My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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Marlin_main.cpp 187KB

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  1. /* -*- c++ -*- */
  2. /*
  3. Reprap firmware based on Sprinter and grbl.
  4. Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  5. This program is free software: you can redistribute it and/or modify
  6. it under the terms of the GNU General Public License as published by
  7. the Free Software Foundation, either version 3 of the License, or
  8. (at your option) any later version.
  9. This program is distributed in the hope that it will be useful,
  10. but WITHOUT ANY WARRANTY; without even the implied warranty of
  11. MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  12. GNU General Public License for more details.
  13. You should have received a copy of the GNU General Public License
  14. along with this program. If not, see <http://www.gnu.org/licenses/>.
  15. */
  16. /*
  17. This firmware is a mashup between Sprinter and grbl.
  18. (https://github.com/kliment/Sprinter)
  19. (https://github.com/simen/grbl/tree)
  20. It has preliminary support for Matthew Roberts advance algorithm
  21. http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  22. */
  23. #include "Marlin.h"
  24. #ifdef ENABLE_AUTO_BED_LEVELING
  25. #include "vector_3.h"
  26. #ifdef AUTO_BED_LEVELING_GRID
  27. #include "qr_solve.h"
  28. #endif
  29. #endif // ENABLE_AUTO_BED_LEVELING
  30. #define SERVO_LEVELING defined(ENABLE_AUTO_BED_LEVELING) && PROBE_SERVO_DEACTIVATION_DELAY > 0
  31. #if defined(MESH_BED_LEVELING)
  32. #include "mesh_bed_leveling.h"
  33. #endif // MESH_BED_LEVELING
  34. #include "ultralcd.h"
  35. #include "planner.h"
  36. #include "stepper.h"
  37. #include "temperature.h"
  38. #include "motion_control.h"
  39. #include "cardreader.h"
  40. #include "watchdog.h"
  41. #include "ConfigurationStore.h"
  42. #include "language.h"
  43. #include "pins_arduino.h"
  44. #include "math.h"
  45. #ifdef BLINKM
  46. #include "BlinkM.h"
  47. #include "Wire.h"
  48. #endif
  49. #if NUM_SERVOS > 0
  50. #include "Servo.h"
  51. #endif
  52. #if HAS_DIGIPOTSS
  53. #include <SPI.h>
  54. #endif
  55. // look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
  56. // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  57. //Implemented Codes
  58. //-------------------
  59. // G0 -> G1
  60. // G1 - Coordinated Movement X Y Z E
  61. // G2 - CW ARC
  62. // G3 - CCW ARC
  63. // G4 - Dwell S<seconds> or P<milliseconds>
  64. // G10 - retract filament according to settings of M207
  65. // G11 - retract recover filament according to settings of M208
  66. // G28 - Home all Axis
  67. // G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  68. // G30 - Single Z Probe, probes bed at current XY location.
  69. // G31 - Dock sled (Z_PROBE_SLED only)
  70. // G32 - Undock sled (Z_PROBE_SLED only)
  71. // G90 - Use Absolute Coordinates
  72. // G91 - Use Relative Coordinates
  73. // G92 - Set current position to coordinates given
  74. // M Codes
  75. // M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
  76. // M1 - Same as M0
  77. // M17 - Enable/Power all stepper motors
  78. // M18 - Disable all stepper motors; same as M84
  79. // M20 - List SD card
  80. // M21 - Init SD card
  81. // M22 - Release SD card
  82. // M23 - Select SD file (M23 filename.g)
  83. // M24 - Start/resume SD print
  84. // M25 - Pause SD print
  85. // M26 - Set SD position in bytes (M26 S12345)
  86. // M27 - Report SD print status
  87. // M28 - Start SD write (M28 filename.g)
  88. // M29 - Stop SD write
  89. // M30 - Delete file from SD (M30 filename.g)
  90. // M31 - Output time since last M109 or SD card start to serial
  91. // M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  92. // syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  93. // Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  94. // The '#' is necessary when calling from within sd files, as it stops buffer prereading
  95. // 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.
  96. // M80 - Turn on Power Supply
  97. // M81 - Turn off Power Supply
  98. // M82 - Set E codes absolute (default)
  99. // M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  100. // M84 - Disable steppers until next move,
  101. // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  102. // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  103. // M92 - Set axis_steps_per_unit - same syntax as G92
  104. // M104 - Set extruder target temp
  105. // M105 - Read current temp
  106. // M106 - Fan on
  107. // M107 - Fan off
  108. // M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  109. // Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  110. // IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  111. // M112 - Emergency stop
  112. // M114 - Output current position to serial port
  113. // M115 - Capabilities string
  114. // M117 - display message
  115. // M119 - Output Endstop status to serial port
  116. // M120 - Enable endstop detection
  117. // M121 - Disable endstop detection
  118. // M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  119. // M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  120. // M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  121. // M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  122. // M140 - Set bed target temp
  123. // 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.
  124. // M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  125. // Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  126. // M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  127. // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  128. // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  129. // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  130. // M204 - Set default acceleration: P for Printing moves, R for Retract only (no X, Y, Z) moves and T for Travel (non printing) moves (ex. M204 P800 T3000 R9000) in mm/sec^2
  131. // M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
  132. // M206 - Set additional homing offset
  133. // M207 - Set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
  134. // M208 - Set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
  135. // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
  136. // M218 - Set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  137. // M220 S<factor in percent>- set speed factor override percentage
  138. // M221 S<factor in percent>- set extrude factor override percentage
  139. // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  140. // M240 - Trigger a camera to take a photograph
  141. // M250 - Set LCD contrast C<contrast value> (value 0..63)
  142. // M280 - Set servo position absolute. P: servo index, S: angle or microseconds
  143. // M300 - Play beep sound S<frequency Hz> P<duration ms>
  144. // M301 - Set PID parameters P I and D
  145. // M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  146. // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  147. // M304 - Set bed PID parameters P I and D
  148. // M380 - Activate solenoid on active extruder
  149. // M381 - Disable all solenoids
  150. // M400 - Finish all moves
  151. // M401 - Lower z-probe if present
  152. // M402 - Raise z-probe if present
  153. // M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
  154. // M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
  155. // M406 - Turn off Filament Sensor extrusion control
  156. // M407 - Displays measured filament diameter
  157. // M500 - Store parameters in EEPROM
  158. // M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
  159. // M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  160. // M503 - Print the current settings (from memory not from EEPROM). Use S0 to leave off headings.
  161. // M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  162. // M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  163. // M665 - Set delta configurations
  164. // M666 - Set delta endstop adjustment
  165. // M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  166. // M907 - Set digital trimpot motor current using axis codes.
  167. // M908 - Control digital trimpot directly.
  168. // M350 - Set microstepping mode.
  169. // M351 - Toggle MS1 MS2 pins directly.
  170. // ************ SCARA Specific - This can change to suit future G-code regulations
  171. // M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  172. // M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  173. // M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  174. // M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  175. // M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  176. // M365 - SCARA calibration: Scaling factor, X, Y, Z axis
  177. //************* SCARA End ***************
  178. // M928 - Start SD logging (M928 filename.g) - ended by M29
  179. // M999 - Restart after being stopped by error
  180. #ifdef SDSUPPORT
  181. CardReader card;
  182. #endif
  183. float homing_feedrate[] = HOMING_FEEDRATE;
  184. #ifdef ENABLE_AUTO_BED_LEVELING
  185. int xy_travel_speed = XY_TRAVEL_SPEED;
  186. float zprobe_zoffset = -Z_PROBE_OFFSET_FROM_EXTRUDER;
  187. #endif
  188. int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
  189. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  190. int feedmultiply = 100; //100->1 200->2
  191. int saved_feedmultiply;
  192. int extrudemultiply = 100; //100->1 200->2
  193. int extruder_multiply[EXTRUDERS] = { 100
  194. #if EXTRUDERS > 1
  195. , 100
  196. #if EXTRUDERS > 2
  197. , 100
  198. #if EXTRUDERS > 3
  199. , 100
  200. #endif
  201. #endif
  202. #endif
  203. };
  204. bool volumetric_enabled = false;
  205. float filament_size[EXTRUDERS] = { DEFAULT_NOMINAL_FILAMENT_DIA
  206. #if EXTRUDERS > 1
  207. , DEFAULT_NOMINAL_FILAMENT_DIA
  208. #if EXTRUDERS > 2
  209. , DEFAULT_NOMINAL_FILAMENT_DIA
  210. #if EXTRUDERS > 3
  211. , DEFAULT_NOMINAL_FILAMENT_DIA
  212. #endif
  213. #endif
  214. #endif
  215. };
  216. float volumetric_multiplier[EXTRUDERS] = {1.0
  217. #if EXTRUDERS > 1
  218. , 1.0
  219. #if EXTRUDERS > 2
  220. , 1.0
  221. #if EXTRUDERS > 3
  222. , 1.0
  223. #endif
  224. #endif
  225. #endif
  226. };
  227. float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
  228. float home_offset[3] = { 0, 0, 0 };
  229. #ifdef DELTA
  230. float endstop_adj[3] = { 0, 0, 0 };
  231. #elif defined(Z_DUAL_ENDSTOPS)
  232. float z_endstop_adj = 0;
  233. #endif
  234. float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
  235. float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  236. bool axis_known_position[3] = { false, false, false };
  237. // Extruder offset
  238. #if EXTRUDERS > 1
  239. #ifndef DUAL_X_CARRIAGE
  240. #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
  241. #else
  242. #define NUM_EXTRUDER_OFFSETS 3 // supports offsets in XYZ plane
  243. #endif
  244. float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
  245. #if defined(EXTRUDER_OFFSET_X)
  246. EXTRUDER_OFFSET_X
  247. #else
  248. 0
  249. #endif
  250. ,
  251. #if defined(EXTRUDER_OFFSET_Y)
  252. EXTRUDER_OFFSET_Y
  253. #else
  254. 0
  255. #endif
  256. };
  257. #endif
  258. uint8_t active_extruder = 0;
  259. int fanSpeed = 0;
  260. #ifdef SERVO_ENDSTOPS
  261. int servo_endstops[] = SERVO_ENDSTOPS;
  262. int servo_endstop_angles[] = SERVO_ENDSTOP_ANGLES;
  263. #endif
  264. #ifdef BARICUDA
  265. int ValvePressure = 0;
  266. int EtoPPressure = 0;
  267. #endif
  268. #ifdef FWRETRACT
  269. bool autoretract_enabled = false;
  270. bool retracted[EXTRUDERS] = { false
  271. #if EXTRUDERS > 1
  272. , false
  273. #if EXTRUDERS > 2
  274. , false
  275. #if EXTRUDERS > 3
  276. , false
  277. #endif
  278. #endif
  279. #endif
  280. };
  281. bool retracted_swap[EXTRUDERS] = { false
  282. #if EXTRUDERS > 1
  283. , false
  284. #if EXTRUDERS > 2
  285. , false
  286. #if EXTRUDERS > 3
  287. , false
  288. #endif
  289. #endif
  290. #endif
  291. };
  292. float retract_length = RETRACT_LENGTH;
  293. float retract_length_swap = RETRACT_LENGTH_SWAP;
  294. float retract_feedrate = RETRACT_FEEDRATE;
  295. float retract_zlift = RETRACT_ZLIFT;
  296. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  297. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  298. float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
  299. #endif // FWRETRACT
  300. #ifdef ULTIPANEL
  301. bool powersupply =
  302. #ifdef PS_DEFAULT_OFF
  303. false
  304. #else
  305. true
  306. #endif
  307. ;
  308. #endif
  309. #ifdef DELTA
  310. float delta[3] = { 0, 0, 0 };
  311. #define SIN_60 0.8660254037844386
  312. #define COS_60 0.5
  313. // these are the default values, can be overriden with M665
  314. float delta_radius = DELTA_RADIUS;
  315. float delta_tower1_x = -SIN_60 * delta_radius; // front left tower
  316. float delta_tower1_y = -COS_60 * delta_radius;
  317. float delta_tower2_x = SIN_60 * delta_radius; // front right tower
  318. float delta_tower2_y = -COS_60 * delta_radius;
  319. float delta_tower3_x = 0; // back middle tower
  320. float delta_tower3_y = delta_radius;
  321. float delta_diagonal_rod = DELTA_DIAGONAL_ROD;
  322. float delta_diagonal_rod_2 = sq(delta_diagonal_rod);
  323. float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
  324. #ifdef ENABLE_AUTO_BED_LEVELING
  325. float bed_level[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
  326. #endif
  327. #endif
  328. #ifdef SCARA
  329. float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
  330. static float delta[3] = { 0, 0, 0 };
  331. #endif
  332. bool cancel_heatup = false;
  333. #ifdef FILAMENT_SENSOR
  334. //Variables for Filament Sensor input
  335. float filament_width_nominal=DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
  336. bool filament_sensor=false; //M405 turns on filament_sensor control, M406 turns it off
  337. float filament_width_meas=DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter
  338. signed char measurement_delay[MAX_MEASUREMENT_DELAY+1]; //ring buffer to delay measurement store extruder factor after subtracting 100
  339. int delay_index1=0; //index into ring buffer
  340. int delay_index2=-1; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
  341. float delay_dist=0; //delay distance counter
  342. int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
  343. #endif
  344. #ifdef FILAMENT_RUNOUT_SENSOR
  345. static bool filrunoutEnqued = false;
  346. #endif
  347. const char errormagic[] PROGMEM = "Error:";
  348. const char echomagic[] PROGMEM = "echo:";
  349. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  350. static float destination[NUM_AXIS] = { 0, 0, 0, 0 };
  351. static float offset[3] = { 0, 0, 0 };
  352. static bool home_all_axis = true;
  353. static float feedrate = 1500.0, next_feedrate, saved_feedrate;
  354. static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
  355. static bool relative_mode = false; //Determines Absolute or Relative Coordinates
  356. static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
  357. #ifdef SDSUPPORT
  358. static bool fromsd[BUFSIZE];
  359. #endif //!SDSUPPORT
  360. static int bufindr = 0;
  361. static int bufindw = 0;
  362. static int buflen = 0;
  363. static char serial_char;
  364. static int serial_count = 0;
  365. static boolean comment_mode = false;
  366. static char *strchr_pointer; ///< A pointer to find chars in the command string (X, Y, Z, E, etc.)
  367. const char* queued_commands_P= NULL; /* pointer to the current line in the active sequence of commands, or NULL when none */
  368. const int sensitive_pins[] = SENSITIVE_PINS; ///< Sensitive pin list for M42
  369. // Inactivity shutdown
  370. static unsigned long previous_millis_cmd = 0;
  371. static unsigned long max_inactive_time = 0;
  372. static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
  373. unsigned long starttime = 0; ///< Print job start time
  374. unsigned long stoptime = 0; ///< Print job stop time
  375. static uint8_t tmp_extruder;
  376. bool Stopped = false;
  377. #if NUM_SERVOS > 0
  378. Servo servos[NUM_SERVOS];
  379. #endif
  380. bool CooldownNoWait = true;
  381. bool target_direction;
  382. #ifdef CHDK
  383. unsigned long chdkHigh = 0;
  384. boolean chdkActive = false;
  385. #endif
  386. //===========================================================================
  387. //=============================Routines======================================
  388. //===========================================================================
  389. void get_arc_coordinates();
  390. bool setTargetedHotend(int code);
  391. void serial_echopair_P(const char *s_P, float v)
  392. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  393. void serial_echopair_P(const char *s_P, double v)
  394. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  395. void serial_echopair_P(const char *s_P, unsigned long v)
  396. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  397. #ifdef SDSUPPORT
  398. #include "SdFatUtil.h"
  399. int freeMemory() { return SdFatUtil::FreeRam(); }
  400. #else
  401. extern "C" {
  402. extern unsigned int __bss_end;
  403. extern unsigned int __heap_start;
  404. extern void *__brkval;
  405. int freeMemory() {
  406. int free_memory;
  407. if ((int)__brkval == 0)
  408. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  409. else
  410. free_memory = ((int)&free_memory) - ((int)__brkval);
  411. return free_memory;
  412. }
  413. }
  414. #endif //!SDSUPPORT
  415. //Injects the next command from the pending sequence of commands, when possible
  416. //Return false if and only if no command was pending
  417. static bool drain_queued_commands_P()
  418. {
  419. char cmd[30];
  420. if(!queued_commands_P)
  421. return false;
  422. // Get the next 30 chars from the sequence of gcodes to run
  423. strncpy_P(cmd, queued_commands_P, sizeof(cmd)-1);
  424. cmd[sizeof(cmd)-1]= 0;
  425. // Look for the end of line, or the end of sequence
  426. size_t i= 0;
  427. char c;
  428. while( (c= cmd[i]) && c!='\n' )
  429. ++i; // look for the end of this gcode command
  430. cmd[i]= 0;
  431. if(enquecommand(cmd)) // buffer was not full (else we will retry later)
  432. {
  433. if(c)
  434. queued_commands_P+= i+1; // move to next command
  435. else
  436. queued_commands_P= NULL; // will have no more commands in the sequence
  437. }
  438. return true;
  439. }
  440. //Record one or many commands to run from program memory.
  441. //Aborts the current queue, if any.
  442. //Note: drain_queued_commands_P() must be called repeatedly to drain the commands afterwards
  443. void enquecommands_P(const char* pgcode)
  444. {
  445. queued_commands_P= pgcode;
  446. drain_queued_commands_P(); // first command exectuted asap (when possible)
  447. }
  448. //adds a single command to the main command buffer, from RAM
  449. //that is really done in a non-safe way.
  450. //needs overworking someday
  451. //Returns false if it failed to do so
  452. bool enquecommand(const char *cmd)
  453. {
  454. if(*cmd==';')
  455. return false;
  456. if(buflen >= BUFSIZE)
  457. return false;
  458. //this is dangerous if a mixing of serial and this happens
  459. strcpy(&(cmdbuffer[bufindw][0]),cmd);
  460. SERIAL_ECHO_START;
  461. SERIAL_ECHOPGM(MSG_Enqueing);
  462. SERIAL_ECHO(cmdbuffer[bufindw]);
  463. SERIAL_ECHOLNPGM("\"");
  464. bufindw= (bufindw + 1)%BUFSIZE;
  465. buflen += 1;
  466. return true;
  467. }
  468. void setup_killpin()
  469. {
  470. #if defined(KILL_PIN) && KILL_PIN > -1
  471. SET_INPUT(KILL_PIN);
  472. WRITE(KILL_PIN,HIGH);
  473. #endif
  474. }
  475. void setup_filrunoutpin()
  476. {
  477. #if defined(FILRUNOUT_PIN) && FILRUNOUT_PIN > -1
  478. pinMode(FILRUNOUT_PIN,INPUT);
  479. #if defined(ENDSTOPPULLUP_FIL_RUNOUT)
  480. WRITE(FILLRUNOUT_PIN,HIGH);
  481. #endif
  482. #endif
  483. }
  484. // Set home pin
  485. void setup_homepin(void)
  486. {
  487. #if defined(HOME_PIN) && HOME_PIN > -1
  488. SET_INPUT(HOME_PIN);
  489. WRITE(HOME_PIN,HIGH);
  490. #endif
  491. }
  492. void setup_photpin()
  493. {
  494. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  495. OUT_WRITE(PHOTOGRAPH_PIN, LOW);
  496. #endif
  497. }
  498. void setup_powerhold()
  499. {
  500. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  501. OUT_WRITE(SUICIDE_PIN, HIGH);
  502. #endif
  503. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  504. #if defined(PS_DEFAULT_OFF)
  505. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  506. #else
  507. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
  508. #endif
  509. #endif
  510. }
  511. void suicide()
  512. {
  513. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  514. OUT_WRITE(SUICIDE_PIN, LOW);
  515. #endif
  516. }
  517. void servo_init()
  518. {
  519. #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
  520. servos[0].attach(SERVO0_PIN);
  521. #endif
  522. #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
  523. servos[1].attach(SERVO1_PIN);
  524. #endif
  525. #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
  526. servos[2].attach(SERVO2_PIN);
  527. #endif
  528. #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
  529. servos[3].attach(SERVO3_PIN);
  530. #endif
  531. #if (NUM_SERVOS >= 5)
  532. #error "TODO: enter initalisation code for more servos"
  533. #endif
  534. // Set position of Servo Endstops that are defined
  535. #ifdef SERVO_ENDSTOPS
  536. for(int8_t i = 0; i < 3; i++)
  537. {
  538. if(servo_endstops[i] > -1) {
  539. servos[servo_endstops[i]].write(servo_endstop_angles[i * 2 + 1]);
  540. }
  541. }
  542. #endif
  543. #if SERVO_LEVELING
  544. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  545. servos[servo_endstops[Z_AXIS]].detach();
  546. #endif
  547. }
  548. void setup()
  549. {
  550. setup_killpin();
  551. setup_filrunoutpin();
  552. setup_powerhold();
  553. MYSERIAL.begin(BAUDRATE);
  554. SERIAL_PROTOCOLLNPGM("start");
  555. SERIAL_ECHO_START;
  556. // Check startup - does nothing if bootloader sets MCUSR to 0
  557. byte mcu = MCUSR;
  558. if(mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
  559. if(mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
  560. if(mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
  561. if(mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
  562. if(mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
  563. MCUSR=0;
  564. SERIAL_ECHOPGM(MSG_MARLIN);
  565. SERIAL_ECHOLNPGM(STRING_VERSION);
  566. #ifdef STRING_VERSION_CONFIG_H
  567. #ifdef STRING_CONFIG_H_AUTHOR
  568. SERIAL_ECHO_START;
  569. SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
  570. SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
  571. SERIAL_ECHOPGM(MSG_AUTHOR);
  572. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  573. SERIAL_ECHOPGM("Compiled: ");
  574. SERIAL_ECHOLNPGM(__DATE__);
  575. #endif // STRING_CONFIG_H_AUTHOR
  576. #endif // STRING_VERSION_CONFIG_H
  577. SERIAL_ECHO_START;
  578. SERIAL_ECHOPGM(MSG_FREE_MEMORY);
  579. SERIAL_ECHO(freeMemory());
  580. SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
  581. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  582. #ifdef SDSUPPORT
  583. for(int8_t i = 0; i < BUFSIZE; i++)
  584. {
  585. fromsd[i] = false;
  586. }
  587. #endif //!SDSUPPORT
  588. // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  589. Config_RetrieveSettings();
  590. tp_init(); // Initialize temperature loop
  591. plan_init(); // Initialize planner;
  592. watchdog_init();
  593. st_init(); // Initialize stepper, this enables interrupts!
