Auto Bed Leveling");
  2804. if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode");
  2805. }
  2806. int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;
  2807. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  2808. if (code_seen('P')) auto_bed_leveling_grid_points = code_value_int();
  2809. if (auto_bed_leveling_grid_points < 2) {
  2810. SERIAL_PROTOCOLLNPGM("?Number of probed (P)oints is implausible (2 minimum).");
  2811. return;
  2812. }
  2813. #endif
  2814. xy_probe_feedrate_mm_s = MMM_TO_MMS(code_seen('S') ? code_value_linear_units() : XY_PROBE_SPEED);
  2815. int left_probe_bed_position = code_seen('L') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(LEFT_PROBE_BED_POSITION),
  2816. right_probe_bed_position = code_seen('R') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(RIGHT_PROBE_BED_POSITION),
  2817. front_probe_bed_position = code_seen('F') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(FRONT_PROBE_BED_POSITION),
  2818. back_probe_bed_position = code_seen('B') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(BACK_PROBE_BED_POSITION);
  2819. bool left_out_l = left_probe_bed_position < LOGICAL_X_POSITION(MIN_PROBE_X),
  2820. left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE),
  2821. right_out_r = right_probe_bed_position > LOGICAL_X_POSITION(MAX_PROBE_X),
  2822. right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
  2823. front_out_f = front_probe_bed_position < LOGICAL_Y_POSITION(MIN_PROBE_Y),
  2824. front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE),
  2825. back_out_b = back_probe_bed_position > LOGICAL_Y_POSITION(MAX_PROBE_Y),
  2826. back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
  2827. if (left_out || right_out || front_out || back_out) {
  2828. if (left_out) {
  2829. out_of_range_error(PSTR("(L)eft"));
  2830. left_probe_bed_position = left_out_l ? LOGICAL_X_POSITION(MIN_PROBE_X) : right_probe_bed_position - (MIN_PROBE_EDGE);
  2831. }
  2832. if (right_out) {
  2833. out_of_range_error(PSTR("(R)ight"));
  2834. right_probe_bed_position = right_out_r ? LOGICAL_Y_POSITION(MAX_PROBE_X) : left_probe_bed_position + MIN_PROBE_EDGE;
  2835. }
  2836. if (front_out) {
  2837. out_of_range_error(PSTR("(F)ront"));
  2838. front_probe_bed_position = front_out_f ? LOGICAL_Y_POSITION(MIN_PROBE_Y) : back_probe_bed_position - (MIN_PROBE_EDGE);
  2839. }
  2840. if (back_out) {
  2841. out_of_range_error(PSTR("(B)ack"));
  2842. back_probe_bed_position = back_out_b ? LOGICAL_Y_POSITION(MAX_PROBE_Y) : front_probe_bed_position + MIN_PROBE_EDGE;
  2843. }
  2844. return;
  2845. }
  2846. #endif // AUTO_BED_LEVELING_GRID
  2847. stepper.synchronize();
  2848. if (!dryrun) {
  2849. // Reset the bed_level_matrix because leveling
  2850. // needs to be done without leveling enabled.
  2851. reset_bed_level();
  2852. //
  2853. // Re-orient the current position without leveling
  2854. // based on where the steppers are positioned.
  2855. //
  2856. #if IS_KINEMATIC
  2857. // For DELTA/SCARA we need to apply forward kinematics.
  2858. // This returns raw positions and we remap to the space.
  2859. get_cartesian_from_steppers();
  2860. LOOP_XYZ(i) current_position[i] = LOGICAL_POSITION(cartes[i], i);
  2861. #else
  2862. // For cartesian/core the steppers are already mapped to
  2863. // the coordinate space by design.
  2864. LOOP_XYZ(i) current_position[i] = stepper.get_axis_position_mm((AxisEnum)i);
  2865. #endif // !DELTA
  2866. // Inform the planner about the new coordinates
  2867. // (This is probably not needed here)
  2868. SYNC_PLAN_POSITION_KINEMATIC();
  2869. }
  2870. setup_for_endstop_or_probe_move();
  2871. // Deploy the probe. Probe will raise if needed.
  2872. if (DEPLOY_PROBE()) return;
  2873. bed_leveling_in_progress = true;
  2874. #if ENABLED(AUTO_BED_LEVELING_GRID)
  2875. // probe at the points of a lattice grid
  2876. const float xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1),
  2877. yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
  2878. #if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
  2879. nonlinear_grid_spacing[X_AXIS] = xGridSpacing;
  2880. nonlinear_grid_spacing[Y_AXIS] = yGridSpacing;
  2881. float zoffset = zprobe_zoffset;
  2882. if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS);
  2883. #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
  2884. /**
  2885. * solve the plane equation ax + by + d = z
  2886. * A is the matrix with rows [x y 1] for all the probed points
  2887. * B is the vector of the Z positions
  2888. * the normal vector to the plane is formed by the coefficients of the
  2889. * plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
  2890. * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  2891. */
  2892. int abl2 = sq(auto_bed_leveling_grid_points);
  2893. double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
  2894. eqnBVector[abl2], // "B" vector of Z points
  2895. mean = 0.0;
  2896. int8_t indexIntoAB[auto_bed_leveling_grid_points][auto_bed_leveling_grid_points];
  2897. #endif // AUTO_BED_LEVELING_LINEAR
  2898. int probePointCounter = 0;
  2899. bool zig = auto_bed_leveling_grid_points & 1; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
  2900. for (uint8_t yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) {
  2901. float yBase = front_probe_bed_position + yGridSpacing * yCount,
  2902. yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5));
  2903. int8_t xStart, xStop, xInc;
  2904. if (zig) {
  2905. xStart = 0;
  2906. xStop = auto_bed_leveling_grid_points;
  2907. xInc = 1;
  2908. }
  2909. else {
  2910. xStart = auto_bed_leveling_grid_points - 1;
  2911. xStop = -1;
  2912. xInc = -1;
  2913. }
  2914. zig = !zig;
  2915. for (int8_t xCount = xStart; xCount != xStop; xCount += xInc) {
  2916. float xBase = left_probe_bed_position + xGridSpacing * xCount,
  2917. xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5));
  2918. #if ENABLED(DELTA)
  2919. // Avoid probing outside the round or hexagonal area of a delta printer
  2920. if (HYPOT2(xProbe, yProbe) > sq(DELTA_PROBEABLE_RADIUS) + 0.1) continue;
  2921. #endif
  2922. float measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
  2923. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  2924. mean += measured_z;
  2925. eqnBVector[probePointCounter] = measured_z;
  2926. eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
  2927. eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
  2928. eqnAMatrix[probePointCounter + 2 * abl2] = 1;
  2929. indexIntoAB[xCount][yCount] = probePointCounter;
  2930. #elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
  2931. bed_level_grid[xCount][yCount] = measured_z + zoffset;
  2932. #endif
  2933. probePointCounter++;
  2934. idle();
  2935. } //xProbe
  2936. } //yProbe
  2937. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  2938. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2939. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
  2940. #endif
  2941. // Probe at 3 arbitrary points
  2942. vector_3 points[3] = {
  2943. vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, 0),
  2944. vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, 0),
  2945. vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, 0)
  2946. };
  2947. for (uint8_t i = 0; i < 3; ++i)
  2948. points[i].z = probe_pt(
  2949. LOGICAL_X_POSITION(points[i].x),
  2950. LOGICAL_Y_POSITION(points[i].y),
  2951. stow_probe_after_each, verbose_level
  2952. );
  2953. if (!dryrun) {
  2954. vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
  2955. if (planeNormal.z < 0) {
  2956. planeNormal.x *= -1;
  2957. planeNormal.y *= -1;
  2958. planeNormal.z *= -1;
  2959. }
  2960. planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  2961. }
  2962. #endif // AUTO_BED_LEVELING_3POINT
  2963. // Raise to _Z_PROBE_DEPLOY_HEIGHT. Stow the probe.
  2964. if (STOW_PROBE()) return;
  2965. // Restore state after probing
  2966. clean_up_after_endstop_or_probe_move();
  2967. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2968. if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
  2969. #endif
  2970. // Calculate leveling, print reports, correct the position
  2971. #if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
  2972. if (!dryrun) extrapolate_unprobed_bed_level();
  2973. print_bed_level();
  2974. #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
  2975. // solve lsq problem
  2976. double plane_equation_coefficients[3];
  2977. qr_solve(plane_equation_coefficients, abl2, 3, eqnAMatrix, eqnBVector);
  2978. mean /= abl2;
  2979. if (verbose_level) {
  2980. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  2981. SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
  2982. SERIAL_PROTOCOLPGM(" b: ");
  2983. SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
  2984. SERIAL_PROTOCOLPGM(" d: ");
  2985. SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
  2986. SERIAL_EOL;
  2987. if (verbose_level > 2) {
  2988. SERIAL_PROTOCOLPGM("Mean of sampled points: ");
  2989. SERIAL_PROTOCOL_F(mean, 8);
  2990. SERIAL_EOL;
  2991. }
  2992. }
  2993. // Create the matrix but don't correct the position yet
  2994. if (!dryrun) {
  2995. planner.bed_level_matrix = matrix_3x3::create_look_at(
  2996. vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1)
  2997. );
  2998. }
  2999. // Show the Topography map if enabled
  3000. if (do_topography_map) {
  3001. SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n"
  3002. " +--- BACK --+\n"
  3003. " | |\n"
  3004. " L | (+) | R\n"
  3005. " E | | I\n"
  3006. " F | (-) N (+) | G\n"
  3007. " T | | H\n"
  3008. " | (-) | T\n"
  3009. " | |\n"
  3010. " O-- FRONT --+\n"
  3011. " (0,0)");
  3012. float min_diff = 999;
  3013. for (int8_t yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
  3014. for (uint8_t xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
  3015. int ind = indexIntoAB[xx][yy];
  3016. float diff = eqnBVector[ind] - mean,
  3017. x_tmp = eqnAMatrix[ind + 0 * abl2],
  3018. y_tmp = eqnAMatrix[ind + 1 * abl2],
  3019. z_tmp = 0;
  3020. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  3021. NOMORE(min_diff, eqnBVector[ind] - z_tmp);
  3022. if (diff >= 0.0)
  3023. SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
  3024. else
  3025. SERIAL_PROTOCOLCHAR(' ');
  3026. SERIAL_PROTOCOL_F(diff, 5);
  3027. } // xx
  3028. SERIAL_EOL;
  3029. } // yy
  3030. SERIAL_EOL;
  3031. if (verbose_level > 3) {
  3032. SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:");
  3033. for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
  3034. for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
  3035. int ind = indexIntoAB[xx][yy];
  3036. float x_tmp = eqnAMatrix[ind + 0 * abl2],
  3037. y_tmp = eqnAMatrix[ind + 1 * abl2],
  3038. z_tmp = 0;
  3039. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  3040. float diff = eqnBVector[ind] - z_tmp - min_diff;
  3041. if (diff >= 0.0)
  3042. SERIAL_PROTOCOLPGM(" +");
  3043. // Include + for column alignment
  3044. else
  3045. SERIAL_PROTOCOLCHAR(' ');
  3046. SERIAL_PROTOCOL_F(diff, 5);
  3047. } // xx
  3048. SERIAL_EOL;
  3049. } // yy
  3050. SERIAL_EOL;
  3051. }
  3052. } //do_topography_map
  3053. if (verbose_level > 0)
  3054. planner.bed_level_matrix.debug("\n\nBed Level Correction Matrix:");
  3055. if (!dryrun) {
  3056. //
  3057. // Correct the current XYZ position based on the tilted plane.
  3058. //
  3059. // Get the distance from the reference point to the current position
  3060. // The current XY is in sync with the planner/steppers at this point
  3061. // but the current Z is only known to the steppers.
  3062. float x_dist = RAW_CURRENT_POSITION(X_AXIS) - X_TILT_FULCRUM,
  3063. y_dist = RAW_CURRENT_POSITION(Y_AXIS) - Y_TILT_FULCRUM,
  3064. z_real = RAW_Z_POSITION(stepper.get_axis_position_mm(Z_AXIS));
  3065. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3066. if (DEBUGGING(LEVELING)) {
  3067. SERIAL_ECHOPAIR("BEFORE ROTATION ... x_dist:", x_dist);
  3068. SERIAL_ECHOPAIR("y_dist:", y_dist);
  3069. SERIAL_ECHOPAIR("z_real:", z_real);
  3070. }
  3071. #endif
  3072. // Apply the matrix to the distance from the reference point to XY,
  3073. // and from the homed Z to the current Z.
  3074. apply_rotation_xyz(planner.bed_level_matrix, x_dist, y_dist, z_real);
  3075. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3076. if (DEBUGGING(LEVELING)) {
  3077. SERIAL_ECHOPAIR("AFTER ROTATION ... x_dist:", x_dist);
  3078. SERIAL_ECHOPAIR("y_dist:", y_dist);
  3079. SERIAL_ECHOPAIR("z_real:", z_real);
  3080. }
  3081. #endif
  3082. // Apply the rotated distance and Z to the current position
  3083. current_position[X_AXIS] = LOGICAL_X_POSITION(X_TILT_FULCRUM + x_dist);
  3084. current_position[Y_AXIS] = LOGICAL_Y_POSITION(Y_TILT_FULCRUM + y_dist);
  3085. current_position[Z_AXIS] = LOGICAL_Z_POSITION(z_real);
  3086. SYNC_PLAN_POSITION_KINEMATIC();
  3087. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3088. if (DEBUGGING(LEVELING)) DEBUG_POS("> corrected XYZ in G29", current_position);
  3089. #endif
  3090. }
  3091. #endif // AUTO_BED_LEVELING_LINEAR
  3092. #ifdef Z_PROBE_END_SCRIPT
  3093. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3094. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
  3095. #endif
  3096. enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
  3097. stepper.synchronize();
  3098. #endif
  3099. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3100. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29");
  3101. #endif
  3102. bed_leveling_in_progress = false;
  3103. report_current_position();
  3104. KEEPALIVE_STATE(IN_HANDLER);
  3105. }
  3106. #endif // AUTO_BED_LEVELING_FEATURE
  3107. #if HAS_BED_PROBE
  3108. /**
  3109. * G30: Do a single Z probe at the current XY
  3110. */
  3111. inline void gcode_G30() {
  3112. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  3113. reset_bed_level();
  3114. #endif
  3115. setup_for_endstop_or_probe_move();
  3116. // TODO: clear the leveling matrix or the planner will be set incorrectly
  3117. float measured_z = probe_pt(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
  3118. current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
  3119. true, 1);
  3120. SERIAL_PROTOCOLPGM("Bed X: ");
  3121. SERIAL_PROTOCOL(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
  3122. SERIAL_PROTOCOLPGM(" Y: ");
  3123. SERIAL_PROTOCOL(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
  3124. SERIAL_PROTOCOLPGM(" Z: ");
  3125. SERIAL_PROTOCOL(measured_z + 0.0001);
  3126. SERIAL_EOL;
  3127. clean_up_after_endstop_or_probe_move();
  3128. report_current_position();
  3129. }
  3130. #if ENABLED(Z_PROBE_SLED)
  3131. /**
  3132. * G31: Deploy the Z probe
  3133. */
  3134. inline void gcode_G31() { DEPLOY_PROBE(); }
  3135. /**
  3136. * G32: Stow the Z probe
  3137. */
  3138. inline void gcode_G32() { STOW_PROBE(); }
  3139. #endif // Z_PROBE_SLED
  3140. #endif // HAS_BED_PROBE
  3141. /**
  3142. * G92: Set current position to given X Y Z E
  3143. */
  3144. inline void gcode_G92() {
  3145. bool didE = code_seen('E');
  3146. if (!didE) stepper.synchronize();
  3147. bool didXYZ = false;
  3148. LOOP_XYZE(i) {
  3149. if (code_seen(axis_codes[i])) {
  3150. float p = current_position[i],
  3151. v = code_value_axis_units(i);
  3152. current_position[i] = v;
  3153. if (i != E_AXIS) {
  3154. position_shift[i] += v - p; // Offset the coordinate space
  3155. update_software_endstops((AxisEnum)i);
  3156. didXYZ = true;
  3157. }
  3158. }
  3159. }
  3160. if (didXYZ)
  3161. SYNC_PLAN_POSITION_KINEMATIC();
  3162. else if (didE)
  3163. sync_plan_position_e();
  3164. }
  3165. #if ENABLED(ULTIPANEL) || ENABLED(EMERGENCY_PARSER)
  3166. /**
  3167. * M0: Unconditional stop - Wait for user button press on LCD
  3168. * M1: Conditional stop - Wait for user button press on LCD
  3169. */
  3170. inline void gcode_M0_M1() {
  3171. char* args = current_command_args;
  3172. millis_t codenum = 0;
  3173. bool hasP = false, hasS = false;
  3174. if (code_seen('P')) {
  3175. codenum = code_value_millis(); // milliseconds to wait
  3176. hasP = codenum > 0;
  3177. }
  3178. if (code_seen('S')) {
  3179. codenum = code_value_millis_from_seconds(); // seconds to wait
  3180. hasS = codenum > 0;
  3181. }
  3182. #if ENABLED(ULTIPANEL)
  3183. if (!hasP && !hasS && *args != '\0')
  3184. lcd_setstatus(args, true);
  3185. else {
  3186. LCD_MESSAGEPGM(MSG_USERWAIT);
  3187. #if ENABLED(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
  3188. dontExpireStatus();
  3189. #endif
  3190. }
  3191. lcd_ignore_click();
  3192. #else
  3193. if (!hasP && !hasS && *args != '\0') {
  3194. SERIAL_ECHO_START;
  3195. SERIAL_ECHOLN(args);
  3196. }
  3197. #endif
  3198. stepper.synchronize();
  3199. refresh_cmd_timeout();
  3200. #if ENABLED(ULTIPANEL)
  3201. if (codenum > 0) {
  3202. codenum += previous_cmd_ms; // wait until this time for a click
  3203. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3204. while (PENDING(millis(), codenum) && !lcd_clicked()) idle();
  3205. lcd_ignore_click(false);
  3206. }
  3207. else if (lcd_detected()) {
  3208. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3209. while (!lcd_clicked()) idle();
  3210. }
  3211. else return;
  3212. if (IS_SD_PRINTING)
  3213. LCD_MESSAGEPGM(MSG_RESUMING);
  3214. else
  3215. LCD_MESSAGEPGM(WELCOME_MSG);
  3216. #else
  3217. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3218. wait_for_user = true;
  3219. if (codenum > 0) {
  3220. codenum += previous_cmd_ms; // wait until this time for an M108
  3221. while (PENDING(millis(), codenum) && wait_for_user) idle();
  3222. }
  3223. else while (wait_for_user) idle();
  3224. wait_for_user = false;
  3225. #endif
  3226. KEEPALIVE_STATE(IN_HANDLER);
  3227. }
  3228. #endif // ULTIPANEL || EMERGENCY_PARSER
  3229. /**
  3230. * M17: Enable power on all stepper motors
  3231. */
  3232. inline void gcode_M17() {
  3233. LCD_MESSAGEPGM(MSG_NO_MOVE);
  3234. enable_all_steppers();
  3235. }
  3236. #if ENABLED(SDSUPPORT)
  3237. /**
  3238. * M20: List SD card to serial output
  3239. */
  3240. inline void gcode_M20() {
  3241. SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
  3242. card.ls();
  3243. SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
  3244. }
  3245. /**
  3246. * M21: Init SD Card
  3247. */
  3248. inline void gcode_M21() { card.initsd(); }
  3249. /**
  3250. * M22: Release SD Card
  3251. */
  3252. inline void gcode_M22() { card.release(); }
  3253. /**
  3254. * M23: Open a file
  3255. */
  3256. inline void gcode_M23() { card.openFile(current_command_args, true); }
  3257. /**
  3258. * M24: Start SD Print
  3259. */
  3260. inline void gcode_M24() {
  3261. card.startFileprint();
  3262. print_job_timer.start();
  3263. }
  3264. /**
  3265. * M25: Pause SD Print
  3266. */
  3267. inline void gcode_M25() { card.pauseSDPrint(); }
  3268. /**
  3269. * M26: Set SD Card file index
  3270. */
  3271. inline void gcode_M26() {
  3272. if (card.cardOK && code_seen('S'))
  3273. card.setIndex(code_value_long());
  3274. }
  3275. /**
  3276. * M27: Get SD Card status
  3277. */
  3278. inline void gcode_M27() { card.getStatus(); }
  3279. /**
  3280. * M28: Start SD Write
  3281. */
  3282. inline void gcode_M28() { card.openFile(current_command_args, false); }
  3283. /**
  3284. * M29: Stop SD Write
  3285. * Processed in write to file routine above
  3286. */
  3287. inline void gcode_M29() {
  3288. // card.saving = false;
  3289. }
  3290. /**
  3291. * M30 <filename>: Delete SD Card file
  3292. */
  3293. inline void gcode_M30() {
  3294. if (card.cardOK) {
  3295. card.closefile();
  3296. card.removeFile(current_command_args);
  3297. }
  3298. }
  3299. #endif // SDSUPPORT
  3300. /**
  3301. * M31: Get the time since the start of SD Print (or last M109)
  3302. */
  3303. inline void gcode_M31() {
  3304. char buffer[21];
  3305. duration_t elapsed = print_job_timer.duration();
  3306. elapsed.toString(buffer);
  3307. lcd_setstatus(buffer);
  3308. SERIAL_ECHO_START;
  3309. SERIAL_ECHOLNPAIR("Print time: ", buffer);
  3310. thermalManager.autotempShutdown();
  3311. }
  3312. #if ENABLED(SDSUPPORT)
  3313. /**
  3314. * M32: Select file and start SD Print
  3315. */
  3316. inline void gcode_M32() {
  3317. if (card.sdprinting)
  3318. stepper.synchronize();
  3319. char* namestartpos = strchr(current_command_args, '!'); // Find ! to indicate filename string start.
  3320. if (!namestartpos)
  3321. namestartpos = current_command_args; // Default name position, 4 letters after the M
  3322. else
  3323. namestartpos++; //to skip the '!'
  3324. bool call_procedure = code_seen('P') && (seen_pointer < namestartpos);
  3325. if (card.cardOK) {
  3326. card.openFile(namestartpos, true, call_procedure);
  3327. if (code_seen('S') && seen_pointer < namestartpos) // "S" (must occur _before_ the filename!)
  3328. card.setIndex(code_value_long());
  3329. card.startFileprint();
  3330. // Procedure calls count as normal print time.
  3331. if (!call_procedure) print_job_timer.start();
  3332. }
  3333. }
  3334. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  3335. /**
  3336. * M33: Get the long full path of a file or folder
  3337. *
  3338. * Parameters:
  3339. * <dospath> Case-insensitive DOS-style path to a file or folder
  3340. *
  3341. * Example:
  3342. * M33 miscel~1/armchair/armcha~1.gco
  3343. *
  3344. * Output:
  3345. * /Miscellaneous/Armchair/Armchair.gcode
  3346. */
  3347. inline void gcode_M33() {
  3348. card.printLongPath(current_command_args);
  3349. }
  3350. #endif
  3351. /**
  3352. * M928: Start SD Write
  3353. */
  3354. inline void gcode_M928() {
  3355. card.openLogFile(current_command_args);
  3356. }
  3357. #endif // SDSUPPORT
  3358. /**
  3359. * M42: Change pin status via GCode
  3360. *
  3361. * P<pin> Pin number (LED if omitted)
  3362. * S<byte> Pin status from 0 - 255
  3363. */
  3364. inline void gcode_M42() {
  3365. if (!code_seen('S')) return;
  3366. int pin_status = code_value_int();
  3367. if (pin_status < 0 || pin_status > 255) return;
  3368. int pin_number = code_seen('P') ? code_value_int() : LED_PIN;
  3369. if (pin_number < 0) return;
  3370. for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
  3371. if (pin_number == sensitive_pins[i]) return;
  3372. pinMode(pin_number, OUTPUT);
  3373. digitalWrite(pin_number, pin_status);
  3374. analogWrite(pin_number, pin_status);
  3375. #if FAN_COUNT > 0
  3376. switch (pin_number) {
  3377. #if HAS_FAN0
  3378. case FAN_PIN: fanSpeeds[0] = pin_status; break;
  3379. #endif
  3380. #if HAS_FAN1
  3381. case FAN1_PIN: fanSpeeds[1] = pin_status; break;
  3382. #endif
  3383. #if HAS_FAN2
  3384. case FAN2_PIN: fanSpeeds[2] = pin_status; break;
  3385. #endif
  3386. }
  3387. #endif
  3388. }
  3389. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  3390. /**
  3391. * M48: Z probe repeatability measurement function.