  594. setup_photpin();
  595. servo_init();
  596. lcd_init();
  597. _delay_ms(1000); // wait 1sec to display the splash screen
  598. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  599. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  600. #endif
  601. #ifdef DIGIPOT_I2C
  602. digipot_i2c_init();
  603. #endif
  604. #ifdef Z_PROBE_SLED
  605. pinMode(SERVO0_PIN, OUTPUT);
  606. digitalWrite(SERVO0_PIN, LOW); // turn it off
  607. #endif // Z_PROBE_SLED
  608. setup_homepin();
  609. #ifdef STAT_LED_RED
  610. pinMode(STAT_LED_RED, OUTPUT);
  611. digitalWrite(STAT_LED_RED, LOW); // turn it off
  612. #endif
  613. #ifdef STAT_LED_BLUE
  614. pinMode(STAT_LED_BLUE, OUTPUT);
  615. digitalWrite(STAT_LED_BLUE, LOW); // turn it off
  616. #endif
  617. }
  618. void loop()
  619. {
  620. if(buflen < (BUFSIZE-1))
  621. get_command();
  622. #ifdef SDSUPPORT
  623. card.checkautostart(false);
  624. #endif
  625. if(buflen)
  626. {
  627. #ifdef SDSUPPORT
  628. if(card.saving)
  629. {
  630. if(strstr_P(cmdbuffer[bufindr], PSTR("M29")) == NULL)
  631. {
  632. card.write_command(cmdbuffer[bufindr]);
  633. if(card.logging)
  634. {
  635. process_commands();
  636. }
  637. else
  638. {
  639. SERIAL_PROTOCOLLNPGM(MSG_OK);
  640. }
  641. }
  642. else
  643. {
  644. card.closefile();
  645. SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
  646. }
  647. }
  648. else
  649. {
  650. process_commands();
  651. }
  652. #else
  653. process_commands();
  654. #endif //SDSUPPORT
  655. buflen = (buflen-1);
  656. bufindr = (bufindr + 1)%BUFSIZE;
  657. }
  658. //check heater every n milliseconds
  659. manage_heater();
  660. manage_inactivity();
  661. checkHitEndstops();
  662. lcd_update();
  663. }
  664. void get_command()
  665. {
  666. if(drain_queued_commands_P()) // priority is given to non-serial commands
  667. return;
  668. while( MYSERIAL.available() > 0 && buflen < BUFSIZE) {
  669. serial_char = MYSERIAL.read();
  670. if(serial_char == '\n' ||
  671. serial_char == '\r' ||
  672. serial_count >= (MAX_CMD_SIZE - 1) )
  673. {
  674. // end of line == end of comment
  675. comment_mode = false;
  676. if(!serial_count) {
  677. // short cut for empty lines
  678. return;
  679. }
  680. cmdbuffer[bufindw][serial_count] = 0; //terminate string
  681. #ifdef SDSUPPORT
  682. fromsd[bufindw] = false;
  683. #endif //!SDSUPPORT
  684. if(strchr(cmdbuffer[bufindw], 'N') != NULL)
  685. {
  686. strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
  687. gcode_N = (strtol(strchr_pointer + 1, NULL, 10));
  688. if(gcode_N != gcode_LastN+1 && (strstr_P(cmdbuffer[bufindw], PSTR("M110")) == NULL) ) {
  689. SERIAL_ERROR_START;
  690. SERIAL_ERRORPGM(MSG_ERR_LINE_NO);
  691. SERIAL_ERRORLN(gcode_LastN);
  692. //Serial.println(gcode_N);
  693. FlushSerialRequestResend();
  694. serial_count = 0;
  695. return;
  696. }
  697. if(strchr(cmdbuffer[bufindw], '*') != NULL)
  698. {
  699. byte checksum = 0;
  700. byte count = 0;
  701. while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
  702. strchr_pointer = strchr(cmdbuffer[bufindw], '*');
  703. if(strtol(strchr_pointer + 1, NULL, 10) != checksum) {
  704. SERIAL_ERROR_START;
  705. SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH);
  706. SERIAL_ERRORLN(gcode_LastN);
  707. FlushSerialRequestResend();
  708. serial_count = 0;
  709. return;
  710. }
  711. //if no errors, continue parsing
  712. }
  713. else
  714. {
  715. SERIAL_ERROR_START;
  716. SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
  717. SERIAL_ERRORLN(gcode_LastN);
  718. FlushSerialRequestResend();
  719. serial_count = 0;
  720. return;
  721. }
  722. gcode_LastN = gcode_N;
  723. //if no errors, continue parsing
  724. }
  725. else // if we don't receive 'N' but still see '*'
  726. {
  727. if((strchr(cmdbuffer[bufindw], '*') != NULL))
  728. {
  729. SERIAL_ERROR_START;
  730. SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
  731. SERIAL_ERRORLN(gcode_LastN);
  732. serial_count = 0;
  733. return;
  734. }
  735. }
  736. if((strchr(cmdbuffer[bufindw], 'G') != NULL)){
  737. strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
  738. switch(strtol(strchr_pointer + 1, NULL, 10)){
  739. case 0:
  740. case 1:
  741. case 2:
  742. case 3:
  743. if (Stopped == true) {
  744. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  745. LCD_MESSAGEPGM(MSG_STOPPED);
  746. }
  747. break;
  748. default:
  749. break;
  750. }
  751. }
  752. //If command was e-stop process now
  753. if(strcmp(cmdbuffer[bufindw], "M112") == 0)
  754. kill();
  755. bufindw = (bufindw + 1)%BUFSIZE;
  756. buflen += 1;
  757. serial_count = 0; //clear buffer
  758. }
  759. else if(serial_char == '\\') { //Handle escapes
  760. if(MYSERIAL.available() > 0 && buflen < BUFSIZE) {
  761. // if we have one more character, copy it over
  762. serial_char = MYSERIAL.read();
  763. cmdbuffer[bufindw][serial_count++] = serial_char;
  764. }
  765. //otherwise do nothing
  766. }
  767. else { // its not a newline, carriage return or escape char
  768. if(serial_char == ';') comment_mode = true;
  769. if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
  770. }
  771. }
  772. #ifdef SDSUPPORT
  773. if(!card.sdprinting || serial_count!=0){
  774. return;
  775. }
  776. //'#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible
  777. // if it occurs, stop_buffering is triggered and the buffer is ran dry.
  778. // this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing
  779. static bool stop_buffering=false;
  780. if(buflen==0) stop_buffering=false;
  781. while( !card.eof() && buflen < BUFSIZE && !stop_buffering) {
  782. int16_t n=card.get();
  783. serial_char = (char)n;
  784. if(serial_char == '\n' ||
  785. serial_char == '\r' ||
  786. (serial_char == '#' && comment_mode == false) ||
  787. (serial_char == ':' && comment_mode == false) ||
  788. serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
  789. {
  790. if(card.eof()){
  791. SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
  792. stoptime=millis();
  793. char time[30];
  794. unsigned long t=(stoptime-starttime)/1000;
  795. int hours, minutes;
  796. minutes=(t/60)%60;
  797. hours=t/60/60;
  798. sprintf_P(time, PSTR("%i hours %i minutes"),hours, minutes);
  799. SERIAL_ECHO_START;
  800. SERIAL_ECHOLN(time);
  801. lcd_setstatus(time);
  802. card.printingHasFinished();
  803. card.checkautostart(true);
  804. }
  805. if(serial_char=='#')
  806. stop_buffering=true;
  807. if(!serial_count)
  808. {
  809. comment_mode = false; //for new command
  810. return; //if empty line
  811. }
  812. cmdbuffer[bufindw][serial_count] = 0; //terminate string
  813. // if(!comment_mode){
  814. fromsd[bufindw] = true;
  815. buflen += 1;
  816. bufindw = (bufindw + 1)%BUFSIZE;
  817. // }
  818. comment_mode = false; //for new command
  819. serial_count = 0; //clear buffer
  820. }
  821. else
  822. {
  823. if(serial_char == ';') comment_mode = true;
  824. if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
  825. }
  826. }
  827. #endif //SDSUPPORT
  828. }
  829. float code_value()
  830. {
  831. float ret;
  832. char *e = strchr(strchr_pointer, 'E');
  833. if (e != NULL) *e = 0;
  834. ret = strtod(strchr_pointer+1, NULL);
  835. if (e != NULL) *e = 'E';
  836. return ret;
  837. }
  838. long code_value_long()
  839. {
  840. return (strtol(strchr_pointer + 1, NULL, 10));
  841. }
  842. bool code_seen(char code)
  843. {
  844. strchr_pointer = strchr(cmdbuffer[bufindr], code);
  845. return (strchr_pointer != NULL); //Return True if a character was found
  846. }
  847. #define DEFINE_PGM_READ_ANY(type, reader) \
  848. static inline type pgm_read_any(const type *p) \
  849. { return pgm_read_##reader##_near(p); }
  850. DEFINE_PGM_READ_ANY(float, float);
  851. DEFINE_PGM_READ_ANY(signed char, byte);
  852. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  853. static const PROGMEM type array##_P[3] = \
  854. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  855. static inline type array(int axis) \
  856. { return pgm_read_any(&array##_P[axis]); }
  857. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  858. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  859. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  860. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  861. XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
  862. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  863. #ifdef DUAL_X_CARRIAGE
  864. #define DXC_FULL_CONTROL_MODE 0
  865. #define DXC_AUTO_PARK_MODE 1
  866. #define DXC_DUPLICATION_MODE 2
  867. static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  868. static float x_home_pos(int extruder) {
  869. if (extruder == 0)
  870. return base_home_pos(X_AXIS) + home_offset[X_AXIS];
  871. else
  872. // In dual carriage mode the extruder offset provides an override of the
  873. // second X-carriage offset when homed - otherwise X2_HOME_POS is used.
  874. // This allow soft recalibration of the second extruder offset position without firmware reflash
  875. // (through the M218 command).
  876. return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
  877. }
  878. static int x_home_dir(int extruder) {
  879. return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
  880. }
  881. static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
  882. static bool active_extruder_parked = false; // used in mode 1 & 2
  883. static float raised_parked_position[NUM_AXIS]; // used in mode 1
  884. static unsigned long delayed_move_time = 0; // used in mode 1
  885. static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
  886. static float duplicate_extruder_temp_offset = 0; // used in mode 2
  887. bool extruder_duplication_enabled = false; // used in mode 2
  888. #endif //DUAL_X_CARRIAGE
  889. static void axis_is_at_home(int axis) {
  890. #ifdef DUAL_X_CARRIAGE
  891. if (axis == X_AXIS) {
  892. if (active_extruder != 0) {
  893. current_position[X_AXIS] = x_home_pos(active_extruder);
  894. min_pos[X_AXIS] = X2_MIN_POS;
  895. max_pos[X_AXIS] = max(extruder_offset[X_AXIS][1], X2_MAX_POS);
  896. return;
  897. }
  898. else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
  899. current_position[X_AXIS] = base_home_pos(X_AXIS) + home_offset[X_AXIS];
  900. min_pos[X_AXIS] = base_min_pos(X_AXIS) + home_offset[X_AXIS];
  901. max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + home_offset[X_AXIS],
  902. max(extruder_offset[X_AXIS][1], X2_MAX_POS) - duplicate_extruder_x_offset);
  903. return;
  904. }
  905. }
  906. #endif
  907. #ifdef SCARA
  908. float homeposition[3];
  909. char i;
  910. if (axis < 2)
  911. {
  912. for (i=0; i<3; i++)
  913. {
  914. homeposition[i] = base_home_pos(i);
  915. }
  916. // SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
  917. // SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
  918. // Works out real Homeposition angles using inverse kinematics,
  919. // and calculates homing offset using forward kinematics
  920. calculate_delta(homeposition);
  921. // SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]);
  922. // SERIAL_ECHOPGM(" base Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
  923. for (i=0; i<2; i++)
  924. {
  925. delta[i] -= home_offset[i];
  926. }
  927. // SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(home_offset[X_AXIS]);
  928. // SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(home_offset[Y_AXIS]);
  929. // SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
  930. // SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
  931. calculate_SCARA_forward_Transform(delta);
  932. // SERIAL_ECHOPGM("Delta X="); SERIAL_ECHO(delta[X_AXIS]);
  933. // SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);
  934. current_position[axis] = delta[axis];
  935. // SCARA home positions are based on configuration since the actual limits are determined by the
  936. // inverse kinematic transform.
  937. min_pos[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
  938. max_pos[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
  939. }
  940. else
  941. {
  942. current_position[axis] = base_home_pos(axis) + home_offset[axis];
  943. min_pos[axis] = base_min_pos(axis) + home_offset[axis];
  944. max_pos[axis] = base_max_pos(axis) + home_offset[axis];
  945. }
  946. #else
  947. current_position[axis] = base_home_pos(axis) + home_offset[axis];
  948. min_pos[axis] = base_min_pos(axis) + home_offset[axis];
  949. max_pos[axis] = base_max_pos(axis) + home_offset[axis];
  950. #endif
  951. }
  952. #ifdef ENABLE_AUTO_BED_LEVELING
  953. #ifdef AUTO_BED_LEVELING_GRID
  954. #ifndef DELTA
  955. static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
  956. {
  957. vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
  958. planeNormal.debug("planeNormal");
  959. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  960. //bedLevel.debug("bedLevel");
  961. //plan_bed_level_matrix.debug("bed level before");
  962. //vector_3 uncorrected_position = plan_get_position_mm();
  963. //uncorrected_position.debug("position before");
  964. vector_3 corrected_position = plan_get_position();
  965. // corrected_position.debug("position after");
  966. current_position[X_AXIS] = corrected_position.x;
  967. current_position[Y_AXIS] = corrected_position.y;
  968. current_position[Z_AXIS] = corrected_position.z;
  969. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  970. }
  971. #endif
  972. #else // not AUTO_BED_LEVELING_GRID
  973. static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
  974. plan_bed_level_matrix.set_to_identity();
  975. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
  976. vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
  977. vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  978. vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal();
  979. if (planeNormal.z < 0) {
  980. planeNormal.x = -planeNormal.x;
  981. planeNormal.y = -planeNormal.y;
  982. planeNormal.z = -planeNormal.z;
  983. }
  984. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  985. vector_3 corrected_position = plan_get_position();
  986. current_position[X_AXIS] = corrected_position.x;
  987. current_position[Y_AXIS] = corrected_position.y;
  988. current_position[Z_AXIS] = corrected_position.z;
  989. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  990. }
  991. #endif // AUTO_BED_LEVELING_GRID
  992. static void run_z_probe() {
  993. #ifdef DELTA
  994. float start_z = current_position[Z_AXIS];
  995. long start_steps = st_get_position(Z_AXIS);
  996. // move down slowly until you find the bed
  997. feedrate = homing_feedrate[Z_AXIS] / 4;
  998. destination[Z_AXIS] = -10;
  999. prepare_move_raw();
  1000. st_synchronize();
  1001. endstops_hit_on_purpose();
  1002. // we have to let the planner know where we are right now as it is not where we said to go.
  1003. long stop_steps = st_get_position(Z_AXIS);
  1004. float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
  1005. current_position[Z_AXIS] = mm;
  1006. calculate_delta(current_position);
  1007. plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
  1008. #else
  1009. plan_bed_level_matrix.set_to_identity();
  1010. feedrate = homing_feedrate[Z_AXIS];
  1011. // move down until you find the bed
  1012. float zPosition = -10;
  1013. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1014. st_synchronize();
  1015. // we have to let the planner know where we are right now as it is not where we said to go.
  1016. zPosition = st_get_position_mm(Z_AXIS);
  1017. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
  1018. // move up the retract distance
  1019. zPosition += home_retract_mm(Z_AXIS);
  1020. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1021. st_synchronize();
  1022. endstops_hit_on_purpose();
  1023. // move back down slowly to find bed
  1024. if (homing_bump_divisor[Z_AXIS] >= 1)
  1025. {
  1026. feedrate = homing_feedrate[Z_AXIS]/homing_bump_divisor[Z_AXIS];
  1027. }
  1028. else
  1029. {
  1030. feedrate = homing_feedrate[Z_AXIS]/10;
  1031. SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less then 1");
  1032. }
  1033. zPosition -= home_retract_mm(Z_AXIS) * 2;
  1034. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1035. st_synchronize();
  1036. endstops_hit_on_purpose();
  1037. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  1038. // make sure the planner knows where we are as it may be a bit different than we last said to move to
  1039. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1040. #endif
  1041. }
  1042. static void do_blocking_move_to(float x, float y, float z) {
  1043. float oldFeedRate = feedrate;
  1044. #ifdef DELTA
  1045. feedrate = XY_TRAVEL_SPEED;
  1046. destination[X_AXIS] = x;
  1047. destination[Y_AXIS] = y;
  1048. destination[Z_AXIS] = z;
  1049. prepare_move_raw();
  1050. st_synchronize();
  1051. #else
  1052. feedrate = homing_feedrate[Z_AXIS];
  1053. current_position[Z_AXIS] = z;
  1054. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1055. st_synchronize();
  1056. feedrate = xy_travel_speed;
  1057. current_position[X_AXIS] = x;
  1058. current_position[Y_AXIS] = y;
  1059. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1060. st_synchronize();
  1061. #endif
  1062. feedrate = oldFeedRate;
  1063. }
  1064. static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
  1065. do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
  1066. }
  1067. static void setup_for_endstop_move() {
  1068. saved_feedrate = feedrate;
  1069. saved_feedmultiply = feedmultiply;
  1070. feedmultiply = 100;
  1071. previous_millis_cmd = millis();
  1072. enable_endstops(true);
  1073. }
  1074. static void clean_up_after_endstop_move() {
  1075. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  1076. enable_endstops(false);
  1077. #endif
  1078. feedrate = saved_feedrate;
  1079. feedmultiply = saved_feedmultiply;
  1080. previous_millis_cmd = millis();
  1081. }
  1082. static void engage_z_probe() {
  1083. // Engage Z Servo endstop if enabled
  1084. #ifdef SERVO_ENDSTOPS
  1085. if (servo_endstops[Z_AXIS] > -1) {
  1086. #if SERVO_LEVELING
  1087. servos[servo_endstops[Z_AXIS]].attach(0);
  1088. #endif
  1089. servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2]);
  1090. #if SERVO_LEVELING
  1091. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  1092. servos[servo_endstops[Z_AXIS]].detach();
  1093. #endif
  1094. }
  1095. #elif defined(Z_PROBE_ALLEN_KEY)
  1096. feedrate = homing_feedrate[X_AXIS];
  1097. // Move to the start position to initiate deployment
  1098. destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_X;
  1099. destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Y;
  1100. destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Z;
  1101. prepare_move_raw();
  1102. // Home X to touch the belt
  1103. feedrate = homing_feedrate[X_AXIS]/10;
  1104. destination[X_AXIS] = 0;
  1105. prepare_move_raw();
  1106. // Home Y for safety
  1107. feedrate = homing_feedrate[X_AXIS]/2;
  1108. destination[Y_AXIS] = 0;
  1109. prepare_move_raw();
  1110. st_synchronize();
  1111. bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
  1112. if (z_min_endstop)
  1113. {
  1114. if (!Stopped)
  1115. {
  1116. SERIAL_ERROR_START;
  1117. SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
  1118. LCD_ALERTMESSAGEPGM("Err: ZPROBE");
  1119. }
  1120. Stop();
  1121. }
  1122. #endif
  1123. }
  1124. static void retract_z_probe() {
  1125. // Retract Z Servo endstop if enabled
  1126. #ifdef SERVO_ENDSTOPS
  1127. if (servo_endstops[Z_AXIS] > -1)
  1128. {
  1129. #if Z_RAISE_AFTER_PROBING > 0
  1130. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_AFTER_PROBING);
  1131. st_synchronize();
  1132. #endif
  1133. #if SERVO_LEVELING
  1134. servos[servo_endstops[Z_AXIS]].attach(0);
  1135. #endif
  1136. servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
  1137. #if SERVO_LEVELING
  1138. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  1139. servos[servo_endstops[Z_AXIS]].detach();
  1140. #endif
  1141. }
  1142. #elif defined(Z_PROBE_ALLEN_KEY)
  1143. // Move up for safety
  1144. feedrate = homing_feedrate[X_AXIS];
  1145. destination[Z_AXIS] = current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING;
  1146. prepare_move_raw();
  1147. // Move to the start position to initiate retraction
  1148. destination[X_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_X;
  1149. destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_Y;
  1150. destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_Z;
  1151. prepare_move_raw();
  1152. // Move the nozzle down to push the probe into retracted position
  1153. feedrate = homing_feedrate[Z_AXIS]/10;
  1154. destination[Z_AXIS] = current_position[Z_AXIS] - Z_PROBE_ALLEN_KEY_RETRACT_DEPTH;
  1155. prepare_move_raw();
  1156. // Move up for safety
  1157. feedrate = homing_feedrate[Z_AXIS]/2;
  1158. destination[Z_AXIS] = current_position[Z_AXIS] + Z_PROBE_ALLEN_KEY_RETRACT_DEPTH * 2;
  1159. prepare_move_raw();
  1160. // Home XY for safety
  1161. feedrate = homing_feedrate[X_AXIS]/2;
  1162. destination[X_AXIS] = 0;
  1163. destination[Y_AXIS] = 0;
  1164. prepare_move_raw();
  1165. st_synchronize();
  1166. bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
  1167. if (!z_min_endstop)
  1168. {
  1169. if (!Stopped)
  1170. {
  1171. SERIAL_ERROR_START;
  1172. SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
  1173. LCD_ALERTMESSAGEPGM("Err: ZPROBE");
  1174. }
  1175. Stop();
  1176. }
  1177. #endif
  1178. }
  1179. enum ProbeAction {
  1180. ProbeStay = 0,
  1181. ProbeEngage = BIT(0),
  1182. ProbeRetract = BIT(1),
  1183. ProbeEngageAndRetract = (ProbeEngage | ProbeRetract)
  1184. };
  1185. /// Probe bed height at position (x,y), returns the measured z value
  1186. static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageAndRetract, int verbose_level=1) {
  1187. // move to right place
  1188. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
  1189. do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
  1190. #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
  1191. if (retract_action & ProbeEngage) engage_z_probe();
  1192. #endif
  1193. run_z_probe();
  1194. float measured_z = current_position[Z_AXIS];
  1195. #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
  1196. if (retract_action & ProbeRetract) retract_z_probe();
  1197. #endif
  1198. if (verbose_level > 2) {
  1199. SERIAL_PROTOCOLPGM(MSG_BED);
  1200. SERIAL_PROTOCOLPGM(" X: ");
  1201. SERIAL_PROTOCOL_F(x, 3);
  1202. SERIAL_PROTOCOLPGM(" Y: ");
  1203. SERIAL_PROTOCOL_F(y, 3);
  1204. SERIAL_PROTOCOLPGM(" Z: ");
  1205. SERIAL_PROTOCOL_F(measured_z, 3);
  1206. SERIAL_EOL;
  1207. }
  1208. return measured_z;
  1209. }
  1210. #ifdef DELTA
  1211. static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
  1212. if (bed_level[x][y] != 0.0) {
  1213. return; // Don't overwrite good values.
  1214. }
  1215. float a = 2*bed_level[x+xdir][y] - bed_level[x+xdir*2][y]; // Left to right.
  1216. float b = 2*bed_level[x][y+ydir] - bed_level[x][y+ydir*2]; // Front to back.
  1217. float c = 2*bed_level[x+xdir][y+ydir] - bed_level[x+xdir*2][y+ydir*2]; // Diagonal.
  1218. float median = c; // Median is robust (ignores outliers).
  1219. if (a < b) {
  1220. if (b < c) median = b;
  1221. if (c < a) median = a;
  1222. } else { // b <= a
  1223. if (c < b) median = b;
  1224. if (a < c) median = a;
  1225. }
  1226. bed_level[x][y] = median;
  1227. }
  1228. // Fill in the unprobed points (corners of circular print surface)
  1229. // using linear extrapolation, away from the center.
  1230. static void extrapolate_unprobed_bed_level() {
  1231. int half = (AUTO_BED_LEVELING_GRID_POINTS-1)/2;
  1232. for (int y = 0; y <= half; y++) {
  1233. for (int x = 0; x <= half; x++) {
  1234. if (x + y < 3) continue;
  1235. extrapolate_one_point(half-x, half-y, x>1?+1:0, y>1?+1:0);
  1236. extrapolate_one_point(half+x, half-y, x>1?-1:0, y>1?+1:0);
  1237. extrapolate_one_point(half-x, half+y, x>1?+1:0, y>1?-1:0);
  1238. extrapolate_one_point(half+x, half+y, x>1?-1:0, y>1?-1:0);
  1239. }
  1240. }
  1241. }
  1242. // Print calibration results for plotting or manual frame adjustment.
  1243. static void print_bed_level() {
  1244. for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
  1245. for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
  1246. SERIAL_PROTOCOL_F(bed_level[x][y], 2);
  1247. SERIAL_PROTOCOLPGM(" ");
  1248. }
  1249. SERIAL_ECHOLN("");
  1250. }
  1251. }
  1252. // Reset calibration results to zero.
  1253. void reset_bed_level() {
  1254. for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
  1255. for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
  1256. bed_level[x][y] = 0.0;
  1257. }
  1258. }
  1259. }
  1260. #endif // DELTA
  1261. #endif // ENABLE_AUTO_BED_LEVELING
  1262. static void homeaxis(int axis) {
  1263. #define HOMEAXIS_DO(LETTER) \
  1264. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  1265. if (axis==X_AXIS ? HOMEAXIS_DO(X) :
  1266. axis==Y_AXIS ? HOMEAXIS_DO(Y) :
  1267. axis==Z_AXIS ? HOMEAXIS_DO(Z) :
  1268. 0) {
  1269. int axis_home_dir = home_dir(axis);
  1270. #ifdef DUAL_X_CARRIAGE
  1271. if (axis == X_AXIS)
  1272. axis_home_dir = x_home_dir(active_extruder);
  1273. #endif
  1274. current_position[axis] = 0;
  1275. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1276. #ifndef Z_PROBE_SLED
  1277. // Engage Servo endstop if enabled
  1278. #ifdef SERVO_ENDSTOPS
  1279. #if SERVO_LEVELING
  1280. if (axis==Z_AXIS) {
  1281. engage_z_probe();
  1282. }
  1283. else
  1284. #endif
  1285. if (servo_endstops[axis] > -1) {
  1286. servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
  1287. }
  1288. #endif
  1289. #endif // Z_PROBE_SLED
  1290. #ifdef Z_DUAL_ENDSTOPS
  1291. if (axis==Z_AXIS) In_Homing_Process(true);
  1292. #endif
  1293. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  1294. feedrate = homing_feedrate[axis];
  1295. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1296. st_synchronize();
  1297. current_position[axis] = 0;
  1298. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1299. destination[axis] = -home_retract_mm(axis) * axis_home_dir;
  1300. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1301. st_synchronize();
  1302. destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
  1303. if (homing_bump_divisor[axis] >= 1)
  1304. {
  1305. feedrate = homing_feedrate[axis]/homing_bump_divisor[axis];
  1306. }
  1307. else
  1308. {
  1309. feedrate = homing_feedrate[axis]/10;
  1310. SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less then 1");
  1311. }
  1312. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1313. st_synchronize();
  1314. #ifdef Z_DUAL_ENDSTOPS
  1315. if (axis==Z_AXIS)
  1316. {
  1317. feedrate = homing_feedrate[axis];
  1318. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1319. if (axis_home_dir > 0)
  1320. {
  1321. destination[axis] = (-1) * fabs(z_endstop_adj);
  1322. if (z_endstop_adj > 0) Lock_z_motor(true); else Lock_z2_motor(true);
  1323. } else {
  1324. destination[axis] = fabs(z_endstop_adj);
  1325. if (z_endstop_adj < 0) Lock_z_motor(true); else Lock_z2_motor(true);
  1326. }
  1327. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1328. st_synchronize();
  1329. Lock_z_motor(false);
  1330. Lock_z2_motor(false);
  1331. In_Homing_Process(false);
  1332. }
  1333. #endif
  1334. #ifdef DELTA
  1335. // retrace by the amount specified in endstop_adj
  1336. if (endstop_adj[axis] * axis_home_dir < 0) {
  1337. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1338. destination[axis] = endstop_adj[axis];
  1339. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1340. st_synchronize();
  1341. }
  1342. #endif
  1343. axis_is_at_home(axis);
  1344. destination[axis] = current_position[axis];
  1345. feedrate = 0.0;
  1346. endstops_hit_on_purpose();
  1347. axis_known_position[axis] = true;
  1348. // Retract Servo endstop if enabled
  1349. #ifdef SERVO_ENDSTOPS
  1350. if (servo_endstops[axis] > -1) {
  1351. servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]);
  1352. }
  1353. #endif
  1354. #if SERVO_LEVELING
  1355. #ifndef Z_PROBE_SLED
  1356. if (axis==Z_AXIS) retract_z_probe();
  1357. #endif
  1358. #endif
  1359. }
  1360. }
  1361. #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
  1362. void refresh_cmd_timeout(void)
  1363. {
  1364. previous_millis_cmd = millis();
  1365. }
  1366. #ifdef FWRETRACT
  1367. void retract(bool retracting, bool swapretract = false) {
  1368. if(retracting && !retracted[active_extruder]) {
  1369. destination[X_AXIS]=current_position[X_AXIS];
  1370. destination[Y_AXIS]=current_position[Y_AXIS];
  1371. destination[Z_AXIS]=current_position[Z_AXIS];
  1372. destination[E_AXIS]=current_position[E_AXIS];
  1373. if (swapretract) {
  1374. current_position[E_AXIS]+=retract_length_swap/volumetric_multiplier[active_extruder];
  1375. } else {
  1376. current_position[E_AXIS]+=retract_length/volumetric_multiplier[active_extruder];
  1377. }
  1378. plan_set_e_position(current_position[E_AXIS]);
  1379. float oldFeedrate = feedrate;
  1380. feedrate=retract_feedrate*60;
  1381. retracted[active_extruder]=true;
  1382. prepare_move();
  1383. if(retract_zlift > 0.01) {
  1384. current_position[Z_AXIS]-=retract_zlift;
  1385. #ifdef DELTA
  1386. calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
  1387. plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
  1388. #else
  1389. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1390. #endif
  1391. prepare_move();
  1392. }
  1393. feedrate = oldFeedrate;
  1394. } else if(!retracting && retracted[active_extruder]) {
  1395. destination[X_AXIS]=current_position[X_AXIS];
  1396. destination[Y_AXIS]=current_position[Y_AXIS];
  1397. destination[Z_AXIS]=current_position[Z_AXIS];
  1398. destination[E_AXIS]=current_position[E_AXIS];
  1399. if(retract_zlift > 0.01) {
  1400. current_position[Z_AXIS]+=retract_zlift;
  1401. #ifdef DELTA
  1402. calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
  1403. plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
  1404. #else
  1405. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1406. #endif
  1407. //prepare_move();
  1408. }
  1409. if (swapretract) {
  1410. current_position[E_AXIS]-=(retract_length_swap+retract_recover_length_swap)/volumetric_multiplier[active_extruder];
  1411. } else {
  1412. current_position[E_AXIS]-=(retract_length+retract_recover_length)/volumetric_multiplier[active_extruder];
  1413. }
  1414. plan_set_e_position(current_position[E_AXIS]);
  1415. float oldFeedrate = feedrate;
  1416. feedrate=retract_recover_feedrate*60;
  1417. retracted[active_extruder]=false;
  1418. prepare_move();
  1419. feedrate = oldFeedrate;
  1420. }
  1421. } //retract
  1422. #endif //FWRETRACT
  1423. #ifdef Z_PROBE_SLED
  1424. #ifndef SLED_DOCKING_OFFSET
  1425. #define SLED_DOCKING_OFFSET 0
  1426. #endif
  1427. //
  1428. // Method to dock/undock a sled designed by Charles Bell.
  1429. //
  1430. // dock[in] If true, move to MAX_X and engage the electromagnet
  1431. // offset[in] The additional distance to move to adjust docking location
  1432. //
  1433. static void dock_sled(bool dock, int offset=0) {
  1434. int z_loc;
  1435. if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
  1436. LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
  1437. SERIAL_ECHO_START;
  1438. SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
  1439. return;
  1440. }
  1441. if (dock) {
  1442. do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset,
  1443. current_position[Y_AXIS],
  1444. current_position[Z_AXIS]);
  1445. // turn off magnet
  1446. digitalWrite(SERVO0_PIN, LOW);
  1447. } else {
  1448. if (current_position[Z_AXIS] < (Z_RAISE_BEFORE_PROBING + 5))
  1449. z_loc = Z_RAISE_BEFORE_PROBING;
  1450. else
  1451. z_loc = current_position[Z_AXIS];
  1452. do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset,
  1453. Y_PROBE_OFFSET_FROM_EXTRUDER, z_loc);
  1454. // turn on magnet
  1455. digitalWrite(SERVO0_PIN, HIGH);
  1456. }
  1457. }
  1458. #endif
  1459. /**
  1460. *
  1461. * G-Code Handler functions
  1462. *
  1463. */
  1464. /**
  1465. * G0, G1: Coordinated movement of X Y Z E axes
  1466. */
  1467. inline void gcode_G0_G1() {
  1468. if (!Stopped) {
  1469. get_coordinates(); // For X Y Z E F
  1470. #ifdef FWRETRACT
  1471. if (autoretract_enabled)
  1472. if (!(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  1473. float echange = destination[E_AXIS] - current_position[E_AXIS];
  1474. // Is this move an attempt to retract or recover?
  1475. if ((echange < -MIN_RETRACT && !retracted[active_extruder]) || (echange > MIN_RETRACT && retracted[active_extruder])) {
  1476. current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations
  1477. plan_set_e_position(current_position[E_AXIS]); // AND from the planner
  1478. retract(!retracted[active_extruder]);
  1479. return;
  1480. }
  1481. }
  1482. #endif //FWRETRACT
  1483. prepare_move();
  1484. //ClearToSend();
  1485. }
  1486. }
  1487. /**
  1488. * G2: Clockwise Arc
  1489. * G3: Counterclockwise Arc
  1490. */
  1491. inline void gcode_G2_G3(bool clockwise) {
  1492. if (!Stopped) {
  1493. get_arc_coordinates();
  1494. prepare_arc_move(clockwise);
  1495. }
  1496. }
  1497. /**
  1498. * G4: Dwell S<seconds> or P<milliseconds>
  1499. */
  1500. inline void gcode_G4() {
  1501. unsigned long codenum=0;
  1502. LCD_MESSAGEPGM(MSG_DWELL);
  1503. if (code_seen('P')) codenum = code_value_long(); // milliseconds to wait
  1504. if (code_seen('S')) codenum = code_value_long() * 1000; // seconds to wait
  1505. st_synchronize();
  1506. previous_millis_cmd = millis();
  1507. codenum += previous_millis_cmd; // keep track of when we started waiting
  1508. while(millis() < codenum) {
  1509. manage_heater();
  1510. manage_inactivity();
  1511. lcd_update();
  1512. }
  1513. }
  1514. #ifdef FWRETRACT
  1515. /**
  1516. * G10 - Retract filament according to settings of M207
  1517. * G11 - Recover filament according to settings of M208
  1518. */
  1519. inline void gcode_G10_G11(bool doRetract=false) {
  1520. #if EXTRUDERS > 1
  1521. if (doRetract) {
  1522. retracted_swap[active_extruder] = (code_seen('S') && code_value_long() == 1); // checks for swap retract argument
  1523. }
  1524. #endif
  1525. retract(doRetract
  1526. #if EXTRUDERS > 1
  1527. , retracted_swap[active_extruder]
  1528. #endif
  1529. );
  1530. }
  1531. #endif //FWRETRACT
  1532. /**
  1533. * G28: Home all axes, one at a time
  1534. */
  1535. inline void gcode_G28() {
  1536. #ifdef ENABLE_AUTO_BED_LEVELING
  1537. #ifdef DELTA
  1538. reset_bed_level();
  1539. #else
  1540. plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
  1541. #endif
  1542. #endif
  1543. #if defined(MESH_BED_LEVELING)
  1544. uint8_t mbl_was_active = mbl.active;
  1545. mbl.active = 0;
  1546. #endif // MESH_BED_LEVELING
  1547. saved_feedrate = feedrate;
  1548. saved_feedmultiply = feedmultiply;
  1549. feedmultiply = 100;
  1550. previous_millis_cmd = millis();
  1551. enable_endstops(true);
  1552. for (int i = X_AXIS; i < NUM_AXIS; i++) destination[i] = current_position[i];
  1553. feedrate = 0.0;
  1554. #ifdef DELTA
  1555. // A delta can only safely home all axis at the same time
  1556. // all axis have to home at the same time
  1557. // Move all carriages up together until the first endstop is hit.
  1558. for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0;
  1559. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1560. for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * Z_MAX_LENGTH;
  1561. feedrate = 1.732 * homing_feedrate[X_AXIS];
  1562. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1563. st_synchronize();
  1564. endstops_hit_on_purpose();
  1565. // Destination reached
  1566. for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i];
  1567. // take care of back off and rehome now we are all at the top
  1568. HOMEAXIS(X);
  1569. HOMEAXIS(Y);
  1570. HOMEAXIS(Z);
  1571. calculate_delta(current_position);
  1572. plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
  1573. #else // NOT DELTA
  1574. home_all_axis = !(code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen(axis_codes[Z_AXIS]));
  1575. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  1576. if (home_all_axis || code_seen(axis_codes[Z_AXIS])) {
  1577. HOMEAXIS(Z);
  1578. }
  1579. #endif
  1580. #ifdef QUICK_HOME
  1581. if (home_all_axis || code_seen(axis_codes[X_AXIS] && code_seen(axis_codes[Y_AXIS]))) { //first diagonal move
  1582. current_position[X_AXIS] = current_position[Y_AXIS] = 0;
  1583. #ifndef DUAL_X_CARRIAGE
  1584. int x_axis_home_dir = home_dir(X_AXIS);
  1585. #else
  1586. int x_axis_home_dir = x_home_dir(active_extruder);
  1587. extruder_duplication_enabled = false;
  1588. #endif
  1589. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1590. destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;
  1591. destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
  1592. feedrate = homing_feedrate[X_AXIS];
  1593. if (homing_feedrate[Y_AXIS] < feedrate) feedrate = homing_feedrate[Y_AXIS];
  1594. if (max_length(X_AXIS) > max_length(Y_AXIS)) {
  1595. feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
  1596. } else {
  1597. feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
  1598. }
  1599. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1600. st_synchronize();
  1601. axis_is_at_home(X_AXIS);
  1602. axis_is_at_home(Y_AXIS);
  1603. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1604. destination[X_AXIS] = current_position[X_AXIS];
  1605. destination[Y_AXIS] = current_position[Y_AXIS];
  1606. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1607. feedrate = 0.0;
  1608. st_synchronize();
  1609. endstops_hit_on_purpose();
  1610. current_position[X_AXIS] = destination[X_AXIS];
  1611. current_position[Y_AXIS] = destination[Y_AXIS];
  1612. #ifndef SCARA
  1613. current_position[Z_AXIS] = destination[Z_AXIS];
  1614. #endif
  1615. }
  1616. #endif //QUICK_HOME
  1617. if ((home_all_axis) || (code_seen(axis_codes[X_AXIS]))) {
  1618. #ifdef DUAL_X_CARRIAGE
  1619. int tmp_extruder = active_extruder;
  1620. extruder_duplication_enabled = false;
  1621. active_extruder = !active_extruder;
  1622. HOMEAXIS(X);
  1623. inactive_extruder_x_pos = current_position[X_AXIS];
  1624. active_extruder = tmp_extruder;
  1625. HOMEAXIS(X);
  1626. // reset state used by the different modes
  1627. memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
  1628. delayed_move_time = 0;
  1629. active_extruder_parked = true;
  1630. #else
  1631. HOMEAXIS(X);
  1632. #endif
  1633. }
  1634. if (home_all_axis || code_seen(axis_codes[Y_AXIS])) HOMEAXIS(Y);
  1635. if (code_seen(axis_codes[X_AXIS])) {
  1636. if (code_value_long() != 0) {
  1637. current_position[X_AXIS] = code_value()
  1638. #ifndef SCARA
  1639. + home_offset[X_AXIS]
  1640. #endif
  1641. ;
  1642. }
  1643. }
  1644. if (code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0) {
  1645. current_position[Y_AXIS] = code_value()
  1646. #ifndef SCARA
  1647. + home_offset[Y_AXIS]
  1648. #endif
  1649. ;
  1650. }
  1651. #if Z_HOME_DIR < 0 // If homing towards BED do Z last
  1652. #ifndef Z_SAFE_HOMING
  1653. if (home_all_axis || code_seen(axis_codes[Z_AXIS])) {
  1654. #if defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0
  1655. destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
  1656. feedrate = max_feedrate[Z_AXIS];
  1657. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  1658. st_synchronize();
  1659. #endif
  1660. HOMEAXIS(Z);
  1661. }
  1662. #else // Z_SAFE_HOMING
  1663. if (home_all_axis) {
  1664. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
  1665. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
  1666. destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
  1667. feedrate = XY_TRAVEL_SPEED / 60;
  1668. current_position[Z_AXIS] = 0;
  1669. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1670. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  1671. st_synchronize();
  1672. current_position[X_AXIS] = destination[X_AXIS];
  1673. current_position[Y_AXIS] = destination[Y_AXIS];
  1674. HOMEAXIS(Z);
  1675. }
  1676. // Let's see if X and Y are homed and probe is inside bed area.
  1677. if (code_seen(axis_codes[Z_AXIS])) {
  1678. if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) {
  1679. float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS];
  1680. if ( cpx >= X_MIN_POS - X_PROBE_OFFSET_FROM_EXTRUDER
  1681. && cpx <= X_MAX_POS - X_PROBE_OFFSET_FROM_EXTRUDER
  1682. && cpy >= Y_MIN_POS - Y_PROBE_OFFSET_FROM_EXTRUDER
  1683. && cpy <= Y_MAX_POS - Y_PROBE_OFFSET_FROM_EXTRUDER) {
  1684. current_position[Z_AXIS] = 0;
  1685. plan_set_position(cpx, cpy, current_position[Z_AXIS], current_position[E_AXIS]);
  1686. destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
  1687. feedrate = max_feedrate[Z_AXIS];
  1688. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  1689. st_synchronize();
  1690. HOMEAXIS(Z);
  1691. }
  1692. else {
  1693. LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
  1694. SERIAL_ECHO_START;
  1695. SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
  1696. }
  1697. }
  1698. else {
  1699. LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
  1700. SERIAL_ECHO_START;
  1701. SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
  1702. }
  1703. }
  1704. #endif // Z_SAFE_HOMING
  1705. #endif // Z_HOME_DIR < 0
  1706. if (code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0)
  1707. current_position[Z_AXIS] = code_value() + home_offset[Z_AXIS];
  1708. #if defined(ENABLE_AUTO_BED_LEVELING) && (Z_HOME_DIR < 0)
  1709. if (home_all_axis || code_seen(axis_codes[Z_AXIS]))
  1710. current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
  1711. #endif
  1712. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1713. #endif // else DELTA
  1714. #ifdef SCARA
  1715. calculate_delta(current_position);
  1716. plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
  1717. #endif
  1718. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  1719. enable_endstops(false);
  1720. #endif
  1721. #if defined(MESH_BED_LEVELING)
  1722. if (mbl_was_active) {
  1723. current_position[X_AXIS] = mbl.get_x(0);
  1724. current_position[Y_AXIS] = mbl.get_y(0);
  1725. destination[X_AXIS] = current_position[X_AXIS];
  1726. destination[Y_AXIS] = current_position[Y_AXIS];
  1727. destination[Z_AXIS] = current_position[Z_AXIS];
  1728. destination[E_AXIS] = current_position[E_AXIS];
  1729. feedrate = homing_feedrate[X_AXIS];
  1730. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  1731. st_synchronize();
  1732. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
  1733. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1734. mbl.active = 1;
  1735. }
  1736. #endif
  1737. feedrate = saved_feedrate;
  1738. feedmultiply = saved_feedmultiply;
  1739. previous_millis_cmd = millis();
  1740. endstops_hit_on_purpose();
  1741. }
  1742. #ifdef MESH_BED_LEVELING
  1743. /**
  1744. * G29: Mesh-based Z-Probe, probes a grid and produces a
  1745. * mesh to compensate for variable bed height
  1746. *
  1747. * Parameters With MESH_BED_LEVELING:
  1748. *
  1749. * S0 Produce a mesh report
  1750. * S1 Start probing mesh points
  1751. * S2 Probe the next mesh point
  1752. *
  1753. */
  1754. inline void gcode_G29() {
  1755. static int probe_point = -1;
  1756. int state = 0;
  1757. if (code_seen('S') || code_seen('s')) {
  1758. state = code_value_long();
  1759. if (state < 0 || state > 2) {
  1760. SERIAL_PROTOCOLPGM("S out of range (0-2).\n");
  1761. return;
  1762. }
  1763. }
  1764. if (state == 0) { // Dump mesh_bed_leveling
  1765. if (mbl.active) {
  1766. SERIAL_PROTOCOLPGM("Num X,Y: ");
  1767. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  1768. SERIAL_PROTOCOLPGM(",");
  1769. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  1770. SERIAL_PROTOCOLPGM("\nZ search height: ");
  1771. SERIAL_PROTOCOL(MESH_HOME_SEARCH_Z);
  1772. SERIAL_PROTOCOLPGM("\nMeasured points:\n");
  1773. for (int y=0; y<MESH_NUM_Y_POINTS; y++) {
  1774. for (int x=0; x<MESH_NUM_X_POINTS; x++) {
  1775. SERIAL_PROTOCOLPGM(" ");
  1776. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  1777. }
  1778. SERIAL_EOL;
  1779. }
  1780. } else {
  1781. SERIAL_PROTOCOLPGM("Mesh bed leveling not active.\n");
  1782. }
  1783. } else if (state == 1) { // Begin probing mesh points
  1784. mbl.reset();
  1785. probe_point = 0;
  1786. enquecommands_P(PSTR("G28"));
  1787. enquecommands_P(PSTR("G29 S2"));
  1788. } else if (state == 2) { // Goto next point
  1789. if (probe_point < 0) {
  1790. SERIAL_PROTOCOLPGM("Start mesh probing with \"G29 S1\" first.\n");
  1791. return;
  1792. }
  1793. int ix, iy;
  1794. if (probe_point == 0) {
  1795. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
  1796. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1797. } else {
  1798. ix = (probe_point-1) % MESH_NUM_X_POINTS;
  1799. iy = (probe_point-1) / MESH_NUM_X_POINTS;
  1800. if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // zig-zag
  1801. mbl.set_z(ix, iy, current_position[Z_AXIS]);
  1802. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
  1803. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS]/60, active_extruder);
  1804. st_synchronize();
  1805. }
  1806. if (probe_point == MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS) {
  1807. SERIAL_PROTOCOLPGM("Mesh probing done.\n");
  1808. probe_point = -1;
  1809. mbl.active = 1;
  1810. enquecommands_P(PSTR("G28"));
  1811. return;
  1812. }
  1813. ix = probe_point % MESH_NUM_X_POINTS;
  1814. iy = probe_point / MESH_NUM_X_POINTS;
  1815. if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // zig-zag
  1816. current_position[X_AXIS] = mbl.get_x(ix);
  1817. current_position[Y_AXIS] = mbl.get_y(iy);
  1818. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS]/60, active_extruder);
  1819. st_synchronize();
  1820. probe_point++;
  1821. }
  1822. }
  1823. #elif defined(ENABLE_AUTO_BED_LEVELING)
  1824. /**
  1825. * G29: Detailed Z-Probe, probes the bed at 3 or more points.
  1826. * Will fail if the printer has not been homed with G28.
  1827. *
  1828. * Enhanced G29 Auto Bed Leveling Probe Routine
  1829. *
  1830. * Parameters With AUTO_BED_LEVELING_GRID:
  1831. *
  1832. * P Set the size of the grid that will be probed (P x P points).
  1833. * Not supported by non-linear delta printer bed leveling.
  1834. * Example: "G29 P4"
  1835. *
  1836. * S Set the XY travel speed between probe points (in mm/min)
  1837. *
  1838. * D Dry-Run mode. Just evaluate the bed Topology - Don't apply
  1839. * or clean the rotation Matrix. Useful to check the topology
  1840. * after a first run of G29.
  1841. *
  1842. * V Set the verbose level (0-4). Example: "G29 V3"
  1843. *
  1844. * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
  1845. * This is useful for manual bed leveling and finding flaws in the bed (to
  1846. * assist with part placement).
  1847. * Not supported by non-linear delta printer bed leveling.
  1848. *
  1849. * F Set the Front limit of the probing grid
  1850. * B Set the Back limit of the probing grid
  1851. * L Set the Left limit of the probing grid
  1852. * R Set the Right limit of the probing grid
  1853. *
  1854. * Global Parameters:
  1855. *
  1856. * E/e By default G29 engages / disengages the probe for each point.
  1857. * Include "E" to engage and disengage the probe just once.
  1858. * There's no extra effect if you have a fixed probe.