  3392. *
  3393. * Usage:
  3394. * M48 <P#> <X#> <Y#> <V#> <E> <L#>
  3395. * P = Number of sampled points (4-50, default 10)
  3396. * X = Sample X position
  3397. * Y = Sample Y position
  3398. * V = Verbose level (0-4, default=1)
  3399. * E = Engage Z probe for each reading
  3400. * L = Number of legs of movement before probe
  3401. * S = Schizoid (Or Star if you prefer)
  3402. *
  3403. * This function assumes the bed has been homed. Specifically, that a G28 command
  3404. * as been issued prior to invoking the M48 Z probe repeatability measurement function.
  3405. * Any information generated by a prior G29 Bed leveling command will be lost and need to be
  3406. * regenerated.
  3407. */
  3408. inline void gcode_M48() {
  3409. if (axis_unhomed_error(true, true, true)) return;
  3410. int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
  3411. if (verbose_level < 0 || verbose_level > 4) {
  3412. SERIAL_PROTOCOLLNPGM("?Verbose Level not plausible (0-4).");
  3413. return;
  3414. }
  3415. if (verbose_level > 0)
  3416. SERIAL_PROTOCOLLNPGM("M48 Z-Probe Repeatability test");
  3417. int8_t n_samples = code_seen('P') ? code_value_byte() : 10;
  3418. if (n_samples < 4 || n_samples > 50) {
  3419. SERIAL_PROTOCOLLNPGM("?Sample size not plausible (4-50).");
  3420. return;
  3421. }
  3422. float X_current = current_position[X_AXIS],
  3423. Y_current = current_position[Y_AXIS];
  3424. bool stow_probe_after_each = code_seen('E');
  3425. float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : X_current + X_PROBE_OFFSET_FROM_EXTRUDER;
  3426. #if DISABLED(DELTA)
  3427. if (X_probe_location < LOGICAL_X_POSITION(MIN_PROBE_X) || X_probe_location > LOGICAL_X_POSITION(MAX_PROBE_X)) {
  3428. out_of_range_error(PSTR("X"));
  3429. return;
  3430. }
  3431. #endif
  3432. float Y_probe_location = code_seen('Y') ? code_value_axis_units(Y_AXIS) : Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER;
  3433. #if DISABLED(DELTA)
  3434. if (Y_probe_location < LOGICAL_Y_POSITION(MIN_PROBE_Y) || Y_probe_location > LOGICAL_Y_POSITION(MAX_PROBE_Y)) {
  3435. out_of_range_error(PSTR("Y"));
  3436. return;
  3437. }
  3438. #else
  3439. if (HYPOT(RAW_X_POSITION(X_probe_location), RAW_Y_POSITION(Y_probe_location)) > DELTA_PROBEABLE_RADIUS) {
  3440. SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius.");
  3441. return;
  3442. }
  3443. #endif
  3444. bool seen_L = code_seen('L');
  3445. uint8_t n_legs = seen_L ? code_value_byte() : 0;
  3446. if (n_legs > 15) {
  3447. SERIAL_PROTOCOLLNPGM("?Number of legs in movement not plausible (0-15).");
  3448. return;
  3449. }
  3450. if (n_legs == 1) n_legs = 2;
  3451. bool schizoid_flag = code_seen('S');
  3452. if (schizoid_flag && !seen_L) n_legs = 7;
  3453. /**
  3454. * Now get everything to the specified probe point So we can safely do a
  3455. * probe to get us close to the bed. If the Z-Axis is far from the bed,
  3456. * we don't want to use that as a starting point for each probe.
  3457. */
  3458. if (verbose_level > 2)
  3459. SERIAL_PROTOCOLLNPGM("Positioning the probe...");
  3460. // we don't do bed level correction in M48 because we want the raw data when we probe
  3461. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  3462. reset_bed_level();
  3463. #endif
  3464. setup_for_endstop_or_probe_move();
  3465. // Move to the first point, deploy, and probe
  3466. probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
  3467. randomSeed(millis());
  3468. double mean = 0, sigma = 0, sample_set[n_samples];
  3469. for (uint8_t n = 0; n < n_samples; n++) {
  3470. if (n_legs) {
  3471. int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
  3472. float angle = random(0.0, 360.0),
  3473. radius = random(
  3474. #if ENABLED(DELTA)
  3475. DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3
  3476. #else
  3477. 5, X_MAX_LENGTH / 8
  3478. #endif
  3479. );
  3480. if (verbose_level > 3) {
  3481. SERIAL_ECHOPAIR("Starting radius: ", radius);
  3482. SERIAL_ECHOPAIR(" angle: ", angle);
  3483. SERIAL_ECHOPGM(" Direction: ");
  3484. if (dir > 0) SERIAL_ECHOPGM("Counter-");
  3485. SERIAL_ECHOLNPGM("Clockwise");
  3486. }
  3487. for (uint8_t l = 0; l < n_legs - 1; l++) {
  3488. double delta_angle;
  3489. if (schizoid_flag)
  3490. // The points of a 5 point star are 72 degrees apart. We need to
  3491. // skip a point and go to the next one on the star.
  3492. delta_angle = dir * 2.0 * 72.0;
  3493. else
  3494. // If we do this line, we are just trying to move further
  3495. // around the circle.
  3496. delta_angle = dir * (float) random(25, 45);
  3497. angle += delta_angle;
  3498. while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
  3499. angle -= 360.0; // Arduino documentation says the trig functions should not be given values
  3500. while (angle < 0.0) // outside of this range. It looks like they behave correctly with
  3501. angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
  3502. X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
  3503. Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
  3504. #if DISABLED(DELTA)
  3505. X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
  3506. Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
  3507. #else
  3508. // If we have gone out too far, we can do a simple fix and scale the numbers
  3509. // back in closer to the origin.
  3510. while (HYPOT(X_current, Y_current) > DELTA_PROBEABLE_RADIUS) {
  3511. X_current /= 1.25;
  3512. Y_current /= 1.25;
  3513. if (verbose_level > 3) {
  3514. SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
  3515. SERIAL_ECHOLNPAIR(", ", Y_current);
  3516. }
  3517. }
  3518. #endif
  3519. if (verbose_level > 3) {
  3520. SERIAL_PROTOCOLPGM("Going to:");
  3521. SERIAL_ECHOPAIR(" X", X_current);
  3522. SERIAL_ECHOPAIR(" Y", Y_current);
  3523. SERIAL_ECHOLNPAIR(" Z", current_position[Z_AXIS]);
  3524. }
  3525. do_blocking_move_to_xy(X_current, Y_current);
  3526. } // n_legs loop
  3527. } // n_legs
  3528. // Probe a single point
  3529. sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
  3530. /**
  3531. * Get the current mean for the data points we have so far
  3532. */
  3533. double sum = 0.0;
  3534. for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
  3535. mean = sum / (n + 1);
  3536. /**
  3537. * Now, use that mean to calculate the standard deviation for the
  3538. * data points we have so far
  3539. */
  3540. sum = 0.0;
  3541. for (uint8_t j = 0; j <= n; j++)
  3542. sum += sq(sample_set[j] - mean);
  3543. sigma = sqrt(sum / (n + 1));
  3544. if (verbose_level > 0) {
  3545. if (verbose_level > 1) {
  3546. SERIAL_PROTOCOL(n + 1);
  3547. SERIAL_PROTOCOLPGM(" of ");
  3548. SERIAL_PROTOCOL((int)n_samples);
  3549. SERIAL_PROTOCOLPGM(" z: ");
  3550. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  3551. if (verbose_level > 2) {
  3552. SERIAL_PROTOCOLPGM(" mean: ");
  3553. SERIAL_PROTOCOL_F(mean, 6);
  3554. SERIAL_PROTOCOLPGM(" sigma: ");
  3555. SERIAL_PROTOCOL_F(sigma, 6);
  3556. }
  3557. }
  3558. SERIAL_EOL;
  3559. }
  3560. } // End of probe loop
  3561. if (STOW_PROBE()) return;
  3562. if (verbose_level > 0) {
  3563. SERIAL_PROTOCOLPGM("Mean: ");
  3564. SERIAL_PROTOCOL_F(mean, 6);
  3565. SERIAL_EOL;
  3566. }
  3567. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  3568. SERIAL_PROTOCOL_F(sigma, 6);
  3569. SERIAL_EOL; SERIAL_EOL;
  3570. clean_up_after_endstop_or_probe_move();
  3571. report_current_position();
  3572. }
  3573. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  3574. /**
  3575. * M75: Start print timer
  3576. */
  3577. inline void gcode_M75() { print_job_timer.start(); }
  3578. /**
  3579. * M76: Pause print timer
  3580. */
  3581. inline void gcode_M76() { print_job_timer.pause(); }
  3582. /**
  3583. * M77: Stop print timer
  3584. */
  3585. inline void gcode_M77() { print_job_timer.stop(); }
  3586. #if ENABLED(PRINTCOUNTER)
  3587. /**
  3588. * M78: Show print statistics
  3589. */
  3590. inline void gcode_M78() {
  3591. // "M78 S78" will reset the statistics
  3592. if (code_seen('S') && code_value_int() == 78)
  3593. print_job_timer.initStats();
  3594. else
  3595. print_job_timer.showStats();
  3596. }
  3597. #endif
  3598. /**
  3599. * M104: Set hot end temperature
  3600. */
  3601. inline void gcode_M104() {
  3602. if (get_target_extruder_from_command(104)) return;
  3603. if (DEBUGGING(DRYRUN)) return;
  3604. #if ENABLED(SINGLENOZZLE)
  3605. if (target_extruder != active_extruder) return;
  3606. #endif
  3607. if (code_seen('S')) {
  3608. thermalManager.setTargetHotend(code_value_temp_abs(), target_extruder);
  3609. #if ENABLED(DUAL_X_CARRIAGE)
  3610. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  3611. thermalManager.setTargetHotend(code_value_temp_abs() == 0.0 ? 0.0 : code_value_temp_abs() + duplicate_extruder_temp_offset, 1);
  3612. #endif
  3613. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  3614. /**
  3615. * Stop the timer at the end of print, starting is managed by
  3616. * 'heat and wait' M109.
  3617. * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
  3618. * stand by mode, for instance in a dual extruder setup, without affecting
  3619. * the running print timer.
  3620. */
  3621. if (code_value_temp_abs() <= (EXTRUDE_MINTEMP)/2) {
  3622. print_job_timer.stop();
  3623. LCD_MESSAGEPGM(WELCOME_MSG);
  3624. }
  3625. #endif
  3626. if (code_value_temp_abs() > thermalManager.degHotend(target_extruder)) LCD_MESSAGEPGM(MSG_HEATING);
  3627. }
  3628. }
  3629. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  3630. void print_heaterstates() {
  3631. #if HAS_TEMP_HOTEND
  3632. SERIAL_PROTOCOLPGM(" T:");
  3633. SERIAL_PROTOCOL_F(thermalManager.degHotend(target_extruder), 1);
  3634. SERIAL_PROTOCOLPGM(" /");
  3635. SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(target_extruder), 1);
  3636. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  3637. SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_raw[target_extruder] / OVERSAMPLENR);
  3638. SERIAL_CHAR(')');
  3639. #endif
  3640. #endif
  3641. #if HAS_TEMP_BED
  3642. SERIAL_PROTOCOLPGM(" B:");
  3643. SERIAL_PROTOCOL_F(thermalManager.degBed(), 1);
  3644. SERIAL_PROTOCOLPGM(" /");
  3645. SERIAL_PROTOCOL_F(thermalManager.degTargetBed(), 1);
  3646. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  3647. SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_bed_raw / OVERSAMPLENR);
  3648. SERIAL_CHAR(')');
  3649. #endif
  3650. #endif
  3651. #if HOTENDS > 1
  3652. HOTEND_LOOP() {
  3653. SERIAL_PROTOCOLPAIR(" T", e);
  3654. SERIAL_PROTOCOLCHAR(':');
  3655. SERIAL_PROTOCOL_F(thermalManager.degHotend(e), 1);
  3656. SERIAL_PROTOCOLPGM(" /");
  3657. SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(e), 1);
  3658. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  3659. SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_raw[e] / OVERSAMPLENR);
  3660. SERIAL_CHAR(')');
  3661. #endif
  3662. }
  3663. #endif
  3664. SERIAL_PROTOCOLPGM(" @:");
  3665. SERIAL_PROTOCOL(thermalManager.getHeaterPower(target_extruder));
  3666. #if HAS_TEMP_BED
  3667. SERIAL_PROTOCOLPGM(" B@:");
  3668. SERIAL_PROTOCOL(thermalManager.getHeaterPower(-1));
  3669. #endif
  3670. #if HOTENDS > 1
  3671. HOTEND_LOOP() {
  3672. SERIAL_PROTOCOLPAIR(" @", e);
  3673. SERIAL_PROTOCOLCHAR(':');
  3674. SERIAL_PROTOCOL(thermalManager.getHeaterPower(e));
  3675. }
  3676. #endif
  3677. }
  3678. #endif
  3679. /**
  3680. * M105: Read hot end and bed temperature
  3681. */
  3682. inline void gcode_M105() {
  3683. if (get_target_extruder_from_command(105)) return;
  3684. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  3685. SERIAL_PROTOCOLPGM(MSG_OK);
  3686. print_heaterstates();
  3687. #else // !HAS_TEMP_HOTEND && !HAS_TEMP_BED
  3688. SERIAL_ERROR_START;
  3689. SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
  3690. #endif
  3691. SERIAL_EOL;
  3692. }
  3693. #if FAN_COUNT > 0
  3694. /**
  3695. * M106: Set Fan Speed
  3696. *
  3697. * S<int> Speed between 0-255
  3698. * P<index> Fan index, if more than one fan
  3699. */
  3700. inline void gcode_M106() {
  3701. uint16_t s = code_seen('S') ? code_value_ushort() : 255,
  3702. p = code_seen('P') ? code_value_ushort() : 0;
  3703. NOMORE(s, 255);
  3704. if (p < FAN_COUNT) fanSpeeds[p] = s;
  3705. }
  3706. /**
  3707. * M107: Fan Off
  3708. */
  3709. inline void gcode_M107() {
  3710. uint16_t p = code_seen('P') ? code_value_ushort() : 0;
  3711. if (p < FAN_COUNT) fanSpeeds[p] = 0;
  3712. }
  3713. #endif // FAN_COUNT > 0
  3714. #if DISABLED(EMERGENCY_PARSER)
  3715. /**
  3716. * M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
  3717. */
  3718. inline void gcode_M108() { wait_for_heatup = false; }
  3719. /**
  3720. * M112: Emergency Stop
  3721. */
  3722. inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
  3723. /**
  3724. * M410: Quickstop - Abort all planned moves
  3725. *
  3726. * This will stop the carriages mid-move, so most likely they
  3727. * will be out of sync with the stepper position after this.
  3728. */
  3729. inline void gcode_M410() { quickstop_stepper(); }
  3730. #endif
  3731. #ifndef MIN_COOLING_SLOPE_DEG
  3732. #define MIN_COOLING_SLOPE_DEG 1.50
  3733. #endif
  3734. #ifndef MIN_COOLING_SLOPE_TIME
  3735. #define MIN_COOLING_SLOPE_TIME 60
  3736. #endif
  3737. /**
  3738. * M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
  3739. * Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
  3740. */
  3741. inline void gcode_M109() {
  3742. if (get_target_extruder_from_command(109)) return;
  3743. if (DEBUGGING(DRYRUN)) return;
  3744. #if ENABLED(SINGLENOZZLE)
  3745. if (target_extruder != active_extruder) return;
  3746. #endif
  3747. bool no_wait_for_cooling = code_seen('S');
  3748. if (no_wait_for_cooling || code_seen('R')) {
  3749. thermalManager.setTargetHotend(code_value_temp_abs(), target_extruder);
  3750. #if ENABLED(DUAL_X_CARRIAGE)
  3751. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  3752. thermalManager.setTargetHotend(code_value_temp_abs() == 0.0 ? 0.0 : code_value_temp_abs() + duplicate_extruder_temp_offset, 1);
  3753. #endif
  3754. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  3755. /**
  3756. * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
  3757. * stand by mode, for instance in a dual extruder setup, without affecting
  3758. * the running print timer.
  3759. */
  3760. if (code_value_temp_abs() <= (EXTRUDE_MINTEMP)/2) {
  3761. print_job_timer.stop();
  3762. LCD_MESSAGEPGM(WELCOME_MSG);
  3763. }
  3764. /**
  3765. * We do not check if the timer is already running because this check will
  3766. * be done for us inside the Stopwatch::start() method thus a running timer
  3767. * will not restart.
  3768. */
  3769. else print_job_timer.start();
  3770. #endif
  3771. if (thermalManager.isHeatingHotend(target_extruder)) LCD_MESSAGEPGM(MSG_HEATING);
  3772. }
  3773. #if ENABLED(AUTOTEMP)
  3774. planner.autotemp_M109();
  3775. #endif
  3776. #if TEMP_RESIDENCY_TIME > 0
  3777. millis_t residency_start_ms = 0;
  3778. // Loop until the temperature has stabilized
  3779. #define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL))
  3780. #else
  3781. // Loop until the temperature is very close target
  3782. #define TEMP_CONDITIONS (wants_to_cool ? thermalManager.isCoolingHotend(target_extruder) : thermalManager.isHeatingHotend(target_extruder))
  3783. #endif //TEMP_RESIDENCY_TIME > 0
  3784. float theTarget = -1.0, old_temp = 9999.0;
  3785. bool wants_to_cool = false;
  3786. wait_for_heatup = true;
  3787. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  3788. KEEPALIVE_STATE(NOT_BUSY);
  3789. do {
  3790. // Target temperature might be changed during the loop
  3791. if (theTarget != thermalManager.degTargetHotend(target_extruder)) {
  3792. wants_to_cool = thermalManager.isCoolingHotend(target_extruder);
  3793. theTarget = thermalManager.degTargetHotend(target_extruder);
  3794. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  3795. if (no_wait_for_cooling && wants_to_cool) break;
  3796. }
  3797. now = millis();
  3798. if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting
  3799. next_temp_ms = now + 1000UL;
  3800. print_heaterstates();
  3801. #if TEMP_RESIDENCY_TIME > 0
  3802. SERIAL_PROTOCOLPGM(" W:");
  3803. if (residency_start_ms) {
  3804. long rem = (((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
  3805. SERIAL_PROTOCOLLN(rem);
  3806. }
  3807. else {
  3808. SERIAL_PROTOCOLLNPGM("?");
  3809. }
  3810. #else
  3811. SERIAL_EOL;
  3812. #endif
  3813. }
  3814. idle();
  3815. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  3816. float temp = thermalManager.degHotend(target_extruder);
  3817. #if TEMP_RESIDENCY_TIME > 0
  3818. float temp_diff = fabs(theTarget - temp);
  3819. if (!residency_start_ms) {
  3820. // Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
  3821. if (temp_diff < TEMP_WINDOW) residency_start_ms = now;
  3822. }
  3823. else if (temp_diff > TEMP_HYSTERESIS) {
  3824. // Restart the timer whenever the temperature falls outside the hysteresis.
  3825. residency_start_ms = now;
  3826. }
  3827. #endif //TEMP_RESIDENCY_TIME > 0
  3828. // Prevent a wait-forever situation if R is misused i.e. M109 R0
  3829. if (wants_to_cool) {
  3830. // break after MIN_COOLING_SLOPE_TIME seconds
  3831. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG
  3832. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  3833. if (old_temp - temp < MIN_COOLING_SLOPE_DEG) break;
  3834. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME;
  3835. old_temp = temp;
  3836. }
  3837. }
  3838. } while (wait_for_heatup && TEMP_CONDITIONS);
  3839. if (wait_for_heatup) LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
  3840. KEEPALIVE_STATE(IN_HANDLER);
  3841. }
  3842. #if HAS_TEMP_BED
  3843. #ifndef MIN_COOLING_SLOPE_DEG_BED
  3844. #define MIN_COOLING_SLOPE_DEG_BED 1.50
  3845. #endif
  3846. #ifndef MIN_COOLING_SLOPE_TIME_BED
  3847. #define MIN_COOLING_SLOPE_TIME_BED 60
  3848. #endif
  3849. /**
  3850. * M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  3851. * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  3852. */
  3853. inline void gcode_M190() {
  3854. if (DEBUGGING(DRYRUN)) return;
  3855. LCD_MESSAGEPGM(MSG_BED_HEATING);
  3856. bool no_wait_for_cooling = code_seen('S');
  3857. if (no_wait_for_cooling || code_seen('R')) {
  3858. thermalManager.setTargetBed(code_value_temp_abs());
  3859. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  3860. if (code_value_temp_abs() > BED_MINTEMP) {
  3861. /**
  3862. * We start the timer when 'heating and waiting' command arrives, LCD
  3863. * functions never wait. Cooling down managed by extruders.
  3864. *
  3865. * We do not check if the timer is already running because this check will
  3866. * be done for us inside the Stopwatch::start() method thus a running timer
  3867. * will not restart.
  3868. */
  3869. print_job_timer.start();
  3870. }
  3871. #endif
  3872. }
  3873. #if TEMP_BED_RESIDENCY_TIME > 0
  3874. millis_t residency_start_ms = 0;
  3875. // Loop until the temperature has stabilized
  3876. #define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL))
  3877. #else
  3878. // Loop until the temperature is very close target
  3879. #define TEMP_BED_CONDITIONS (wants_to_cool ? thermalManager.isCoolingBed() : thermalManager.isHeatingBed())
  3880. #endif //TEMP_BED_RESIDENCY_TIME > 0
  3881. float theTarget = -1.0, old_temp = 9999.0;
  3882. bool wants_to_cool = false;
  3883. wait_for_heatup = true;
  3884. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  3885. KEEPALIVE_STATE(NOT_BUSY);
  3886. target_extruder = active_extruder; // for print_heaterstates
  3887. do {
  3888. // Target temperature might be changed during the loop
  3889. if (theTarget != thermalManager.degTargetBed()) {
  3890. wants_to_cool = thermalManager.isCoolingBed();
  3891. theTarget = thermalManager.degTargetBed();
  3892. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  3893. if (no_wait_for_cooling && wants_to_cool) break;
  3894. }
  3895. now = millis();
  3896. if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up.
  3897. next_temp_ms = now + 1000UL;
  3898. print_heaterstates();
  3899. #if TEMP_BED_RESIDENCY_TIME > 0
  3900. SERIAL_PROTOCOLPGM(" W:");
  3901. if (residency_start_ms) {
  3902. long rem = (((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
  3903. SERIAL_PROTOCOLLN(rem);
  3904. }
  3905. else {
  3906. SERIAL_PROTOCOLLNPGM("?");
  3907. }
  3908. #else
  3909. SERIAL_EOL;
  3910. #endif
  3911. }
  3912. idle();
  3913. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  3914. float temp = thermalManager.degBed();
  3915. #if TEMP_BED_RESIDENCY_TIME > 0
  3916. float temp_diff = fabs(theTarget - temp);
  3917. if (!residency_start_ms) {
  3918. // Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
  3919. if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = now;
  3920. }
  3921. else if (temp_diff > TEMP_BED_HYSTERESIS) {
  3922. // Restart the timer whenever the temperature falls outside the hysteresis.
  3923. residency_start_ms = now;
  3924. }
  3925. #endif //TEMP_BED_RESIDENCY_TIME > 0
  3926. // Prevent a wait-forever situation if R is misused i.e. M190 R0
  3927. if (wants_to_cool) {
  3928. // break after MIN_COOLING_SLOPE_TIME_BED seconds
  3929. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED
  3930. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  3931. if (old_temp - temp < MIN_COOLING_SLOPE_DEG_BED) break;
  3932. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME_BED;
  3933. old_temp = temp;
  3934. }
  3935. }
  3936. } while (wait_for_heatup && TEMP_BED_CONDITIONS);
  3937. if (wait_for_heatup) LCD_MESSAGEPGM(MSG_BED_DONE);
  3938. KEEPALIVE_STATE(IN_HANDLER);
  3939. }
  3940. #endif // HAS_TEMP_BED
  3941. /**
  3942. * M110: Set Current Line Number
  3943. */
  3944. inline void gcode_M110() {
  3945. if (code_seen('N')) gcode_N = code_value_long();
  3946. }
  3947. /**
  3948. * M111: Set the debug level
  3949. */
  3950. inline void gcode_M111() {
  3951. marlin_debug_flags = code_seen('S') ? code_value_byte() : (uint8_t) DEBUG_NONE;
  3952. const static char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO;
  3953. const static char str_debug_2[] PROGMEM = MSG_DEBUG_INFO;
  3954. const static char str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS;
  3955. const static char str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN;
  3956. const static char str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION;
  3957. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3958. const static char str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING;
  3959. #endif
  3960. const static char* const debug_strings[] PROGMEM = {
  3961. str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16,
  3962. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3963. str_debug_32
  3964. #endif
  3965. };
  3966. SERIAL_ECHO_START;
  3967. SERIAL_ECHOPGM(MSG_DEBUG_PREFIX);
  3968. if (marlin_debug_flags) {
  3969. uint8_t comma = 0;
  3970. for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
  3971. if (TEST(marlin_debug_flags, i)) {
  3972. if (comma++) SERIAL_CHAR(',');
  3973. serialprintPGM((char*)pgm_read_word(&(debug_strings[i])));
  3974. }
  3975. }
  3976. }
  3977. else {
  3978. SERIAL_ECHOPGM(MSG_DEBUG_OFF);
  3979. }
  3980. SERIAL_EOL;
  3981. }
  3982. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  3983. /**
  3984. * M113: Get or set Host Keepalive interval (0 to disable)
  3985. *
  3986. * S<seconds> Optional. Set the keepalive interval.