  1859. * Usage: "G29 E" or "G29 e"
  1860. *
  1861. */
  1862. inline void gcode_G29() {
  1863. // Prevent user from running a G29 without first homing in X and Y
  1864. if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
  1865. LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
  1866. SERIAL_ECHO_START;
  1867. SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
  1868. return;
  1869. }
  1870. int verbose_level = 1;
  1871. float x_tmp, y_tmp, z_tmp, real_z;
  1872. if (code_seen('V') || code_seen('v')) {
  1873. verbose_level = code_value_long();
  1874. if (verbose_level < 0 || verbose_level > 4) {
  1875. SERIAL_PROTOCOLPGM("?(V)erbose Level is implausible (0-4).\n");
  1876. return;
  1877. }
  1878. }
  1879. bool dryrun = code_seen('D') || code_seen('d');
  1880. bool enhanced_g29 = code_seen('E') || code_seen('e');
  1881. #ifdef AUTO_BED_LEVELING_GRID
  1882. #ifndef DELTA
  1883. bool do_topography_map = verbose_level > 2 || code_seen('T') || code_seen('t');
  1884. #endif
  1885. if (verbose_level > 0)
  1886. {
  1887. SERIAL_PROTOCOLPGM("G29 Auto Bed Leveling\n");
  1888. if (dryrun) SERIAL_ECHOLN("Running in DRY-RUN mode");
  1889. }
  1890. int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;
  1891. #ifndef DELTA
  1892. if (code_seen('P')) auto_bed_leveling_grid_points = code_value_long();
  1893. if (auto_bed_leveling_grid_points < 2) {
  1894. SERIAL_PROTOCOLPGM("?Number of probed (P)oints is implausible (2 minimum).\n");
  1895. return;
  1896. }
  1897. #endif
  1898. xy_travel_speed = code_seen('S') ? code_value_long() : XY_TRAVEL_SPEED;
  1899. int left_probe_bed_position = code_seen('L') ? code_value_long() : LEFT_PROBE_BED_POSITION,
  1900. right_probe_bed_position = code_seen('R') ? code_value_long() : RIGHT_PROBE_BED_POSITION,
  1901. front_probe_bed_position = code_seen('F') ? code_value_long() : FRONT_PROBE_BED_POSITION,
  1902. back_probe_bed_position = code_seen('B') ? code_value_long() : BACK_PROBE_BED_POSITION;
  1903. bool left_out_l = left_probe_bed_position < MIN_PROBE_X,
  1904. left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - MIN_PROBE_EDGE,
  1905. right_out_r = right_probe_bed_position > MAX_PROBE_X,
  1906. right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
  1907. front_out_f = front_probe_bed_position < MIN_PROBE_Y,
  1908. front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - MIN_PROBE_EDGE,
  1909. back_out_b = back_probe_bed_position > MAX_PROBE_Y,
  1910. back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
  1911. if (left_out || right_out || front_out || back_out) {
  1912. if (left_out) {
  1913. SERIAL_PROTOCOLPGM("?Probe (L)eft position out of range.\n");
  1914. left_probe_bed_position = left_out_l ? MIN_PROBE_X : right_probe_bed_position - MIN_PROBE_EDGE;
  1915. }
  1916. if (right_out) {
  1917. SERIAL_PROTOCOLPGM("?Probe (R)ight position out of range.\n");
  1918. right_probe_bed_position = right_out_r ? MAX_PROBE_X : left_probe_bed_position + MIN_PROBE_EDGE;
  1919. }
  1920. if (front_out) {
  1921. SERIAL_PROTOCOLPGM("?Probe (F)ront position out of range.\n");
  1922. front_probe_bed_position = front_out_f ? MIN_PROBE_Y : back_probe_bed_position - MIN_PROBE_EDGE;
  1923. }
  1924. if (back_out) {
  1925. SERIAL_PROTOCOLPGM("?Probe (B)ack position out of range.\n");
  1926. back_probe_bed_position = back_out_b ? MAX_PROBE_Y : front_probe_bed_position + MIN_PROBE_EDGE;
  1927. }
  1928. return;
  1929. }
  1930. #endif // AUTO_BED_LEVELING_GRID
  1931. #ifdef Z_PROBE_SLED
  1932. dock_sled(false); // engage (un-dock) the probe
  1933. #elif defined(Z_PROBE_ALLEN_KEY) //|| defined(SERVO_LEVELING)
  1934. engage_z_probe();
  1935. #endif
  1936. st_synchronize();
  1937. if (!dryrun)
  1938. {
  1939. #ifdef DELTA
  1940. reset_bed_level();
  1941. #else //!DELTA
  1942. // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
  1943. //vector_3 corrected_position = plan_get_position_mm();
  1944. //corrected_position.debug("position before G29");
  1945. plan_bed_level_matrix.set_to_identity();
  1946. vector_3 uncorrected_position = plan_get_position();
  1947. //uncorrected_position.debug("position during G29");
  1948. current_position[X_AXIS] = uncorrected_position.x;
  1949. current_position[Y_AXIS] = uncorrected_position.y;
  1950. current_position[Z_AXIS] = uncorrected_position.z;
  1951. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1952. #endif
  1953. }
  1954. setup_for_endstop_move();
  1955. feedrate = homing_feedrate[Z_AXIS];
  1956. #ifdef AUTO_BED_LEVELING_GRID
  1957. // probe at the points of a lattice grid
  1958. const int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points-1);
  1959. const int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points-1);
  1960. #ifdef DELTA
  1961. delta_grid_spacing[0] = xGridSpacing;
  1962. delta_grid_spacing[1] = yGridSpacing;
  1963. float z_offset = Z_PROBE_OFFSET_FROM_EXTRUDER;
  1964. if (code_seen(axis_codes[Z_AXIS])) z_offset += code_value();
  1965. #else // !DELTA
  1966. // solve the plane equation ax + by + d = z
  1967. // A is the matrix with rows [x y 1] for all the probed points
  1968. // B is the vector of the Z positions
  1969. // the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
  1970. // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  1971. int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points;
  1972. double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
  1973. eqnBVector[abl2], // "B" vector of Z points
  1974. mean = 0.0;
  1975. #endif // !DELTA
  1976. int probePointCounter = 0;
  1977. bool zig = true;
  1978. for (int yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) {
  1979. double yProbe = front_probe_bed_position + yGridSpacing * yCount;
  1980. int xStart, xStop, xInc;
  1981. if (zig) {
  1982. xStart = 0;
  1983. xStop = auto_bed_leveling_grid_points;
  1984. xInc = 1;
  1985. }
  1986. else {
  1987. xStart = auto_bed_leveling_grid_points - 1;
  1988. xStop = -1;
  1989. xInc = -1;
  1990. }
  1991. #ifndef DELTA
  1992. // If do_topography_map is set then don't zig-zag. Just scan in one direction.
  1993. // This gets the probe points in more readable order.
  1994. if (!do_topography_map) zig = !zig;
  1995. #endif
  1996. for (int xCount = xStart; xCount != xStop; xCount += xInc) {
  1997. double xProbe = left_probe_bed_position + xGridSpacing * xCount;
  1998. // raise extruder
  1999. float measured_z,
  2000. z_before = probePointCounter == 0 ? Z_RAISE_BEFORE_PROBING : current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
  2001. #ifdef DELTA
  2002. // Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
  2003. float distance_from_center = sqrt(xProbe*xProbe + yProbe*yProbe);
  2004. if (distance_from_center > DELTA_PROBABLE_RADIUS)
  2005. continue;
  2006. #endif //DELTA
  2007. // Enhanced G29 - Do not retract servo between probes
  2008. ProbeAction act;
  2009. if (enhanced_g29) {
  2010. if (yProbe == front_probe_bed_position && xCount == 0)
  2011. act = ProbeEngage;
  2012. else if (yProbe == front_probe_bed_position + (yGridSpacing * (auto_bed_leveling_grid_points - 1)) && xCount == auto_bed_leveling_grid_points - 1)
  2013. act = ProbeRetract;
  2014. else
  2015. act = ProbeStay;
  2016. }
  2017. else
  2018. act = ProbeEngageAndRetract;
  2019. measured_z = probe_pt(xProbe, yProbe, z_before, act, verbose_level);
  2020. #ifndef DELTA
  2021. mean += measured_z;
  2022. eqnBVector[probePointCounter] = measured_z;
  2023. eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
  2024. eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
  2025. eqnAMatrix[probePointCounter + 2 * abl2] = 1;
  2026. #else
  2027. bed_level[xCount][yCount] = measured_z + z_offset;
  2028. #endif
  2029. probePointCounter++;
  2030. } //xProbe
  2031. } //yProbe
  2032. clean_up_after_endstop_move();
  2033. #ifdef DELTA
  2034. if (!dryrun) extrapolate_unprobed_bed_level();
  2035. print_bed_level();
  2036. #else // !DELTA
  2037. // solve lsq problem
  2038. double *plane_equation_coefficients = qr_solve(abl2, 3, eqnAMatrix, eqnBVector);
  2039. mean /= abl2;
  2040. if (verbose_level) {
  2041. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  2042. SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
  2043. SERIAL_PROTOCOLPGM(" b: ");
  2044. SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
  2045. SERIAL_PROTOCOLPGM(" d: ");
  2046. SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
  2047. SERIAL_EOL;
  2048. if (verbose_level > 2) {
  2049. SERIAL_PROTOCOLPGM("Mean of sampled points: ");
  2050. SERIAL_PROTOCOL_F(mean, 8);
  2051. SERIAL_EOL;
  2052. }
  2053. }
  2054. // Show the Topography map if enabled
  2055. if (do_topography_map) {
  2056. SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n");
  2057. SERIAL_PROTOCOLPGM("+-----------+\n");
  2058. SERIAL_PROTOCOLPGM("|...Back....|\n");
  2059. SERIAL_PROTOCOLPGM("|Left..Right|\n");
  2060. SERIAL_PROTOCOLPGM("|...Front...|\n");
  2061. SERIAL_PROTOCOLPGM("+-----------+\n");
  2062. for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
  2063. for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
  2064. int ind = yy * auto_bed_leveling_grid_points + xx;
  2065. float diff = eqnBVector[ind] - mean;
  2066. if (diff >= 0.0)
  2067. SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
  2068. else
  2069. SERIAL_PROTOCOLPGM(" ");
  2070. SERIAL_PROTOCOL_F(diff, 5);
  2071. } // xx
  2072. SERIAL_EOL;
  2073. } // yy
  2074. SERIAL_EOL;
  2075. } //do_topography_map
  2076. if (!dryrun) set_bed_level_equation_lsq(plane_equation_coefficients);
  2077. free(plane_equation_coefficients);
  2078. #endif //!DELTA
  2079. #else // !AUTO_BED_LEVELING_GRID
  2080. // Probe at 3 arbitrary points
  2081. float z_at_pt_1, z_at_pt_2, z_at_pt_3;
  2082. if (enhanced_g29) {
  2083. // Basic Enhanced G29
  2084. z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING, ProbeEngage, verbose_level);
  2085. z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeStay, verbose_level);
  2086. z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeRetract, verbose_level);
  2087. }
  2088. else {
  2089. z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING, ProbeEngageAndRetract, verbose_level);
  2090. z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeEngageAndRetract, verbose_level);
  2091. z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeEngageAndRetract, verbose_level);
  2092. }
  2093. clean_up_after_endstop_move();
  2094. if (!dryrun) set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
  2095. #endif // !AUTO_BED_LEVELING_GRID
  2096. #ifndef DELTA
  2097. if (verbose_level > 0)
  2098. plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
  2099. // Correct the Z height difference from z-probe position and hotend tip position.
  2100. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
  2101. // When the bed is uneven, this height must be corrected.
  2102. if (!dryrun)
  2103. {
  2104. real_z = float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
  2105. x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
  2106. y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  2107. z_tmp = current_position[Z_AXIS];
  2108. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
  2109. current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
  2110. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2111. }
  2112. #endif // !DELTA
  2113. #ifdef Z_PROBE_SLED
  2114. dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel
  2115. #elif defined(Z_PROBE_ALLEN_KEY) //|| defined(SERVO_LEVELING)
  2116. retract_z_probe();
  2117. #endif
  2118. #ifdef Z_PROBE_END_SCRIPT
  2119. enquecommands_P(PSTR(Z_PROBE_END_SCRIPT));
  2120. st_synchronize();
  2121. #endif
  2122. }
  2123. #ifndef Z_PROBE_SLED
  2124. inline void gcode_G30() {
  2125. engage_z_probe(); // Engage Z Servo endstop if available
  2126. st_synchronize();
  2127. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  2128. setup_for_endstop_move();
  2129. feedrate = homing_feedrate[Z_AXIS];
  2130. run_z_probe();
  2131. SERIAL_PROTOCOLPGM(MSG_BED);
  2132. SERIAL_PROTOCOLPGM(" X: ");
  2133. SERIAL_PROTOCOL(current_position[X_AXIS] + 0.0001);
  2134. SERIAL_PROTOCOLPGM(" Y: ");
  2135. SERIAL_PROTOCOL(current_position[Y_AXIS] + 0.0001);
  2136. SERIAL_PROTOCOLPGM(" Z: ");
  2137. SERIAL_PROTOCOL(current_position[Z_AXIS] + 0.0001);
  2138. SERIAL_EOL;
  2139. clean_up_after_endstop_move();
  2140. retract_z_probe(); // Retract Z Servo endstop if available
  2141. }
  2142. #endif //!Z_PROBE_SLED
  2143. #endif //ENABLE_AUTO_BED_LEVELING
  2144. /**
  2145. * G92: Set current position to given X Y Z E
  2146. */
  2147. inline void gcode_G92() {
  2148. if (!code_seen(axis_codes[E_AXIS]))
  2149. st_synchronize();
  2150. for (int i = 0; i < NUM_AXIS; i++) {
  2151. if (code_seen(axis_codes[i])) {
  2152. current_position[i] = code_value();
  2153. if (i == E_AXIS)
  2154. plan_set_e_position(current_position[E_AXIS]);
  2155. else
  2156. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2157. }
  2158. }
  2159. }
  2160. #ifdef ULTIPANEL
  2161. /**
  2162. * M0: // M0 - Unconditional stop - Wait for user button press on LCD
  2163. * M1: // M1 - Conditional stop - Wait for user button press on LCD
  2164. */
  2165. inline void gcode_M0_M1() {
  2166. char *src = strchr_pointer + 2;
  2167. unsigned long codenum = 0;
  2168. bool hasP = false, hasS = false;
  2169. if (code_seen('P')) {
  2170. codenum = code_value(); // milliseconds to wait
  2171. hasP = codenum > 0;
  2172. }
  2173. if (code_seen('S')) {
  2174. codenum = code_value() * 1000; // seconds to wait
  2175. hasS = codenum > 0;
  2176. }
  2177. char* starpos = strchr(src, '*');
  2178. if (starpos != NULL) *(starpos) = '\0';
  2179. while (*src == ' ') ++src;
  2180. if (!hasP && !hasS && *src != '\0')
  2181. lcd_setstatus(src);
  2182. else
  2183. LCD_MESSAGEPGM(MSG_USERWAIT);
  2184. lcd_ignore_click();
  2185. st_synchronize();
  2186. previous_millis_cmd = millis();
  2187. if (codenum > 0) {
  2188. codenum += previous_millis_cmd; // keep track of when we started waiting
  2189. while(millis() < codenum && !lcd_clicked()) {
  2190. manage_heater();
  2191. manage_inactivity();
  2192. lcd_update();
  2193. }
  2194. lcd_ignore_click(false);
  2195. }
  2196. else {
  2197. if (!lcd_detected()) return;
  2198. while (!lcd_clicked()) {
  2199. manage_heater();
  2200. manage_inactivity();
  2201. lcd_update();
  2202. }
  2203. }
  2204. if (IS_SD_PRINTING)
  2205. LCD_MESSAGEPGM(MSG_RESUMING);
  2206. else
  2207. LCD_MESSAGEPGM(WELCOME_MSG);
  2208. }
  2209. #endif // ULTIPANEL
  2210. /**
  2211. * M17: Enable power on all stepper motors
  2212. */
  2213. inline void gcode_M17() {
  2214. LCD_MESSAGEPGM(MSG_NO_MOVE);
  2215. enable_x();
  2216. enable_y();
  2217. enable_z();
  2218. enable_e0();
  2219. enable_e1();
  2220. enable_e2();
  2221. enable_e3();
  2222. }
  2223. #ifdef SDSUPPORT
  2224. /**
  2225. * M20: List SD card to serial output
  2226. */
  2227. inline void gcode_M20() {
  2228. SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
  2229. card.ls();
  2230. SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
  2231. }
  2232. /**
  2233. * M21: Init SD Card
  2234. */
  2235. inline void gcode_M21() {
  2236. card.initsd();
  2237. }
  2238. /**
  2239. * M22: Release SD Card
  2240. */
  2241. inline void gcode_M22() {
  2242. card.release();
  2243. }
  2244. /**
  2245. * M23: Select a file
  2246. */
  2247. inline void gcode_M23() {
  2248. char* codepos = strchr_pointer + 4;
  2249. char* starpos = strchr(codepos, '*');
  2250. if (starpos) *starpos = '\0';
  2251. card.openFile(codepos, true);
  2252. }
  2253. /**
  2254. * M24: Start SD Print
  2255. */
  2256. inline void gcode_M24() {
  2257. card.startFileprint();
  2258. starttime = millis();
  2259. }
  2260. /**
  2261. * M25: Pause SD Print
  2262. */
  2263. inline void gcode_M25() {
  2264. card.pauseSDPrint();
  2265. }
  2266. /**
  2267. * M26: Set SD Card file index
  2268. */
  2269. inline void gcode_M26() {
  2270. if (card.cardOK && code_seen('S'))
  2271. card.setIndex(code_value_long());
  2272. }
  2273. /**
  2274. * M27: Get SD Card status
  2275. */
  2276. inline void gcode_M27() {
  2277. card.getStatus();
  2278. }
  2279. /**
  2280. * M28: Start SD Write
  2281. */
  2282. inline void gcode_M28() {
  2283. char* codepos = strchr_pointer + 4;
  2284. char* starpos = strchr(codepos, '*');
  2285. if (starpos) {
  2286. char* npos = strchr(cmdbuffer[bufindr], 'N');
  2287. strchr_pointer = strchr(npos, ' ') + 1;
  2288. *(starpos) = '\0';
  2289. }
  2290. card.openFile(codepos, false);
  2291. }
  2292. /**
  2293. * M29: Stop SD Write
  2294. * Processed in write to file routine above
  2295. */
  2296. inline void gcode_M29() {
  2297. // card.saving = false;
  2298. }
  2299. /**
  2300. * M30 <filename>: Delete SD Card file
  2301. */
  2302. inline void gcode_M30() {
  2303. if (card.cardOK) {
  2304. card.closefile();
  2305. char* starpos = strchr(strchr_pointer + 4, '*');
  2306. if (starpos) {
  2307. char* npos = strchr(cmdbuffer[bufindr], 'N');
  2308. strchr_pointer = strchr(npos, ' ') + 1;
  2309. *(starpos) = '\0';
  2310. }
  2311. card.removeFile(strchr_pointer + 4);
  2312. }
  2313. }
  2314. #endif
  2315. /**
  2316. * M31: Get the time since the start of SD Print (or last M109)
  2317. */
  2318. inline void gcode_M31() {
  2319. stoptime = millis();
  2320. unsigned long t = (stoptime - starttime) / 1000;
  2321. int min = t / 60, sec = t % 60;
  2322. char time[30];
  2323. sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
  2324. SERIAL_ECHO_START;
  2325. SERIAL_ECHOLN(time);
  2326. lcd_setstatus(time);
  2327. autotempShutdown();
  2328. }
  2329. #ifdef SDSUPPORT
  2330. /**
  2331. * M32: Select file and start SD Print
  2332. */
  2333. inline void gcode_M32() {
  2334. if (card.sdprinting)
  2335. st_synchronize();
  2336. char* codepos = strchr_pointer + 4;
  2337. char* namestartpos = strchr(codepos, '!'); //find ! to indicate filename string start.
  2338. if (! namestartpos)
  2339. namestartpos = codepos; //default name position, 4 letters after the M
  2340. else
  2341. namestartpos++; //to skip the '!'
  2342. char* starpos = strchr(codepos, '*');
  2343. if (starpos) *(starpos) = '\0';
  2344. bool call_procedure = code_seen('P') && (strchr_pointer < namestartpos);
  2345. if (card.cardOK) {
  2346. card.openFile(namestartpos, true, !call_procedure);
  2347. if (code_seen('S') && strchr_pointer < namestartpos) // "S" (must occur _before_ the filename!)
  2348. card.setIndex(code_value_long());
  2349. card.startFileprint();
  2350. if (!call_procedure)
  2351. starttime = millis(); //procedure calls count as normal print time.
  2352. }
  2353. }
  2354. /**
  2355. * M928: Start SD Write
  2356. */
  2357. inline void gcode_M928() {
  2358. char* starpos = strchr(strchr_pointer + 5, '*');
  2359. if (starpos) {
  2360. char* npos = strchr(cmdbuffer[bufindr], 'N');
  2361. strchr_pointer = strchr(npos, ' ') + 1;
  2362. *(starpos) = '\0';
  2363. }
  2364. card.openLogFile(strchr_pointer + 5);
  2365. }
  2366. #endif // SDSUPPORT
  2367. /**
  2368. * M42: Change pin status via GCode
  2369. */
  2370. inline void gcode_M42() {
  2371. if (code_seen('S')) {
  2372. int pin_status = code_value(),
  2373. pin_number = LED_PIN;
  2374. if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
  2375. pin_number = code_value();
  2376. for (int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins) / sizeof(*sensitive_pins)); i++) {
  2377. if (sensitive_pins[i] == pin_number) {
  2378. pin_number = -1;
  2379. break;
  2380. }
  2381. }
  2382. #if defined(FAN_PIN) && FAN_PIN > -1
  2383. if (pin_number == FAN_PIN) fanSpeed = pin_status;
  2384. #endif
  2385. if (pin_number > -1) {
  2386. pinMode(pin_number, OUTPUT);
  2387. digitalWrite(pin_number, pin_status);
  2388. analogWrite(pin_number, pin_status);
  2389. }
  2390. } // code_seen('S')
  2391. }
  2392. #if defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST)
  2393. #if Z_MIN_PIN == -1
  2394. #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
  2395. #endif
  2396. /**
  2397. * M48: Z-Probe repeatability measurement function.
  2398. *
  2399. * Usage:
  2400. * M48 <n#> <X#> <Y#> <V#> <E> <L#>
  2401. * n = Number of samples (4-50, default 10)
  2402. * X = Sample X position
  2403. * Y = Sample Y position
  2404. * V = Verbose level (0-4, default=1)
  2405. * E = Engage probe for each reading
  2406. * L = Number of legs of movement before probe
  2407. *
  2408. * This function assumes the bed has been homed. Specificaly, that a G28 command
  2409. * as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
  2410. * Any information generated by a prior G29 Bed leveling command will be lost and need to be
  2411. * regenerated.
  2412. *
  2413. * The number of samples will default to 10 if not specified. You can use upper or lower case
  2414. * letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
  2415. * N for its communication protocol and will get horribly confused if you send it a capital N.
  2416. */
  2417. inline void gcode_M48() {
  2418. double sum = 0.0, mean = 0.0, sigma = 0.0, sample_set[50];
  2419. int verbose_level = 1, n = 0, j, n_samples = 10, n_legs = 0, engage_probe_for_each_reading = 0;
  2420. double X_current, Y_current, Z_current;
  2421. double X_probe_location, Y_probe_location, Z_start_location, ext_position;
  2422. if (code_seen('V') || code_seen('v')) {
  2423. verbose_level = code_value();
  2424. if (verbose_level < 0 || verbose_level > 4 ) {
  2425. SERIAL_PROTOCOLPGM("?Verbose Level not plausible (0-4).\n");
  2426. return;
  2427. }
  2428. }
  2429. if (verbose_level > 0)
  2430. SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test\n");
  2431. if (code_seen('n')) {
  2432. n_samples = code_value();
  2433. if (n_samples < 4 || n_samples > 50) {
  2434. SERIAL_PROTOCOLPGM("?Specified sample size not plausible (4-50).\n");
  2435. return;
  2436. }
  2437. }
  2438. X_current = X_probe_location = st_get_position_mm(X_AXIS);
  2439. Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
  2440. Z_current = st_get_position_mm(Z_AXIS);
  2441. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  2442. ext_position = st_get_position_mm(E_AXIS);
  2443. if (code_seen('E') || code_seen('e'))
  2444. engage_probe_for_each_reading++;
  2445. if (code_seen('X') || code_seen('x')) {
  2446. X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
  2447. if (X_probe_location < X_MIN_POS || X_probe_location > X_MAX_POS) {
  2448. SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
  2449. return;
  2450. }
  2451. }
  2452. if (code_seen('Y') || code_seen('y')) {
  2453. Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
  2454. if (Y_probe_location < Y_MIN_POS || Y_probe_location > Y_MAX_POS) {
  2455. SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
  2456. return;
  2457. }
  2458. }
  2459. if (code_seen('L') || code_seen('l')) {
  2460. n_legs = code_value();
  2461. if (n_legs == 1) n_legs = 2;
  2462. if (n_legs < 0 || n_legs > 15) {
  2463. SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausible (0-15).\n");
  2464. return;
  2465. }
  2466. }
  2467. //
  2468. // Do all the preliminary setup work. First raise the probe.
  2469. //
  2470. st_synchronize();
  2471. plan_bed_level_matrix.set_to_identity();
  2472. plan_buffer_line(X_current, Y_current, Z_start_location,
  2473. ext_position,
  2474. homing_feedrate[Z_AXIS] / 60,
  2475. active_extruder);
  2476. st_synchronize();
  2477. //
  2478. // Now get everything to the specified probe point So we can safely do a probe to
  2479. // get us close to the bed. If the Z-Axis is far from the bed, we don't want to
  2480. // use that as a starting point for each probe.
  2481. //
  2482. if (verbose_level > 2)
  2483. SERIAL_PROTOCOL("Positioning probe for the test.\n");
  2484. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  2485. ext_position,
  2486. homing_feedrate[X_AXIS]/60,
  2487. active_extruder);
  2488. st_synchronize();
  2489. current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
  2490. current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
  2491. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  2492. current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
  2493. //
  2494. // OK, do the inital probe to get us close to the bed.
  2495. // Then retrace the right amount and use that in subsequent probes
  2496. //
  2497. engage_z_probe();
  2498. setup_for_endstop_move();
  2499. run_z_probe();
  2500. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  2501. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  2502. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  2503. ext_position,
  2504. homing_feedrate[X_AXIS]/60,
  2505. active_extruder);
  2506. st_synchronize();
  2507. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  2508. if (engage_probe_for_each_reading) retract_z_probe();
  2509. for (n=0; n < n_samples; n++) {
  2510. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
  2511. if (n_legs) {
  2512. double radius=0.0, theta=0.0;
  2513. int l;
  2514. int rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
  2515. radius = (unsigned long)millis() % (long)(X_MAX_LENGTH / 4); // limit how far out to go
  2516. theta = (float)((unsigned long)millis() % 360L) / (360. / (2 * 3.1415926)); // turn into radians
  2517. //SERIAL_ECHOPAIR("starting radius: ",radius);
  2518. //SERIAL_ECHOPAIR(" theta: ",theta);
  2519. //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
  2520. //SERIAL_PROTOCOLLNPGM("");
  2521. float dir = rotational_direction ? 1 : -1;
  2522. for (l = 0; l < n_legs - 1; l++) {
  2523. theta += dir * (float)((unsigned long)millis() % 20L) / (360.0/(2*3.1415926)); // turn into radians
  2524. radius += (float)(((long)((unsigned long) millis() % 10L)) - 5L);
  2525. if (radius < 0.0) radius = -radius;
  2526. X_current = X_probe_location + cos(theta) * radius;
  2527. Y_current = Y_probe_location + sin(theta) * radius;
  2528. // Make sure our X & Y are sane
  2529. X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
  2530. Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
  2531. if (verbose_level > 3) {
  2532. SERIAL_ECHOPAIR("x: ", X_current);
  2533. SERIAL_ECHOPAIR("y: ", Y_current);
  2534. SERIAL_PROTOCOLLNPGM("");
  2535. }
  2536. do_blocking_move_to( X_current, Y_current, Z_current );
  2537. }
  2538. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
  2539. }
  2540. if (engage_probe_for_each_reading) {
  2541. engage_z_probe();
  2542. delay(1000);
  2543. }
  2544. setup_for_endstop_move();
  2545. run_z_probe();
  2546. sample_set[n] = current_position[Z_AXIS];
  2547. //
  2548. // Get the current mean for the data points we have so far
  2549. //
  2550. sum = 0.0;
  2551. for (j=0; j<=n; j++) sum += sample_set[j];
  2552. mean = sum / (double (n+1));
  2553. //
  2554. // Now, use that mean to calculate the standard deviation for the
  2555. // data points we have so far
  2556. //
  2557. sum = 0.0;
  2558. for (j=0; j<=n; j++) sum += (sample_set[j]-mean) * (sample_set[j]-mean);
  2559. sigma = sqrt( sum / (double (n+1)) );
  2560. if (verbose_level > 1) {
  2561. SERIAL_PROTOCOL(n+1);
  2562. SERIAL_PROTOCOL(" of ");
  2563. SERIAL_PROTOCOL(n_samples);
  2564. SERIAL_PROTOCOLPGM(" z: ");
  2565. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  2566. }
  2567. if (verbose_level > 2) {
  2568. SERIAL_PROTOCOL(" mean: ");
  2569. SERIAL_PROTOCOL_F(mean,6);
  2570. SERIAL_PROTOCOL(" sigma: ");
  2571. SERIAL_PROTOCOL_F(sigma,6);
  2572. }
  2573. if (verbose_level > 0) SERIAL_EOL;
  2574. plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location,
  2575. current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
  2576. st_synchronize();
  2577. if (engage_probe_for_each_reading) {
  2578. retract_z_probe();
  2579. delay(1000);
  2580. }
  2581. }
  2582. retract_z_probe();
  2583. delay(1000);
  2584. clean_up_after_endstop_move();
  2585. // enable_endstops(true);
  2586. if (verbose_level > 0) {
  2587. SERIAL_PROTOCOLPGM("Mean: ");
  2588. SERIAL_PROTOCOL_F(mean, 6);
  2589. SERIAL_EOL;
  2590. }
  2591. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  2592. SERIAL_PROTOCOL_F(sigma, 6);
  2593. SERIAL_EOL; SERIAL_EOL;
  2594. }
  2595. #endif // ENABLE_AUTO_BED_LEVELING && Z_PROBE_REPEATABILITY_TEST
  2596. /**
  2597. * M104: Set hot end temperature
  2598. */
  2599. inline void gcode_M104() {
  2600. if (setTargetedHotend(104)) return;
  2601. if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
  2602. #ifdef DUAL_X_CARRIAGE
  2603. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
  2604. setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
  2605. #endif
  2606. setWatch();
  2607. }
  2608. /**
  2609. * M105: Read hot end and bed temperature
  2610. */
  2611. inline void gcode_M105() {
  2612. if (setTargetedHotend(105)) return;
  2613. #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
  2614. SERIAL_PROTOCOLPGM("ok T:");
  2615. SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
  2616. SERIAL_PROTOCOLPGM(" /");
  2617. SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
  2618. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  2619. SERIAL_PROTOCOLPGM(" B:");
  2620. SERIAL_PROTOCOL_F(degBed(),1);
  2621. SERIAL_PROTOCOLPGM(" /");
  2622. SERIAL_PROTOCOL_F(degTargetBed(),1);
  2623. #endif //TEMP_BED_PIN
  2624. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  2625. SERIAL_PROTOCOLPGM(" T");
  2626. SERIAL_PROTOCOL(cur_extruder);
  2627. SERIAL_PROTOCOLPGM(":");
  2628. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  2629. SERIAL_PROTOCOLPGM(" /");
  2630. SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
  2631. }
  2632. #else
  2633. SERIAL_ERROR_START;
  2634. SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
  2635. #endif
  2636. SERIAL_PROTOCOLPGM(" @:");
  2637. #ifdef EXTRUDER_WATTS
  2638. SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
  2639. SERIAL_PROTOCOLPGM("W");
  2640. #else
  2641. SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
  2642. #endif
  2643. SERIAL_PROTOCOLPGM(" B@:");
  2644. #ifdef BED_WATTS
  2645. SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
  2646. SERIAL_PROTOCOLPGM("W");
  2647. #else
  2648. SERIAL_PROTOCOL(getHeaterPower(-1));
  2649. #endif
  2650. #ifdef SHOW_TEMP_ADC_VALUES
  2651. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  2652. SERIAL_PROTOCOLPGM(" ADC B:");
  2653. SERIAL_PROTOCOL_F(degBed(),1);
  2654. SERIAL_PROTOCOLPGM("C->");
  2655. SERIAL_PROTOCOL_F(rawBedTemp()/OVERSAMPLENR,0);
  2656. #endif
  2657. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  2658. SERIAL_PROTOCOLPGM(" T");
  2659. SERIAL_PROTOCOL(cur_extruder);
  2660. SERIAL_PROTOCOLPGM(":");
  2661. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  2662. SERIAL_PROTOCOLPGM("C->");
  2663. SERIAL_PROTOCOL_F(rawHotendTemp(cur_extruder)/OVERSAMPLENR,0);
  2664. }
  2665. #endif
  2666. SERIAL_PROTOCOLLN("");
  2667. }
  2668. #if defined(FAN_PIN) && FAN_PIN > -1
  2669. /**
  2670. * M106: Set Fan Speed
  2671. */
  2672. inline void gcode_M106() { fanSpeed = code_seen('S') ? constrain(code_value(), 0, 255) : 255; }
  2673. /**
  2674. * M107: Fan Off
  2675. */
  2676. inline void gcode_M107() { fanSpeed = 0; }
  2677. #endif //FAN_PIN
  2678. /**
  2679. * M109: Wait for extruder(s) to reach temperature
  2680. */
  2681. inline void gcode_M109() {
  2682. if (setTargetedHotend(109)) return;
  2683. LCD_MESSAGEPGM(MSG_HEATING);
  2684. CooldownNoWait = code_seen('S');
  2685. if (CooldownNoWait || code_seen('R')) {
  2686. setTargetHotend(code_value(), tmp_extruder);
  2687. #ifdef DUAL_X_CARRIAGE
  2688. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
  2689. setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
  2690. #endif
  2691. }
  2692. #ifdef AUTOTEMP
  2693. autotemp_enabled = code_seen('F');
  2694. if (autotemp_enabled) autotemp_factor = code_value();
  2695. if (code_seen('S')) autotemp_min = code_value();
  2696. if (code_seen('B')) autotemp_max = code_value();
  2697. #endif
  2698. setWatch();
  2699. unsigned long timetemp = millis();
  2700. /* See if we are heating up or cooling down */
  2701. target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
  2702. cancel_heatup = false;
  2703. #ifdef TEMP_RESIDENCY_TIME
  2704. long residencyStart = -1;
  2705. /* continue to loop until we have reached the target temp
  2706. _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
  2707. while((!cancel_heatup)&&((residencyStart == -1) ||
  2708. (residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL)))) )
  2709. #else
  2710. while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) )
  2711. #endif //TEMP_RESIDENCY_TIME
  2712. { // while loop
  2713. if (millis() > timetemp + 1000UL) { //Print temp & remaining time every 1s while waiting
  2714. SERIAL_PROTOCOLPGM("T:");
  2715. SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
  2716. SERIAL_PROTOCOLPGM(" E:");
  2717. SERIAL_PROTOCOL((int)tmp_extruder);
  2718. #ifdef TEMP_RESIDENCY_TIME
  2719. SERIAL_PROTOCOLPGM(" W:");
  2720. if (residencyStart > -1) {
  2721. timetemp = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
  2722. SERIAL_PROTOCOLLN( timetemp );
  2723. }
  2724. else {
  2725. SERIAL_PROTOCOLLN( "?" );
  2726. }
  2727. #else
  2728. SERIAL_PROTOCOLLN("");
  2729. #endif
  2730. timetemp = millis();
  2731. }
  2732. manage_heater();
  2733. manage_inactivity();
  2734. lcd_update();
  2735. #ifdef TEMP_RESIDENCY_TIME
  2736. // start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
  2737. // or when current temp falls outside the hysteresis after target temp was reached
  2738. if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
  2739. (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
  2740. (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
  2741. {
  2742. residencyStart = millis();
  2743. }
  2744. #endif //TEMP_RESIDENCY_TIME
  2745. }
  2746. LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
  2747. starttime = previous_millis_cmd = millis();
  2748. }
  2749. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  2750. /**
  2751. * M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  2752. * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  2753. */
  2754. inline void gcode_M190() {
  2755. LCD_MESSAGEPGM(MSG_BED_HEATING);
  2756. CooldownNoWait = code_seen('S');
  2757. if (CooldownNoWait || code_seen('R'))
  2758. setTargetBed(code_value());
  2759. unsigned long timetemp = millis();
  2760. cancel_heatup = false;
  2761. target_direction = isHeatingBed(); // true if heating, false if cooling
  2762. while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) ) {
  2763. unsigned long ms = millis();
  2764. if (ms > timetemp + 1000UL) { //Print Temp Reading every 1 second while heating up.
  2765. timetemp = ms;
  2766. float tt = degHotend(active_extruder);
  2767. SERIAL_PROTOCOLPGM("T:");
  2768. SERIAL_PROTOCOL(tt);
  2769. SERIAL_PROTOCOLPGM(" E:");
  2770. SERIAL_PROTOCOL((int)active_extruder);
  2771. SERIAL_PROTOCOLPGM(" B:");
  2772. SERIAL_PROTOCOL_F(degBed(), 1);
  2773. SERIAL_PROTOCOLLN("");
  2774. }
  2775. manage_heater();
  2776. manage_inactivity();
  2777. lcd_update();
  2778. }
  2779. LCD_MESSAGEPGM(MSG_BED_DONE);
  2780. previous_millis_cmd = millis();
  2781. }
  2782. #endif // TEMP_BED_PIN > -1
  2783. /**
  2784. * M112: Emergency Stop
  2785. */
  2786. inline void gcode_M112() {
  2787. kill();
  2788. }
  2789. #ifdef BARICUDA
  2790. #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
  2791. /**
  2792. * M126: Heater 1 valve open
  2793. */
  2794. inline void gcode_M126() { ValvePressure = code_seen('S') ? constrain(code_value(), 0, 255) : 255; }
  2795. /**
  2796. * M127: Heater 1 valve close
  2797. */
  2798. inline void gcode_M127() { ValvePressure = 0; }
  2799. #endif
  2800. #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
  2801. /**
  2802. * M128: Heater 2 valve open
  2803. */
  2804. inline void gcode_M128() { EtoPPressure = code_seen('S') ? constrain(code_value(), 0, 255) : 255; }
  2805. /**
  2806. * M129: Heater 2 valve close
  2807. */
  2808. inline void gcode_M129() { EtoPPressure = 0; }
  2809. #endif
  2810. #endif //BARICUDA
  2811. /**
  2812. * M140: Set bed temperature
  2813. */
  2814. inline void gcode_M140() {
  2815. if (code_seen('S')) setTargetBed(code_value());
  2816. }
  2817. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  2818. /**
  2819. * M80: Turn on Power Supply
  2820. */
  2821. inline void gcode_M80() {
  2822. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND
  2823. // If you have a switch on suicide pin, this is useful
  2824. // if you want to start another print with suicide feature after
  2825. // a print without suicide...
  2826. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  2827. OUT_WRITE(SUICIDE_PIN, HIGH);
  2828. #endif
  2829. #ifdef ULTIPANEL
  2830. powersupply = true;
  2831. LCD_MESSAGEPGM(WELCOME_MSG);
  2832. lcd_update();
  2833. #endif
  2834. }
  2835. #endif // PS_ON_PIN
  2836. /**
  2837. * M81: Turn off Power Supply
  2838. */
  2839. inline void gcode_M81() {
  2840. disable_heater();
  2841. st_synchronize();
  2842. disable_e0();
  2843. disable_e1();
  2844. disable_e2();
  2845. disable_e3();
  2846. finishAndDisableSteppers();
  2847. fanSpeed = 0;
  2848. delay(1000); // Wait 1 second before switching off
  2849. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  2850. st_synchronize();
  2851. suicide();
  2852. #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
  2853. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  2854. #endif
  2855. #ifdef ULTIPANEL
  2856. powersupply = false;
  2857. LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
  2858. lcd_update();
  2859. #endif
  2860. }
  2861. /**
  2862. * M82: Set E codes absolute (default)
  2863. */
  2864. inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
  2865. /**
  2866. * M82: Set E codes relative while in Absolute Coordinates (G90) mode
  2867. */
  2868. inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; }
  2869. /**
  2870. * M18, M84: Disable all stepper motors
  2871. */
  2872. inline void gcode_M18_M84() {
  2873. if (code_seen('S')) {
  2874. stepper_inactive_time = code_value() * 1000;
  2875. }
  2876. else {
  2877. bool all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS]))|| (code_seen(axis_codes[E_AXIS])));
  2878. if (all_axis) {
  2879. st_synchronize();
  2880. disable_e0();
  2881. disable_e1();
  2882. disable_e2();
  2883. disable_e3();
  2884. finishAndDisableSteppers();
  2885. }
  2886. else {
  2887. st_synchronize();
  2888. if (code_seen('X')) disable_x();
  2889. if (code_seen('Y')) disable_y();
  2890. if (code_seen('Z')) disable_z();
  2891. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  2892. if (code_seen('E')) {
  2893. disable_e0();
  2894. disable_e1();
  2895. disable_e2();
  2896. disable_e3();
  2897. }
  2898. #endif
  2899. }
  2900. }
  2901. }
  2902. /**
  2903. * M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  2904. */
  2905. inline void gcode_M85() {
  2906. if (code_seen('S')) max_inactive_time = code_value() * 1000;
  2907. }
  2908. /**
  2909. * M92: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  2910. */
  2911. inline void gcode_M92() {
  2912. for(int8_t i=0; i < NUM_AXIS; i++) {
  2913. if (code_seen(axis_codes[i])) {
  2914. if (i == E_AXIS) {
  2915. float value = code_value();
  2916. if (value < 20.0) {
  2917. float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
  2918. max_e_jerk *= factor;
  2919. max_feedrate[i] *= factor;
  2920. axis_steps_per_sqr_second[i] *= factor;
  2921. }
  2922. axis_steps_per_unit[i] = value;
  2923. }
  2924. else {
  2925. axis_steps_per_unit[i] = code_value();
  2926. }
  2927. }
  2928. }
  2929. }
  2930. /**
  2931. * M114: Output current position to serial port
  2932. */
  2933. inline void gcode_M114() {
  2934. SERIAL_PROTOCOLPGM("X:");
  2935. SERIAL_PROTOCOL(current_position[X_AXIS]);
  2936. SERIAL_PROTOCOLPGM(" Y:");
  2937. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  2938. SERIAL_PROTOCOLPGM(" Z:");
  2939. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  2940. SERIAL_PROTOCOLPGM(" E:");
  2941. SERIAL_PROTOCOL(current_position[E_AXIS]);
  2942. SERIAL_PROTOCOLPGM(MSG_COUNT_X);
  2943. SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
  2944. SERIAL_PROTOCOLPGM(" Y:");
  2945. SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
  2946. SERIAL_PROTOCOLPGM(" Z:");
  2947. SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
  2948. SERIAL_PROTOCOLLN("");
  2949. #ifdef SCARA
  2950. SERIAL_PROTOCOLPGM("SCARA Theta:");
  2951. SERIAL_PROTOCOL(delta[X_AXIS]);
  2952. SERIAL_PROTOCOLPGM(" Psi+Theta:");
  2953. SERIAL_PROTOCOL(delta[Y_AXIS]);
  2954. SERIAL_PROTOCOLLN("");
  2955. SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
  2956. SERIAL_PROTOCOL(delta[X_AXIS]+home_offset[X_AXIS]);
  2957. SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
  2958. SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+home_offset[Y_AXIS]);
  2959. SERIAL_PROTOCOLLN("");
  2960. SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
  2961. SERIAL_PROTOCOL(delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]);
  2962. SERIAL_PROTOCOLPGM(" Psi+Theta:");
  2963. SERIAL_PROTOCOL((delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]);
  2964. SERIAL_PROTOCOLLN("");
  2965. SERIAL_PROTOCOLLN("");
  2966. #endif
  2967. }
  2968. /**
  2969. * M115: Capabilities string
  2970. */
  2971. inline void gcode_M115() {
  2972. SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
  2973. }
  2974. /**
  2975. * M117: Set LCD Status Message
  2976. */
  2977. inline void gcode_M117() {
  2978. char* codepos = strchr_pointer + 5;
  2979. char* starpos = strchr(codepos, '*');
  2980. if (starpos) *starpos = '\0';
  2981. lcd_setstatus(codepos);
  2982. }
  2983. /**
  2984. * M119: Output endstop states to serial output
  2985. */
  2986. inline void gcode_M119() {
  2987. SERIAL_PROTOCOLLN(MSG_M119_REPORT);
  2988. #if defined(X_MIN_PIN) && X_MIN_PIN > -1
  2989. SERIAL_PROTOCOLPGM(MSG_X_MIN);
  2990. SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  2991. #endif
  2992. #if defined(X_MAX_PIN) && X_MAX_PIN > -1
  2993. SERIAL_PROTOCOLPGM(MSG_X_MAX);
  2994. SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  2995. #endif
  2996. #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
  2997. SERIAL_PROTOCOLPGM(MSG_Y_MIN);
  2998. SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  2999. #endif
  3000. #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
  3001. SERIAL_PROTOCOLPGM(MSG_Y_MAX);
  3002. SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  3003. #endif
  3004. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  3005. SERIAL_PROTOCOLPGM(MSG_Z_MIN);
  3006. SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  3007. #endif
  3008. #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
  3009. SERIAL_PROTOCOLPGM(MSG_Z_MAX);
  3010. SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  3011. #endif
  3012. #if defined(Z2_MAX_PIN) && Z2_MAX_PIN > -1
  3013. SERIAL_PROTOCOLPGM(MSG_Z2_MAX);
  3014. SERIAL_PROTOCOLLN(((READ(Z2_MAX_PIN)^Z2_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  3015. #endif
  3016. }
  3017. /**
  3018. * M120: Enable endstops
  3019. */
  3020. inline void gcode_M120() { enable_endstops(false); }
  3021. /**
  3022. * M121: Disable endstops
  3023. */
  3024. inline void gcode_M121() { enable_endstops(true); }
  3025. #ifdef BLINKM
  3026. /**
  3027. * M150: Set Status LED Color - Use R-U-B for R-G-B
  3028. */
  3029. inline void gcode_M150() {
  3030. SendColors(
  3031. code_seen('R') ? (byte)code_value() : 0,
  3032. code_seen('U') ? (byte)code_value() : 0,
  3033. code_seen('B') ? (byte)code_value() : 0
  3034. );
  3035. }
  3036. #endif // BLINKM
  3037. /**
  3038. * M200: Set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  3039. * T<extruder>
  3040. * D<millimeters>
  3041. */
  3042. inline void gcode_M200() {
  3043. tmp_extruder = active_extruder;
  3044. if (code_seen('T')) {
  3045. tmp_extruder = code_value();
  3046. if (tmp_extruder >= EXTRUDERS) {
  3047. SERIAL_ECHO_START;
  3048. SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER);
  3049. return;
  3050. }
  3051. }
  3052. if (code_seen('D')) {
  3053. float diameter = code_value();
  3054. // setting any extruder filament size disables volumetric on the assumption that
  3055. // slicers either generate in extruder values as cubic mm or as as filament feeds
  3056. // for all extruders
  3057. volumetric_enabled = (diameter != 0.0);
  3058. if (volumetric_enabled) {
  3059. filament_size[tmp_extruder] = diameter;
  3060. // make sure all extruders have some sane value for the filament size
  3061. for (int i=0; i<EXTRUDERS; i++)
  3062. if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
  3063. }
  3064. }
  3065. else {
  3066. //reserved for setting filament diameter via UFID or filament measuring device
  3067. return;
  3068. }
  3069. calculate_volumetric_multipliers();
  3070. }
  3071. /**
  3072. * M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  3073. */
  3074. inline void gcode_M201() {
  3075. for (int8_t i=0; i < NUM_AXIS; i++) {
  3076. if (code_seen(axis_codes[i])) {
  3077. max_acceleration_units_per_sq_second[i] = code_value();
  3078. }
  3079. }
  3080. // 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)
  3081. reset_acceleration_rates();
  3082. }
  3083. #if 0 // Not used for Sprinter/grbl gen6
  3084. inline void gcode_M202() {
  3085. for(int8_t i=0; i < NUM_AXIS; i++) {
  3086. if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
  3087. }
  3088. }
  3089. #endif
  3090. /**
  3091. * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  3092. */
  3093. inline void gcode_M203() {
  3094. for (int8_t i=0; i < NUM_AXIS; i++) {
  3095. if (code_seen(axis_codes[i])) {
  3096. max_feedrate[i] = code_value();
  3097. }
  3098. }
  3099. }
  3100. /**
  3101. * M204: Set Accelerations in mm/sec^2 (M204 P1200 R3000 T3000)
  3102. *
  3103. * P = Printing moves
  3104. * R = Retract only (no X, Y, Z) moves
  3105. * T = Travel (non printing) moves
  3106. *
  3107. * Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
  3108. */
  3109. inline void gcode_M204() {
  3110. if (code_seen('S')) // Kept for legacy compatibility. Should NOT BE USED for new developments.