  3987. */
  3988. inline void gcode_M113() {
  3989. if (code_seen('S')) {
  3990. host_keepalive_interval = code_value_byte();
  3991. NOMORE(host_keepalive_interval, 60);
  3992. }
  3993. else {
  3994. SERIAL_ECHO_START;
  3995. SERIAL_ECHOLNPAIR("M113 S", (unsigned long)host_keepalive_interval);
  3996. }
  3997. }
  3998. #endif
  3999. #if ENABLED(BARICUDA)
  4000. #if HAS_HEATER_1
  4001. /**
  4002. * M126: Heater 1 valve open
  4003. */
  4004. inline void gcode_M126() { baricuda_valve_pressure = code_seen('S') ? code_value_byte() : 255; }
  4005. /**
  4006. * M127: Heater 1 valve close
  4007. */
  4008. inline void gcode_M127() { baricuda_valve_pressure = 0; }
  4009. #endif
  4010. #if HAS_HEATER_2
  4011. /**
  4012. * M128: Heater 2 valve open
  4013. */
  4014. inline void gcode_M128() { baricuda_e_to_p_pressure = code_seen('S') ? code_value_byte() : 255; }
  4015. /**
  4016. * M129: Heater 2 valve close
  4017. */
  4018. inline void gcode_M129() { baricuda_e_to_p_pressure = 0; }
  4019. #endif
  4020. #endif //BARICUDA
  4021. /**
  4022. * M140: Set bed temperature
  4023. */
  4024. inline void gcode_M140() {
  4025. if (DEBUGGING(DRYRUN)) return;
  4026. if (code_seen('S')) thermalManager.setTargetBed(code_value_temp_abs());
  4027. }
  4028. #if ENABLED(ULTIPANEL)
  4029. /**
  4030. * M145: Set the heatup state for a material in the LCD menu
  4031. * S<material> (0=PLA, 1=ABS)
  4032. * H<hotend temp>
  4033. * B<bed temp>
  4034. * F<fan speed>
  4035. */
  4036. inline void gcode_M145() {
  4037. int8_t material = code_seen('S') ? (int8_t)code_value_int() : 0;
  4038. if (material < 0 || material > 1) {
  4039. SERIAL_ERROR_START;
  4040. SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
  4041. }
  4042. else {
  4043. int v;
  4044. switch (material) {
  4045. case 0:
  4046. if (code_seen('H')) {
  4047. v = code_value_int();
  4048. preheatHotendTemp1 = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
  4049. }
  4050. if (code_seen('F')) {
  4051. v = code_value_int();
  4052. preheatFanSpeed1 = constrain(v, 0, 255);
  4053. }
  4054. #if TEMP_SENSOR_BED != 0
  4055. if (code_seen('B')) {
  4056. v = code_value_int();
  4057. preheatBedTemp1 = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
  4058. }
  4059. #endif
  4060. break;
  4061. case 1:
  4062. if (code_seen('H')) {
  4063. v = code_value_int();
  4064. preheatHotendTemp2 = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
  4065. }
  4066. if (code_seen('F')) {
  4067. v = code_value_int();
  4068. preheatFanSpeed2 = constrain(v, 0, 255);
  4069. }
  4070. #if TEMP_SENSOR_BED != 0
  4071. if (code_seen('B')) {
  4072. v = code_value_int();
  4073. preheatBedTemp2 = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
  4074. }
  4075. #endif
  4076. break;
  4077. }
  4078. }
  4079. }
  4080. #endif // ULTIPANEL
  4081. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  4082. /**
  4083. * M149: Set temperature units
  4084. */
  4085. inline void gcode_M149() {
  4086. if (code_seen('C')) {
  4087. set_input_temp_units(TEMPUNIT_C);
  4088. } else if (code_seen('K')) {
  4089. set_input_temp_units(TEMPUNIT_K);
  4090. } else if (code_seen('F')) {
  4091. set_input_temp_units(TEMPUNIT_F);
  4092. }
  4093. }
  4094. #endif
  4095. #if HAS_POWER_SWITCH
  4096. /**
  4097. * M80: Turn on Power Supply
  4098. */
  4099. inline void gcode_M80() {
  4100. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND
  4101. /**
  4102. * If you have a switch on suicide pin, this is useful
  4103. * if you want to start another print with suicide feature after
  4104. * a print without suicide...
  4105. */
  4106. #if HAS_SUICIDE
  4107. OUT_WRITE(SUICIDE_PIN, HIGH);
  4108. #endif
  4109. #if ENABLED(ULTIPANEL)
  4110. powersupply = true;
  4111. LCD_MESSAGEPGM(WELCOME_MSG);
  4112. lcd_update();
  4113. #endif
  4114. }
  4115. #endif // HAS_POWER_SWITCH
  4116. /**
  4117. * M81: Turn off Power, including Power Supply, if there is one.
  4118. *
  4119. * This code should ALWAYS be available for EMERGENCY SHUTDOWN!
  4120. */
  4121. inline void gcode_M81() {
  4122. thermalManager.disable_all_heaters();
  4123. stepper.finish_and_disable();
  4124. #if FAN_COUNT > 0
  4125. #if FAN_COUNT > 1
  4126. for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
  4127. #else
  4128. fanSpeeds[0] = 0;
  4129. #endif
  4130. #endif
  4131. delay(1000); // Wait 1 second before switching off
  4132. #if HAS_SUICIDE
  4133. stepper.synchronize();
  4134. suicide();
  4135. #elif HAS_POWER_SWITCH
  4136. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  4137. #endif
  4138. #if ENABLED(ULTIPANEL)
  4139. #if HAS_POWER_SWITCH
  4140. powersupply = false;
  4141. #endif
  4142. LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
  4143. lcd_update();
  4144. #endif
  4145. }
  4146. /**
  4147. * M82: Set E codes absolute (default)
  4148. */
  4149. inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
  4150. /**
  4151. * M83: Set E codes relative while in Absolute Coordinates (G90) mode
  4152. */
  4153. inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; }
  4154. /**
  4155. * M18, M84: Disable all stepper motors
  4156. */
  4157. inline void gcode_M18_M84() {
  4158. if (code_seen('S')) {
  4159. stepper_inactive_time = code_value_millis_from_seconds();
  4160. }
  4161. else {
  4162. bool all_axis = !((code_seen('X')) || (code_seen('Y')) || (code_seen('Z')) || (code_seen('E')));
  4163. if (all_axis) {
  4164. stepper.finish_and_disable();
  4165. }
  4166. else {
  4167. stepper.synchronize();
  4168. if (code_seen('X')) disable_x();
  4169. if (code_seen('Y')) disable_y();
  4170. if (code_seen('Z')) disable_z();
  4171. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  4172. if (code_seen('E')) {
  4173. disable_e0();
  4174. disable_e1();
  4175. disable_e2();
  4176. disable_e3();
  4177. }
  4178. #endif
  4179. }
  4180. }
  4181. }
  4182. /**
  4183. * M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  4184. */
  4185. inline void gcode_M85() {
  4186. if (code_seen('S')) max_inactive_time = code_value_millis_from_seconds();
  4187. }
  4188. /**
  4189. * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
  4190. * (Follows the same syntax as G92)
  4191. */
  4192. inline void gcode_M92() {
  4193. LOOP_XYZE(i) {
  4194. if (code_seen(axis_codes[i])) {
  4195. if (i == E_AXIS) {
  4196. float value = code_value_per_axis_unit(i);
  4197. if (value < 20.0) {
  4198. float factor = planner.axis_steps_per_mm[i] / value; // increase e constants if M92 E14 is given for netfab.
  4199. planner.max_e_jerk *= factor;
  4200. planner.max_feedrate_mm_s[i] *= factor;
  4201. planner.max_acceleration_steps_per_s2[i] *= factor;
  4202. }
  4203. planner.axis_steps_per_mm[i] = value;
  4204. }
  4205. else {
  4206. planner.axis_steps_per_mm[i] = code_value_per_axis_unit(i);
  4207. }
  4208. }
  4209. }
  4210. planner.refresh_positioning();
  4211. }
  4212. /**
  4213. * Output the current position to serial
  4214. */
  4215. static void report_current_position() {
  4216. SERIAL_PROTOCOLPGM("X:");
  4217. SERIAL_PROTOCOL(current_position[X_AXIS]);
  4218. SERIAL_PROTOCOLPGM(" Y:");
  4219. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  4220. SERIAL_PROTOCOLPGM(" Z:");
  4221. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  4222. SERIAL_PROTOCOLPGM(" E:");
  4223. SERIAL_PROTOCOL(current_position[E_AXIS]);
  4224. stepper.report_positions();
  4225. #if IS_SCARA
  4226. SERIAL_PROTOCOLPGM("SCARA Theta:");
  4227. SERIAL_PROTOCOL(delta[X_AXIS]);
  4228. SERIAL_PROTOCOLPGM(" Psi+Theta:");
  4229. SERIAL_PROTOCOL(delta[Y_AXIS]);
  4230. SERIAL_EOL;
  4231. SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
  4232. SERIAL_PROTOCOL(delta[X_AXIS]);
  4233. SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
  4234. SERIAL_PROTOCOL(delta[Y_AXIS] - delta[X_AXIS] - 90);
  4235. SERIAL_EOL;
  4236. SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
  4237. SERIAL_PROTOCOL(delta[X_AXIS] / 90 * planner.axis_steps_per_mm[X_AXIS]);
  4238. SERIAL_PROTOCOLPGM(" Psi+Theta:");
  4239. SERIAL_PROTOCOL((delta[Y_AXIS] - delta[X_AXIS]) / 90 * planner.axis_steps_per_mm[Y_AXIS]);
  4240. SERIAL_EOL; SERIAL_EOL;
  4241. #endif
  4242. }
  4243. /**
  4244. * M114: Output current position to serial port
  4245. */
  4246. inline void gcode_M114() { report_current_position(); }
  4247. /**
  4248. * M115: Capabilities string
  4249. */
  4250. inline void gcode_M115() {
  4251. SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
  4252. }
  4253. /**
  4254. * M117: Set LCD Status Message
  4255. */
  4256. inline void gcode_M117() {
  4257. lcd_setstatus(current_command_args);
  4258. }
  4259. /**
  4260. * M119: Output endstop states to serial output
  4261. */
  4262. inline void gcode_M119() { endstops.M119(); }
  4263. /**
  4264. * M120: Enable endstops and set non-homing endstop state to "enabled"
  4265. */
  4266. inline void gcode_M120() { endstops.enable_globally(true); }
  4267. /**
  4268. * M121: Disable endstops and set non-homing endstop state to "disabled"
  4269. */
  4270. inline void gcode_M121() { endstops.enable_globally(false); }
  4271. #if ENABLED(BLINKM)
  4272. /**
  4273. * M150: Set Status LED Color - Use R-U-B for R-G-B
  4274. */
  4275. inline void gcode_M150() {
  4276. SendColors(
  4277. code_seen('R') ? code_value_byte() : 0,
  4278. code_seen('U') ? code_value_byte() : 0,
  4279. code_seen('B') ? code_value_byte() : 0
  4280. );
  4281. }
  4282. #endif // BLINKM
  4283. #if ENABLED(EXPERIMENTAL_I2CBUS)
  4284. /**
  4285. * M155: Send data to a I2C slave device
  4286. *
  4287. * This is a PoC, the formating and arguments for the GCODE will
  4288. * change to be more compatible, the current proposal is:
  4289. *
  4290. * M155 A<slave device address base 10> ; Sets the I2C slave address the data will be sent to
  4291. *
  4292. * M155 B<byte-1 value in base 10>
  4293. * M155 B<byte-2 value in base 10>
  4294. * M155 B<byte-3 value in base 10>
  4295. *
  4296. * M155 S1 ; Send the buffered data and reset the buffer
  4297. * M155 R1 ; Reset the buffer without sending data
  4298. *
  4299. */
  4300. inline void gcode_M155() {
  4301. // Set the target address
  4302. if (code_seen('A')) i2c.address(code_value_byte());
  4303. // Add a new byte to the buffer
  4304. if (code_seen('B')) i2c.addbyte(code_value_byte());
  4305. // Flush the buffer to the bus
  4306. if (code_seen('S')) i2c.send();
  4307. // Reset and rewind the buffer
  4308. else if (code_seen('R')) i2c.reset();
  4309. }
  4310. /**
  4311. * M156: Request X bytes from I2C slave device
  4312. *
  4313. * Usage: M156 A<slave device address base 10> B<number of bytes>
  4314. */
  4315. inline void gcode_M156() {
  4316. if (code_seen('A')) i2c.address(code_value_byte());
  4317. uint8_t bytes = code_seen('B') ? code_value_byte() : 1;
  4318. if (i2c.addr && bytes && bytes <= TWIBUS_BUFFER_SIZE) {
  4319. i2c.relay(bytes);
  4320. }
  4321. else {
  4322. SERIAL_ERROR_START;
  4323. SERIAL_ERRORLN("Bad i2c request");
  4324. }
  4325. }
  4326. #endif // EXPERIMENTAL_I2CBUS
  4327. /**
  4328. * M200: Set filament diameter and set E axis units to cubic units
  4329. *
  4330. * T<extruder> - Optional extruder number. Current extruder if omitted.
  4331. * D<linear> - Diameter of the filament. Use "D0" to switch back to linear units on the E axis.
  4332. */
  4333. inline void gcode_M200() {
  4334. if (get_target_extruder_from_command(200)) return;
  4335. if (code_seen('D')) {
  4336. // setting any extruder filament size disables volumetric on the assumption that
  4337. // slicers either generate in extruder values as cubic mm or as as filament feeds
  4338. // for all extruders
  4339. volumetric_enabled = (code_value_linear_units() != 0.0);
  4340. if (volumetric_enabled) {
  4341. filament_size[target_extruder] = code_value_linear_units();
  4342. // make sure all extruders have some sane value for the filament size
  4343. for (uint8_t i = 0; i < COUNT(filament_size); i++)
  4344. if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
  4345. }
  4346. }
  4347. else {
  4348. //reserved for setting filament diameter via UFID or filament measuring device
  4349. return;
  4350. }
  4351. calculate_volumetric_multipliers();
  4352. }
  4353. /**
  4354. * M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  4355. */
  4356. inline void gcode_M201() {
  4357. LOOP_XYZE(i) {
  4358. if (code_seen(axis_codes[i])) {
  4359. planner.max_acceleration_mm_per_s2[i] = code_value_axis_units(i);
  4360. }
  4361. }
  4362. // 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)
  4363. planner.reset_acceleration_rates();
  4364. }
  4365. #if 0 // Not used for Sprinter/grbl gen6
  4366. inline void gcode_M202() {
  4367. LOOP_XYZE(i) {
  4368. if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value_axis_units(i) * planner.axis_steps_per_mm[i];
  4369. }
  4370. }
  4371. #endif
  4372. /**
  4373. * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
  4374. */
  4375. inline void gcode_M203() {
  4376. LOOP_XYZE(i)
  4377. if (code_seen(axis_codes[i]))
  4378. planner.max_feedrate_mm_s[i] = code_value_axis_units(i);
  4379. }
  4380. /**
  4381. * M204: Set Accelerations in units/sec^2 (M204 P1200 R3000 T3000)
  4382. *
  4383. * P = Printing moves
  4384. * R = Retract only (no X, Y, Z) moves
  4385. * T = Travel (non printing) moves
  4386. *
  4387. * Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
  4388. */
  4389. inline void gcode_M204() {
  4390. if (code_seen('S')) { // Kept for legacy compatibility. Should NOT BE USED for new developments.
  4391. planner.travel_acceleration = planner.acceleration = code_value_linear_units();
  4392. SERIAL_ECHOLNPAIR("Setting Print and Travel Acceleration: ", planner.acceleration);
  4393. }
  4394. if (code_seen('P')) {
  4395. planner.acceleration = code_value_linear_units();
  4396. SERIAL_ECHOLNPAIR("Setting Print Acceleration: ", planner.acceleration);
  4397. }
  4398. if (code_seen('R')) {
  4399. planner.retract_acceleration = code_value_linear_units();
  4400. SERIAL_ECHOLNPAIR("Setting Retract Acceleration: ", planner.retract_acceleration);
  4401. }
  4402. if (code_seen('T')) {
  4403. planner.travel_acceleration = code_value_linear_units();
  4404. SERIAL_ECHOLNPAIR("Setting Travel Acceleration: ", planner.travel_acceleration);
  4405. }
  4406. }
  4407. /**
  4408. * M205: Set Advanced Settings
  4409. *
  4410. * S = Min Feed Rate (units/s)
  4411. * T = Min Travel Feed Rate (units/s)
  4412. * B = Min Segment Time (µs)
  4413. * X = Max XY Jerk (units/sec^2)
  4414. * Z = Max Z Jerk (units/sec^2)
  4415. * E = Max E Jerk (units/sec^2)
  4416. */
  4417. inline void gcode_M205() {
  4418. if (code_seen('S')) planner.min_feedrate_mm_s = code_value_linear_units();
  4419. if (code_seen('T')) planner.min_travel_feedrate_mm_s = code_value_linear_units();
  4420. if (code_seen('B')) planner.min_segment_time = code_value_millis();
  4421. if (code_seen('X')) planner.max_xy_jerk = code_value_linear_units();
  4422. if (code_seen('Z')) planner.max_z_jerk = code_value_axis_units(Z_AXIS);
  4423. if (code_seen('E')) planner.max_e_jerk = code_value_axis_units(E_AXIS);
  4424. }
  4425. /**
  4426. * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
  4427. */
  4428. inline void gcode_M206() {
  4429. LOOP_XYZ(i)
  4430. if (code_seen(axis_codes[i]))
  4431. set_home_offset((AxisEnum)i, code_value_axis_units(i));
  4432. #if IS_SCARA
  4433. if (code_seen('T')) set_home_offset(X_AXIS, code_value_axis_units(X_AXIS)); // Theta
  4434. if (code_seen('P')) set_home_offset(Y_AXIS, code_value_axis_units(Y_AXIS)); // Psi
  4435. #endif
  4436. SYNC_PLAN_POSITION_KINEMATIC();
  4437. report_current_position();
  4438. }
  4439. #if ENABLED(DELTA)
  4440. /**
  4441. * M665: Set delta configurations
  4442. *
  4443. * L = diagonal rod
  4444. * R = delta radius
  4445. * S = segments per second
  4446. * A = Alpha (Tower 1) diagonal rod trim
  4447. * B = Beta (Tower 2) diagonal rod trim
  4448. * C = Gamma (Tower 3) diagonal rod trim
  4449. */
  4450. inline void gcode_M665() {
  4451. if (code_seen('L')) delta_diagonal_rod = code_value_linear_units();
  4452. if (code_seen('R')) delta_radius = code_value_linear_units();
  4453. if (code_seen('S')) delta_segments_per_second = code_value_float();
  4454. if (code_seen('A')) delta_diagonal_rod_trim_tower_1 = code_value_linear_units();
  4455. if (code_seen('B')) delta_diagonal_rod_trim_tower_2 = code_value_linear_units();
  4456. if (code_seen('C')) delta_diagonal_rod_trim_tower_3 = code_value_linear_units();
  4457. recalc_delta_settings(delta_radius, delta_diagonal_rod);
  4458. }
  4459. /**
  4460. * M666: Set delta endstop adjustment
  4461. */
  4462. inline void gcode_M666() {
  4463. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4464. if (DEBUGGING(LEVELING)) {
  4465. SERIAL_ECHOLNPGM(">>> gcode_M666");
  4466. }
  4467. #endif
  4468. LOOP_XYZ(i) {
  4469. if (code_seen(axis_codes[i])) {
  4470. endstop_adj[i] = code_value_axis_units(i);
  4471. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4472. if (DEBUGGING(LEVELING)) {
  4473. SERIAL_ECHOPAIR("endstop_adj[", axis_codes[i]);
  4474. SERIAL_ECHOLNPAIR("] = ", endstop_adj[i]);
  4475. }
  4476. #endif
  4477. }
  4478. }
  4479. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4480. if (DEBUGGING(LEVELING)) {
  4481. SERIAL_ECHOLNPGM("<<< gcode_M666");
  4482. }
  4483. #endif
  4484. }
  4485. #elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
  4486. /**
  4487. * M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
  4488. */
  4489. inline void gcode_M666() {
  4490. if (code_seen('Z')) z_endstop_adj = code_value_axis_units(Z_AXIS);
  4491. SERIAL_ECHOLNPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj);
  4492. }
  4493. #endif // !DELTA && Z_DUAL_ENDSTOPS
  4494. #if ENABLED(FWRETRACT)
  4495. /**
  4496. * M207: Set firmware retraction values
  4497. *
  4498. * S[+units] retract_length
  4499. * W[+units] retract_length_swap (multi-extruder)
  4500. * F[units/min] retract_feedrate_mm_s
  4501. * Z[units] retract_zlift
  4502. */
  4503. inline void gcode_M207() {
  4504. if (code_seen('S')) retract_length = code_value_axis_units(E_AXIS);
  4505. if (code_seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
  4506. if (code_seen('Z')) retract_zlift = code_value_axis_units(Z_AXIS);
  4507. #if EXTRUDERS > 1
  4508. if (code_seen('W')) retract_length_swap = code_value_axis_units(E_AXIS);
  4509. #endif
  4510. }
  4511. /**
  4512. * M208: Set firmware un-retraction values
  4513. *
  4514. * S[+units] retract_recover_length (in addition to M207 S*)
  4515. * W[+units] retract_recover_length_swap (multi-extruder)
  4516. * F[units/min] retract_recover_feedrate_mm_s
  4517. */
  4518. inline void gcode_M208() {
  4519. if (code_seen('S')) retract_recover_length = code_value_axis_units(E_AXIS);
  4520. if (code_seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
  4521. #if EXTRUDERS > 1
  4522. if (code_seen('W')) retract_recover_length_swap = code_value_axis_units(E_AXIS);
  4523. #endif
  4524. }
  4525. /**
  4526. * M209: Enable automatic retract (M209 S1)
  4527. * detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
  4528. */
  4529. inline void gcode_M209() {
  4530. if (code_seen('S')) {
  4531. autoretract_enabled = code_value_bool();
  4532. for (int i = 0; i < EXTRUDERS; i++) retracted[i] = false;
  4533. }
  4534. }
  4535. #endif // FWRETRACT
  4536. /**
  4537. * M211: Enable, Disable, and/or Report software endstops
  4538. *
  4539. * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
  4540. */
  4541. inline void gcode_M211() {
  4542. SERIAL_ECHO_START;
  4543. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  4544. if (code_seen('S')) soft_endstops_enabled = code_value_bool();
  4545. #endif
  4546. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  4547. SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
  4548. serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF));
  4549. #else
  4550. SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
  4551. SERIAL_ECHOPGM(MSG_OFF);
  4552. #endif
  4553. SERIAL_ECHOPGM(MSG_SOFT_MIN);
  4554. SERIAL_ECHOPAIR( MSG_X, soft_endstop_min[X_AXIS]);
  4555. SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_min[Y_AXIS]);
  4556. SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_min[Z_AXIS]);
  4557. SERIAL_ECHOPGM(MSG_SOFT_MAX);
  4558. SERIAL_ECHOPAIR( MSG_X, soft_endstop_max[X_AXIS]);
  4559. SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]);
  4560. SERIAL_ECHOLNPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]);
  4561. }
  4562. #if HOTENDS > 1
  4563. /**
  4564. * M218 - set hotend offset (in linear units)
  4565. *
  4566. * T<tool>
  4567. * X<xoffset>
  4568. * Y<yoffset>
  4569. * Z<zoffset> - Available with DUAL_X_CARRIAGE and SWITCHING_EXTRUDER
  4570. */
  4571. inline void gcode_M218() {
  4572. if (get_target_extruder_from_command(218)) return;
  4573. if (code_seen('X')) hotend_offset[X_AXIS][target_extruder] = code_value_axis_units(X_AXIS);
  4574. if (code_seen('Y')) hotend_offset[Y_AXIS][target_extruder] = code_value_axis_units(Y_AXIS);
  4575. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
  4576. if (code_seen('Z')) hotend_offset[Z_AXIS][target_extruder] = code_value_axis_units(Z_AXIS);
  4577. #endif
  4578. SERIAL_ECHO_START;
  4579. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  4580. HOTEND_LOOP() {
  4581. SERIAL_CHAR(' ');
  4582. SERIAL_ECHO(hotend_offset[X_AXIS][e]);
  4583. SERIAL_CHAR(',');
  4584. SERIAL_ECHO(hotend_offset[Y_AXIS][e]);
  4585. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
  4586. SERIAL_CHAR(',');
  4587. SERIAL_ECHO(hotend_offset[Z_AXIS][e]);
  4588. #endif
  4589. }
  4590. SERIAL_EOL;
  4591. }
  4592. #endif // HOTENDS > 1
  4593. /**
  4594. * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
  4595. */
  4596. inline void gcode_M220() {
  4597. if (code_seen('S')) feedrate_percentage = code_value_int();
  4598. }
  4599. /**
  4600. * M221: Set extrusion percentage (M221 T0 S95)
  4601. */
  4602. inline void gcode_M221() {
  4603. if (get_target_extruder_from_command(221)) return;
  4604. if (code_seen('S'))
  4605. flow_percentage[target_extruder] = code_value_int();
  4606. }
  4607. /**
  4608. * M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
  4609. */
  4610. inline void gcode_M226() {
  4611. if (code_seen('P')) {
  4612. int pin_number = code_value_int();
  4613. int pin_state = code_seen('S') ? code_value_int() : -1; // required pin state - default is inverted
  4614. if (pin_state >= -1 && pin_state <= 1) {
  4615. for (uint8_t i = 0; i < COUNT(sensitive_pins); i++) {
  4616. if (sensitive_pins[i] == pin_number) {
  4617. pin_number = -1;
  4618. break;
  4619. }
  4620. }
  4621. if (pin_number > -1) {
  4622. int target = LOW;
  4623. stepper.synchronize();
  4624. pinMode(pin_number, INPUT);
  4625. switch (pin_state) {
  4626. case 1:
  4627. target = HIGH;
  4628. break;
  4629. case 0:
  4630. target = LOW;
  4631. break;
  4632. case -1:
  4633. target = !digitalRead(pin_number);
  4634. break;
  4635. }
  4636. while (digitalRead(pin_number) != target) idle();
  4637. } // pin_number > -1
  4638. } // pin_state -1 0 1
  4639. } // code_seen('P')
  4640. }
  4641. #if HAS_SERVOS
  4642. /**
  4643. * M280: Get or set servo position. P<index> [S<angle>]
  4644. */
  4645. inline void gcode_M280() {
  4646. if (!code_seen('P')) return;
  4647. int servo_index = code_value_int();
  4648. if (servo_index >= 0 && servo_index < NUM_SERVOS) {
  4649. if (code_seen('S'))
  4650. MOVE_SERVO(servo_index, code_value_int());
  4651. else {
  4652. SERIAL_ECHO_START;
  4653. SERIAL_ECHOPAIR(" Servo ", servo_index);
  4654. SERIAL_ECHOLNPAIR(": ", servo[servo_index].read());
  4655. }
  4656. }
  4657. else {
  4658. SERIAL_ERROR_START;
  4659. SERIAL_ECHOPAIR("Servo ", servo_index);
  4660. SERIAL_ECHOLNPGM(" out of range");
  4661. }
  4662. }
  4663. #endif // HAS_SERVOS
  4664. #if HAS_BUZZER
  4665. /**
  4666. * M300: Play beep sound S<frequency Hz> P<duration ms>
  4667. */
  4668. inline void gcode_M300() {
  4669. uint16_t const frequency = code_seen('S') ? code_value_ushort() : 260;
  4670. uint16_t duration = code_seen('P') ? code_value_ushort() : 1000;
  4671. // Limits the tone duration to 0-5 seconds.
  4672. NOMORE(duration, 5000);
  4673. BUZZ(duration, frequency);
  4674. }
  4675. #endif // HAS_BUZZER
  4676. #if ENABLED(PIDTEMP)
  4677. /**
  4678. * M301: Set PID parameters P I D (and optionally C, L)
  4679. *
  4680. * P[float] Kp term
  4681. * I[float] Ki term (unscaled)
  4682. * D[float] Kd term (unscaled)
  4683. *
  4684. * With PID_EXTRUSION_SCALING:
  4685. *
  4686. * C[float] Kc term
  4687. * L[float] LPQ length
  4688. */
  4689. inline void gcode_M301() {
  4690. // multi-extruder PID patch: M301 updates or prints a single extruder's PID values
  4691. // default behaviour (omitting E parameter) is to update for extruder 0 only
  4692. int e = code_seen('E') ? code_value_int() : 0; // extruder being updated
  4693. if (e < HOTENDS) { // catch bad input value
  4694. if (code_seen('P')) PID_PARAM(Kp, e) = code_value_float();
  4695. if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value_float());
  4696. if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value_float());
  4697. #if ENABLED(PID_EXTRUSION_SCALING)
  4698. if (code_seen('C')) PID_PARAM(Kc, e) = code_value_float();
  4699. if (code_seen('L')) lpq_len = code_value_float();
  4700. NOMORE(lpq_len, LPQ_MAX_LEN);
  4701. #endif
  4702. thermalManager.updatePID();
  4703. SERIAL_ECHO_START;
  4704. #if ENABLED(PID_PARAMS_PER_HOTEND)
  4705. SERIAL_ECHOPAIR(" e:", e); // specify extruder in serial output
  4706. #endif // PID_PARAMS_PER_HOTEND
  4707. SERIAL_ECHOPAIR(" p:", PID_PARAM(Kp, e));
  4708. SERIAL_ECHOPAIR(" i:", unscalePID_i(PID_PARAM(Ki, e)));
  4709. SERIAL_ECHOPAIR(" d:", unscalePID_d(PID_PARAM(Kd, e)));
  4710. #if ENABLED(PID_EXTRUSION_SCALING)
  4711. //Kc does not have scaling applied above, or in resetting defaults
  4712. SERIAL_ECHOPAIR(" c:", PID_PARAM(Kc, e));
  4713. #endif
  4714. SERIAL_EOL;
  4715. }
  4716. else {
  4717. SERIAL_ERROR_START;
  4718. SERIAL_ERRORLN(MSG_INVALID_EXTRUDER);
  4719. }
  4720. }
  4721. #endif // PIDTEMP
  4722. #if ENABLED(PIDTEMPBED)
  4723. inline void gcode_M304() {
  4724. if (code_seen('P')) thermalManager.bedKp = code_value_float();
  4725. if (code_seen('I')) thermalManager.bedKi = scalePID_i(code_value_float());
  4726. if (code_seen('D')) thermalManager.bedKd = scalePID_d(code_value_float());
  4727. thermalManager.updatePID();
  4728. SERIAL_ECHO_START;
  4729. SERIAL_ECHOPAIR(" p:", thermalManager.bedKp);
  4730. SERIAL_ECHOPAIR(" i:", unscalePID_i(thermalManager.bedKi));
  4731. SERIAL_ECHOLNPAIR(" d:", unscalePID_d(thermalManager.bedKd));
  4732. }
  4733. #endif // PIDTEMPBED
  4734. #if defined(CHDK) || HAS_PHOTOGRAPH
  4735. /**
  4736. * M240: Trigger a camera by emulating a Canon RC-1
  4737. * See http://www.doc-diy.net/photo/rc-1_hacked/
  4738. */
  4739. inline void gcode_M240() {
  4740. #ifdef CHDK
  4741. OUT_WRITE(CHDK, HIGH);
  4742. chdkHigh = millis();
  4743. chdkActive = true;
  4744. #elif HAS_PHOTOGRAPH
  4745. const uint8_t NUM_PULSES = 16;
  4746. const float PULSE_LENGTH = 0.01524;
  4747. for (int i = 0; i < NUM_PULSES; i++) {
  4748. WRITE(PHOTOGRAPH_PIN, HIGH);
  4749. _delay_ms(PULSE_LENGTH);
  4750. WRITE(PHOTOGRAPH_PIN, LOW);
  4751. _delay_ms(PULSE_LENGTH);
  4752. }
  4753. delay(7.33);
  4754. for (int i = 0; i < NUM_PULSES; i++) {
  4755. WRITE(PHOTOGRAPH_PIN, HIGH);
  4756. _delay_ms(PULSE_LENGTH);
  4757. WRITE(PHOTOGRAPH_PIN, LOW);
  4758. _delay_ms(PULSE_LENGTH);
  4759. }
  4760. #endif // !CHDK && HAS_PHOTOGRAPH
  4761. }
  4762. #endif // CHDK || PHOTOGRAPH_PIN
  4763. #if HAS_LCD_CONTRAST
  4764. /**
  4765. * M250: Read and optionally set the LCD contrast
  4766. */
  4767. inline void gcode_M250() {
  4768. if (code_seen('C')) set_lcd_contrast(code_value_int());
  4769. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  4770. SERIAL_PROTOCOL(lcd_contrast);
  4771. SERIAL_EOL;
  4772. }
  4773. #endif // HAS_LCD_CONTRAST
  4774. #if ENABLED(PREVENT_COLD_EXTRUSION)
  4775. /**
  4776. * M302: Allow cold extrudes, or set the minimum extrude temperature
  4777. *
  4778. * S<temperature> sets the minimum extrude temperature
  4779. * P<bool> enables (1) or disables (0) cold extrusion
  4780. *
  4781. * Examples:
  4782. *
  4783. * M302 ; report current cold extrusion state
  4784. * M302 P0 ; enable cold extrusion checking
  4785. * M302 P1 ; disables cold extrusion checking
  4786. * M302 S0 ; always allow extrusion (disables checking)
  4787. * M302 S170 ; only allow extrusion above 170
  4788. * M302 S170 P1 ; set min extrude temp to 170 but leave disabled
  4789. */
  4790. inline void gcode_M302() {
  4791. bool seen_S = code_seen('S');
  4792. if (seen_S) {
  4793. thermalManager.extrude_min_temp = code_value_temp_abs();
  4794. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0);
  4795. }
  4796. if (code_seen('P'))
  4797. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0) || code_value_bool();
  4798. else if (!seen_S) {
  4799. // Report current state
  4800. SERIAL_ECHO_START;
  4801. SERIAL_ECHOPAIR("Cold extrudes are ", (thermalManager.allow_cold_extrude ? "en" : "dis"));
  4802. SERIAL_ECHOPAIR("abled (min temp ", int(thermalManager.extrude_min_temp + 0.5));
  4803. SERIAL_ECHOLNPGM("C)");
  4804. }
  4805. }
  4806. #endif // PREVENT_COLD_EXTRUSION
  4807. /**
  4808. * M303: PID relay autotune
  4809. *
  4810. * S<temperature> sets the target temperature. (default 150C)
  4811. * E<extruder> (-1 for the bed) (default 0)
  4812. * C<cycles>
  4813. * U<bool> with a non-zero value will apply the result to current settings
  4814. */
  4815. inline void gcode_M303() {
  4816. #if HAS_PID_HEATING
  4817. int e = code_seen('E') ? code_value_int() : 0;
  4818. int c = code_seen('C') ? code_value_int() : 5;
  4819. bool u = code_seen('U') && code_value_bool();
  4820. float temp = code_seen('S') ? code_value_temp_abs() : (e < 0 ? 70.0 : 150.0);
  4821. if (e >= 0 && e < HOTENDS)
  4822. target_extruder = e;
  4823. KEEPALIVE_STATE(NOT_BUSY); // don't send "busy: processing" messages during autotune output
  4824. thermalManager.PID_autotune(temp, e, c, u);
  4825. KEEPALIVE_STATE(IN_HANDLER);
  4826. #else
  4827. SERIAL_ERROR_START;
  4828. SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
  4829. #endif
  4830. }
  4831. #if ENABLED(MORGAN_SCARA)
  4832. bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) {
  4833. //SoftEndsEnabled = false; // Ignore soft endstops during calibration
  4834. //SERIAL_ECHOLNPGM(" Soft endstops disabled");
  4835. if (IsRunning()) {
  4836. //gcode_get_destination(); // For X Y Z E F
  4837. forward_kinematics_SCARA(delta_a, delta_b);
  4838. destination[X_AXIS] = cartes[X_AXIS] / axis_scaling[X_AXIS];
  4839. destination[Y_AXIS] = cartes[Y_AXIS] / axis_scaling[Y_AXIS];
  4840. destination[Z_AXIS] = current_position[Z_AXIS];
  4841. prepare_move_to_destination();
  4842. //ok_to_send();
  4843. return true;
  4844. }
  4845. return false;
  4846. }
  4847. /**
  4848. * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  4849. */
  4850. inline bool gcode_M360() {
  4851. SERIAL_ECHOLNPGM(" Cal: Theta 0");
  4852. return SCARA_move_to_cal(0, 120);
  4853. }
  4854. /**
  4855. * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  4856. */
  4857. inline bool gcode_M361() {
  4858. SERIAL_ECHOLNPGM(" Cal: Theta 90");
  4859. return SCARA_move_to_cal(90, 130);
  4860. }
  4861. /**
  4862. * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  4863. */
  4864. inline bool gcode_M362() {
  4865. SERIAL_ECHOLNPGM(" Cal: Psi 0");
  4866. return SCARA_move_to_cal(60, 180);
  4867. }
  4868. /**
  4869. * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  4870. */
  4871. inline bool gcode_M363() {
  4872. SERIAL_ECHOLNPGM(" Cal: Psi 90");
  4873. return SCARA_move_to_cal(50, 90);
  4874. }
  4875. /**
  4876. * M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  4877. */
  4878. inline bool gcode_M364() {
  4879. SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
  4880. return SCARA_move_to_cal(45, 135);
  4881. }
  4882. /**
  4883. * M365: SCARA calibration: Scaling factor, X, Y, Z axis
  4884. */
  4885. inline void gcode_M365() {
  4886. LOOP_XYZ(i)
  4887. if (code_seen(axis_codes[i]))
  4888. axis_scaling[i] = code_value_float();
  4889. }
  4890. #endif // SCARA
  4891. #if ENABLED(EXT_SOLENOID)
  4892. void enable_solenoid(uint8_t num) {
  4893. switch (num) {
  4894. case 0:
  4895. OUT_WRITE(SOL0_PIN, HIGH);
  4896. break;
  4897. #if HAS_SOLENOID_1
  4898. case 1:
  4899. OUT_WRITE(SOL1_PIN, HIGH);
  4900. break;
  4901. #endif
  4902. #if HAS_SOLENOID_2
  4903. case 2:
  4904. OUT_WRITE(SOL2_PIN, HIGH);
  4905. break;
  4906. #endif
  4907. #if HAS_SOLENOID_3
  4908. case 3:
  4909. OUT_WRITE(SOL3_PIN, HIGH);
  4910. break;
  4911. #endif
  4912. default:
  4913. SERIAL_ECHO_START;
  4914. SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
  4915. break;
  4916. }
  4917. }
  4918. void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
  4919. void disable_all_solenoids() {
  4920. OUT_WRITE(SOL0_PIN, LOW);
  4921. OUT_WRITE(SOL1_PIN, LOW);
  4922. OUT_WRITE(SOL2_PIN, LOW);
  4923. OUT_WRITE(SOL3_PIN, LOW);
  4924. }
  4925. /**
  4926. * M380: Enable solenoid on the active extruder
  4927. */
  4928. inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
  4929. /**
  4930. * M381: Disable all solenoids
  4931. */
  4932. inline void gcode_M381() { disable_all_solenoids(); }
  4933. #endif // EXT_SOLENOID
  4934. /**
  4935. * M400: Finish all moves
  4936. */
  4937. inline void gcode_M400() { stepper.synchronize(); }
  4938. #if HAS_BED_PROBE
  4939. /**
  4940. * M401: Engage Z Servo endstop if available
  4941. */
  4942. inline void gcode_M401() { DEPLOY_PROBE(); }
  4943. /**
  4944. * M402: Retract Z Servo endstop if enabled
  4945. */
  4946. inline void gcode_M402() { STOW_PROBE(); }
  4947. #endif // HAS_BED_PROBE
  4948. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  4949. /**
  4950. * M404: Display or set (in current units) the nominal filament width (3mm, 1.75mm ) W<3.0>
  4951. */
  4952. inline void gcode_M404() {
  4953. if (code_seen('W')) {
  4954. filament_width_nominal = code_value_linear_units();
  4955. }
  4956. else {
  4957. SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
  4958. SERIAL_PROTOCOLLN(filament_width_nominal);
  4959. }
  4960. }
  4961. /**
  4962. * M405: Turn on filament sensor for control
  4963. */
  4964. inline void gcode_M405() {
  4965. // This is technically a linear measurement, but since it's quantized to centimeters and is a different unit than
  4966. // everything else, it uses code_value_int() instead of code_value_linear_units().
  4967. if (code_seen('D')) meas_delay_cm = code_value_int();
  4968. NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY);
  4969. if (filwidth_delay_index[1] == -1) { // Initialize the ring buffer if not done since startup
  4970. int temp_ratio = thermalManager.widthFil_to_size_ratio();
  4971. for (uint8_t i = 0; i < COUNT(measurement_delay); ++i)
  4972. measurement_delay[i] = temp_ratio - 100; // Subtract 100 to scale within a signed byte
  4973. filwidth_delay_index[0] = filwidth_delay_index[1] = 0;
  4974. }
  4975. filament_sensor = true;
  4976. //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  4977. //SERIAL_PROTOCOL(filament_width_meas);
  4978. //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
  4979. //SERIAL_PROTOCOL(flow_percentage[active_extruder]);
  4980. }
  4981. /**
  4982. * M406: Turn off filament sensor for control
  4983. */
  4984. inline void gcode_M406() { filament_sensor = false; }
  4985. /**
  4986. * M407: Get measured filament diameter on serial output
  4987. */
  4988. inline void gcode_M407() {
  4989. SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  4990. SERIAL_PROTOCOLLN(filament_width_meas);
  4991. }
  4992. #endif // FILAMENT_WIDTH_SENSOR
  4993. void quickstop_stepper() {
  4994. stepper.quick_stop();
  4995. #if DISABLED(SCARA)
  4996. stepper.synchronize();
  4997. LOOP_XYZ(i) set_current_from_steppers_for_axis((AxisEnum)i);
  4998. SYNC_PLAN_POSITION_KINEMATIC();
  4999. #endif
  5000. }
  5001. #if ENABLED(MESH_BED_LEVELING)
  5002. /**
  5003. * M420: Enable/Disable Mesh Bed Leveling
  5004. */
  5005. inline void gcode_M420() { if (code_seen('S') && code_has_value()) mbl.set_has_mesh(code_value_bool()); }
  5006. /**
  5007. * M421: Set a single Mesh Bed Leveling Z coordinate
  5008. * Use either 'M421 X<linear> Y<linear> Z<linear>' or 'M421 I<xindex> J<yindex> Z<linear>'
  5009. */
  5010. inline void gcode_M421() {
  5011. int8_t px = 0, py = 0;
  5012. float z = 0;
  5013. bool hasX, hasY, hasZ, hasI, hasJ;
  5014. if ((hasX = code_seen('X'))) px = mbl.probe_index_x(code_value_axis_units(X_AXIS));
  5015. if ((hasY = code_seen('Y'))) py = mbl.probe_index_y(code_value_axis_units(Y_AXIS));
  5016. if ((hasI = code_seen('I'))) px = code_value_axis_units(X_AXIS);
  5017. if ((hasJ = code_seen('J'))) py = code_value_axis_units(Y_AXIS);
  5018. if ((hasZ = code_seen('Z'))) z = code_value_axis_units(Z_AXIS);
  5019. if (hasX && hasY && hasZ) {
  5020. if (px >= 0 && py >= 0)
  5021. mbl.set_z(px, py, z);
  5022. else {
  5023. SERIAL_ERROR_START;
  5024. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  5025. }
  5026. }
  5027. else if (hasI && hasJ && hasZ) {
  5028. if (px >= 0 && px < MESH_NUM_X_POINTS && py >= 0 && py < MESH_NUM_Y_POINTS)
  5029. mbl.set_z(px, py, z);
  5030. else {
  5031. SERIAL_ERROR_START;
  5032. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  5033. }
  5034. }
  5035. else {
  5036. SERIAL_ERROR_START;
  5037. SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
  5038. }
  5039. }
  5040. #endif
  5041. /**
  5042. * M428: Set home_offset based on the distance between the
  5043. * current_position and the nearest "reference point."
  5044. * If an axis is past center its endstop position
  5045. * is the reference-point. Otherwise it uses 0. This allows
  5046. * the Z offset to be set near the bed when using a max endstop.
  5047. *
  5048. * M428 can't be used more than 2cm away from 0 or an endstop.
  5049. *
  5050. * Use M206 to set these values directly.
  5051. */
  5052. inline void gcode_M428() {
  5053. bool err = false;
  5054. LOOP_XYZ(i) {
  5055. if (axis_homed[i]) {
  5056. float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos(i) : 0,
  5057. diff = current_position[i] - LOGICAL_POSITION(base, i);
  5058. if (diff > -20 && diff < 20) {
  5059. set_home_offset((AxisEnum)i, home_offset[i] - diff);
  5060. }
  5061. else {
  5062. SERIAL_ERROR_START;
  5063. SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
  5064. LCD_ALERTMESSAGEPGM("Err: Too far!");
  5065. BUZZ(200, 40);
  5066. err = true;
  5067. break;
  5068. }
  5069. }
  5070. }
  5071. if (!err) {
  5072. SYNC_PLAN_POSITION_KINEMATIC();
  5073. report_current_position();
  5074. LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
  5075. BUZZ(200, 659);
  5076. BUZZ(200, 698);
  5077. }
  5078. }
  5079. /**
  5080. * M500: Store settings in EEPROM
  5081. */
  5082. inline void gcode_M500() {
  5083. Config_StoreSettings();
  5084. }
  5085. /**
  5086. * M501: Read settings from EEPROM
  5087. */
  5088. inline void gcode_M501() {
  5089. Config_RetrieveSettings();
  5090. }
  5091. /**
  5092. * M502: Revert to default settings
  5093. */
  5094. inline void gcode_M502() {
  5095. Config_ResetDefault();
  5096. }
  5097. /**
  5098. * M503: print settings currently in memory
  5099. */
  5100. inline void gcode_M503() {
  5101. Config_PrintSettings(code_seen('S') && !code_value_bool());
  5102. }
  5103. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  5104. /**
  5105. * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
  5106. */
  5107. inline void gcode_M540() {
  5108. if (code_seen('S')) stepper.abort_on_endstop_hit = code_value_bool();
  5109. }
  5110. #endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  5111. #if HAS_BED_PROBE
  5112. inline void gcode_M851() {
  5113. SERIAL_ECHO_START;
  5114. SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
  5115. SERIAL_CHAR(' ');
  5116. if (code_seen('Z')) {
  5117. float value = code_value_axis_units(Z_AXIS);
  5118. if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
  5119. zprobe_zoffset = value;
  5120. SERIAL_ECHO(zprobe_zoffset);
  5121. }
  5122. else {
  5123. SERIAL_ECHOPAIR(MSG_Z_MIN, Z_PROBE_OFFSET_RANGE_MIN);
  5124. SERIAL_CHAR(' ');
  5125. SERIAL_ECHOPAIR(MSG_Z_MAX, Z_PROBE_OFFSET_RANGE_MAX);
  5126. }
  5127. }
  5128. else {
  5129. SERIAL_ECHOPAIR(": ", zprobe_zoffset);
  5130. }
  5131. SERIAL_EOL;
  5132. }
  5133. #endif // HAS_BED_PROBE
  5134. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  5135. /**
  5136. * M600: Pause for filament change
  5137. *
  5138. * E[distance] - Retract the filament this far (negative value)
  5139. * Z[distance] - Move the Z axis by this distance
  5140. * X[position] - Move to this X position, with Y
  5141. * Y[position] - Move to this Y position, with X
  5142. * L[distance] - Retract distance for removal (manual reload)
  5143. *
  5144. * Default values are used for omitted arguments.