  3111. {
  3112. acceleration = code_value();
  3113. travel_acceleration = acceleration;
  3114. SERIAL_ECHOPAIR("Setting Printing and Travelling Acceleration: ", acceleration );
  3115. SERIAL_EOL;
  3116. }
  3117. if (code_seen('P'))
  3118. {
  3119. acceleration = code_value();
  3120. SERIAL_ECHOPAIR("Setting Printing Acceleration: ", acceleration );
  3121. SERIAL_EOL;
  3122. }
  3123. if (code_seen('R'))
  3124. {
  3125. retract_acceleration = code_value();
  3126. SERIAL_ECHOPAIR("Setting Retract Acceleration: ", retract_acceleration );
  3127. SERIAL_EOL;
  3128. }
  3129. if (code_seen('T'))
  3130. {
  3131. travel_acceleration = code_value();
  3132. SERIAL_ECHOPAIR("Setting Travel Acceleration: ", travel_acceleration );
  3133. SERIAL_EOL;
  3134. }
  3135. }
  3136. /**
  3137. * M205: Set Advanced Settings
  3138. *
  3139. * S = Min Feed Rate (mm/s)
  3140. * T = Min Travel Feed Rate (mm/s)
  3141. * B = Min Segment Time (µs)
  3142. * X = Max XY Jerk (mm/s/s)
  3143. * Z = Max Z Jerk (mm/s/s)
  3144. * E = Max E Jerk (mm/s/s)
  3145. */
  3146. inline void gcode_M205() {
  3147. if (code_seen('S')) minimumfeedrate = code_value();
  3148. if (code_seen('T')) mintravelfeedrate = code_value();
  3149. if (code_seen('B')) minsegmenttime = code_value();
  3150. if (code_seen('X')) max_xy_jerk = code_value();
  3151. if (code_seen('Z')) max_z_jerk = code_value();
  3152. if (code_seen('E')) max_e_jerk = code_value();
  3153. }
  3154. /**
  3155. * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
  3156. */
  3157. inline void gcode_M206() {
  3158. for (int8_t i=X_AXIS; i <= Z_AXIS; i++) {
  3159. if (code_seen(axis_codes[i])) {
  3160. home_offset[i] = code_value();
  3161. }
  3162. }
  3163. #ifdef SCARA
  3164. if (code_seen('T')) home_offset[X_AXIS] = code_value(); // Theta
  3165. if (code_seen('P')) home_offset[Y_AXIS] = code_value(); // Psi
  3166. #endif
  3167. }
  3168. #ifdef DELTA
  3169. /**
  3170. * M665: Set delta configurations
  3171. *
  3172. * L = diagonal rod
  3173. * R = delta radius
  3174. * S = segments per second
  3175. */
  3176. inline void gcode_M665() {
  3177. if (code_seen('L')) delta_diagonal_rod = code_value();
  3178. if (code_seen('R')) delta_radius = code_value();
  3179. if (code_seen('S')) delta_segments_per_second = code_value();
  3180. recalc_delta_settings(delta_radius, delta_diagonal_rod);
  3181. }
  3182. /**
  3183. * M666: Set delta endstop adjustment
  3184. */
  3185. inline void gcode_M666() {
  3186. for (int8_t i = 0; i < 3; i++) {
  3187. if (code_seen(axis_codes[i])) {
  3188. endstop_adj[i] = code_value();
  3189. }
  3190. }
  3191. }
  3192. #elif defined(Z_DUAL_ENDSTOPS)
  3193. /**
  3194. * M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
  3195. */
  3196. inline void gcode_M666() {
  3197. if (code_seen('Z')) z_endstop_adj = code_value();
  3198. SERIAL_ECHOPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj );
  3199. SERIAL_EOL;
  3200. }
  3201. #endif // DELTA
  3202. #ifdef FWRETRACT
  3203. /**
  3204. * M207: Set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
  3205. */
  3206. inline void gcode_M207() {
  3207. if (code_seen('S')) retract_length = code_value();
  3208. if (code_seen('F')) retract_feedrate = code_value() / 60;
  3209. if (code_seen('Z')) retract_zlift = code_value();
  3210. }
  3211. /**
  3212. * M208: Set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  3213. */
  3214. inline void gcode_M208() {
  3215. if (code_seen('S')) retract_recover_length = code_value();
  3216. if (code_seen('F')) retract_recover_feedrate = code_value() / 60;
  3217. }
  3218. /**
  3219. * M209: Enable automatic retract (M209 S1)
  3220. * detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
  3221. */
  3222. inline void gcode_M209() {
  3223. if (code_seen('S')) {
  3224. int t = code_value();
  3225. switch(t) {
  3226. case 0:
  3227. autoretract_enabled = false;
  3228. break;
  3229. case 1:
  3230. autoretract_enabled = true;
  3231. break;
  3232. default:
  3233. SERIAL_ECHO_START;
  3234. SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
  3235. SERIAL_ECHO(cmdbuffer[bufindr]);
  3236. SERIAL_ECHOLNPGM("\"");
  3237. return;
  3238. }
  3239. for (int i=0; i<EXTRUDERS; i++) retracted[i] = false;
  3240. }
  3241. }
  3242. #endif // FWRETRACT
  3243. #if EXTRUDERS > 1
  3244. /**
  3245. * M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  3246. */
  3247. inline void gcode_M218() {
  3248. if (setTargetedHotend(218)) return;
  3249. if (code_seen('X')) extruder_offset[X_AXIS][tmp_extruder] = code_value();
  3250. if (code_seen('Y')) extruder_offset[Y_AXIS][tmp_extruder] = code_value();
  3251. #ifdef DUAL_X_CARRIAGE
  3252. if (code_seen('Z')) extruder_offset[Z_AXIS][tmp_extruder] = code_value();
  3253. #endif
  3254. SERIAL_ECHO_START;
  3255. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  3256. for (tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++) {
  3257. SERIAL_ECHO(" ");
  3258. SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
  3259. SERIAL_ECHO(",");
  3260. SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
  3261. #ifdef DUAL_X_CARRIAGE
  3262. SERIAL_ECHO(",");
  3263. SERIAL_ECHO(extruder_offset[Z_AXIS][tmp_extruder]);
  3264. #endif
  3265. }
  3266. SERIAL_EOL;
  3267. }
  3268. #endif // EXTRUDERS > 1
  3269. /**
  3270. * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
  3271. */
  3272. inline void gcode_M220() {
  3273. if (code_seen('S')) feedmultiply = code_value();
  3274. }
  3275. /**
  3276. * M221: Set extrusion percentage (M221 T0 S95)
  3277. */
  3278. inline void gcode_M221() {
  3279. if (code_seen('S')) {
  3280. int sval = code_value();
  3281. if (code_seen('T')) {
  3282. if (setTargetedHotend(221)) return;
  3283. extruder_multiply[tmp_extruder] = sval;
  3284. }
  3285. else {
  3286. extrudemultiply = sval;
  3287. }
  3288. }
  3289. }
  3290. /**
  3291. * M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
  3292. */
  3293. inline void gcode_M226() {
  3294. if (code_seen('P')) {
  3295. int pin_number = code_value();
  3296. int pin_state = code_seen('S') ? code_value() : -1; // required pin state - default is inverted
  3297. if (pin_state >= -1 && pin_state <= 1) {
  3298. for (int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(*sensitive_pins)); i++) {
  3299. if (sensitive_pins[i] == pin_number) {
  3300. pin_number = -1;
  3301. break;
  3302. }
  3303. }
  3304. if (pin_number > -1) {
  3305. int target = LOW;
  3306. st_synchronize();
  3307. pinMode(pin_number, INPUT);
  3308. switch(pin_state){
  3309. case 1:
  3310. target = HIGH;
  3311. break;
  3312. case 0:
  3313. target = LOW;
  3314. break;
  3315. case -1:
  3316. target = !digitalRead(pin_number);
  3317. break;
  3318. }
  3319. while(digitalRead(pin_number) != target) {
  3320. manage_heater();
  3321. manage_inactivity();
  3322. lcd_update();
  3323. }
  3324. } // pin_number > -1
  3325. } // pin_state -1 0 1
  3326. } // code_seen('P')
  3327. }
  3328. #if NUM_SERVOS > 0
  3329. /**
  3330. * M280: Set servo position absolute. P: servo index, S: angle or microseconds
  3331. */
  3332. inline void gcode_M280() {
  3333. int servo_index = code_seen('P') ? code_value() : -1;
  3334. int servo_position = 0;
  3335. if (code_seen('S')) {
  3336. servo_position = code_value();
  3337. if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
  3338. #if SERVO_LEVELING
  3339. servos[servo_index].attach(0);
  3340. #endif
  3341. servos[servo_index].write(servo_position);
  3342. #if SERVO_LEVELING
  3343. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  3344. servos[servo_index].detach();
  3345. #endif
  3346. }
  3347. else {
  3348. SERIAL_ECHO_START;
  3349. SERIAL_ECHO("Servo ");
  3350. SERIAL_ECHO(servo_index);
  3351. SERIAL_ECHOLN(" out of range");
  3352. }
  3353. }
  3354. else if (servo_index >= 0) {
  3355. SERIAL_PROTOCOL(MSG_OK);
  3356. SERIAL_PROTOCOL(" Servo ");
  3357. SERIAL_PROTOCOL(servo_index);
  3358. SERIAL_PROTOCOL(": ");
  3359. SERIAL_PROTOCOL(servos[servo_index].read());
  3360. SERIAL_PROTOCOLLN("");
  3361. }
  3362. }
  3363. #endif // NUM_SERVOS > 0
  3364. #if defined(LARGE_FLASH) && (BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER))
  3365. /**
  3366. * M300: Play beep sound S<frequency Hz> P<duration ms>
  3367. */
  3368. inline void gcode_M300() {
  3369. int beepS = code_seen('S') ? code_value() : 110;
  3370. int beepP = code_seen('P') ? code_value() : 1000;
  3371. if (beepS > 0) {
  3372. #if BEEPER > 0
  3373. tone(BEEPER, beepS);
  3374. delay(beepP);
  3375. noTone(BEEPER);
  3376. #elif defined(ULTRALCD)
  3377. lcd_buzz(beepS, beepP);
  3378. #elif defined(LCD_USE_I2C_BUZZER)
  3379. lcd_buzz(beepP, beepS);
  3380. #endif
  3381. }
  3382. else {
  3383. delay(beepP);
  3384. }
  3385. }
  3386. #endif // LARGE_FLASH && (BEEPER>0 || ULTRALCD || LCD_USE_I2C_BUZZER)
  3387. #ifdef PIDTEMP
  3388. /**
  3389. * M301: Set PID parameters P I D (and optionally C)
  3390. */
  3391. inline void gcode_M301() {
  3392. // multi-extruder PID patch: M301 updates or prints a single extruder's PID values
  3393. // default behaviour (omitting E parameter) is to update for extruder 0 only
  3394. int e = code_seen('E') ? code_value() : 0; // extruder being updated
  3395. if (e < EXTRUDERS) { // catch bad input value
  3396. if (code_seen('P')) PID_PARAM(Kp, e) = code_value();
  3397. if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value());
  3398. if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value());
  3399. #ifdef PID_ADD_EXTRUSION_RATE
  3400. if (code_seen('C')) PID_PARAM(Kc, e) = code_value();
  3401. #endif
  3402. updatePID();
  3403. SERIAL_PROTOCOL(MSG_OK);
  3404. #ifdef PID_PARAMS_PER_EXTRUDER
  3405. SERIAL_PROTOCOL(" e:"); // specify extruder in serial output
  3406. SERIAL_PROTOCOL(e);
  3407. #endif // PID_PARAMS_PER_EXTRUDER
  3408. SERIAL_PROTOCOL(" p:");
  3409. SERIAL_PROTOCOL(PID_PARAM(Kp, e));
  3410. SERIAL_PROTOCOL(" i:");
  3411. SERIAL_PROTOCOL(unscalePID_i(PID_PARAM(Ki, e)));
  3412. SERIAL_PROTOCOL(" d:");
  3413. SERIAL_PROTOCOL(unscalePID_d(PID_PARAM(Kd, e)));
  3414. #ifdef PID_ADD_EXTRUSION_RATE
  3415. SERIAL_PROTOCOL(" c:");
  3416. //Kc does not have scaling applied above, or in resetting defaults
  3417. SERIAL_PROTOCOL(PID_PARAM(Kc, e));
  3418. #endif
  3419. SERIAL_PROTOCOLLN("");
  3420. }
  3421. else {
  3422. SERIAL_ECHO_START;
  3423. SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
  3424. }
  3425. }
  3426. #endif // PIDTEMP
  3427. #ifdef PIDTEMPBED
  3428. inline void gcode_M304() {
  3429. if (code_seen('P')) bedKp = code_value();
  3430. if (code_seen('I')) bedKi = scalePID_i(code_value());
  3431. if (code_seen('D')) bedKd = scalePID_d(code_value());
  3432. updatePID();
  3433. SERIAL_PROTOCOL(MSG_OK);
  3434. SERIAL_PROTOCOL(" p:");
  3435. SERIAL_PROTOCOL(bedKp);
  3436. SERIAL_PROTOCOL(" i:");
  3437. SERIAL_PROTOCOL(unscalePID_i(bedKi));
  3438. SERIAL_PROTOCOL(" d:");
  3439. SERIAL_PROTOCOL(unscalePID_d(bedKd));
  3440. SERIAL_PROTOCOLLN("");
  3441. }
  3442. #endif // PIDTEMPBED
  3443. #if defined(CHDK) || (defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1)
  3444. /**
  3445. * M240: Trigger a camera by emulating a Canon RC-1
  3446. * See http://www.doc-diy.net/photo/rc-1_hacked/
  3447. */
  3448. inline void gcode_M240() {
  3449. #ifdef CHDK
  3450. OUT_WRITE(CHDK, HIGH);
  3451. chdkHigh = millis();
  3452. chdkActive = true;
  3453. #elif defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  3454. const uint8_t NUM_PULSES = 16;
  3455. const float PULSE_LENGTH = 0.01524;
  3456. for (int i = 0; i < NUM_PULSES; i++) {
  3457. WRITE(PHOTOGRAPH_PIN, HIGH);
  3458. _delay_ms(PULSE_LENGTH);
  3459. WRITE(PHOTOGRAPH_PIN, LOW);
  3460. _delay_ms(PULSE_LENGTH);
  3461. }
  3462. delay(7.33);
  3463. for (int i = 0; i < NUM_PULSES; i++) {
  3464. WRITE(PHOTOGRAPH_PIN, HIGH);
  3465. _delay_ms(PULSE_LENGTH);
  3466. WRITE(PHOTOGRAPH_PIN, LOW);
  3467. _delay_ms(PULSE_LENGTH);
  3468. }
  3469. #endif // !CHDK && PHOTOGRAPH_PIN > -1
  3470. }
  3471. #endif // CHDK || PHOTOGRAPH_PIN
  3472. #ifdef DOGLCD
  3473. /**
  3474. * M250: Read and optionally set the LCD contrast
  3475. */
  3476. inline void gcode_M250() {
  3477. if (code_seen('C')) lcd_setcontrast(code_value_long() & 0x3F);
  3478. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  3479. SERIAL_PROTOCOL(lcd_contrast);
  3480. SERIAL_PROTOCOLLN("");
  3481. }
  3482. #endif // DOGLCD
  3483. #ifdef PREVENT_DANGEROUS_EXTRUDE
  3484. /**
  3485. * M302: Allow cold extrudes, or set the minimum extrude S<temperature>.
  3486. */
  3487. inline void gcode_M302() {
  3488. set_extrude_min_temp(code_seen('S') ? code_value() : 0);
  3489. }
  3490. #endif // PREVENT_DANGEROUS_EXTRUDE
  3491. /**
  3492. * M303: PID relay autotune
  3493. * S<temperature> sets the target temperature. (default target temperature = 150C)
  3494. * E<extruder> (-1 for the bed)
  3495. * C<cycles>
  3496. */
  3497. inline void gcode_M303() {
  3498. int e = code_seen('E') ? code_value_long() : 0;
  3499. int c = code_seen('C') ? code_value_long() : 5;
  3500. float temp = code_seen('S') ? code_value() : (e < 0 ? 70.0 : 150.0);
  3501. PID_autotune(temp, e, c);
  3502. }
  3503. #ifdef SCARA
  3504. bool SCARA_move_to_cal(uint8_t delta_x, uint8_t delta_y) {
  3505. //SoftEndsEnabled = false; // Ignore soft endstops during calibration
  3506. //SERIAL_ECHOLN(" Soft endstops disabled ");
  3507. if (! Stopped) {
  3508. //get_coordinates(); // For X Y Z E F
  3509. delta[X_AXIS] = delta_x;
  3510. delta[Y_AXIS] = delta_y;
  3511. calculate_SCARA_forward_Transform(delta);
  3512. destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
  3513. destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
  3514. prepare_move();
  3515. //ClearToSend();
  3516. return true;
  3517. }
  3518. return false;
  3519. }
  3520. /**
  3521. * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  3522. */
  3523. inline bool gcode_M360() {
  3524. SERIAL_ECHOLN(" Cal: Theta 0 ");
  3525. return SCARA_move_to_cal(0, 120);
  3526. }
  3527. /**
  3528. * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  3529. */
  3530. inline bool gcode_M361() {
  3531. SERIAL_ECHOLN(" Cal: Theta 90 ");
  3532. return SCARA_move_to_cal(90, 130);
  3533. }
  3534. /**
  3535. * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  3536. */
  3537. inline bool gcode_M362() {
  3538. SERIAL_ECHOLN(" Cal: Psi 0 ");
  3539. return SCARA_move_to_cal(60, 180);
  3540. }
  3541. /**
  3542. * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  3543. */
  3544. inline bool gcode_M363() {
  3545. SERIAL_ECHOLN(" Cal: Psi 90 ");
  3546. return SCARA_move_to_cal(50, 90);
  3547. }
  3548. /**
  3549. * M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  3550. */
  3551. inline bool gcode_M364() {
  3552. SERIAL_ECHOLN(" Cal: Theta-Psi 90 ");
  3553. return SCARA_move_to_cal(45, 135);
  3554. }
  3555. /**
  3556. * M365: SCARA calibration: Scaling factor, X, Y, Z axis
  3557. */
  3558. inline void gcode_M365() {
  3559. for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
  3560. if (code_seen(axis_codes[i])) {
  3561. axis_scaling[i] = code_value();
  3562. }
  3563. }
  3564. }
  3565. #endif // SCARA
  3566. #ifdef EXT_SOLENOID
  3567. void enable_solenoid(uint8_t num) {
  3568. switch(num) {
  3569. case 0:
  3570. OUT_WRITE(SOL0_PIN, HIGH);
  3571. break;
  3572. #if defined(SOL1_PIN) && SOL1_PIN > -1
  3573. case 1:
  3574. OUT_WRITE(SOL1_PIN, HIGH);
  3575. break;
  3576. #endif
  3577. #if defined(SOL2_PIN) && SOL2_PIN > -1
  3578. case 2:
  3579. OUT_WRITE(SOL2_PIN, HIGH);
  3580. break;
  3581. #endif
  3582. #if defined(SOL3_PIN) && SOL3_PIN > -1
  3583. case 3:
  3584. OUT_WRITE(SOL3_PIN, HIGH);
  3585. break;
  3586. #endif
  3587. default:
  3588. SERIAL_ECHO_START;
  3589. SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
  3590. break;
  3591. }
  3592. }
  3593. void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
  3594. void disable_all_solenoids() {
  3595. OUT_WRITE(SOL0_PIN, LOW);
  3596. OUT_WRITE(SOL1_PIN, LOW);
  3597. OUT_WRITE(SOL2_PIN, LOW);
  3598. OUT_WRITE(SOL3_PIN, LOW);
  3599. }
  3600. /**
  3601. * M380: Enable solenoid on the active extruder
  3602. */
  3603. inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
  3604. /**
  3605. * M381: Disable all solenoids
  3606. */
  3607. inline void gcode_M381() { disable_all_solenoids(); }
  3608. #endif // EXT_SOLENOID
  3609. /**
  3610. * M400: Finish all moves
  3611. */
  3612. inline void gcode_M400() { st_synchronize(); }
  3613. #if defined(ENABLE_AUTO_BED_LEVELING) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY)) && not defined(Z_PROBE_SLED)
  3614. /**
  3615. * M401: Engage Z Servo endstop if available
  3616. */
  3617. inline void gcode_M401() { engage_z_probe(); }
  3618. /**
  3619. * M402: Retract Z Servo endstop if enabled
  3620. */
  3621. inline void gcode_M402() { retract_z_probe(); }
  3622. #endif
  3623. #ifdef FILAMENT_SENSOR
  3624. /**
  3625. * M404: Display or set the nominal filament width (3mm, 1.75mm ) W<3.0>
  3626. */
  3627. inline void gcode_M404() {
  3628. #if FILWIDTH_PIN > -1
  3629. if (code_seen('W')) {
  3630. filament_width_nominal = code_value();
  3631. }
  3632. else {
  3633. SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
  3634. SERIAL_PROTOCOLLN(filament_width_nominal);
  3635. }
  3636. #endif
  3637. }
  3638. /**
  3639. * M405: Turn on filament sensor for control
  3640. */
  3641. inline void gcode_M405() {
  3642. if (code_seen('D')) meas_delay_cm = code_value();
  3643. if (meas_delay_cm > MAX_MEASUREMENT_DELAY) meas_delay_cm = MAX_MEASUREMENT_DELAY;
  3644. if (delay_index2 == -1) { //initialize the ring buffer if it has not been done since startup
  3645. int temp_ratio = widthFil_to_size_ratio();
  3646. for (delay_index1 = 0; delay_index1 < MAX_MEASUREMENT_DELAY + 1; ++delay_index1)
  3647. measurement_delay[delay_index1] = temp_ratio - 100; //subtract 100 to scale within a signed byte
  3648. delay_index1 = delay_index2 = 0;
  3649. }
  3650. filament_sensor = true;
  3651. //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  3652. //SERIAL_PROTOCOL(filament_width_meas);
  3653. //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
  3654. //SERIAL_PROTOCOL(extrudemultiply);
  3655. }
  3656. /**
  3657. * M406: Turn off filament sensor for control
  3658. */
  3659. inline void gcode_M406() { filament_sensor = false; }
  3660. /**
  3661. * M407: Get measured filament diameter on serial output
  3662. */
  3663. inline void gcode_M407() {
  3664. SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  3665. SERIAL_PROTOCOLLN(filament_width_meas);
  3666. }
  3667. #endif // FILAMENT_SENSOR
  3668. /**
  3669. * M500: Store settings in EEPROM
  3670. */
  3671. inline void gcode_M500() {
  3672. Config_StoreSettings();
  3673. }
  3674. /**
  3675. * M501: Read settings from EEPROM
  3676. */
  3677. inline void gcode_M501() {
  3678. Config_RetrieveSettings();
  3679. }
  3680. /**
  3681. * M502: Revert to default settings
  3682. */
  3683. inline void gcode_M502() {
  3684. Config_ResetDefault();
  3685. }
  3686. /**
  3687. * M503: print settings currently in memory
  3688. */
  3689. inline void gcode_M503() {
  3690. Config_PrintSettings(code_seen('S') && code_value() == 0);
  3691. }
  3692. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  3693. /**
  3694. * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
  3695. */
  3696. inline void gcode_M540() {
  3697. if (code_seen('S')) abort_on_endstop_hit = (code_value() > 0);
  3698. }
  3699. #endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  3700. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  3701. inline void gcode_SET_Z_PROBE_OFFSET() {
  3702. float value;
  3703. if (code_seen('Z')) {
  3704. value = code_value();
  3705. if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
  3706. zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
  3707. SERIAL_ECHO_START;
  3708. SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK);
  3709. SERIAL_PROTOCOLLN("");
  3710. }
  3711. else {
  3712. SERIAL_ECHO_START;
  3713. SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
  3714. SERIAL_ECHOPGM(MSG_Z_MIN);
  3715. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  3716. SERIAL_ECHOPGM(MSG_Z_MAX);
  3717. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  3718. SERIAL_PROTOCOLLN("");
  3719. }
  3720. }
  3721. else {
  3722. SERIAL_ECHO_START;
  3723. SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " : ");
  3724. SERIAL_ECHO(-zprobe_zoffset);
  3725. SERIAL_PROTOCOLLN("");
  3726. }
  3727. }
  3728. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  3729. #ifdef FILAMENTCHANGEENABLE
  3730. /**
  3731. * M600: Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  3732. */
  3733. inline void gcode_M600() {
  3734. float target[NUM_AXIS], lastpos[NUM_AXIS], fr60 = feedrate / 60;
  3735. for (int i=0; i<NUM_AXIS; i++)
  3736. target[i] = lastpos[i] = current_position[i];
  3737. #define BASICPLAN plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr60, active_extruder);
  3738. #ifdef DELTA
  3739. #define RUNPLAN calculate_delta(target); BASICPLAN
  3740. #else
  3741. #define RUNPLAN BASICPLAN
  3742. #endif
  3743. //retract by E
  3744. if (code_seen('E')) target[E_AXIS] += code_value();
  3745. #ifdef FILAMENTCHANGE_FIRSTRETRACT
  3746. else target[E_AXIS] += FILAMENTCHANGE_FIRSTRETRACT;
  3747. #endif
  3748. RUNPLAN;
  3749. //lift Z
  3750. if (code_seen('Z')) target[Z_AXIS] += code_value();
  3751. #ifdef FILAMENTCHANGE_ZADD
  3752. else target[Z_AXIS] += FILAMENTCHANGE_ZADD;
  3753. #endif
  3754. RUNPLAN;
  3755. //move xy
  3756. if (code_seen('X')) target[X_AXIS] = code_value();
  3757. #ifdef FILAMENTCHANGE_XPOS
  3758. else target[X_AXIS] = FILAMENTCHANGE_XPOS;
  3759. #endif
  3760. if (code_seen('Y')) target[Y_AXIS] = code_value();
  3761. #ifdef FILAMENTCHANGE_YPOS
  3762. else target[Y_AXIS] = FILAMENTCHANGE_YPOS;
  3763. #endif
  3764. RUNPLAN;
  3765. if (code_seen('L')) target[E_AXIS] += code_value();
  3766. #ifdef FILAMENTCHANGE_FINALRETRACT
  3767. else target[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
  3768. #endif
  3769. RUNPLAN;
  3770. //finish moves
  3771. st_synchronize();
  3772. //disable extruder steppers so filament can be removed
  3773. disable_e0();
  3774. disable_e1();
  3775. disable_e2();
  3776. disable_e3();
  3777. delay(100);
  3778. LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
  3779. uint8_t cnt = 0;
  3780. while (!lcd_clicked()) {
  3781. cnt++;
  3782. manage_heater();
  3783. manage_inactivity(true);
  3784. lcd_update();
  3785. if (cnt == 0) {
  3786. #if BEEPER > 0
  3787. OUT_WRITE(BEEPER,HIGH);
  3788. delay(3);
  3789. WRITE(BEEPER,LOW);
  3790. delay(3);
  3791. #else
  3792. #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
  3793. lcd_buzz(1000/6, 100);
  3794. #else
  3795. lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ);
  3796. #endif
  3797. #endif
  3798. }
  3799. } // while(!lcd_clicked)
  3800. //return to normal
  3801. if (code_seen('L')) target[E_AXIS] -= code_value();
  3802. #ifdef FILAMENTCHANGE_FINALRETRACT
  3803. else target[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
  3804. #endif
  3805. current_position[E_AXIS] = target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
  3806. plan_set_e_position(current_position[E_AXIS]);
  3807. RUNPLAN; //should do nothing
  3808. lcd_reset_alert_level();
  3809. #ifdef DELTA
  3810. calculate_delta(lastpos);
  3811. plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move xyz back
  3812. plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract
  3813. #else
  3814. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move xy back
  3815. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move z back
  3816. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract
  3817. #endif
  3818. #ifdef FILAMENT_RUNOUT_SENSOR
  3819. filrunoutEnqued = false;
  3820. #endif
  3821. }
  3822. #endif // FILAMENTCHANGEENABLE
  3823. #ifdef DUAL_X_CARRIAGE
  3824. /**
  3825. * M605: Set dual x-carriage movement mode
  3826. *
  3827. * M605 S0: Full control mode. The slicer has full control over x-carriage movement
  3828. * M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
  3829. * M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
  3830. * millimeters x-offset and an optional differential hotend temperature of
  3831. * mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
  3832. * the first with a spacing of 100mm in the x direction and 2 degrees hotter.