  5145. *
  5146. */
  5147. inline void gcode_M600() {
  5148. if (thermalManager.tooColdToExtrude(active_extruder)) {
  5149. SERIAL_ERROR_START;
  5150. SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
  5151. return;
  5152. }
  5153. // Show initial message and wait for synchronize steppers
  5154. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INIT);
  5155. stepper.synchronize();
  5156. float lastpos[NUM_AXIS];
  5157. // Save current position of all axes
  5158. LOOP_XYZE(i)
  5159. lastpos[i] = destination[i] = current_position[i];
  5160. // Define runplan for move axes
  5161. #if IS_KINEMATIC
  5162. #define RUNPLAN(RATE_MM_S) inverse_kinematics(destination); \
  5163. planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder);
  5164. #else
  5165. #define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S);
  5166. #endif
  5167. KEEPALIVE_STATE(IN_HANDLER);
  5168. // Initial retract before move to filament change position
  5169. if (code_seen('E')) destination[E_AXIS] += code_value_axis_units(E_AXIS);
  5170. #if defined(FILAMENT_CHANGE_RETRACT_LENGTH) && FILAMENT_CHANGE_RETRACT_LENGTH > 0
  5171. else destination[E_AXIS] -= FILAMENT_CHANGE_RETRACT_LENGTH;
  5172. #endif
  5173. RUNPLAN(FILAMENT_CHANGE_RETRACT_FEEDRATE);
  5174. // Lift Z axis
  5175. float z_lift = code_seen('Z') ? code_value_axis_units(Z_AXIS) :
  5176. #if defined(FILAMENT_CHANGE_Z_ADD) && FILAMENT_CHANGE_Z_ADD > 0
  5177. FILAMENT_CHANGE_Z_ADD
  5178. #else
  5179. 0
  5180. #endif
  5181. ;
  5182. if (z_lift > 0) {
  5183. destination[Z_AXIS] += z_lift;
  5184. NOMORE(destination[Z_AXIS], Z_MAX_POS);
  5185. RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
  5186. }
  5187. // Move XY axes to filament exchange position
  5188. if (code_seen('X')) destination[X_AXIS] = code_value_axis_units(X_AXIS);
  5189. #ifdef FILAMENT_CHANGE_X_POS
  5190. else destination[X_AXIS] = FILAMENT_CHANGE_X_POS;
  5191. #endif
  5192. if (code_seen('Y')) destination[Y_AXIS] = code_value_axis_units(Y_AXIS);
  5193. #ifdef FILAMENT_CHANGE_Y_POS
  5194. else destination[Y_AXIS] = FILAMENT_CHANGE_Y_POS;
  5195. #endif
  5196. RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
  5197. stepper.synchronize();
  5198. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_UNLOAD);
  5199. // Unload filament
  5200. if (code_seen('L')) destination[E_AXIS] += code_value_axis_units(E_AXIS);
  5201. #if defined(FILAMENT_CHANGE_UNLOAD_LENGTH) && FILAMENT_CHANGE_UNLOAD_LENGTH > 0
  5202. else destination[E_AXIS] -= FILAMENT_CHANGE_UNLOAD_LENGTH;
  5203. #endif
  5204. RUNPLAN(FILAMENT_CHANGE_UNLOAD_FEEDRATE);
  5205. // Synchronize steppers and then disable extruders steppers for manual filament changing
  5206. stepper.synchronize();
  5207. disable_e0();
  5208. disable_e1();
  5209. disable_e2();
  5210. disable_e3();
  5211. delay(100);
  5212. #if HAS_BUZZER
  5213. millis_t next_tick = 0;
  5214. #endif
  5215. // Wait for filament insert by user and press button
  5216. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INSERT);
  5217. while (!lcd_clicked()) {
  5218. #if HAS_BUZZER
  5219. millis_t ms = millis();
  5220. if (ms >= next_tick) {
  5221. BUZZ(300, 2000);
  5222. next_tick = ms + 2500; // Beep every 2.5s while waiting
  5223. }
  5224. #endif
  5225. idle(true);
  5226. }
  5227. delay(100);
  5228. while (lcd_clicked()) idle(true);
  5229. delay(100);
  5230. // Show load message
  5231. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_LOAD);
  5232. // Load filament
  5233. if (code_seen('L')) destination[E_AXIS] -= code_value_axis_units(E_AXIS);
  5234. #if defined(FILAMENT_CHANGE_LOAD_LENGTH) && FILAMENT_CHANGE_LOAD_LENGTH > 0
  5235. else destination[E_AXIS] += FILAMENT_CHANGE_LOAD_LENGTH;
  5236. #endif
  5237. RUNPLAN(FILAMENT_CHANGE_LOAD_FEEDRATE);
  5238. stepper.synchronize();
  5239. #if defined(FILAMENT_CHANGE_EXTRUDE_LENGTH) && FILAMENT_CHANGE_EXTRUDE_LENGTH > 0
  5240. do {
  5241. // Extrude filament to get into hotend
  5242. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_EXTRUDE);
  5243. destination[E_AXIS] += FILAMENT_CHANGE_EXTRUDE_LENGTH;
  5244. RUNPLAN(FILAMENT_CHANGE_EXTRUDE_FEEDRATE);
  5245. stepper.synchronize();
  5246. // Ask user if more filament should be extruded
  5247. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5248. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_OPTION);
  5249. while (filament_change_menu_response == FILAMENT_CHANGE_RESPONSE_WAIT_FOR) idle(true);
  5250. KEEPALIVE_STATE(IN_HANDLER);
  5251. } while (filament_change_menu_response != FILAMENT_CHANGE_RESPONSE_RESUME_PRINT);
  5252. #endif
  5253. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_RESUME);
  5254. KEEPALIVE_STATE(IN_HANDLER);
  5255. // Set extruder to saved position
  5256. current_position[E_AXIS] = lastpos[E_AXIS];
  5257. destination[E_AXIS] = lastpos[E_AXIS];
  5258. planner.set_e_position_mm(current_position[E_AXIS]);
  5259. #if IS_KINEMATIC
  5260. // Move XYZ to starting position, then E
  5261. inverse_kinematics(lastpos);
  5262. planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
  5263. planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
  5264. #else
  5265. // Move XY to starting position, then Z, then E
  5266. destination[X_AXIS] = lastpos[X_AXIS];
  5267. destination[Y_AXIS] = lastpos[Y_AXIS];
  5268. RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
  5269. destination[Z_AXIS] = lastpos[Z_AXIS];
  5270. RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
  5271. #endif
  5272. stepper.synchronize();
  5273. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  5274. filament_ran_out = false;
  5275. #endif
  5276. // Show status screen
  5277. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_STATUS);
  5278. }
  5279. #endif // FILAMENT_CHANGE_FEATURE
  5280. #if ENABLED(DUAL_X_CARRIAGE)
  5281. /**
  5282. * M605: Set dual x-carriage movement mode
  5283. *
  5284. * M605 S0: Full control mode. The slicer has full control over x-carriage movement
  5285. * M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
  5286. * M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
  5287. * units x-offset and an optional differential hotend temperature of
  5288. * mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
  5289. * the first with a spacing of 100mm in the x direction and 2 degrees hotter.
  5290. *
  5291. * Note: the X axis should be homed after changing dual x-carriage mode.
  5292. */
  5293. inline void gcode_M605() {
  5294. stepper.synchronize();
  5295. if (code_seen('S')) dual_x_carriage_mode = code_value_byte();
  5296. switch (dual_x_carriage_mode) {
  5297. case DXC_DUPLICATION_MODE:
  5298. if (code_seen('X')) duplicate_extruder_x_offset = max(code_value_axis_units(X_AXIS), X2_MIN_POS - x_home_pos(0));
  5299. if (code_seen('R')) duplicate_extruder_temp_offset = code_value_temp_diff();
  5300. SERIAL_ECHO_START;
  5301. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  5302. SERIAL_CHAR(' ');
  5303. SERIAL_ECHO(hotend_offset[X_AXIS][0]);
  5304. SERIAL_CHAR(',');
  5305. SERIAL_ECHO(hotend_offset[Y_AXIS][0]);
  5306. SERIAL_CHAR(' ');
  5307. SERIAL_ECHO(duplicate_extruder_x_offset);
  5308. SERIAL_CHAR(',');
  5309. SERIAL_ECHOLN(hotend_offset[Y_AXIS][1]);
  5310. break;
  5311. case DXC_FULL_CONTROL_MODE:
  5312. case DXC_AUTO_PARK_MODE:
  5313. break;
  5314. default:
  5315. dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  5316. break;
  5317. }
  5318. active_extruder_parked = false;
  5319. extruder_duplication_enabled = false;
  5320. delayed_move_time = 0;
  5321. }
  5322. #elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  5323. inline void gcode_M605() {
  5324. stepper.synchronize();
  5325. extruder_duplication_enabled = code_seen('S') && code_value_int() == 2;
  5326. SERIAL_ECHO_START;
  5327. SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
  5328. }
  5329. #endif // M605
  5330. #if ENABLED(LIN_ADVANCE)
  5331. /**
  5332. * M905: Set advance factor
  5333. */
  5334. inline void gcode_M905() {
  5335. stepper.synchronize();
  5336. stepper.advance_M905(code_seen('K') ? code_value_float() : -1.0);
  5337. }
  5338. #endif
  5339. /**
  5340. * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
  5341. */
  5342. inline void gcode_M907() {
  5343. #if HAS_DIGIPOTSS
  5344. LOOP_XYZE(i)
  5345. if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
  5346. if (code_seen('B')) stepper.digipot_current(4, code_value_int());
  5347. if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int());
  5348. #endif
  5349. #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
  5350. if (code_seen('X')) stepper.digipot_current(0, code_value_int());
  5351. #endif
  5352. #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
  5353. if (code_seen('Z')) stepper.digipot_current(1, code_value_int());
  5354. #endif
  5355. #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
  5356. if (code_seen('E')) stepper.digipot_current(2, code_value_int());
  5357. #endif
  5358. #if ENABLED(DIGIPOT_I2C)
  5359. // this one uses actual amps in floating point
  5360. LOOP_XYZE(i) if (code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value_float());
  5361. // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
  5362. for (int i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (code_seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, code_value_float());
  5363. #endif
  5364. #if ENABLED(DAC_STEPPER_CURRENT)
  5365. if (code_seen('S')) {
  5366. float dac_percent = code_value_float();
  5367. for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
  5368. }
  5369. LOOP_XYZE(i) if (code_seen(axis_codes[i])) dac_current_percent(i, code_value_float());
  5370. #endif
  5371. }
  5372. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  5373. /**
  5374. * M908: Control digital trimpot directly (M908 P<pin> S<current>)
  5375. */
  5376. inline void gcode_M908() {
  5377. #if HAS_DIGIPOTSS
  5378. stepper.digitalPotWrite(
  5379. code_seen('P') ? code_value_int() : 0,
  5380. code_seen('S') ? code_value_int() : 0
  5381. );
  5382. #endif
  5383. #ifdef DAC_STEPPER_CURRENT
  5384. dac_current_raw(
  5385. code_seen('P') ? code_value_byte() : -1,
  5386. code_seen('S') ? code_value_ushort() : 0
  5387. );
  5388. #endif
  5389. }
  5390. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  5391. inline void gcode_M909() { dac_print_values(); }
  5392. inline void gcode_M910() { dac_commit_eeprom(); }
  5393. #endif
  5394. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  5395. #if HAS_MICROSTEPS
  5396. // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  5397. inline void gcode_M350() {
  5398. if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.microstep_mode(i, code_value_byte());
  5399. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_mode(i, code_value_byte());
  5400. if (code_seen('B')) stepper.microstep_mode(4, code_value_byte());
  5401. stepper.microstep_readings();
  5402. }
  5403. /**
  5404. * M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
  5405. * S# determines MS1 or MS2, X# sets the pin high/low.
  5406. */
  5407. inline void gcode_M351() {
  5408. if (code_seen('S')) switch (code_value_byte()) {
  5409. case 1:
  5410. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, code_value_byte(), -1);
  5411. if (code_seen('B')) stepper.microstep_ms(4, code_value_byte(), -1);
  5412. break;
  5413. case 2:
  5414. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, -1, code_value_byte());
  5415. if (code_seen('B')) stepper.microstep_ms(4, -1, code_value_byte());
  5416. break;
  5417. }
  5418. stepper.microstep_readings();
  5419. }
  5420. #endif // HAS_MICROSTEPS
  5421. #if ENABLED(MIXING_EXTRUDER)
  5422. /**
  5423. * M163: Set a single mix factor for a mixing extruder
  5424. * This is called "weight" by some systems.
  5425. *
  5426. * S[index] The channel index to set
  5427. * P[float] The mix value
  5428. *
  5429. */
  5430. inline void gcode_M163() {
  5431. int mix_index = code_seen('S') ? code_value_int() : 0;
  5432. float mix_value = code_seen('P') ? code_value_float() : 0.0;
  5433. if (mix_index < MIXING_STEPPERS) mixing_factor[mix_index] = mix_value;
  5434. }
  5435. #if MIXING_VIRTUAL_TOOLS > 1
  5436. /**
  5437. * M164: Store the current mix factors as a virtual tool.
  5438. *
  5439. * S[index] The virtual tool to store
  5440. *
  5441. */
  5442. inline void gcode_M164() {
  5443. int tool_index = code_seen('S') ? code_value_int() : 0;
  5444. if (tool_index < MIXING_VIRTUAL_TOOLS) {
  5445. normalize_mix();
  5446. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  5447. mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i];
  5448. }
  5449. }
  5450. #endif
  5451. #if ENABLED(DIRECT_MIXING_IN_G1)
  5452. /**
  5453. * M165: Set multiple mix factors for a mixing extruder.
  5454. * Factors that are left out will be set to 0.
  5455. * All factors together must add up to 1.0.
  5456. *
  5457. * A[factor] Mix factor for extruder stepper 1
  5458. * B[factor] Mix factor for extruder stepper 2
  5459. * C[factor] Mix factor for extruder stepper 3
  5460. * D[factor] Mix factor for extruder stepper 4
  5461. * H[factor] Mix factor for extruder stepper 5
  5462. * I[factor] Mix factor for extruder stepper 6
  5463. *
  5464. */
  5465. inline void gcode_M165() { gcode_get_mix(); }
  5466. #endif
  5467. #endif // MIXING_EXTRUDER
  5468. /**
  5469. * M999: Restart after being stopped
  5470. *
  5471. * Default behaviour is to flush the serial buffer and request
  5472. * a resend to the host starting on the last N line received.
  5473. *
  5474. * Sending "M999 S1" will resume printing without flushing the
  5475. * existing command buffer.
  5476. *
  5477. */
  5478. inline void gcode_M999() {
  5479. Running = true;
  5480. lcd_reset_alert_level();
  5481. if (code_seen('S') && code_value_bool()) return;
  5482. // gcode_LastN = Stopped_gcode_LastN;
  5483. FlushSerialRequestResend();
  5484. }
  5485. #if ENABLED(SWITCHING_EXTRUDER)
  5486. inline void move_extruder_servo(uint8_t e) {
  5487. const int angles[2] = SWITCHING_EXTRUDER_SERVO_ANGLES;
  5488. MOVE_SERVO(SWITCHING_EXTRUDER_SERVO_NR, angles[e]);
  5489. }
  5490. #endif
  5491. inline void invalid_extruder_error(const uint8_t &e) {
  5492. SERIAL_ECHO_START;
  5493. SERIAL_CHAR('T');
  5494. SERIAL_PROTOCOL_F(e, DEC);
  5495. SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
  5496. }
  5497. /**
  5498. * Perform a tool-change, which may result in moving the
  5499. * previous tool out of the way and the new tool into place.
  5500. */
  5501. void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
  5502. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  5503. if (tmp_extruder >= MIXING_VIRTUAL_TOOLS) {
  5504. invalid_extruder_error(tmp_extruder);
  5505. return;
  5506. }
  5507. // T0-Tnnn: Switch virtual tool by changing the mix
  5508. for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
  5509. mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
  5510. #else //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  5511. #if HOTENDS > 1
  5512. if (tmp_extruder >= EXTRUDERS) {
  5513. invalid_extruder_error(tmp_extruder);
  5514. return;
  5515. }
  5516. float old_feedrate_mm_s = feedrate_mm_s;
  5517. feedrate_mm_s = fr_mm_s > 0.0 ? (old_feedrate_mm_s = fr_mm_s) : XY_PROBE_FEEDRATE_MM_S;
  5518. if (tmp_extruder != active_extruder) {
  5519. if (!no_move && axis_unhomed_error(true, true, true)) {
  5520. SERIAL_ECHOLNPGM("No move on toolchange");
  5521. no_move = true;
  5522. }
  5523. // Save current position to destination, for use later
  5524. set_destination_to_current();
  5525. #if ENABLED(DUAL_X_CARRIAGE)
  5526. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5527. if (DEBUGGING(LEVELING)) {
  5528. SERIAL_ECHOPGM("Dual X Carriage Mode ");
  5529. switch (dual_x_carriage_mode) {
  5530. case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
  5531. case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
  5532. case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
  5533. }
  5534. }
  5535. #endif
  5536. if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() &&
  5537. (delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder))
  5538. ) {
  5539. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5540. if (DEBUGGING(LEVELING)) {
  5541. SERIAL_ECHOPAIR("Raise to ", current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT); SERIAL_EOL;
  5542. SERIAL_ECHOPAIR("MoveX to ", x_home_pos(active_extruder)); SERIAL_EOL;
  5543. SERIAL_ECHOPAIR("Lower to ", current_position[Z_AXIS]); SERIAL_EOL;
  5544. }
  5545. #endif
  5546. // Park old head: 1) raise 2) move to park position 3) lower
  5547. for (uint8_t i = 0; i < 3; i++)
  5548. planner.buffer_line(
  5549. i == 0 ? current_position[X_AXIS] : x_home_pos(active_extruder),
  5550. current_position[Y_AXIS],
  5551. current_position[Z_AXIS] + (i == 2 ? 0 : TOOLCHANGE_PARK_ZLIFT),
  5552. current_position[E_AXIS],
  5553. planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
  5554. active_extruder
  5555. );
  5556. stepper.synchronize();
  5557. }
  5558. // apply Y & Z extruder offset (x offset is already used in determining home pos)
  5559. current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
  5560. current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
  5561. active_extruder = tmp_extruder;
  5562. // This function resets the max/min values - the current position may be overwritten below.
  5563. set_axis_is_at_home(X_AXIS);
  5564. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5565. if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
  5566. #endif
  5567. switch (dual_x_carriage_mode) {
  5568. case DXC_FULL_CONTROL_MODE:
  5569. current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
  5570. inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
  5571. break;
  5572. case DXC_DUPLICATION_MODE:
  5573. active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
  5574. if (active_extruder_parked)
  5575. current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
  5576. else
  5577. current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
  5578. inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
  5579. extruder_duplication_enabled = false;
  5580. break;
  5581. default:
  5582. // record raised toolhead position for use by unpark
  5583. memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
  5584. raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
  5585. active_extruder_parked = true;
  5586. delayed_move_time = 0;
  5587. break;
  5588. }
  5589. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5590. if (DEBUGGING(LEVELING)) {
  5591. SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
  5592. DEBUG_POS("New extruder (parked)", current_position);
  5593. }
  5594. #endif
  5595. // No extra case for AUTO_BED_LEVELING_FEATURE in DUAL_X_CARRIAGE. Does that mean they don't work together?
  5596. #else // !DUAL_X_CARRIAGE
  5597. #if ENABLED(SWITCHING_EXTRUDER)
  5598. // <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
  5599. float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
  5600. z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
  5601. // Always raise by some amount
  5602. planner.buffer_line(
  5603. current_position[X_AXIS],
  5604. current_position[Y_AXIS],
  5605. current_position[Z_AXIS] + z_raise,
  5606. current_position[E_AXIS],
  5607. planner.max_feedrate_mm_s[Z_AXIS],
  5608. active_extruder
  5609. );
  5610. stepper.synchronize();
  5611. move_extruder_servo(active_extruder);
  5612. delay(500);
  5613. // Move back down, if needed
  5614. if (z_raise != z_diff) {
  5615. planner.buffer_line(
  5616. current_position[X_AXIS],
  5617. current_position[Y_AXIS],
  5618. current_position[Z_AXIS] + z_diff,
  5619. current_position[E_AXIS],
  5620. planner.max_feedrate_mm_s[Z_AXIS],
  5621. active_extruder
  5622. );
  5623. stepper.synchronize();
  5624. }
  5625. #endif
  5626. /**
  5627. * Set current_position to the position of the new nozzle.
  5628. * Offsets are based on linear distance, so we need to get
  5629. * the resulting position in coordinate space.
  5630. *
  5631. * - With grid or 3-point leveling, offset XYZ by a tilted vector
  5632. * - With mesh leveling, update Z for the new position
  5633. * - Otherwise, just use the raw linear distance
  5634. *
  5635. * Software endstops are altered here too. Consider a case where:
  5636. * E0 at X=0 ... E1 at X=10
  5637. * When we switch to E1 now X=10, but E1 can't move left.
  5638. * To express this we apply the change in XY to the software endstops.
  5639. * E1 can move farther right than E0, so the right limit is extended.
  5640. *
  5641. * Note that we don't adjust the Z software endstops. Why not?
  5642. * Consider a case where Z=0 (here) and switching to E1 makes Z=1
  5643. * because the bed is 1mm lower at the new position. As long as
  5644. * the first nozzle is out of the way, the carriage should be
  5645. * allowed to move 1mm lower. This technically "breaks" the
  5646. * Z software endstop. But this is technically correct (and
  5647. * there is no viable alternative).
  5648. */
  5649. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  5650. // Offset extruder, make sure to apply the bed level rotation matrix
  5651. vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
  5652. hotend_offset[Y_AXIS][tmp_extruder],
  5653. 0),
  5654. act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
  5655. hotend_offset[Y_AXIS][active_extruder],
  5656. 0),
  5657. offset_vec = tmp_offset_vec - act_offset_vec;
  5658. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5659. if (DEBUGGING(LEVELING)) {
  5660. tmp_offset_vec.debug("tmp_offset_vec");
  5661. act_offset_vec.debug("act_offset_vec");
  5662. offset_vec.debug("offset_vec (BEFORE)");
  5663. }
  5664. #endif
  5665. offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
  5666. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5667. if (DEBUGGING(LEVELING)) offset_vec.debug("offset_vec (AFTER)");
  5668. #endif
  5669. // Adjustments to the current position
  5670. float xydiff[2] = { offset_vec.x, offset_vec.y };
  5671. current_position[Z_AXIS] += offset_vec.z;
  5672. #else // !AUTO_BED_LEVELING_FEATURE
  5673. float xydiff[2] = {
  5674. hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
  5675. hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
  5676. };
  5677. #if ENABLED(MESH_BED_LEVELING)
  5678. if (mbl.active()) {
  5679. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5680. if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before MBL: ", current_position[Z_AXIS]);
  5681. #endif
  5682. float xpos = RAW_CURRENT_POSITION(X_AXIS),
  5683. ypos = RAW_CURRENT_POSITION(Y_AXIS);
  5684. current_position[Z_AXIS] += mbl.get_z(xpos + xydiff[X_AXIS], ypos + xydiff[Y_AXIS]) - mbl.get_z(xpos, ypos);
  5685. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5686. if (DEBUGGING(LEVELING))
  5687. SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]);
  5688. #endif
  5689. }
  5690. #endif // MESH_BED_LEVELING
  5691. #endif // !AUTO_BED_LEVELING_FEATURE
  5692. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5693. if (DEBUGGING(LEVELING)) {
  5694. SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
  5695. SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
  5696. SERIAL_ECHOLNPGM(" }");
  5697. }
  5698. #endif
  5699. // The newly-selected extruder XY is actually at...
  5700. current_position[X_AXIS] += xydiff[X_AXIS];
  5701. current_position[Y_AXIS] += xydiff[Y_AXIS];
  5702. for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
  5703. position_shift[i] += xydiff[i];
  5704. update_software_endstops((AxisEnum)i);
  5705. }
  5706. // Set the new active extruder
  5707. active_extruder = tmp_extruder;
  5708. #endif // !DUAL_X_CARRIAGE
  5709. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5710. if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
  5711. #endif
  5712. // Tell the planner the new "current position"
  5713. SYNC_PLAN_POSITION_KINEMATIC();
  5714. // Move to the "old position" (move the extruder into place)
  5715. if (!no_move && IsRunning()) {
  5716. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5717. if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
  5718. #endif
  5719. prepare_move_to_destination();
  5720. }
  5721. } // (tmp_extruder != active_extruder)
  5722. stepper.synchronize();
  5723. #if ENABLED(EXT_SOLENOID)
  5724. disable_all_solenoids();
  5725. enable_solenoid_on_active_extruder();
  5726. #endif // EXT_SOLENOID
  5727. feedrate_mm_s = old_feedrate_mm_s;
  5728. #else // HOTENDS <= 1
  5729. // Set the new active extruder
  5730. active_extruder = tmp_extruder;
  5731. UNUSED(fr_mm_s);
  5732. UNUSED(no_move);
  5733. #endif // HOTENDS <= 1
  5734. SERIAL_ECHO_START;
  5735. SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, (int)active_extruder);
  5736. #endif //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  5737. }
  5738. /**
  5739. * T0-T3: Switch tool, usually switching extruders
  5740. *
  5741. * F[units/min] Set the movement feedrate
  5742. * S1 Don't move the tool in XY after change
  5743. */
  5744. inline void gcode_T(uint8_t tmp_extruder) {
  5745. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5746. if (DEBUGGING(LEVELING)) {
  5747. SERIAL_ECHOPAIR(">>> gcode_T(", tmp_extruder);
  5748. SERIAL_ECHOLNPGM(")");
  5749. DEBUG_POS("BEFORE", current_position);
  5750. }
  5751. #endif
  5752. #if HOTENDS == 1 || (ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1)
  5753. tool_change(tmp_extruder);
  5754. #elif HOTENDS > 1
  5755. tool_change(
  5756. tmp_extruder,
  5757. code_seen('F') ? MMM_TO_MMS(code_value_axis_units(X_AXIS)) : 0.0,
  5758. (tmp_extruder == active_extruder) || (code_seen('S') && code_value_bool())
  5759. );
  5760. #endif
  5761. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5762. if (DEBUGGING(LEVELING)) {
  5763. DEBUG_POS("AFTER", current_position);
  5764. SERIAL_ECHOLNPGM("<<< gcode_T");
  5765. }
  5766. #endif
  5767. }
  5768. /**
  5769. * Process a single command and dispatch it to its handler
  5770. * This is called from the main loop()
  5771. */
  5772. void process_next_command() {
  5773. current_command = command_queue[cmd_queue_index_r];
  5774. if (DEBUGGING(ECHO)) {
  5775. SERIAL_ECHO_START;
  5776. SERIAL_ECHOLN(current_command);
  5777. }
  5778. // Sanitize the current command:
  5779. // - Skip leading spaces
  5780. // - Bypass N[-0-9][0-9]*[ ]*
  5781. // - Overwrite * with nul to mark the end
  5782. while (*current_command == ' ') ++current_command;
  5783. if (*current_command == 'N' && NUMERIC_SIGNED(current_command[1])) {
  5784. current_command += 2; // skip N[-0-9]
  5785. while (NUMERIC(*current_command)) ++current_command; // skip [0-9]*
  5786. while (*current_command == ' ') ++current_command; // skip [ ]*
  5787. }
  5788. char* starpos = strchr(current_command, '*'); // * should always be the last parameter
  5789. if (starpos) while (*starpos == ' ' || *starpos == '*') *starpos-- = '\0'; // nullify '*' and ' '
  5790. char *cmd_ptr = current_command;
  5791. // Get the command code, which must be G, M, or T
  5792. char command_code = *cmd_ptr++;
  5793. // Skip spaces to get the numeric part
  5794. while (*cmd_ptr == ' ') cmd_ptr++;
  5795. uint16_t codenum = 0; // define ahead of goto
  5796. // Bail early if there's no code
  5797. bool code_is_good = NUMERIC(*cmd_ptr);
  5798. if (!code_is_good) goto ExitUnknownCommand;
  5799. // Get and skip the code number
  5800. do {
  5801. codenum = (codenum * 10) + (*cmd_ptr - '0');
  5802. cmd_ptr++;
  5803. } while (NUMERIC(*cmd_ptr));
  5804. // Skip all spaces to get to the first argument, or nul
  5805. while (*cmd_ptr == ' ') cmd_ptr++;
  5806. // The command's arguments (if any) start here, for sure!
  5807. current_command_args = cmd_ptr;
  5808. KEEPALIVE_STATE(IN_HANDLER);
  5809. // Handle a known G, M, or T
  5810. switch (command_code) {
  5811. case 'G': switch (codenum) {
  5812. // G0, G1
  5813. case 0:
  5814. case 1:
  5815. gcode_G0_G1();
  5816. break;
  5817. // G2, G3
  5818. #if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
  5819. case 2: // G2 - CW ARC
  5820. case 3: // G3 - CCW ARC
  5821. gcode_G2_G3(codenum == 2);
  5822. break;
  5823. #endif
  5824. // G4 Dwell
  5825. case 4:
  5826. gcode_G4();
  5827. break;
  5828. #if ENABLED(BEZIER_CURVE_SUPPORT)
  5829. // G5
  5830. case 5: // G5 - Cubic B_spline
  5831. gcode_G5();
  5832. break;
  5833. #endif // BEZIER_CURVE_SUPPORT
  5834. #if ENABLED(FWRETRACT)
  5835. case 10: // G10: retract
  5836. case 11: // G11: retract_recover
  5837. gcode_G10_G11(codenum == 10);
  5838. break;
  5839. #endif // FWRETRACT
  5840. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  5841. case 12:
  5842. gcode_G12(); // G12: Nozzle Clean
  5843. break;
  5844. #endif // NOZZLE_CLEAN_FEATURE
  5845. #if ENABLED(INCH_MODE_SUPPORT)
  5846. case 20: //G20: Inch Mode
  5847. gcode_G20();
  5848. break;
  5849. case 21: //G21: MM Mode
  5850. gcode_G21();
  5851. break;
  5852. #endif // INCH_MODE_SUPPORT
  5853. #if ENABLED(NOZZLE_PARK_FEATURE)
  5854. case 27: // G27: Nozzle Park
  5855. gcode_G27();
  5856. break;
  5857. #endif // NOZZLE_PARK_FEATURE
  5858. case 28: // G28: Home all axes, one at a time
  5859. gcode_G28();
  5860. break;
  5861. #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
  5862. case 29: // G29 Detailed Z probe, probes the bed at 3 or more points.
  5863. gcode_G29();
  5864. break;
  5865. #endif // AUTO_BED_LEVELING_FEATURE
  5866. #if HAS_BED_PROBE
  5867. case 30: // G30 Single Z probe
  5868. gcode_G30();
  5869. break;
  5870. #if ENABLED(Z_PROBE_SLED)
  5871. case 31: // G31: dock the sled
  5872. gcode_G31();
  5873. break;
  5874. case 32: // G32: undock the sled
  5875. gcode_G32();
  5876. break;
  5877. #endif // Z_PROBE_SLED
  5878. #endif // HAS_BED_PROBE
  5879. case 90: // G90
  5880. relative_mode = false;
  5881. break;
  5882. case 91: // G91
  5883. relative_mode = true;
  5884. break;
  5885. case 92: // G92
  5886. gcode_G92();
  5887. break;
  5888. }
  5889. break;
  5890. case 'M': switch (codenum) {
  5891. #if ENABLED(ULTIPANEL)
  5892. case 0: // M0 - Unconditional stop - Wait for user button press on LCD
  5893. case 1: // M1 - Conditional stop - Wait for user button press on LCD
  5894. gcode_M0_M1();
  5895. break;
  5896. #endif // ULTIPANEL
  5897. case 17:
  5898. gcode_M17();
  5899. break;
  5900. #if ENABLED(SDSUPPORT)
  5901. case 20: // M20 - list SD card
  5902. gcode_M20(); break;
  5903. case 21: // M21 - init SD card
  5904. gcode_M21(); break;
  5905. case 22: //M22 - release SD card
  5906. gcode_M22(); break;
  5907. case 23: //M23 - Select file
  5908. gcode_M23(); break;
  5909. case 24: //M24 - Start SD print
  5910. gcode_M24(); break;
  5911. case 25: //M25 - Pause SD print
  5912. gcode_M25(); break;
  5913. case 26: //M26 - Set SD index
  5914. gcode_M26(); break;
  5915. case 27: //M27 - Get SD status
  5916. gcode_M27(); break;
  5917. case 28: //M28 - Start SD write
  5918. gcode_M28(); break;
  5919. case 29: //M29 - Stop SD write
  5920. gcode_M29(); break;
  5921. case 30: //M30 <filename> Delete File
  5922. gcode_M30(); break;
  5923. case 32: //M32 - Select file and start SD print
  5924. gcode_M32(); break;
  5925. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  5926. case 33: //M33 - Get the long full path to a file or folder
  5927. gcode_M33(); break;
  5928. #endif // LONG_FILENAME_HOST_SUPPORT
  5929. case 928: //M928 - Start SD write
  5930. gcode_M928(); break;
  5931. #endif //SDSUPPORT
  5932. case 31: //M31 take time since the start of the SD print or an M109 command
  5933. gcode_M31();
  5934. break;
  5935. case 42: //M42 -Change pin status via gcode
  5936. gcode_M42();
  5937. break;
  5938. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  5939. case 48: // M48 Z probe repeatability
  5940. gcode_M48();
  5941. break;
  5942. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  5943. case 75: // Start print timer
  5944. gcode_M75();
  5945. break;
  5946. case 76: // Pause print timer
  5947. gcode_M76();
  5948. break;
  5949. case 77: // Stop print timer
  5950. gcode_M77();
  5951. break;
  5952. #if ENABLED(PRINTCOUNTER)
  5953. case 78: // Show print statistics
  5954. gcode_M78();
  5955. break;
  5956. #endif
  5957. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  5958. case 100:
  5959. gcode_M100();
  5960. break;
  5961. #endif
  5962. case 104: // M104
  5963. gcode_M104();
  5964. break;
  5965. case 110: // M110: Set Current Line Number
  5966. gcode_M110();
  5967. break;
  5968. case 111: // M111: Set debug level
  5969. gcode_M111();
  5970. break;
  5971. #if DISABLED(EMERGENCY_PARSER)
  5972. case 108: // M108: Cancel Waiting
  5973. gcode_M108();
  5974. break;
  5975. case 112: // M112: Emergency Stop
  5976. gcode_M112();
  5977. break;
  5978. case 410: // M410 quickstop - Abort all the planned moves.
  5979. gcode_M410();
  5980. break;
  5981. #endif
  5982. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  5983. case 113: // M113: Set Host Keepalive interval
  5984. gcode_M113();
  5985. break;
  5986. #endif
  5987. case 140: // M140: Set bed temp
  5988. gcode_M140();
  5989. break;
  5990. case 105: // M105: Read current temperature
  5991. gcode_M105();
  5992. KEEPALIVE_STATE(NOT_BUSY);
  5993. return; // "ok" already printed
  5994. case 109: // M109: Wait for temperature
  5995. gcode_M109();
  5996. break;
  5997. #if HAS_TEMP_BED
  5998. case 190: // M190: Wait for bed heater to reach target
  5999. gcode_M190();
  6000. break;
  6001. #endif // HAS_TEMP_BED
  6002. #if FAN_COUNT > 0
  6003. case 106: // M106: Fan On
  6004. gcode_M106();
  6005. break;
  6006. case 107: // M107: Fan Off
  6007. gcode_M107();
  6008. break;
  6009. #endif // FAN_COUNT > 0
  6010. #if ENABLED(BARICUDA)
  6011. // PWM for HEATER_1_PIN
  6012. #if HAS_HEATER_1
  6013. case 126: // M126: valve open
  6014. gcode_M126();
  6015. break;
  6016. case 127: // M127: valve closed
  6017. gcode_M127();
  6018. break;
  6019. #endif // HAS_HEATER_1
  6020. // PWM for HEATER_2_PIN
  6021. #if HAS_HEATER_2
  6022. case 128: // M128: valve open
  6023. gcode_M128();
  6024. break;
  6025. case 129: // M129: valve closed
  6026. gcode_M129();
  6027. break;
  6028. #endif // HAS_HEATER_2
  6029. #endif // BARICUDA
  6030. #if HAS_POWER_SWITCH
  6031. case 80: // M80: Turn on Power Supply
  6032. gcode_M80();
  6033. break;
  6034. #endif // HAS_POWER_SWITCH
  6035. case 81: // M81: Turn off Power, including Power Supply, if possible
  6036. gcode_M81();
  6037. break;
  6038. case 82:
  6039. gcode_M82();
  6040. break;
  6041. case 83:
  6042. gcode_M83();
  6043. break;
  6044. case 18: // (for compatibility)
  6045. case 84: // M84
  6046. gcode_M18_M84();
  6047. break;
  6048. case 85: // M85
  6049. gcode_M85();
  6050. break;
  6051. case 92: // M92: Set the steps-per-unit for one or more axes
  6052. gcode_M92();
  6053. break;
  6054. case 115: // M115: Report capabilities
  6055. gcode_M115();
  6056. break;
  6057. case 117: // M117: Set LCD message text, if possible
  6058. gcode_M117();
  6059. break;
  6060. case 114: // M114: Report current position
  6061. gcode_M114();
  6062. break;
  6063. case 120: // M120: Enable endstops
  6064. gcode_M120();
  6065. break;
  6066. case 121: // M121: Disable endstops
  6067. gcode_M121();
  6068. break;
  6069. case 119: // M119: Report endstop states
  6070. gcode_M119();
  6071. break;
  6072. #if ENABLED(ULTIPANEL)
  6073. case 145: // M145: Set material heatup parameters
  6074. gcode_M145();
  6075. break;
  6076. #endif
  6077. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  6078. case 149:
  6079. gcode_M149();
  6080. break;
  6081. #endif
  6082. #if ENABLED(BLINKM)
  6083. case 150: // M150
  6084. gcode_M150();
  6085. break;
  6086. #endif //BLINKM
  6087. #if ENABLED(EXPERIMENTAL_I2CBUS)
  6088. case 155:
  6089. gcode_M155();
  6090. break;
  6091. case 156:
  6092. gcode_M156();
  6093. break;
  6094. #endif //EXPERIMENTAL_I2CBUS
  6095. #if ENABLED(MIXING_EXTRUDER)
  6096. case 163: // M163 S<int> P<float> set weight for a mixing extruder
  6097. gcode_M163();
  6098. break;
  6099. #if MIXING_VIRTUAL_TOOLS > 1
  6100. case 164: // M164 S<int> save current mix as a virtual extruder
  6101. gcode_M164();
  6102. break;
  6103. #endif
  6104. #if ENABLED(DIRECT_MIXING_IN_G1)
  6105. case 165: // M165 [ABCDHI]<float> set multiple mix weights
  6106. gcode_M165();
  6107. break;
  6108. #endif
  6109. #endif
  6110. case 200: // M200 D<diameter> Set filament diameter and set E axis units to cubic. (Use S0 to revert to linear units.)
  6111. gcode_M200();
  6112. break;
  6113. case 201: // M201
  6114. gcode_M201();
  6115. break;
  6116. #if 0 // Not used for Sprinter/grbl gen6
  6117. case 202: // M202
  6118. gcode_M202();
  6119. break;
  6120. #endif
  6121. case 203: // M203 max feedrate units/sec
  6122. gcode_M203();
  6123. break;
  6124. case 204: // M204 acclereration S normal moves T filmanent only moves
  6125. gcode_M204();
  6126. break;
  6127. 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
  6128. gcode_M205();
  6129. break;
  6130. case 206: // M206 additional homing offset
  6131. gcode_M206();
  6132. break;
  6133. #if ENABLED(DELTA)
  6134. case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
  6135. gcode_M665();
  6136. break;
  6137. #endif
  6138. #if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS)
  6139. case 666: // M666 set delta / dual endstop adjustment
  6140. gcode_M666();
  6141. break;
  6142. #endif
  6143. #if ENABLED(FWRETRACT)
  6144. case 207: // M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>
  6145. gcode_M207();
  6146. break;
  6147. case 208: // M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>
  6148. gcode_M208();
  6149. break;
  6150. case 209: // M209 - Turn Automatic Retract Detection on/off: S<bool> (For slicers that don't support G10/11). Every normal extrude-only move will be classified as retract depending on the direction.
  6151. gcode_M209();
  6152. break;
  6153. #endif // FWRETRACT
  6154. case 211: // M211 - Enable, Disable, and/or Report software endstops
  6155. gcode_M211();
  6156. break;
  6157. #if HOTENDS > 1
  6158. case 218: // M218 - Set a tool offset: T<index> X<offset> Y<offset>
  6159. gcode_M218();
  6160. break;
  6161. #endif
  6162. case 220: // M220 - Set Feedrate Percentage: S<percent> ("FR" on your LCD)
  6163. gcode_M220();
  6164. break;
  6165. case 221: // M221 - Set Flow Percentage: S<percent>
  6166. gcode_M221();
  6167. break;
  6168. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  6169. gcode_M226();
  6170. break;
  6171. #if HAS_SERVOS
  6172. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  6173. gcode_M280();
  6174. break;
  6175. #endif // HAS_SERVOS
  6176. #if HAS_BUZZER
  6177. case 300: // M300 - Play beep tone
  6178. gcode_M300();
  6179. break;
  6180. #endif // HAS_BUZZER
  6181. #if ENABLED(PIDTEMP)
  6182. case 301: // M301
  6183. gcode_M301();
  6184. break;
  6185. #endif // PIDTEMP
  6186. #if ENABLED(PIDTEMPBED)
  6187. case 304: // M304
  6188. gcode_M304();
  6189. break;
  6190. #endif // PIDTEMPBED
  6191. #if defined(CHDK) || HAS_PHOTOGRAPH
  6192. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  6193. gcode_M240();
  6194. break;
  6195. #endif // CHDK || PHOTOGRAPH_PIN
  6196. #if HAS_LCD_CONTRAST
  6197. case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
  6198. gcode_M250();
  6199. break;
  6200. #endif // HAS_LCD_CONTRAST
  6201. #if ENABLED(PREVENT_COLD_EXTRUSION)
  6202. case 302: // allow cold extrudes, or set the minimum extrude temperature
  6203. gcode_M302();
  6204. break;
  6205. #endif // PREVENT_COLD_EXTRUSION
  6206. case 303: // M303 PID autotune
  6207. gcode_M303();
  6208. break;
  6209. #if ENABLED(MORGAN_SCARA)
  6210. case 360: // M360 SCARA Theta pos1
  6211. if (gcode_M360()) return;
  6212. break;
  6213. case 361: // M361 SCARA Theta pos2
  6214. if (gcode_M361()) return;
  6215. break;
  6216. case 362: // M362 SCARA Psi pos1
  6217. if (gcode_M362()) return;
  6218. break;
  6219. case 363: // M363 SCARA Psi pos2
  6220. if (gcode_M363()) return;
  6221. break;
  6222. case 364: // M364 SCARA Psi pos3 (90 deg to Theta)
  6223. if (gcode_M364()) return;
  6224. break;
  6225. case 365: // M365 Set SCARA scaling for X Y Z
  6226. gcode_M365();
  6227. break;
  6228. #endif // SCARA
  6229. case 400: // M400 finish all moves
  6230. gcode_M400();
  6231. break;
  6232. #if HAS_BED_PROBE
  6233. case 401:
  6234. gcode_M401();
  6235. break;
  6236. case 402:
  6237. gcode_M402();
  6238. break;
  6239. #endif // HAS_BED_PROBE
  6240. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  6241. case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
  6242. gcode_M404();
  6243. break;
  6244. case 405: //M405 Turn on filament sensor for control
  6245. gcode_M405();
  6246. break;
  6247. case 406: //M406 Turn off filament sensor for control
  6248. gcode_M406();
  6249. break;
  6250. case 407: //M407 Display measured filament diameter
  6251. gcode_M407();
  6252. break;
  6253. #endif // ENABLED(FILAMENT_WIDTH_SENSOR)
  6254. #if ENABLED(MESH_BED_LEVELING)
  6255. case 420: // M420 Enable/Disable Mesh Bed Leveling
  6256. gcode_M420();
  6257. break;
  6258. case 421: // M421 Set a Mesh Bed Leveling Z coordinate
  6259. gcode_M421();
  6260. break;
  6261. #endif
  6262. case 428: // M428 Apply current_position to home_offset
  6263. gcode_M428();
  6264. break;
  6265. case 500: // M500 Store settings in EEPROM
  6266. gcode_M500();
  6267. break;
  6268. case 501: // M501 Read settings from EEPROM
  6269. gcode_M501();
  6270. break;
  6271. case 502: // M502 Revert to default settings
  6272. gcode_M502();
  6273. break;
  6274. case 503: // M503 print settings currently in memory
  6275. gcode_M503();
  6276. break;
  6277. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  6278. case 540:
  6279. gcode_M540();
  6280. break;
  6281. #endif
  6282. #if HAS_BED_PROBE
  6283. case 851:
  6284. gcode_M851();
  6285. break;
  6286. #endif // HAS_BED_PROBE
  6287. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  6288. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  6289. gcode_M600();
  6290. break;
  6291. #endif // FILAMENT_CHANGE_FEATURE
  6292. #if ENABLED(DUAL_X_CARRIAGE)
  6293. case 605:
  6294. gcode_M605();
  6295. break;
  6296. #endif // DUAL_X_CARRIAGE
  6297. #if ENABLED(LIN_ADVANCE)
  6298. case 905: // M905 Set advance factor.
  6299. gcode_M905();
  6300. break;
  6301. #endif
  6302. case 907: // M907 Set digital trimpot motor current using axis codes.
  6303. gcode_M907();
  6304. break;
  6305. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  6306. case 908: // M908 Control digital trimpot directly.
  6307. gcode_M908();
  6308. break;
  6309. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  6310. case 909: // M909 Print digipot/DAC current value
  6311. gcode_M909();
  6312. break;
  6313. case 910: // M910 Commit digipot/DAC value to external EEPROM
  6314. gcode_M910();
  6315. break;
  6316. #endif
  6317. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  6318. #if HAS_MICROSTEPS
  6319. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  6320. gcode_M350();
  6321. break;
  6322. case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  6323. gcode_M351();
  6324. break;
  6325. #endif // HAS_MICROSTEPS
  6326. case 999: // M999: Restart after being Stopped
  6327. gcode_M999();
  6328. break;
  6329. }
  6330. break;
  6331. case 'T':
  6332. gcode_T(codenum);
  6333. break;
  6334. default: code_is_good = false;
  6335. }
  6336. KEEPALIVE_STATE(NOT_BUSY);
  6337. ExitUnknownCommand:
  6338. // Still unknown command? Throw an error
  6339. if (!code_is_good) unknown_command_error();
  6340. ok_to_send();
  6341. }
  6342. /**
  6343. * Send a "Resend: nnn" message to the host to
  6344. * indicate that a command needs to be re-sent.
  6345. */
  6346. void FlushSerialRequestResend() {
  6347. //char command_queue[cmd_queue_index_r][100]="Resend:";
  6348. MYSERIAL.flush();
  6349. SERIAL_PROTOCOLPGM(MSG_RESEND);
  6350. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  6351. ok_to_send();
  6352. }
  6353. /**
  6354. * Send an "ok" message to the host, indicating
  6355. * that a command was successfully processed.
  6356. *
  6357. * If ADVANCED_OK is enabled also include:
  6358. * N<int> Line number of the command, if any
  6359. * P<int> Planner space remaining
  6360. * B<int> Block queue space remaining
  6361. */
  6362. void ok_to_send() {
  6363. refresh_cmd_timeout();
  6364. if (!send_ok[cmd_queue_index_r]) return;
  6365. SERIAL_PROTOCOLPGM(MSG_OK);
  6366. #if ENABLED(ADVANCED_OK)
  6367. char* p = command_queue[cmd_queue_index_r];
  6368. if (*p == 'N') {
  6369. SERIAL_PROTOCOL(' ');
  6370. SERIAL_ECHO(*p++);
  6371. while (NUMERIC_SIGNED(*p))
  6372. SERIAL_ECHO(*p++);
  6373. }
  6374. SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
  6375. SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
  6376. #endif
  6377. SERIAL_EOL;
  6378. }
  6379. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  6380. /**
  6381. * Constrain the given coordinates to the software endstops.
  6382. */
  6383. void clamp_to_software_endstops(float target[XYZ]) {
  6384. #if ENABLED(min_software_endstops)
  6385. NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
  6386. NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
  6387. NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
  6388. #endif
  6389. #if ENABLED(max_software_endstops)
  6390. NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
  6391. NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
  6392. NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
  6393. #endif
  6394. }
  6395. #endif
  6396. #if ENABLED(DELTA)
  6397. /**
  6398. * Recalculate factors used for delta kinematics whenever
  6399. * settings have been changed (e.g., by M665).
  6400. */
  6401. void recalc_delta_settings(float radius, float diagonal_rod) {
  6402. delta_tower1_x = -SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
  6403. delta_tower1_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1);
  6404. delta_tower2_x = SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
  6405. delta_tower2_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2);
  6406. delta_tower3_x = 0.0; // back middle tower
  6407. delta_tower3_y = (radius + DELTA_RADIUS_TRIM_TOWER_3);
  6408. delta_diagonal_rod_2_tower_1 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_1);
  6409. delta_diagonal_rod_2_tower_2 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_2);
  6410. delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3);
  6411. }
  6412. #if ENABLED(DELTA_FAST_SQRT)
  6413. /**
  6414. * Fast inverse sqrt from Quake III Arena
  6415. * See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
  6416. */
  6417. float Q_rsqrt(float number) {
  6418. long i;
  6419. float x2, y;
  6420. const float threehalfs = 1.5f;
  6421. x2 = number * 0.5f;
  6422. y = number;
  6423. i = * ( long * ) &y; // evil floating point bit level hacking
  6424. i = 0x5f3759df - ( i >> 1 ); // what the f***?