  3833. *
  3834. * Note: the X axis should be homed after changing dual x-carriage mode.
  3835. */
  3836. inline void gcode_M605() {
  3837. st_synchronize();
  3838. if (code_seen('S')) dual_x_carriage_mode = code_value();
  3839. switch(dual_x_carriage_mode) {
  3840. case DXC_DUPLICATION_MODE:
  3841. if (code_seen('X')) duplicate_extruder_x_offset = max(code_value(), X2_MIN_POS - x_home_pos(0));
  3842. if (code_seen('R')) duplicate_extruder_temp_offset = code_value();
  3843. SERIAL_ECHO_START;
  3844. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  3845. SERIAL_ECHO(" ");
  3846. SERIAL_ECHO(extruder_offset[X_AXIS][0]);
  3847. SERIAL_ECHO(",");
  3848. SERIAL_ECHO(extruder_offset[Y_AXIS][0]);
  3849. SERIAL_ECHO(" ");
  3850. SERIAL_ECHO(duplicate_extruder_x_offset);
  3851. SERIAL_ECHO(",");
  3852. SERIAL_ECHOLN(extruder_offset[Y_AXIS][1]);
  3853. break;
  3854. case DXC_FULL_CONTROL_MODE:
  3855. case DXC_AUTO_PARK_MODE:
  3856. break;
  3857. default:
  3858. dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  3859. break;
  3860. }
  3861. active_extruder_parked = false;
  3862. extruder_duplication_enabled = false;
  3863. delayed_move_time = 0;
  3864. }
  3865. #endif // DUAL_X_CARRIAGE
  3866. /**
  3867. * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
  3868. */
  3869. inline void gcode_M907() {
  3870. #if HAS_DIGIPOTSS
  3871. for (int i=0;i<NUM_AXIS;i++)
  3872. if (code_seen(axis_codes[i])) digipot_current(i, code_value());
  3873. if (code_seen('B')) digipot_current(4, code_value());
  3874. if (code_seen('S')) for (int i=0; i<=4; i++) digipot_current(i, code_value());
  3875. #endif
  3876. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  3877. if (code_seen('X')) digipot_current(0, code_value());
  3878. #endif
  3879. #ifdef MOTOR_CURRENT_PWM_Z_PIN
  3880. if (code_seen('Z')) digipot_current(1, code_value());
  3881. #endif
  3882. #ifdef MOTOR_CURRENT_PWM_E_PIN
  3883. if (code_seen('E')) digipot_current(2, code_value());
  3884. #endif
  3885. #ifdef DIGIPOT_I2C
  3886. // this one uses actual amps in floating point
  3887. for (int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value());
  3888. // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
  3889. 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());
  3890. #endif
  3891. }
  3892. #if HAS_DIGIPOTSS
  3893. /**
  3894. * M908: Control digital trimpot directly (M908 P<pin> S<current>)
  3895. */
  3896. inline void gcode_M908() {
  3897. digitalPotWrite(
  3898. code_seen('P') ? code_value() : 0,
  3899. code_seen('S') ? code_value() : 0
  3900. );
  3901. }
  3902. #endif // HAS_DIGIPOTSS
  3903. // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  3904. inline void gcode_M350() {
  3905. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  3906. if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
  3907. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
  3908. if(code_seen('B')) microstep_mode(4,code_value());
  3909. microstep_readings();
  3910. #endif
  3911. }
  3912. /**
  3913. * M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
  3914. * S# determines MS1 or MS2, X# sets the pin high/low.
  3915. */
  3916. inline void gcode_M351() {
  3917. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  3918. if (code_seen('S')) switch(code_value_long()) {
  3919. case 1:
  3920. for(int i=0;i<NUM_AXIS;i++) if (code_seen(axis_codes[i])) microstep_ms(i, code_value(), -1);
  3921. if (code_seen('B')) microstep_ms(4, code_value(), -1);
  3922. break;
  3923. case 2:
  3924. for(int i=0;i<NUM_AXIS;i++) if (code_seen(axis_codes[i])) microstep_ms(i, -1, code_value());
  3925. if (code_seen('B')) microstep_ms(4, -1, code_value());
  3926. break;
  3927. }
  3928. microstep_readings();
  3929. #endif
  3930. }
  3931. /**
  3932. * M999: Restart after being stopped
  3933. */
  3934. inline void gcode_M999() {
  3935. Stopped = false;
  3936. lcd_reset_alert_level();
  3937. gcode_LastN = Stopped_gcode_LastN;
  3938. FlushSerialRequestResend();
  3939. }
  3940. inline void gcode_T() {
  3941. tmp_extruder = code_value();
  3942. if (tmp_extruder >= EXTRUDERS) {
  3943. SERIAL_ECHO_START;
  3944. SERIAL_ECHO("T");
  3945. SERIAL_ECHO(tmp_extruder);
  3946. SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
  3947. }
  3948. else {
  3949. #if EXTRUDERS > 1
  3950. bool make_move = false;
  3951. #endif
  3952. if (code_seen('F')) {
  3953. #if EXTRUDERS > 1
  3954. make_move = true;
  3955. #endif
  3956. next_feedrate = code_value();
  3957. if (next_feedrate > 0.0) feedrate = next_feedrate;
  3958. }
  3959. #if EXTRUDERS > 1
  3960. if (tmp_extruder != active_extruder) {
  3961. // Save current position to return to after applying extruder offset
  3962. memcpy(destination, current_position, sizeof(destination));
  3963. #ifdef DUAL_X_CARRIAGE
  3964. if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && Stopped == false &&
  3965. (delayed_move_time != 0 || current_position[X_AXIS] != x_home_pos(active_extruder))) {
  3966. // Park old head: 1) raise 2) move to park position 3) lower
  3967. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
  3968. current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
  3969. plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
  3970. current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
  3971. plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
  3972. current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
  3973. st_synchronize();
  3974. }
  3975. // apply Y & Z extruder offset (x offset is already used in determining home pos)
  3976. current_position[Y_AXIS] = current_position[Y_AXIS] -
  3977. extruder_offset[Y_AXIS][active_extruder] +
  3978. extruder_offset[Y_AXIS][tmp_extruder];
  3979. current_position[Z_AXIS] = current_position[Z_AXIS] -
  3980. extruder_offset[Z_AXIS][active_extruder] +
  3981. extruder_offset[Z_AXIS][tmp_extruder];
  3982. active_extruder = tmp_extruder;
  3983. // This function resets the max/min values - the current position may be overwritten below.
  3984. axis_is_at_home(X_AXIS);
  3985. if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE) {
  3986. current_position[X_AXIS] = inactive_extruder_x_pos;
  3987. inactive_extruder_x_pos = destination[X_AXIS];
  3988. }
  3989. else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
  3990. active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
  3991. if (active_extruder == 0 || active_extruder_parked)
  3992. current_position[X_AXIS] = inactive_extruder_x_pos;
  3993. else
  3994. current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
  3995. inactive_extruder_x_pos = destination[X_AXIS];
  3996. extruder_duplication_enabled = false;
  3997. }
  3998. else {
  3999. // record raised toolhead position for use by unpark
  4000. memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
  4001. raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
  4002. active_extruder_parked = true;
  4003. delayed_move_time = 0;
  4004. }
  4005. #else // !DUAL_X_CARRIAGE
  4006. // Offset extruder (only by XY)
  4007. for (int i=X_AXIS; i<=Y_AXIS; i++)
  4008. current_position[i] += extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder];
  4009. // Set the new active extruder and position
  4010. active_extruder = tmp_extruder;
  4011. #endif // !DUAL_X_CARRIAGE
  4012. #ifdef DELTA
  4013. calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
  4014. //sent position to plan_set_position();
  4015. plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],current_position[E_AXIS]);
  4016. #else
  4017. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  4018. #endif
  4019. // Move to the old position if 'F' was in the parameters
  4020. if (make_move && !Stopped) prepare_move();
  4021. }
  4022. #ifdef EXT_SOLENOID
  4023. st_synchronize();
  4024. disable_all_solenoids();
  4025. enable_solenoid_on_active_extruder();
  4026. #endif // EXT_SOLENOID
  4027. #endif // EXTRUDERS > 1
  4028. SERIAL_ECHO_START;
  4029. SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
  4030. SERIAL_PROTOCOLLN((int)active_extruder);
  4031. }
  4032. }
  4033. /**
  4034. * Process Commands and dispatch them to handlers
  4035. */
  4036. void process_commands() {
  4037. if (code_seen('G')) {
  4038. int gCode = code_value_long();
  4039. switch(gCode) {
  4040. // G0, G1
  4041. case 0:
  4042. case 1:
  4043. gcode_G0_G1();
  4044. break;
  4045. // G2, G3
  4046. #ifndef SCARA
  4047. case 2: // G2 - CW ARC
  4048. case 3: // G3 - CCW ARC
  4049. gcode_G2_G3(gCode == 2);
  4050. break;
  4051. #endif
  4052. // G4 Dwell
  4053. case 4:
  4054. gcode_G4();
  4055. break;
  4056. #ifdef FWRETRACT
  4057. case 10: // G10: retract
  4058. case 11: // G11: retract_recover
  4059. gcode_G10_G11(gCode == 10);
  4060. break;
  4061. #endif //FWRETRACT
  4062. case 28: // G28: Home all axes, one at a time
  4063. gcode_G28();
  4064. break;
  4065. #if defined(MESH_BED_LEVELING)
  4066. case 29: // G29 Handle mesh based leveling
  4067. gcode_G29();
  4068. break;
  4069. #endif
  4070. #ifdef ENABLE_AUTO_BED_LEVELING
  4071. case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
  4072. gcode_G29();
  4073. break;
  4074. #ifndef Z_PROBE_SLED
  4075. case 30: // G30 Single Z Probe
  4076. gcode_G30();
  4077. break;
  4078. #else // Z_PROBE_SLED
  4079. case 31: // G31: dock the sled
  4080. case 32: // G32: undock the sled
  4081. dock_sled(gCode == 31);
  4082. break;
  4083. #endif // Z_PROBE_SLED
  4084. #endif // ENABLE_AUTO_BED_LEVELING
  4085. case 90: // G90
  4086. relative_mode = false;
  4087. break;
  4088. case 91: // G91
  4089. relative_mode = true;
  4090. break;
  4091. case 92: // G92
  4092. gcode_G92();
  4093. break;
  4094. }
  4095. }
  4096. else if (code_seen('M')) {
  4097. switch( code_value_long() ) {
  4098. #ifdef ULTIPANEL
  4099. case 0: // M0 - Unconditional stop - Wait for user button press on LCD
  4100. case 1: // M1 - Conditional stop - Wait for user button press on LCD
  4101. gcode_M0_M1();
  4102. break;
  4103. #endif // ULTIPANEL
  4104. case 17:
  4105. gcode_M17();
  4106. break;
  4107. #ifdef SDSUPPORT
  4108. case 20: // M20 - list SD card
  4109. gcode_M20(); break;
  4110. case 21: // M21 - init SD card
  4111. gcode_M21(); break;
  4112. case 22: //M22 - release SD card
  4113. gcode_M22(); break;
  4114. case 23: //M23 - Select file
  4115. gcode_M23(); break;
  4116. case 24: //M24 - Start SD print
  4117. gcode_M24(); break;
  4118. case 25: //M25 - Pause SD print
  4119. gcode_M25(); break;
  4120. case 26: //M26 - Set SD index
  4121. gcode_M26(); break;
  4122. case 27: //M27 - Get SD status
  4123. gcode_M27(); break;
  4124. case 28: //M28 - Start SD write
  4125. gcode_M28(); break;
  4126. case 29: //M29 - Stop SD write
  4127. gcode_M29(); break;
  4128. case 30: //M30 <filename> Delete File
  4129. gcode_M30(); break;
  4130. case 32: //M32 - Select file and start SD print
  4131. gcode_M32(); break;
  4132. case 928: //M928 - Start SD write
  4133. gcode_M928(); break;
  4134. #endif //SDSUPPORT
  4135. case 31: //M31 take time since the start of the SD print or an M109 command
  4136. gcode_M31();
  4137. break;
  4138. case 42: //M42 -Change pin status via gcode
  4139. gcode_M42();
  4140. break;
  4141. #if defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST)
  4142. case 48: // M48 Z-Probe repeatability
  4143. gcode_M48();
  4144. break;
  4145. #endif // ENABLE_AUTO_BED_LEVELING && Z_PROBE_REPEATABILITY_TEST
  4146. case 104: // M104
  4147. gcode_M104();
  4148. break;
  4149. case 112: // M112 Emergency Stop
  4150. gcode_M112();
  4151. break;
  4152. case 140: // M140 Set bed temp
  4153. gcode_M140();
  4154. break;
  4155. case 105: // M105 Read current temperature
  4156. gcode_M105();
  4157. return;
  4158. break;
  4159. case 109: // M109 Wait for temperature
  4160. gcode_M109();
  4161. break;
  4162. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4163. case 190: // M190 - Wait for bed heater to reach target.
  4164. gcode_M190();
  4165. break;
  4166. #endif //TEMP_BED_PIN
  4167. #if defined(FAN_PIN) && FAN_PIN > -1
  4168. case 106: //M106 Fan On
  4169. gcode_M106();
  4170. break;
  4171. case 107: //M107 Fan Off
  4172. gcode_M107();
  4173. break;
  4174. #endif //FAN_PIN
  4175. #ifdef BARICUDA
  4176. // PWM for HEATER_1_PIN
  4177. #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
  4178. case 126: // M126 valve open
  4179. gcode_M126();
  4180. break;
  4181. case 127: // M127 valve closed
  4182. gcode_M127();
  4183. break;
  4184. #endif //HEATER_1_PIN
  4185. // PWM for HEATER_2_PIN
  4186. #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
  4187. case 128: // M128 valve open
  4188. gcode_M128();
  4189. break;
  4190. case 129: // M129 valve closed
  4191. gcode_M129();
  4192. break;
  4193. #endif //HEATER_2_PIN
  4194. #endif //BARICUDA
  4195. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  4196. case 80: // M80 - Turn on Power Supply
  4197. gcode_M80();
  4198. break;
  4199. #endif // PS_ON_PIN
  4200. case 81: // M81 - Turn off Power Supply
  4201. gcode_M81();
  4202. break;
  4203. case 82:
  4204. gcode_M82();
  4205. break;
  4206. case 83:
  4207. gcode_M83();
  4208. break;
  4209. case 18: //compatibility
  4210. case 84: // M84
  4211. gcode_M18_M84();
  4212. break;
  4213. case 85: // M85
  4214. gcode_M85();
  4215. break;
  4216. case 92: // M92
  4217. gcode_M92();
  4218. break;
  4219. case 115: // M115
  4220. gcode_M115();
  4221. break;
  4222. case 117: // M117 display message
  4223. gcode_M117();
  4224. break;
  4225. case 114: // M114
  4226. gcode_M114();
  4227. break;
  4228. case 120: // M120
  4229. gcode_M120();
  4230. break;
  4231. case 121: // M121
  4232. gcode_M121();
  4233. break;
  4234. case 119: // M119
  4235. gcode_M119();
  4236. break;
  4237. //TODO: update for all axis, use for loop
  4238. #ifdef BLINKM
  4239. case 150: // M150
  4240. gcode_M150();
  4241. break;
  4242. #endif //BLINKM
  4243. case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  4244. gcode_M200();
  4245. break;
  4246. case 201: // M201
  4247. gcode_M201();
  4248. break;
  4249. #if 0 // Not used for Sprinter/grbl gen6
  4250. case 202: // M202
  4251. gcode_M202();
  4252. break;
  4253. #endif
  4254. case 203: // M203 max feedrate mm/sec
  4255. gcode_M203();
  4256. break;
  4257. case 204: // M204 acclereration S normal moves T filmanent only moves
  4258. gcode_M204();
  4259. break;
  4260. 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
  4261. gcode_M205();
  4262. break;
  4263. case 206: // M206 additional homing offset
  4264. gcode_M206();
  4265. break;
  4266. #ifdef DELTA
  4267. case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
  4268. gcode_M665();
  4269. break;
  4270. case 666: // M666 set delta endstop adjustment
  4271. gcode_M666();
  4272. break;
  4273. #elif defined(Z_DUAL_ENDSTOPS)
  4274. case 666: // M666 set delta endstop adjustment
  4275. gcode_M666();
  4276. break;
  4277. #endif // DELTA
  4278. #ifdef FWRETRACT
  4279. case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
  4280. gcode_M207();
  4281. break;
  4282. case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  4283. gcode_M208();
  4284. break;
  4285. case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
  4286. gcode_M209();
  4287. break;
  4288. #endif // FWRETRACT
  4289. #if EXTRUDERS > 1
  4290. case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  4291. gcode_M218();
  4292. break;
  4293. #endif
  4294. case 220: // M220 S<factor in percent>- set speed factor override percentage
  4295. gcode_M220();
  4296. break;
  4297. case 221: // M221 S<factor in percent>- set extrude factor override percentage
  4298. gcode_M221();
  4299. break;
  4300. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  4301. gcode_M226();
  4302. break;
  4303. #if NUM_SERVOS > 0
  4304. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  4305. gcode_M280();
  4306. break;
  4307. #endif // NUM_SERVOS > 0
  4308. #if defined(LARGE_FLASH) && (BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER))
  4309. case 300: // M300 - Play beep tone
  4310. gcode_M300();
  4311. break;
  4312. #endif // LARGE_FLASH && (BEEPER>0 || ULTRALCD || LCD_USE_I2C_BUZZER)
  4313. #ifdef PIDTEMP
  4314. case 301: // M301
  4315. gcode_M301();
  4316. break;
  4317. #endif // PIDTEMP
  4318. #ifdef PIDTEMPBED
  4319. case 304: // M304
  4320. gcode_M304();
  4321. break;
  4322. #endif // PIDTEMPBED
  4323. #if defined(CHDK) || (defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1)
  4324. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  4325. gcode_M240();
  4326. break;
  4327. #endif // CHDK || PHOTOGRAPH_PIN
  4328. #ifdef DOGLCD
  4329. case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
  4330. gcode_M250();
  4331. break;
  4332. #endif // DOGLCD
  4333. #ifdef PREVENT_DANGEROUS_EXTRUDE
  4334. case 302: // allow cold extrudes, or set the minimum extrude temperature
  4335. gcode_M302();
  4336. break;
  4337. #endif // PREVENT_DANGEROUS_EXTRUDE
  4338. case 303: // M303 PID autotune
  4339. gcode_M303();
  4340. break;
  4341. #ifdef SCARA
  4342. case 360: // M360 SCARA Theta pos1
  4343. if (gcode_M360()) return;
  4344. break;
  4345. case 361: // M361 SCARA Theta pos2
  4346. if (gcode_M361()) return;
  4347. break;
  4348. case 362: // M362 SCARA Psi pos1
  4349. if (gcode_M362()) return;
  4350. break;
  4351. case 363: // M363 SCARA Psi pos2
  4352. if (gcode_M363()) return;
  4353. break;
  4354. case 364: // M364 SCARA Psi pos3 (90 deg to Theta)
  4355. if (gcode_M364()) return;
  4356. break;
  4357. case 365: // M365 Set SCARA scaling for X Y Z
  4358. gcode_M365();
  4359. break;
  4360. #endif // SCARA
  4361. case 400: // M400 finish all moves
  4362. gcode_M400();
  4363. break;
  4364. #if defined(ENABLE_AUTO_BED_LEVELING) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY)) && not defined(Z_PROBE_SLED)
  4365. case 401:
  4366. gcode_M401();
  4367. break;
  4368. case 402:
  4369. gcode_M402();
  4370. break;
  4371. #endif
  4372. #ifdef FILAMENT_SENSOR
  4373. case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
  4374. gcode_M404();
  4375. break;
  4376. case 405: //M405 Turn on filament sensor for control
  4377. gcode_M405();
  4378. break;
  4379. case 406: //M406 Turn off filament sensor for control
  4380. gcode_M406();
  4381. break;
  4382. case 407: //M407 Display measured filament diameter
  4383. gcode_M407();
  4384. break;
  4385. #endif // FILAMENT_SENSOR
  4386. case 500: // M500 Store settings in EEPROM
  4387. gcode_M500();
  4388. break;
  4389. case 501: // M501 Read settings from EEPROM
  4390. gcode_M501();
  4391. break;
  4392. case 502: // M502 Revert to default settings
  4393. gcode_M502();
  4394. break;
  4395. case 503: // M503 print settings currently in memory
  4396. gcode_M503();
  4397. break;
  4398. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  4399. case 540:
  4400. gcode_M540();
  4401. break;
  4402. #endif
  4403. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  4404. case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
  4405. gcode_SET_Z_PROBE_OFFSET();
  4406. break;
  4407. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  4408. #ifdef FILAMENTCHANGEENABLE
  4409. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  4410. gcode_M600();
  4411. break;
  4412. #endif // FILAMENTCHANGEENABLE
  4413. #ifdef DUAL_X_CARRIAGE
  4414. case 605:
  4415. gcode_M605();
  4416. break;
  4417. #endif // DUAL_X_CARRIAGE
  4418. case 907: // M907 Set digital trimpot motor current using axis codes.
  4419. gcode_M907();
  4420. break;
  4421. #if HAS_DIGIPOTSS
  4422. case 908: // M908 Control digital trimpot directly.
  4423. gcode_M908();
  4424. break;
  4425. #endif // HAS_DIGIPOTSS
  4426. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  4427. gcode_M350();
  4428. break;
  4429. case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  4430. gcode_M351();
  4431. break;
  4432. case 999: // M999: Restart after being Stopped
  4433. gcode_M999();
  4434. break;
  4435. }
  4436. }
  4437. else if (code_seen('T')) {
  4438. gcode_T();
  4439. }
  4440. else {
  4441. SERIAL_ECHO_START;
  4442. SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
  4443. SERIAL_ECHO(cmdbuffer[bufindr]);
  4444. SERIAL_ECHOLNPGM("\"");
  4445. }
  4446. ClearToSend();
  4447. }
  4448. void FlushSerialRequestResend()
  4449. {
  4450. //char cmdbuffer[bufindr][100]="Resend:";
  4451. MYSERIAL.flush();
  4452. SERIAL_PROTOCOLPGM(MSG_RESEND);
  4453. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  4454. ClearToSend();
  4455. }
  4456. void ClearToSend()
  4457. {
  4458. previous_millis_cmd = millis();
  4459. #ifdef SDSUPPORT
  4460. if(fromsd[bufindr])
  4461. return;
  4462. #endif //SDSUPPORT
  4463. SERIAL_PROTOCOLLNPGM(MSG_OK);
  4464. }
  4465. void get_coordinates() {
  4466. for (int i = 0; i < NUM_AXIS; i++) {
  4467. float dest;
  4468. if (code_seen(axis_codes[i])) {
  4469. dest = code_value();
  4470. if (axis_relative_modes[i] || relative_mode)
  4471. dest += current_position[i];
  4472. }
  4473. else
  4474. dest = current_position[i];
  4475. destination[i] = dest;
  4476. }
  4477. if (code_seen('F')) {
  4478. next_feedrate = code_value();
  4479. if (next_feedrate > 0.0) feedrate = next_feedrate;
  4480. }
  4481. }
  4482. void get_arc_coordinates()
  4483. {
  4484. #ifdef SF_ARC_FIX
  4485. bool relative_mode_backup = relative_mode;
  4486. relative_mode = true;
  4487. #endif
  4488. get_coordinates();
  4489. #ifdef SF_ARC_FIX
  4490. relative_mode=relative_mode_backup;
  4491. #endif
  4492. if(code_seen('I')) {
  4493. offset[0] = code_value();
  4494. }
  4495. else {
  4496. offset[0] = 0.0;
  4497. }
  4498. if(code_seen('J')) {
  4499. offset[1] = code_value();
  4500. }
  4501. else {
  4502. offset[1] = 0.0;
  4503. }
  4504. }
  4505. void clamp_to_software_endstops(float target[3])
  4506. {
  4507. if (min_software_endstops) {
  4508. if (target[X_AXIS] < min_pos[X_AXIS]) target[X_AXIS] = min_pos[X_AXIS];
  4509. if (target[Y_AXIS] < min_pos[Y_AXIS]) target[Y_AXIS] = min_pos[Y_AXIS];
  4510. float negative_z_offset = 0;
  4511. #ifdef ENABLE_AUTO_BED_LEVELING
  4512. if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
  4513. if (home_offset[Z_AXIS] < 0) negative_z_offset = negative_z_offset + home_offset[Z_AXIS];
  4514. #endif
  4515. if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
  4516. }
  4517. if (max_software_endstops) {
  4518. if (target[X_AXIS] > max_pos[X_AXIS]) target[X_AXIS] = max_pos[X_AXIS];
  4519. if (target[Y_AXIS] > max_pos[Y_AXIS]) target[Y_AXIS] = max_pos[Y_AXIS];
  4520. if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
  4521. }
  4522. }
  4523. #ifdef DELTA
  4524. void recalc_delta_settings(float radius, float diagonal_rod)
  4525. {
  4526. delta_tower1_x= -SIN_60*radius; // front left tower
  4527. delta_tower1_y= -COS_60*radius;
  4528. delta_tower2_x= SIN_60*radius; // front right tower
  4529. delta_tower2_y= -COS_60*radius;
  4530. delta_tower3_x= 0.0; // back middle tower
  4531. delta_tower3_y= radius;
  4532. delta_diagonal_rod_2= sq(diagonal_rod);
  4533. }
  4534. void calculate_delta(float cartesian[3])
  4535. {
  4536. delta[X_AXIS] = sqrt(delta_diagonal_rod_2
  4537. - sq(delta_tower1_x-cartesian[X_AXIS])
  4538. - sq(delta_tower1_y-cartesian[Y_AXIS])
  4539. ) + cartesian[Z_AXIS];
  4540. delta[Y_AXIS] = sqrt(delta_diagonal_rod_2
  4541. - sq(delta_tower2_x-cartesian[X_AXIS])
  4542. - sq(delta_tower2_y-cartesian[Y_AXIS])
  4543. ) + cartesian[Z_AXIS];
  4544. delta[Z_AXIS] = sqrt(delta_diagonal_rod_2
  4545. - sq(delta_tower3_x-cartesian[X_AXIS])
  4546. - sq(delta_tower3_y-cartesian[Y_AXIS])
  4547. ) + cartesian[Z_AXIS];
  4548. /*
  4549. SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
  4550. SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
  4551. SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
  4552. SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
  4553. SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
  4554. SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
  4555. */
  4556. }
  4557. #ifdef ENABLE_AUTO_BED_LEVELING
  4558. // Adjust print surface height by linear interpolation over the bed_level array.