  6425. y = * ( float * ) &i;
  6426. y = y * ( threehalfs - ( x2 * y * y ) ); // 1st iteration
  6427. // y = y * ( threehalfs - ( x2 * y * y ) ); // 2nd iteration, this can be removed
  6428. return y;
  6429. }
  6430. #define _SQRT(n) (1.0f / Q_rsqrt(n))
  6431. #else
  6432. #define _SQRT(n) sqrt(n)
  6433. #endif
  6434. /**
  6435. * Delta Inverse Kinematics
  6436. *
  6437. * Calculate the tower positions for a given logical
  6438. * position, storing the result in the delta[] array.
  6439. *
  6440. * This is an expensive calculation, requiring 3 square
  6441. * roots per segmented linear move, and strains the limits
  6442. * of a Mega2560 with a Graphical Display.
  6443. *
  6444. * Suggested optimizations include:
  6445. *
  6446. * - Disable the home_offset (M206) and/or position_shift (G92)
  6447. * features to remove up to 12 float additions.
  6448. *
  6449. * - Use a fast-inverse-sqrt function and add the reciprocal.
  6450. * (see above)
  6451. */
  6452. void inverse_kinematics(const float logical[XYZ]) {
  6453. const float cartesian[XYZ] = {
  6454. RAW_X_POSITION(logical[X_AXIS]),
  6455. RAW_Y_POSITION(logical[Y_AXIS]),
  6456. RAW_Z_POSITION(logical[Z_AXIS])
  6457. };
  6458. // Macro to obtain the Z position of an individual tower
  6459. #define DELTA_Z(T) cartesian[Z_AXIS] + _SQRT( \
  6460. delta_diagonal_rod_2_tower_##T - HYPOT2( \
  6461. delta_tower##T##_x - cartesian[X_AXIS], \
  6462. delta_tower##T##_y - cartesian[Y_AXIS] \
  6463. ) \
  6464. )
  6465. delta[A_AXIS] = DELTA_Z(1);
  6466. delta[B_AXIS] = DELTA_Z(2);
  6467. delta[C_AXIS] = DELTA_Z(3);
  6468. /*
  6469. SERIAL_ECHOPAIR("cartesian X:", cartesian[X_AXIS]);
  6470. SERIAL_ECHOPAIR(" Y:", cartesian[Y_AXIS]);
  6471. SERIAL_ECHOLNPAIR(" Z:", cartesian[Z_AXIS]);
  6472. SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]);
  6473. SERIAL_ECHOPAIR(" B:", delta[B_AXIS]);
  6474. SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]);
  6475. //*/
  6476. }
  6477. /**
  6478. * Calculate the highest Z position where the
  6479. * effector has the full range of XY motion.
  6480. */
  6481. float delta_safe_distance_from_top() {
  6482. float cartesian[XYZ] = {
  6483. LOGICAL_X_POSITION(0),
  6484. LOGICAL_Y_POSITION(0),
  6485. LOGICAL_Z_POSITION(0)
  6486. };
  6487. inverse_kinematics(cartesian);
  6488. float distance = delta[A_AXIS];
  6489. cartesian[Y_AXIS] = LOGICAL_Y_POSITION(DELTA_PRINTABLE_RADIUS);
  6490. inverse_kinematics(cartesian);
  6491. return abs(distance - delta[A_AXIS]);
  6492. }
  6493. /**
  6494. * Delta Forward Kinematics
  6495. *
  6496. * See the Wikipedia article "Trilateration"
  6497. * https://en.wikipedia.org/wiki/Trilateration
  6498. *
  6499. * Establish a new coordinate system in the plane of the
  6500. * three carriage points. This system has its origin at
  6501. * tower1, with tower2 on the X axis. Tower3 is in the X-Y
  6502. * plane with a Z component of zero.
  6503. * We will define unit vectors in this coordinate system
  6504. * in our original coordinate system. Then when we calculate
  6505. * the Xnew, Ynew and Znew values, we can translate back into
  6506. * the original system by moving along those unit vectors
  6507. * by the corresponding values.
  6508. *
  6509. * Variable names matched to Marlin, c-version, and avoid the
  6510. * use of any vector library.
  6511. *
  6512. * by Andreas Hardtung 2016-06-07
  6513. * based on a Java function from "Delta Robot Kinematics V3"
  6514. * by Steve Graves
  6515. *
  6516. * The result is stored in the cartes[] array.
  6517. */
  6518. void forward_kinematics_DELTA(float z1, float z2, float z3) {
  6519. // Create a vector in old coordinates along x axis of new coordinate
  6520. float p12[3] = { delta_tower2_x - delta_tower1_x, delta_tower2_y - delta_tower1_y, z2 - z1 };
  6521. // Get the Magnitude of vector.
  6522. float d = sqrt( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) );
  6523. // Create unit vector by dividing by magnitude.
  6524. float ex[3] = { p12[0] / d, p12[1] / d, p12[2] / d };
  6525. // Get the vector from the origin of the new system to the third point.
  6526. float p13[3] = { delta_tower3_x - delta_tower1_x, delta_tower3_y - delta_tower1_y, z3 - z1 };
  6527. // Use the dot product to find the component of this vector on the X axis.
  6528. float i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2];
  6529. // Create a vector along the x axis that represents the x component of p13.
  6530. float iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i };
  6531. // Subtract the X component from the original vector leaving only Y. We use the
  6532. // variable that will be the unit vector after we scale it.
  6533. float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] };
  6534. // The magnitude of Y component
  6535. float j = sqrt( sq(ey[0]) + sq(ey[1]) + sq(ey[2]) );
  6536. // Convert to a unit vector
  6537. ey[0] /= j; ey[1] /= j; ey[2] /= j;
  6538. // The cross product of the unit x and y is the unit z
  6539. // float[] ez = vectorCrossProd(ex, ey);
  6540. float ez[3] = {
  6541. ex[1] * ey[2] - ex[2] * ey[1],
  6542. ex[2] * ey[0] - ex[0] * ey[2],
  6543. ex[0] * ey[1] - ex[1] * ey[0]
  6544. };
  6545. // We now have the d, i and j values defined in Wikipedia.
  6546. // Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
  6547. float Xnew = (delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_2 + sq(d)) / (d * 2),
  6548. Ynew = ((delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_3 + HYPOT2(i, j)) / 2 - i * Xnew) / j,
  6549. Znew = sqrt(delta_diagonal_rod_2_tower_1 - HYPOT2(Xnew, Ynew));
  6550. // Start from the origin of the old coordinates and add vectors in the
  6551. // old coords that represent the Xnew, Ynew and Znew to find the point
  6552. // in the old system.
  6553. cartes[X_AXIS] = delta_tower1_x + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew;
  6554. cartes[Y_AXIS] = delta_tower1_y + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew;
  6555. cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
  6556. };
  6557. void forward_kinematics_DELTA(float point[ABC]) {
  6558. forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
  6559. }
  6560. #if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
  6561. // Adjust print surface height by linear interpolation over the bed_level array.
  6562. void adjust_delta(float cartesian[XYZ]) {
  6563. if (nonlinear_grid_spacing[X_AXIS] == 0 || nonlinear_grid_spacing[Y_AXIS] == 0) return; // G29 not done!
  6564. int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
  6565. float h1 = 0.001 - half, h2 = half - 0.001,
  6566. grid_x = max(h1, min(h2, RAW_X_POSITION(cartesian[X_AXIS]) / nonlinear_grid_spacing[X_AXIS])),
  6567. grid_y = max(h1, min(h2, RAW_Y_POSITION(cartesian[Y_AXIS]) / nonlinear_grid_spacing[Y_AXIS]));
  6568. int floor_x = floor(grid_x), floor_y = floor(grid_y);
  6569. float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y,
  6570. z1 = bed_level_grid[floor_x + half][floor_y + half],
  6571. z2 = bed_level_grid[floor_x + half][floor_y + half + 1],
  6572. z3 = bed_level_grid[floor_x + half + 1][floor_y + half],
  6573. z4 = bed_level_grid[floor_x + half + 1][floor_y + half + 1],
  6574. left = (1 - ratio_y) * z1 + ratio_y * z2,
  6575. right = (1 - ratio_y) * z3 + ratio_y * z4,
  6576. offset = (1 - ratio_x) * left + ratio_x * right;
  6577. delta[X_AXIS] += offset;
  6578. delta[Y_AXIS] += offset;
  6579. delta[Z_AXIS] += offset;
  6580. /**
  6581. SERIAL_ECHOPAIR("grid_x=", grid_x);
  6582. SERIAL_ECHOPAIR(" grid_y=", grid_y);
  6583. SERIAL_ECHOPAIR(" floor_x=", floor_x);
  6584. SERIAL_ECHOPAIR(" floor_y=", floor_y);
  6585. SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
  6586. SERIAL_ECHOPAIR(" ratio_y=", ratio_y);
  6587. SERIAL_ECHOPAIR(" z1=", z1);
  6588. SERIAL_ECHOPAIR(" z2=", z2);
  6589. SERIAL_ECHOPAIR(" z3=", z3);
  6590. SERIAL_ECHOPAIR(" z4=", z4);
  6591. SERIAL_ECHOPAIR(" left=", left);
  6592. SERIAL_ECHOPAIR(" right=", right);
  6593. SERIAL_ECHOLNPAIR(" offset=", offset);
  6594. */
  6595. }
  6596. #endif // AUTO_BED_LEVELING_NONLINEAR
  6597. #endif // DELTA
  6598. /**
  6599. * Get the stepper positions in the cartes[] array.
  6600. * Forward kinematics are applied for DELTA and SCARA.
  6601. *
  6602. * The result is in the current coordinate space with
  6603. * leveling applied. The coordinates need to be run through
  6604. * unapply_leveling to obtain the "ideal" coordinates
  6605. * suitable for current_position, etc.
  6606. */
  6607. void get_cartesian_from_steppers() {
  6608. #if ENABLED(DELTA)
  6609. forward_kinematics_DELTA(
  6610. stepper.get_axis_position_mm(A_AXIS),
  6611. stepper.get_axis_position_mm(B_AXIS),
  6612. stepper.get_axis_position_mm(C_AXIS)
  6613. );
  6614. #elif IS_SCARA
  6615. forward_kinematics_SCARA(
  6616. stepper.get_axis_position_degrees(A_AXIS),
  6617. stepper.get_axis_position_degrees(B_AXIS)
  6618. );
  6619. cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
  6620. #else
  6621. cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
  6622. cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
  6623. cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
  6624. #endif
  6625. }
  6626. /**
  6627. * Set the current_position for an axis based on
  6628. * the stepper positions, removing any leveling that
  6629. * may have been applied.
  6630. *
  6631. * << INCOMPLETE! Still needs to unapply leveling! >>
  6632. */
  6633. void set_current_from_steppers_for_axis(AxisEnum axis) {
  6634. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  6635. vector_3 pos = untilted_stepper_position();
  6636. current_position[axis] = axis == X_AXIS ? pos.x : axis == Y_AXIS ? pos.y : pos.z;
  6637. #elif IS_KINEMATIC
  6638. get_cartesian_from_steppers();
  6639. current_position[axis] = LOGICAL_POSITION(cartes[axis], axis);
  6640. #else
  6641. current_position[axis] = stepper.get_axis_position_mm(axis); // CORE handled transparently
  6642. #endif
  6643. }
  6644. #if ENABLED(MESH_BED_LEVELING)
  6645. /**
  6646. * Prepare a mesh-leveled linear move in a Cartesian setup,
  6647. * splitting the move where it crosses mesh borders.
  6648. */
  6649. void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
  6650. int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X_AXIS)),
  6651. cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y_AXIS)),
  6652. cx2 = mbl.cell_index_x(RAW_X_POSITION(destination[X_AXIS])),
  6653. cy2 = mbl.cell_index_y(RAW_Y_POSITION(destination[Y_AXIS]));
  6654. NOMORE(cx1, MESH_NUM_X_POINTS - 2);
  6655. NOMORE(cy1, MESH_NUM_Y_POINTS - 2);
  6656. NOMORE(cx2, MESH_NUM_X_POINTS - 2);
  6657. NOMORE(cy2, MESH_NUM_Y_POINTS - 2);
  6658. if (cx1 == cx2 && cy1 == cy2) {
  6659. // Start and end on same mesh square
  6660. line_to_destination(fr_mm_s);
  6661. set_current_to_destination();
  6662. return;
  6663. }
  6664. #define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
  6665. float normalized_dist, end[NUM_AXIS];
  6666. // Split at the left/front border of the right/top square
  6667. int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
  6668. if (cx2 != cx1 && TEST(x_splits, gcx)) {
  6669. memcpy(end, destination, sizeof(end));
  6670. destination[X_AXIS] = LOGICAL_X_POSITION(mbl.get_probe_x(gcx));
  6671. normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
  6672. destination[Y_AXIS] = MBL_SEGMENT_END(Y);
  6673. CBI(x_splits, gcx);
  6674. }
  6675. else if (cy2 != cy1 && TEST(y_splits, gcy)) {
  6676. memcpy(end, destination, sizeof(end));
  6677. destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.get_probe_y(gcy));
  6678. normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
  6679. destination[X_AXIS] = MBL_SEGMENT_END(X);
  6680. CBI(y_splits, gcy);
  6681. }
  6682. else {
  6683. // Already split on a border
  6684. line_to_destination(fr_mm_s);
  6685. set_current_to_destination();
  6686. return;
  6687. }
  6688. destination[Z_AXIS] = MBL_SEGMENT_END(Z);
  6689. destination[E_AXIS] = MBL_SEGMENT_END(E);
  6690. // Do the split and look for more borders
  6691. mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
  6692. // Restore destination from stack
  6693. memcpy(destination, end, sizeof(end));
  6694. mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
  6695. }
  6696. #endif // MESH_BED_LEVELING
  6697. #if IS_KINEMATIC
  6698. /**
  6699. * Prepare a linear move in a DELTA or SCARA setup.
  6700. *
  6701. * This calls planner.buffer_line several times, adding
  6702. * small incremental moves for DELTA or SCARA.
  6703. */
  6704. inline bool prepare_kinematic_move_to(float target[NUM_AXIS]) {
  6705. float difference[NUM_AXIS];
  6706. LOOP_XYZE(i) difference[i] = target[i] - current_position[i];
  6707. float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
  6708. if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
  6709. if (cartesian_mm < 0.000001) return false;
  6710. float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
  6711. float seconds = cartesian_mm / _feedrate_mm_s;
  6712. int steps = max(1, int(delta_segments_per_second * seconds));
  6713. float inv_steps = 1.0/steps;
  6714. // SERIAL_ECHOPAIR("mm=", cartesian_mm);
  6715. // SERIAL_ECHOPAIR(" seconds=", seconds);
  6716. // SERIAL_ECHOLNPAIR(" steps=", steps);
  6717. for (int s = 1; s <= steps; s++) {
  6718. float fraction = float(s) * inv_steps;
  6719. LOOP_XYZE(i)
  6720. target[i] = current_position[i] + difference[i] * fraction;
  6721. inverse_kinematics(target);
  6722. #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR)
  6723. if (!bed_leveling_in_progress) adjust_delta(target);
  6724. #endif
  6725. //DEBUG_POS("prepare_kinematic_move_to", target);
  6726. //DEBUG_POS("prepare_kinematic_move_to", delta);
  6727. planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], _feedrate_mm_s, active_extruder);
  6728. }
  6729. return true;
  6730. }
  6731. #else
  6732. /**
  6733. * Prepare a linear move in a Cartesian setup.
  6734. * If Mesh Bed Leveling is enabled, perform a mesh move.
  6735. */
  6736. inline bool prepare_move_to_destination_cartesian() {
  6737. // Do not use feedrate_percentage for E or Z only moves
  6738. if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
  6739. line_to_destination();
  6740. }
  6741. else {
  6742. #if ENABLED(MESH_BED_LEVELING)
  6743. if (mbl.active()) {
  6744. mesh_line_to_destination(MMS_SCALED(feedrate_mm_s));
  6745. return false;
  6746. }
  6747. else
  6748. #endif
  6749. line_to_destination(MMS_SCALED(feedrate_mm_s));
  6750. }
  6751. return true;
  6752. }
  6753. #endif // !IS_KINEMATIC
  6754. #if ENABLED(DUAL_X_CARRIAGE)
  6755. /**
  6756. * Prepare a linear move in a dual X axis setup
  6757. */
  6758. inline bool prepare_move_to_destination_dualx() {
  6759. if (active_extruder_parked) {
  6760. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
  6761. // move duplicate extruder into correct duplication position.
  6762. planner.set_position_mm(
  6763. LOGICAL_X_POSITION(inactive_extruder_x_pos),
  6764. current_position[Y_AXIS],
  6765. current_position[Z_AXIS],
  6766. current_position[E_AXIS]
  6767. );
  6768. planner.buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset,
  6769. current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[X_AXIS], 1);
  6770. SYNC_PLAN_POSITION_KINEMATIC();
  6771. stepper.synchronize();
  6772. extruder_duplication_enabled = true;
  6773. active_extruder_parked = false;
  6774. }
  6775. else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) { // handle unparking of head
  6776. if (current_position[E_AXIS] == destination[E_AXIS]) {
  6777. // This is a travel move (with no extrusion)
  6778. // Skip it, but keep track of the current position
  6779. // (so it can be used as the start of the next non-travel move)
  6780. if (delayed_move_time != 0xFFFFFFFFUL) {
  6781. set_current_to_destination();
  6782. NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
  6783. delayed_move_time = millis();
  6784. return false;
  6785. }
  6786. }
  6787. delayed_move_time = 0;
  6788. // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
  6789. planner.buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
  6790. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], PLANNER_XY_FEEDRATE(), active_extruder);
  6791. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
  6792. active_extruder_parked = false;
  6793. }
  6794. }
  6795. return true;
  6796. }
  6797. #endif // DUAL_X_CARRIAGE
  6798. /**
  6799. * Prepare a single move and get ready for the next one
  6800. *
  6801. * This may result in several calls to planner.buffer_line to
  6802. * do smaller moves for DELTA, SCARA, mesh moves, etc.
  6803. */
  6804. void prepare_move_to_destination() {
  6805. clamp_to_software_endstops(destination);
  6806. refresh_cmd_timeout();
  6807. #if ENABLED(PREVENT_COLD_EXTRUSION)
  6808. if (!DEBUGGING(DRYRUN)) {
  6809. if (destination[E_AXIS] != current_position[E_AXIS]) {
  6810. if (thermalManager.tooColdToExtrude(active_extruder)) {
  6811. current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
  6812. SERIAL_ECHO_START;
  6813. SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
  6814. }
  6815. #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
  6816. if (labs(destination[E_AXIS] - current_position[E_AXIS]) > EXTRUDE_MAXLENGTH) {
  6817. current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
  6818. SERIAL_ECHO_START;
  6819. SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
  6820. }
  6821. #endif
  6822. }
  6823. }
  6824. #endif
  6825. #if IS_KINEMATIC
  6826. if (!prepare_kinematic_move_to(destination)) return;
  6827. #else
  6828. #if ENABLED(DUAL_X_CARRIAGE)
  6829. if (!prepare_move_to_destination_dualx()) return;
  6830. #endif
  6831. if (!prepare_move_to_destination_cartesian()) return;
  6832. #endif
  6833. set_current_to_destination();
  6834. }
  6835. #if ENABLED(ARC_SUPPORT)
  6836. /**
  6837. * Plan an arc in 2 dimensions
  6838. *
  6839. * The arc is approximated by generating many small linear segments.
  6840. * The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
  6841. * Arcs should only be made relatively large (over 5mm), as larger arcs with
  6842. * larger segments will tend to be more efficient. Your slicer should have
  6843. * options for G2/G3 arc generation. In future these options may be GCode tunable.
  6844. */
  6845. void plan_arc(
  6846. float target[NUM_AXIS], // Destination position
  6847. float* offset, // Center of rotation relative to current_position
  6848. uint8_t clockwise // Clockwise?
  6849. ) {
  6850. float radius = HYPOT(offset[X_AXIS], offset[Y_AXIS]),
  6851. center_X = current_position[X_AXIS] + offset[X_AXIS],
  6852. center_Y = current_position[Y_AXIS] + offset[Y_AXIS],
  6853. linear_travel = target[Z_AXIS] - current_position[Z_AXIS],
  6854. extruder_travel = target[E_AXIS] - current_position[E_AXIS],
  6855. r_X = -offset[X_AXIS], // Radius vector from center to current location
  6856. r_Y = -offset[Y_AXIS],
  6857. rt_X = target[X_AXIS] - center_X,
  6858. rt_Y = target[Y_AXIS] - center_Y;
  6859. // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
  6860. float angular_travel = atan2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y);
  6861. if (angular_travel < 0) angular_travel += RADIANS(360);
  6862. if (clockwise) angular_travel -= RADIANS(360);
  6863. // Make a circle if the angular rotation is 0
  6864. if (angular_travel == 0 && current_position[X_AXIS] == target[X_AXIS] && current_position[Y_AXIS] == target[Y_AXIS])
  6865. angular_travel += RADIANS(360);
  6866. float mm_of_travel = HYPOT(angular_travel * radius, fabs(linear_travel));
  6867. if (mm_of_travel < 0.001) return;
  6868. uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT));
  6869. if (segments == 0) segments = 1;
  6870. float theta_per_segment = angular_travel / segments;
  6871. float linear_per_segment = linear_travel / segments;
  6872. float extruder_per_segment = extruder_travel / segments;
  6873. /**
  6874. * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
  6875. * and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
  6876. * r_T = [cos(phi) -sin(phi);
  6877. * sin(phi) cos(phi] * r ;
  6878. *
  6879. * For arc generation, the center of the circle is the axis of rotation and the radius vector is
  6880. * defined from the circle center to the initial position. Each line segment is formed by successive
  6881. * vector rotations. This requires only two cos() and sin() computations to form the rotation
  6882. * matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
  6883. * all double numbers are single precision on the Arduino. (True double precision will not have
  6884. * round off issues for CNC applications.) Single precision error can accumulate to be greater than
  6885. * tool precision in some cases. Therefore, arc path correction is implemented.
  6886. *
  6887. * Small angle approximation may be used to reduce computation overhead further. This approximation
  6888. * holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
  6889. * theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
  6890. * to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
  6891. * numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
  6892. * issue for CNC machines with the single precision Arduino calculations.
  6893. *
  6894. * This approximation also allows plan_arc to immediately insert a line segment into the planner
  6895. * without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
  6896. * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
  6897. * This is important when there are successive arc motions.
  6898. */
  6899. // Vector rotation matrix values
  6900. float cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
  6901. float sin_T = theta_per_segment;
  6902. float arc_target[NUM_AXIS];
  6903. float sin_Ti, cos_Ti, r_new_Y;
  6904. uint16_t i;
  6905. int8_t count = 0;
  6906. // Initialize the linear axis
  6907. arc_target[Z_AXIS] = current_position[Z_AXIS];
  6908. // Initialize the extruder axis
  6909. arc_target[E_AXIS] = current_position[E_AXIS];
  6910. float fr_mm_s = MMS_SCALED(feedrate_mm_s);
  6911. millis_t next_idle_ms = millis() + 200UL;
  6912. for (i = 1; i < segments; i++) { // Iterate (segments-1) times
  6913. thermalManager.manage_heater();
  6914. millis_t now = millis();
  6915. if (ELAPSED(now, next_idle_ms)) {
  6916. next_idle_ms = now + 200UL;
  6917. idle();
  6918. }
  6919. if (++count < N_ARC_CORRECTION) {
  6920. // Apply vector rotation matrix to previous r_X / 1
  6921. r_new_Y = r_X * sin_T + r_Y * cos_T;
  6922. r_X = r_X * cos_T - r_Y * sin_T;
  6923. r_Y = r_new_Y;
  6924. }
  6925. else {
  6926. // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
  6927. // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
  6928. // To reduce stuttering, the sin and cos could be computed at different times.
  6929. // For now, compute both at the same time.
  6930. cos_Ti = cos(i * theta_per_segment);
  6931. sin_Ti = sin(i * theta_per_segment);
  6932. r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti;
  6933. r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti;
  6934. count = 0;
  6935. }
  6936. // Update arc_target location
  6937. arc_target[X_AXIS] = center_X + r_X;
  6938. arc_target[Y_AXIS] = center_Y + r_Y;
  6939. arc_target[Z_AXIS] += linear_per_segment;
  6940. arc_target[E_AXIS] += extruder_per_segment;
  6941. clamp_to_software_endstops(arc_target);
  6942. #if IS_KINEMATIC
  6943. inverse_kinematics(arc_target);
  6944. #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR)
  6945. adjust_delta(arc_target);
  6946. #endif
  6947. planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
  6948. #else
  6949. planner.buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
  6950. #endif
  6951. }
  6952. // Ensure last segment arrives at target location.
  6953. #if IS_KINEMATIC
  6954. inverse_kinematics(target);
  6955. #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR)
  6956. adjust_delta(target);
  6957. #endif
  6958. planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr_mm_s, active_extruder);
  6959. #else
  6960. planner.buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr_mm_s, active_extruder);
  6961. #endif
  6962. // As far as the parser is concerned, the position is now == target. In reality the
  6963. // motion control system might still be processing the action and the real tool position
  6964. // in any intermediate location.
  6965. set_current_to_destination();
  6966. }
  6967. #endif
  6968. #if ENABLED(BEZIER_CURVE_SUPPORT)
  6969. void plan_cubic_move(const float offset[4]) {
  6970. cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
  6971. // As far as the parser is concerned, the position is now == target. In reality the
  6972. // motion control system might still be processing the action and the real tool position
  6973. // in any intermediate location.
  6974. set_current_to_destination();
  6975. }
  6976. #endif // BEZIER_CURVE_SUPPORT
  6977. #if HAS_CONTROLLERFAN
  6978. void controllerFan() {
  6979. static millis_t lastMotorOn = 0; // Last time a motor was turned on
  6980. static millis_t nextMotorCheck = 0; // Last time the state was checked
  6981. millis_t ms = millis();
  6982. if (ELAPSED(ms, nextMotorCheck)) {
  6983. nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s
  6984. if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || thermalManager.soft_pwm_bed > 0
  6985. || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
  6986. #if E_STEPPERS > 1
  6987. || E1_ENABLE_READ == E_ENABLE_ON
  6988. #if HAS_X2_ENABLE
  6989. || X2_ENABLE_READ == X_ENABLE_ON
  6990. #endif
  6991. #if E_STEPPERS > 2
  6992. || E2_ENABLE_READ == E_ENABLE_ON
  6993. #if E_STEPPERS > 3
  6994. || E3_ENABLE_READ == E_ENABLE_ON
  6995. #endif
  6996. #endif
  6997. #endif
  6998. ) {
  6999. lastMotorOn = ms; //... set time to NOW so the fan will turn on
  7000. }
  7001. // Fan off if no steppers have been enabled for CONTROLLERFAN_SECS seconds
  7002. uint8_t speed = (!lastMotorOn || ELAPSED(ms, lastMotorOn + (CONTROLLERFAN_SECS) * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
  7003. // allows digital or PWM fan output to be used (see M42 handling)
  7004. digitalWrite(CONTROLLERFAN_PIN, speed);
  7005. analogWrite(CONTROLLERFAN_PIN, speed);
  7006. }
  7007. }
  7008. #endif // HAS_CONTROLLERFAN
  7009. #if IS_SCARA
  7010. void forward_kinematics_SCARA(const float &a, const float &b) {
  7011. // Perform forward kinematics, and place results in cartes[]
  7012. // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
  7013. float a_sin, a_cos, b_sin, b_cos;
  7014. a_sin = sin(RADIANS(a)) * L1;
  7015. a_cos = cos(RADIANS(a)) * L1;
  7016. b_sin = sin(RADIANS(b)) * L2;
  7017. b_cos = cos(RADIANS(b)) * L2;
  7018. cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta
  7019. cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
  7020. /*
  7021. SERIAL_ECHOPAIR("f_delta x=", a);
  7022. SERIAL_ECHOPAIR(" y=", b);
  7023. SERIAL_ECHOPAIR(" a_sin=", a_sin);
  7024. SERIAL_ECHOPAIR(" a_cos=", a_cos);
  7025. SERIAL_ECHOPAIR(" b_sin=", b_sin);
  7026. SERIAL_ECHOLNPAIR(" b_cos=", b_cos);
  7027. SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]);
  7028. SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]);
  7029. //*/
  7030. }
  7031. void inverse_kinematics(const float cartesian[XYZ]) {
  7032. // Inverse kinematics.
  7033. // Perform SCARA IK and place results in delta[].
  7034. // The maths and first version were done by QHARLEY.
  7035. // Integrated, tweaked by Joachim Cerny in June 2014.
  7036. static float C2, S2, SK1, SK2, THETA, PSI;
  7037. float sx = RAW_X_POSITION(cartesian[X_AXIS]) * axis_scaling[X_AXIS] - SCARA_OFFSET_X, //Translate SCARA to standard X Y
  7038. sy = RAW_Y_POSITION(cartesian[Y_AXIS]) * axis_scaling[Y_AXIS] - SCARA_OFFSET_Y; // With scaling factor.
  7039. #if (L1 == L2)
  7040. C2 = HYPOT2(sx, sy) / (2 * L1_2) - 1;
  7041. #else
  7042. C2 = (HYPOT2(sx, sy) - L1_2 - L2_2) / 45000;
  7043. #endif
  7044. S2 = sqrt(1 - sq(C2));
  7045. SK1 = L1 + L2 * C2;
  7046. SK2 = L2 * S2;
  7047. THETA = (atan2(sx, sy) - atan2(SK1, SK2)) * -1;
  7048. PSI = atan2(S2, C2);
  7049. delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
  7050. delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
  7051. delta[Z_AXIS] = cartesian[Z_AXIS];
  7052. /**
  7053. DEBUG_POS("SCARA IK", cartesian);
  7054. DEBUG_POS("SCARA IK", delta);
  7055. SERIAL_ECHOPAIR(" SCARA (x,y) ", sx);
  7056. SERIAL_ECHOPAIR(",", sy);
  7057. SERIAL_ECHOPAIR(" C2=", C2);
  7058. SERIAL_ECHOPAIR(" S2=", S2);
  7059. SERIAL_ECHOPAIR(" Theta=", THETA);
  7060. SERIAL_ECHOLNPAIR(" Phi=", PHI);
  7061. //*/
  7062. }
  7063. #endif // IS_SCARA
  7064. #if ENABLED(TEMP_STAT_LEDS)
  7065. static bool red_led = false;
  7066. static millis_t next_status_led_update_ms = 0;
  7067. void handle_status_leds(void) {
  7068. if (ELAPSED(millis(), next_status_led_update_ms)) {
  7069. next_status_led_update_ms += 500; // Update every 0.5s
  7070. float max_temp = 0.0;
  7071. #if HAS_TEMP_BED
  7072. max_temp = MAX3(max_temp, thermalManager.degTargetBed(), thermalManager.degBed());
  7073. #endif
  7074. HOTEND_LOOP() {
  7075. max_temp = MAX3(max_temp, thermalManager.degHotend(e), thermalManager.degTargetHotend(e));
  7076. }
  7077. bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
  7078. if (new_led != red_led) {
  7079. red_led = new_led;
  7080. digitalWrite(STAT_LED_RED, new_led ? HIGH : LOW);
  7081. digitalWrite(STAT_LED_BLUE, new_led ? LOW : HIGH);
  7082. }
  7083. }
  7084. }
  7085. #endif
  7086. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  7087. void handle_filament_runout() {
  7088. if (!filament_ran_out) {
  7089. filament_ran_out = true;
  7090. enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
  7091. stepper.synchronize();
  7092. }
  7093. }
  7094. #endif // FILAMENT_RUNOUT_SENSOR
  7095. #if ENABLED(FAST_PWM_FAN)
  7096. void setPwmFrequency(uint8_t pin, int val) {
  7097. val &= 0x07;
  7098. switch (digitalPinToTimer(pin)) {
  7099. #if defined(TCCR0A)
  7100. case TIMER0A:
  7101. case TIMER0B:
  7102. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  7103. // TCCR0B |= val;
  7104. break;
  7105. #endif
  7106. #if defined(TCCR1A)
  7107. case TIMER1A:
  7108. case TIMER1B:
  7109. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  7110. // TCCR1B |= val;
  7111. break;
  7112. #endif
  7113. #if defined(TCCR2)
  7114. case TIMER2:
  7115. case TIMER2:
  7116. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  7117. TCCR2 |= val;
  7118. break;
  7119. #endif
  7120. #if defined(TCCR2A)
  7121. case TIMER2A:
  7122. case TIMER2B:
  7123. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  7124. TCCR2B |= val;
  7125. break;
  7126. #endif
  7127. #if defined(TCCR3A)
  7128. case TIMER3A:
  7129. case TIMER3B:
  7130. case TIMER3C:
  7131. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  7132. TCCR3B |= val;
  7133. break;
  7134. #endif
  7135. #if defined(TCCR4A)
  7136. case TIMER4A:
  7137. case TIMER4B:
  7138. case TIMER4C:
  7139. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  7140. TCCR4B |= val;
  7141. break;
  7142. #endif
  7143. #if defined(TCCR5A)
  7144. case TIMER5A:
  7145. case TIMER5B:
  7146. case TIMER5C:
  7147. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  7148. TCCR5B |= val;
  7149. break;
  7150. #endif
  7151. }
  7152. }
  7153. #endif // FAST_PWM_FAN
  7154. float calculate_volumetric_multiplier(float diameter) {
  7155. if (!volumetric_enabled || diameter == 0) return 1.0;
  7156. float d2 = diameter * 0.5;
  7157. return 1.0 / (M_PI * d2 * d2);
  7158. }
  7159. void calculate_volumetric_multipliers() {
  7160. for (uint8_t i = 0; i < COUNT(filament_size); i++)
  7161. volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
  7162. }
  7163. void enable_all_steppers() {
  7164. enable_x();
  7165. enable_y();
  7166. enable_z();
  7167. enable_e0();
  7168. enable_e1();
  7169. enable_e2();
  7170. enable_e3();
  7171. }
  7172. void disable_all_steppers() {
  7173. disable_x();
  7174. disable_y();
  7175. disable_z();
  7176. disable_e0();
  7177. disable_e1();
  7178. disable_e2();
  7179. disable_e3();
  7180. }
  7181. /**
  7182. * Manage several activities:
  7183. * - Check for Filament Runout
  7184. * - Keep the command buffer full
  7185. * - Check for maximum inactive time between commands
  7186. * - Check for maximum inactive time between stepper commands
  7187. * - Check if pin CHDK needs to go LOW
  7188. * - Check for KILL button held down
  7189. * - Check for HOME button held down
  7190. * - Check if cooling fan needs to be switched on
  7191. * - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
  7192. */
  7193. void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
  7194. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  7195. if ((IS_SD_PRINTING || print_job_timer.isRunning()) && !(READ(FIL_RUNOUT_PIN) ^ FIL_RUNOUT_INVERTING))
  7196. handle_filament_runout();
  7197. #endif
  7198. if (commands_in_queue < BUFSIZE) get_available_commands();
  7199. millis_t ms = millis();
  7200. if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) kill(PSTR(MSG_KILLED));
  7201. if (stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
  7202. && !ignore_stepper_queue && !planner.blocks_queued()) {
  7203. #if ENABLED(DISABLE_INACTIVE_X)
  7204. disable_x();
  7205. #endif
  7206. #if ENABLED(DISABLE_INACTIVE_Y)
  7207. disable_y();
  7208. #endif
  7209. #if ENABLED(DISABLE_INACTIVE_Z)
  7210. disable_z();
  7211. #endif
  7212. #if ENABLED(DISABLE_INACTIVE_E)
  7213. disable_e0();
  7214. disable_e1();
  7215. disable_e2();
  7216. disable_e3();
  7217. #endif
  7218. }
  7219. #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
  7220. if (chdkActive && PENDING(ms, chdkHigh + CHDK_DELAY)) {
  7221. chdkActive = false;
  7222. WRITE(CHDK, LOW);
  7223. }
  7224. #endif
  7225. #if HAS_KILL
  7226. // Check if the kill button was pressed and wait just in case it was an accidental
  7227. // key kill key press
  7228. // -------------------------------------------------------------------------------
  7229. static int killCount = 0; // make the inactivity button a bit less responsive
  7230. const int KILL_DELAY = 750;
  7231. if (!READ(KILL_PIN))
  7232. killCount++;
  7233. else if (killCount > 0)
  7234. killCount--;
  7235. // Exceeded threshold and we can confirm that it was not accidental
  7236. // KILL the machine
  7237. // ----------------------------------------------------------------
  7238. if (killCount >= KILL_DELAY) kill(PSTR(MSG_KILLED));
  7239. #endif
  7240. #if HAS_HOME
  7241. // Check to see if we have to home, use poor man's debouncer
  7242. // ---------------------------------------------------------
  7243. static int homeDebounceCount = 0; // poor man's debouncing count
  7244. const int HOME_DEBOUNCE_DELAY = 2500;
  7245. if (!READ(HOME_PIN)) {
  7246. if (!homeDebounceCount) {
  7247. enqueue_and_echo_commands_P(PSTR("G28"));
  7248. LCD_MESSAGEPGM(MSG_AUTO_HOME);
  7249. }
  7250. if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
  7251. homeDebounceCount++;
  7252. else
  7253. homeDebounceCount = 0;
  7254. }
  7255. #endif
  7256. #if HAS_CONTROLLERFAN
  7257. controllerFan(); // Check if fan should be turned on to cool stepper drivers down
  7258. #endif
  7259. #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
  7260. if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
  7261. && thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
  7262. bool oldstatus;
  7263. #if ENABLED(SWITCHING_EXTRUDER)
  7264. oldstatus = E0_ENABLE_READ;
  7265. enable_e0();
  7266. #else // !SWITCHING_EXTRUDER
  7267. switch (active_extruder) {
  7268. case 0:
  7269. oldstatus = E0_ENABLE_READ;
  7270. enable_e0();
  7271. break;
  7272. #if E_STEPPERS > 1
  7273. case 1:
  7274. oldstatus = E1_ENABLE_READ;
  7275. enable_e1();
  7276. break;
  7277. #if E_STEPPERS > 2
  7278. case 2:
  7279. oldstatus = E2_ENABLE_READ;
  7280. enable_e2();
  7281. break;
  7282. #if E_STEPPERS > 3
  7283. case 3:
  7284. oldstatus = E3_ENABLE_READ;
  7285. enable_e3();
  7286. break;
  7287. #endif
  7288. #endif
  7289. #endif
  7290. }
  7291. #endif // !SWITCHING_EXTRUDER
  7292. previous_cmd_ms = ms; // refresh_cmd_timeout()
  7293. planner.buffer_line(
  7294. current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
  7295. current_position[E_AXIS] + EXTRUDER_RUNOUT_EXTRUDE,
  7296. MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder
  7297. );
  7298. stepper.synchronize();
  7299. planner.set_e_position_mm(current_position[E_AXIS]);
  7300. #if ENABLED(SWITCHING_EXTRUDER)
  7301. E0_ENABLE_WRITE(oldstatus);
  7302. #else
  7303. switch (active_extruder) {
  7304. case 0:
  7305. E0_ENABLE_WRITE(oldstatus);
  7306. break;
  7307. #if E_STEPPERS > 1
  7308. case 1:
  7309. E1_ENABLE_WRITE(oldstatus);
  7310. break;
  7311. #if E_STEPPERS > 2
  7312. case 2:
  7313. E2_ENABLE_WRITE(oldstatus);
  7314. break;
  7315. #if E_STEPPERS > 3
  7316. case 3:
  7317. E3_ENABLE_WRITE(oldstatus);
  7318. break;
  7319. #endif
  7320. #endif
  7321. #endif
  7322. }
  7323. #endif // !SWITCHING_EXTRUDER
  7324. }
  7325. #endif // EXTRUDER_RUNOUT_PREVENT
  7326. #if ENABLED(DUAL_X_CARRIAGE)
  7327. // handle delayed move timeout
  7328. if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
  7329. // travel moves have been received so enact them
  7330. delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
  7331. set_destination_to_current();
  7332. prepare_move_to_destination();
  7333. }
  7334. #endif
  7335. #if ENABLED(TEMP_STAT_LEDS)
  7336. handle_status_leds();
  7337. #endif
  7338. planner.check_axes_activity();
  7339. }
  7340. /**
  7341. * Standard idle routine keeps the machine alive
  7342. */
  7343. void idle(
  7344. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  7345. bool no_stepper_sleep/*=false*/
  7346. #endif
  7347. ) {
  7348. lcd_update();
  7349. host_keepalive();
  7350. manage_inactivity(
  7351. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  7352. no_stepper_sleep
  7353. #endif
  7354. );
  7355. thermalManager.manage_heater();
  7356. #if ENABLED(PRINTCOUNTER)
  7357. print_job_timer.tick();
  7358. #endif
  7359. #if HAS_BUZZER && PIN_EXISTS(BEEPER)
  7360. buzzer.tick();
  7361. #endif
  7362. }
  7363. /**
  7364. * Kill all activity and lock the machine.
  7365. * After this the machine will need to be reset.
  7366. */
  7367. void kill(const char* lcd_msg) {
  7368. SERIAL_ERROR_START;
  7369. SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
  7370. #if ENABLED(ULTRA_LCD)
  7371. kill_screen(lcd_msg);
  7372. #else
  7373. UNUSED(lcd_msg);
  7374. #endif
  7375. delay(500); // Wait a short time
  7376. cli(); // Stop interrupts
  7377. thermalManager.disable_all_heaters();
  7378. disable_all_steppers();
  7379. #if HAS_POWER_SWITCH
  7380. pinMode(PS_ON_PIN, INPUT);
  7381. #endif
  7382. suicide();
  7383. while (1) {
  7384. #if ENABLED(USE_WATCHDOG)
  7385. watchdog_reset();
  7386. #endif
  7387. } // Wait for reset
  7388. }
  7389. /**
  7390. * Turn off heaters and stop the print in progress
  7391. * After a stop the machine may be resumed with M999
  7392. */
  7393. void stop() {
  7394. thermalManager.disable_all_heaters();
  7395. if (IsRunning()) {
  7396. Running = false;
  7397. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  7398. SERIAL_ERROR_START;
  7399. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  7400. LCD_MESSAGEPGM(MSG_STOPPED);
  7401. }
  7402. }
  7403. /**
  7404. * Marlin entry-point: Set up before the program loop
  7405. * - Set up the kill pin, filament runout, power hold
  7406. * - Start the serial port
  7407. * - Print startup messages and diagnostics
  7408. * - Get EEPROM or default settings
  7409. * - Initialize managers for:
  7410. * • temperature
  7411. * • planner
  7412. * • watchdog
  7413. * • stepper
  7414. * • photo pin
  7415. * • servos
  7416. * • LCD controller
  7417. * • Digipot I2C
  7418. * • Z probe sled
  7419. * • status LEDs
  7420. */
  7421. void setup() {
  7422. #ifdef DISABLE_JTAG
  7423. // Disable JTAG on AT90USB chips to free up pins for IO
  7424. MCUCR = 0x80;
  7425. MCUCR = 0x80;
  7426. #endif
  7427. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  7428. setup_filrunoutpin();
  7429. #endif
  7430. setup_killpin();
  7431. setup_powerhold();
  7432. #if HAS_STEPPER_RESET
  7433. disableStepperDrivers();
  7434. #endif
  7435. MYSERIAL.begin(BAUDRATE);
  7436. SERIAL_PROTOCOLLNPGM("start");
  7437. SERIAL_ECHO_START;
  7438. // Check startup - does nothing if bootloader sets MCUSR to 0
  7439. byte mcu = MCUSR;
  7440. if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
  7441. if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
  7442. if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
  7443. if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
  7444. if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
  7445. MCUSR = 0;
  7446. SERIAL_ECHOPGM(MSG_MARLIN);
  7447. SERIAL_CHAR(' ');
  7448. SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION);
  7449. SERIAL_EOL;
  7450. #if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
  7451. SERIAL_ECHO_START;
  7452. SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
  7453. SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
  7454. SERIAL_ECHOLNPGM(MSG_AUTHOR STRING_CONFIG_H_AUTHOR);
  7455. SERIAL_ECHOLNPGM("Compiled: " __DATE__);
  7456. #endif
  7457. SERIAL_ECHO_START;
  7458. SERIAL_ECHOPAIR(MSG_FREE_MEMORY, freeMemory());
  7459. SERIAL_ECHOLNPAIR(MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  7460. // Send "ok" after commands by default
  7461. for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
  7462. // Load data from EEPROM if available (or use defaults)
  7463. // This also updates variables in the planner, elsewhere
  7464. Config_RetrieveSettings();
  7465. // Initialize current position based on home_offset
  7466. memcpy(current_position, home_offset, sizeof(home_offset));
  7467. // Vital to init stepper/planner equivalent for current_position
  7468. SYNC_PLAN_POSITION_KINEMATIC();
  7469. thermalManager.init(); // Initialize temperature loop
  7470. #if ENABLED(USE_WATCHDOG)
  7471. watchdog_init();
  7472. #endif
  7473. stepper.init(); // Initialize stepper, this enables interrupts!
  7474. setup_photpin();
  7475. servo_init();
  7476. #if HAS_BED_PROBE
  7477. endstops.enable_z_probe(false);
  7478. #endif
  7479. #if HAS_CONTROLLERFAN
  7480. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  7481. #endif
  7482. #if HAS_STEPPER_RESET
  7483. enableStepperDrivers();
  7484. #endif
  7485. #if ENABLED(DIGIPOT_I2C)
  7486. digipot_i2c_init();
  7487. #endif
  7488. #if ENABLED(DAC_STEPPER_CURRENT)
  7489. dac_init();
  7490. #endif
  7491. #if ENABLED(Z_PROBE_SLED) && PIN_EXISTS(SLED)
  7492. pinMode(SLED_PIN, OUTPUT);
  7493. digitalWrite(SLED_PIN, LOW); // turn it off
  7494. #endif // Z_PROBE_SLED
  7495. setup_homepin();
  7496. #ifdef STAT_LED_RED
  7497. pinMode(STAT_LED_RED, OUTPUT);
  7498. digitalWrite(STAT_LED_RED, LOW); // turn it off
  7499. #endif
  7500. #ifdef STAT_LED_BLUE
  7501. pinMode(STAT_LED_BLUE, OUTPUT);
  7502. digitalWrite(STAT_LED_BLUE, LOW); // turn it off
  7503. #endif
  7504. lcd_init();
  7505. #if ENABLED(SHOW_BOOTSCREEN)
  7506. #if ENABLED(DOGLCD)
  7507. safe_delay(BOOTSCREEN_TIMEOUT);
  7508. #elif ENABLED(ULTRA_LCD)
  7509. bootscreen();
  7510. lcd_init();
  7511. #endif
  7512. #endif
  7513. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  7514. // Initialize mixing to 100% color 1
  7515. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  7516. mixing_factor[i] = (i == 0) ? 1 : 0;
  7517. for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
  7518. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  7519. mixing_virtual_tool_mix[t][i] = mixing_factor[i];
  7520. #endif
  7521. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  7522. i2c.onReceive(i2c_on_receive);
  7523. i2c.onRequest(i2c_on_request);
  7524. #endif
  7525. }
  7526. /**
  7527. * The main Marlin program loop
  7528. *
  7529. * - Save or log commands to SD
  7530. * - Process available commands (if not saving)
  7531. * - Call heater manager
  7532. * - Call inactivity manager
  7533. * - Call endstop manager
  7534. * - Call LCD update
  7535. */
  7536. void loop() {
  7537. if (commands_in_queue < BUFSIZE) get_available_commands();
  7538. #if ENABLED(SDSUPPORT)
  7539. card.checkautostart(false);
  7540. #endif
  7541. if (commands_in_queue) {
  7542. #if ENABLED(SDSUPPORT)
  7543. if (card.saving) {
  7544. char* command = command_queue[cmd_queue_index_r];
  7545. if (strstr_P(command, PSTR("M29"))) {
  7546. // M29 closes the file
  7547. card.closefile();
  7548. SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
  7549. ok_to_send();
  7550. }
  7551. else {
  7552. // Write the string from the read buffer to SD
  7553. card.write_command(command);
  7554. if (card.logging)
  7555. process_next_command(); // The card is saving because it's logging
  7556. else
  7557. ok_to_send();
  7558. }
  7559. }
  7560. else
  7561. process_next_command();
  7562. #else
  7563. process_next_command();
  7564. #endif // SDSUPPORT
  7565. // The queue may be reset by a command handler or by code invoked by idle() within a handler
  7566. if (commands_in_queue) {
  7567. --commands_in_queue;
  7568. cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
  7569. }
  7570. }
  7571. endstops.report_state();
  7572. idle();
  7573. }