  4559. int delta_grid_spacing[2] = { 0, 0 };
  4560. void adjust_delta(float cartesian[3])
  4561. {
  4562. if (delta_grid_spacing[0] == 0 || delta_grid_spacing[1] == 0)
  4563. return; // G29 not done
  4564. int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
  4565. float grid_x = max(0.001-half, min(half-0.001, cartesian[X_AXIS] / delta_grid_spacing[0]));
  4566. float grid_y = max(0.001-half, min(half-0.001, cartesian[Y_AXIS] / delta_grid_spacing[1]));
  4567. int floor_x = floor(grid_x);
  4568. int floor_y = floor(grid_y);
  4569. float ratio_x = grid_x - floor_x;
  4570. float ratio_y = grid_y - floor_y;
  4571. float z1 = bed_level[floor_x+half][floor_y+half];
  4572. float z2 = bed_level[floor_x+half][floor_y+half+1];
  4573. float z3 = bed_level[floor_x+half+1][floor_y+half];
  4574. float z4 = bed_level[floor_x+half+1][floor_y+half+1];
  4575. float left = (1-ratio_y)*z1 + ratio_y*z2;
  4576. float right = (1-ratio_y)*z3 + ratio_y*z4;
  4577. float offset = (1-ratio_x)*left + ratio_x*right;
  4578. delta[X_AXIS] += offset;
  4579. delta[Y_AXIS] += offset;
  4580. delta[Z_AXIS] += offset;
  4581. /*
  4582. SERIAL_ECHOPGM("grid_x="); SERIAL_ECHO(grid_x);
  4583. SERIAL_ECHOPGM(" grid_y="); SERIAL_ECHO(grid_y);
  4584. SERIAL_ECHOPGM(" floor_x="); SERIAL_ECHO(floor_x);
  4585. SERIAL_ECHOPGM(" floor_y="); SERIAL_ECHO(floor_y);
  4586. SERIAL_ECHOPGM(" ratio_x="); SERIAL_ECHO(ratio_x);
  4587. SERIAL_ECHOPGM(" ratio_y="); SERIAL_ECHO(ratio_y);
  4588. SERIAL_ECHOPGM(" z1="); SERIAL_ECHO(z1);
  4589. SERIAL_ECHOPGM(" z2="); SERIAL_ECHO(z2);
  4590. SERIAL_ECHOPGM(" z3="); SERIAL_ECHO(z3);
  4591. SERIAL_ECHOPGM(" z4="); SERIAL_ECHO(z4);
  4592. SERIAL_ECHOPGM(" left="); SERIAL_ECHO(left);
  4593. SERIAL_ECHOPGM(" right="); SERIAL_ECHO(right);
  4594. SERIAL_ECHOPGM(" offset="); SERIAL_ECHOLN(offset);
  4595. */
  4596. }
  4597. #endif //ENABLE_AUTO_BED_LEVELING
  4598. void prepare_move_raw()
  4599. {
  4600. previous_millis_cmd = millis();
  4601. calculate_delta(destination);
  4602. plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
  4603. destination[E_AXIS], feedrate*feedmultiply/60/100.0,
  4604. active_extruder);
  4605. for(int8_t i=0; i < NUM_AXIS; i++) {
  4606. current_position[i] = destination[i];
  4607. }
  4608. }
  4609. #endif //DELTA
  4610. #if defined(MESH_BED_LEVELING)
  4611. #if !defined(MIN)
  4612. #define MIN(_v1, _v2) (((_v1) < (_v2)) ? (_v1) : (_v2))
  4613. #endif // ! MIN
  4614. // This function is used to split lines on mesh borders so each segment is only part of one mesh area
  4615. void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_rate, const uint8_t &extruder, uint8_t x_splits=0xff, uint8_t y_splits=0xff)
  4616. {
  4617. if (!mbl.active) {
  4618. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  4619. for(int8_t i=0; i < NUM_AXIS; i++) {
  4620. current_position[i] = destination[i];
  4621. }
  4622. return;
  4623. }
  4624. int pix = mbl.select_x_index(current_position[X_AXIS]);
  4625. int piy = mbl.select_y_index(current_position[Y_AXIS]);
  4626. int ix = mbl.select_x_index(x);
  4627. int iy = mbl.select_y_index(y);
  4628. pix = MIN(pix, MESH_NUM_X_POINTS-2);
  4629. piy = MIN(piy, MESH_NUM_Y_POINTS-2);
  4630. ix = MIN(ix, MESH_NUM_X_POINTS-2);
  4631. iy = MIN(iy, MESH_NUM_Y_POINTS-2);
  4632. if (pix == ix && piy == iy) {
  4633. // Start and end on same mesh square
  4634. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  4635. for(int8_t i=0; i < NUM_AXIS; i++) {
  4636. current_position[i] = destination[i];
  4637. }
  4638. return;
  4639. }
  4640. float nx, ny, ne, normalized_dist;
  4641. if (ix > pix && (x_splits) & BIT(ix)) {
  4642. nx = mbl.get_x(ix);
  4643. normalized_dist = (nx - current_position[X_AXIS])/(x - current_position[X_AXIS]);
  4644. ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist;
  4645. ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
  4646. x_splits ^= BIT(ix);
  4647. } else if (ix < pix && (x_splits) & BIT(pix)) {
  4648. nx = mbl.get_x(pix);
  4649. normalized_dist = (nx - current_position[X_AXIS])/(x - current_position[X_AXIS]);
  4650. ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist;
  4651. ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
  4652. x_splits ^= BIT(pix);
  4653. } else if (iy > piy && (y_splits) & BIT(iy)) {
  4654. ny = mbl.get_y(iy);
  4655. normalized_dist = (ny - current_position[Y_AXIS])/(y - current_position[Y_AXIS]);
  4656. nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist;
  4657. ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
  4658. y_splits ^= BIT(iy);
  4659. } else if (iy < piy && (y_splits) & BIT(piy)) {
  4660. ny = mbl.get_y(piy);
  4661. normalized_dist = (ny - current_position[Y_AXIS])/(y - current_position[Y_AXIS]);
  4662. nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist;
  4663. ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
  4664. y_splits ^= BIT(piy);
  4665. } else {
  4666. // Already split on a border
  4667. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  4668. for(int8_t i=0; i < NUM_AXIS; i++) {
  4669. current_position[i] = destination[i];
  4670. }
  4671. return;
  4672. }
  4673. // Do the split and look for more borders
  4674. destination[X_AXIS] = nx;
  4675. destination[Y_AXIS] = ny;
  4676. destination[E_AXIS] = ne;
  4677. mesh_plan_buffer_line(nx, ny, z, ne, feed_rate, extruder, x_splits, y_splits);
  4678. destination[X_AXIS] = x;
  4679. destination[Y_AXIS] = y;
  4680. destination[E_AXIS] = e;
  4681. mesh_plan_buffer_line(x, y, z, e, feed_rate, extruder, x_splits, y_splits);
  4682. }
  4683. #endif // MESH_BED_LEVELING
  4684. void prepare_move()
  4685. {
  4686. clamp_to_software_endstops(destination);
  4687. previous_millis_cmd = millis();
  4688. #ifdef SCARA //for now same as delta-code
  4689. float difference[NUM_AXIS];
  4690. for (int8_t i=0; i < NUM_AXIS; i++) {
  4691. difference[i] = destination[i] - current_position[i];
  4692. }
  4693. float cartesian_mm = sqrt( sq(difference[X_AXIS]) +
  4694. sq(difference[Y_AXIS]) +
  4695. sq(difference[Z_AXIS]));
  4696. if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
  4697. if (cartesian_mm < 0.000001) { return; }
  4698. float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
  4699. int steps = max(1, int(scara_segments_per_second * seconds));
  4700. //SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
  4701. //SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
  4702. //SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
  4703. for (int s = 1; s <= steps; s++) {
  4704. float fraction = float(s) / float(steps);
  4705. for(int8_t i=0; i < NUM_AXIS; i++) {
  4706. destination[i] = current_position[i] + difference[i] * fraction;
  4707. }
  4708. calculate_delta(destination);
  4709. //SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
  4710. //SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
  4711. //SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]);
  4712. //SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]);
  4713. //SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
  4714. //SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
  4715. plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
  4716. destination[E_AXIS], feedrate*feedmultiply/60/100.0,
  4717. active_extruder);
  4718. }
  4719. #endif // SCARA
  4720. #ifdef DELTA
  4721. float difference[NUM_AXIS];
  4722. for (int8_t i=0; i < NUM_AXIS; i++) {
  4723. difference[i] = destination[i] - current_position[i];
  4724. }
  4725. float cartesian_mm = sqrt(sq(difference[X_AXIS]) +
  4726. sq(difference[Y_AXIS]) +
  4727. sq(difference[Z_AXIS]));
  4728. if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
  4729. if (cartesian_mm < 0.000001) { return; }
  4730. float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
  4731. int steps = max(1, int(delta_segments_per_second * seconds));
  4732. // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
  4733. // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
  4734. // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
  4735. for (int s = 1; s <= steps; s++) {
  4736. float fraction = float(s) / float(steps);
  4737. for(int8_t i=0; i < NUM_AXIS; i++) {
  4738. destination[i] = current_position[i] + difference[i] * fraction;
  4739. }
  4740. calculate_delta(destination);
  4741. plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
  4742. destination[E_AXIS], feedrate*feedmultiply/60/100.0,
  4743. active_extruder);
  4744. }
  4745. #endif // DELTA
  4746. #ifdef DUAL_X_CARRIAGE
  4747. if (active_extruder_parked)
  4748. {
  4749. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0)
  4750. {
  4751. // move duplicate extruder into correct duplication position.
  4752. plan_set_position(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  4753. plan_buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset, current_position[Y_AXIS], current_position[Z_AXIS],
  4754. current_position[E_AXIS], max_feedrate[X_AXIS], 1);
  4755. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  4756. st_synchronize();
  4757. extruder_duplication_enabled = true;
  4758. active_extruder_parked = false;
  4759. }
  4760. else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) // handle unparking of head
  4761. {
  4762. if (current_position[E_AXIS] == destination[E_AXIS])
  4763. {
  4764. // this is a travel move - skit it but keep track of current position (so that it can later
  4765. // be used as start of first non-travel move)
  4766. if (delayed_move_time != 0xFFFFFFFFUL)
  4767. {
  4768. memcpy(current_position, destination, sizeof(current_position));
  4769. if (destination[Z_AXIS] > raised_parked_position[Z_AXIS])
  4770. raised_parked_position[Z_AXIS] = destination[Z_AXIS];
  4771. delayed_move_time = millis();
  4772. return;
  4773. }
  4774. }
  4775. delayed_move_time = 0;
  4776. // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
  4777. plan_buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
  4778. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS],
  4779. current_position[E_AXIS], min(max_feedrate[X_AXIS],max_feedrate[Y_AXIS]), active_extruder);
  4780. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
  4781. current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
  4782. active_extruder_parked = false;
  4783. }
  4784. }
  4785. #endif //DUAL_X_CARRIAGE
  4786. #if ! (defined DELTA || defined SCARA)
  4787. // Do not use feedmultiply for E or Z only moves
  4788. if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
  4789. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  4790. } else {
  4791. #if defined(MESH_BED_LEVELING)
  4792. mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
  4793. return;
  4794. #else
  4795. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
  4796. #endif // MESH_BED_LEVELING
  4797. }
  4798. #endif // !(DELTA || SCARA)
  4799. for(int8_t i=0; i < NUM_AXIS; i++) {
  4800. current_position[i] = destination[i];
  4801. }
  4802. }
  4803. void prepare_arc_move(char isclockwise) {
  4804. float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
  4805. // Trace the arc
  4806. mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
  4807. // As far as the parser is concerned, the position is now == target. In reality the
  4808. // motion control system might still be processing the action and the real tool position
  4809. // in any intermediate location.
  4810. for(int8_t i=0; i < NUM_AXIS; i++) {
  4811. current_position[i] = destination[i];
  4812. }
  4813. previous_millis_cmd = millis();
  4814. }
  4815. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  4816. #if defined(FAN_PIN)
  4817. #if CONTROLLERFAN_PIN == FAN_PIN
  4818. #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
  4819. #endif
  4820. #endif
  4821. unsigned long lastMotor = 0; // Last time a motor was turned on
  4822. unsigned long lastMotorCheck = 0; // Last time the state was checked
  4823. void controllerFan() {
  4824. uint32_t ms = millis();
  4825. if (ms >= lastMotorCheck + 2500) { // Not a time critical function, so we only check every 2500ms
  4826. lastMotorCheck = ms;
  4827. if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || soft_pwm_bed > 0
  4828. || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
  4829. #if EXTRUDERS > 1
  4830. || E1_ENABLE_READ == E_ENABLE_ON
  4831. #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  4832. || X2_ENABLE_READ == X_ENABLE_ON
  4833. #endif
  4834. #if EXTRUDERS > 2
  4835. || E2_ENABLE_READ == E_ENABLE_ON
  4836. #if EXTRUDERS > 3
  4837. || E3_ENABLE_READ == E_ENABLE_ON
  4838. #endif
  4839. #endif
  4840. #endif
  4841. ) {
  4842. lastMotor = ms; //... set time to NOW so the fan will turn on
  4843. }
  4844. uint8_t speed = (lastMotor == 0 || ms >= lastMotor + (CONTROLLERFAN_SECS * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
  4845. // allows digital or PWM fan output to be used (see M42 handling)
  4846. digitalWrite(CONTROLLERFAN_PIN, speed);
  4847. analogWrite(CONTROLLERFAN_PIN, speed);
  4848. }
  4849. }
  4850. #endif
  4851. #ifdef SCARA
  4852. void calculate_SCARA_forward_Transform(float f_scara[3])
  4853. {
  4854. // Perform forward kinematics, and place results in delta[3]
  4855. // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
  4856. float x_sin, x_cos, y_sin, y_cos;
  4857. //SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]);
  4858. //SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]);
  4859. x_sin = sin(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1;
  4860. x_cos = cos(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1;
  4861. y_sin = sin(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2;
  4862. y_cos = cos(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2;
  4863. // SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin);
  4864. // SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos);
  4865. // SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin);
  4866. // SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos);
  4867. delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta
  4868. delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi
  4869. //SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
  4870. //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
  4871. }
  4872. void calculate_delta(float cartesian[3]){
  4873. //reverse kinematics.
  4874. // Perform reversed kinematics, and place results in delta[3]
  4875. // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
  4876. float SCARA_pos[2];
  4877. static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi;
  4878. SCARA_pos[X_AXIS] = cartesian[X_AXIS] * axis_scaling[X_AXIS] - SCARA_offset_x; //Translate SCARA to standard X Y
  4879. SCARA_pos[Y_AXIS] = cartesian[Y_AXIS] * axis_scaling[Y_AXIS] - SCARA_offset_y; // With scaling factor.
  4880. #if (Linkage_1 == Linkage_2)
  4881. SCARA_C2 = ( ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) ) / (2 * (float)L1_2) ) - 1;
  4882. #else
  4883. SCARA_C2 = ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2 ) / 45000;
  4884. #endif
  4885. SCARA_S2 = sqrt( 1 - sq(SCARA_C2) );
  4886. SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2;
  4887. SCARA_K2 = Linkage_2 * SCARA_S2;
  4888. SCARA_theta = ( atan2(SCARA_pos[X_AXIS],SCARA_pos[Y_AXIS])-atan2(SCARA_K1, SCARA_K2) ) * -1;
  4889. SCARA_psi = atan2(SCARA_S2,SCARA_C2);
  4890. delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG; // Multiply by 180/Pi - theta is support arm angle
  4891. delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG; // - equal to sub arm angle (inverted motor)
  4892. delta[Z_AXIS] = cartesian[Z_AXIS];
  4893. /*
  4894. SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
  4895. SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
  4896. SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
  4897. SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]);
  4898. SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]);
  4899. SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
  4900. SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
  4901. SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
  4902. SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2);
  4903. SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2);
  4904. SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta);
  4905. SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi);
  4906. SERIAL_ECHOLN(" ");*/
  4907. }
  4908. #endif
  4909. #ifdef TEMP_STAT_LEDS
  4910. static bool blue_led = false;
  4911. static bool red_led = false;
  4912. static uint32_t stat_update = 0;
  4913. void handle_status_leds(void) {
  4914. float max_temp = 0.0;
  4915. if(millis() > stat_update) {
  4916. stat_update += 500; // Update every 0.5s
  4917. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  4918. max_temp = max(max_temp, degHotend(cur_extruder));
  4919. max_temp = max(max_temp, degTargetHotend(cur_extruder));
  4920. }
  4921. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4922. max_temp = max(max_temp, degTargetBed());
  4923. max_temp = max(max_temp, degBed());
  4924. #endif
  4925. if((max_temp > 55.0) && (red_led == false)) {
  4926. digitalWrite(STAT_LED_RED, 1);
  4927. digitalWrite(STAT_LED_BLUE, 0);
  4928. red_led = true;
  4929. blue_led = false;
  4930. }
  4931. if((max_temp < 54.0) && (blue_led == false)) {
  4932. digitalWrite(STAT_LED_RED, 0);
  4933. digitalWrite(STAT_LED_BLUE, 1);
  4934. red_led = false;
  4935. blue_led = true;
  4936. }
  4937. }
  4938. }
  4939. #endif
  4940. void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
  4941. {
  4942. #if defined(KILL_PIN) && KILL_PIN > -1
  4943. static int killCount = 0; // make the inactivity button a bit less responsive
  4944. const int KILL_DELAY = 750;
  4945. #endif
  4946. #if defined(FILRUNOUT_PIN) && FILRUNOUT_PIN > -1
  4947. if(card.sdprinting) {
  4948. if(!(READ(FILRUNOUT_PIN))^FIL_RUNOUT_INVERTING)
  4949. filrunout(); }
  4950. #endif
  4951. #if defined(HOME_PIN) && HOME_PIN > -1
  4952. static int homeDebounceCount = 0; // poor man's debouncing count
  4953. const int HOME_DEBOUNCE_DELAY = 750;
  4954. #endif
  4955. if(buflen < (BUFSIZE-1))
  4956. get_command();
  4957. if( (millis() - previous_millis_cmd) > max_inactive_time )
  4958. if(max_inactive_time)
  4959. kill();
  4960. if(stepper_inactive_time) {
  4961. if( (millis() - previous_millis_cmd) > stepper_inactive_time )
  4962. {
  4963. if(blocks_queued() == false && ignore_stepper_queue == false) {
  4964. disable_x();
  4965. disable_y();
  4966. disable_z();
  4967. disable_e0();
  4968. disable_e1();
  4969. disable_e2();
  4970. disable_e3();
  4971. }
  4972. }
  4973. }
  4974. #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
  4975. if (chdkActive && (millis() - chdkHigh > CHDK_DELAY))
  4976. {
  4977. chdkActive = false;
  4978. WRITE(CHDK, LOW);
  4979. }
  4980. #endif
  4981. #if defined(KILL_PIN) && KILL_PIN > -1
  4982. // Check if the kill button was pressed and wait just in case it was an accidental
  4983. // key kill key press
  4984. // -------------------------------------------------------------------------------
  4985. if( 0 == READ(KILL_PIN) )
  4986. {
  4987. killCount++;
  4988. }
  4989. else if (killCount > 0)
  4990. {
  4991. killCount--;
  4992. }
  4993. // Exceeded threshold and we can confirm that it was not accidental
  4994. // KILL the machine
  4995. // ----------------------------------------------------------------
  4996. if ( killCount >= KILL_DELAY)
  4997. {
  4998. kill();
  4999. }
  5000. #endif
  5001. #if defined(HOME_PIN) && HOME_PIN > -1
  5002. // Check to see if we have to home, use poor man's debouncer
  5003. // ---------------------------------------------------------
  5004. if ( 0 == READ(HOME_PIN) )
  5005. {
  5006. if (homeDebounceCount == 0)
  5007. {
  5008. enquecommands_P((PSTR("G28")));
  5009. homeDebounceCount++;
  5010. LCD_ALERTMESSAGEPGM(MSG_AUTO_HOME);
  5011. }
  5012. else if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
  5013. {
  5014. homeDebounceCount++;
  5015. }
  5016. else
  5017. {
  5018. homeDebounceCount = 0;
  5019. }
  5020. }
  5021. #endif
  5022. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  5023. controllerFan(); //Check if fan should be turned on to cool stepper drivers down
  5024. #endif
  5025. #ifdef EXTRUDER_RUNOUT_PREVENT
  5026. if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
  5027. if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
  5028. {
  5029. bool oldstatus=E0_ENABLE_READ;
  5030. enable_e0();
  5031. float oldepos=current_position[E_AXIS];
  5032. float oldedes=destination[E_AXIS];
  5033. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  5034. destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
  5035. EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
  5036. current_position[E_AXIS]=oldepos;
  5037. destination[E_AXIS]=oldedes;
  5038. plan_set_e_position(oldepos);
  5039. previous_millis_cmd=millis();
  5040. st_synchronize();
  5041. E0_ENABLE_WRITE(oldstatus);
  5042. }
  5043. #endif
  5044. #if defined(DUAL_X_CARRIAGE)
  5045. // handle delayed move timeout
  5046. if (delayed_move_time != 0 && (millis() - delayed_move_time) > 1000 && Stopped == false)
  5047. {
  5048. // travel moves have been received so enact them
  5049. delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
  5050. memcpy(destination,current_position,sizeof(destination));
  5051. prepare_move();
  5052. }
  5053. #endif
  5054. #ifdef TEMP_STAT_LEDS
  5055. handle_status_leds();
  5056. #endif
  5057. check_axes_activity();
  5058. }
  5059. void kill()
  5060. {
  5061. cli(); // Stop interrupts
  5062. disable_heater();
  5063. disable_x();
  5064. disable_y();
  5065. disable_z();
  5066. disable_e0();
  5067. disable_e1();
  5068. disable_e2();
  5069. disable_e3();
  5070. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  5071. pinMode(PS_ON_PIN,INPUT);
  5072. #endif
  5073. SERIAL_ERROR_START;
  5074. SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
  5075. LCD_ALERTMESSAGEPGM(MSG_KILLED);
  5076. // FMC small patch to update the LCD before ending
  5077. sei(); // enable interrupts
  5078. for ( int i=5; i--; lcd_update())
  5079. {
  5080. delay(200);
  5081. }
  5082. cli(); // disable interrupts
  5083. suicide();
  5084. while(1) { /* Intentionally left empty */ } // Wait for reset
  5085. }
  5086. #ifdef FILAMENT_RUNOUT_SENSOR
  5087. void filrunout()
  5088. {
  5089. if filrunoutEnqued == false {
  5090. filrunoutEnqued = true;
  5091. enquecommand("M600");
  5092. }
  5093. }
  5094. #endif
  5095. void Stop()
  5096. {
  5097. disable_heater();
  5098. if(Stopped == false) {
  5099. Stopped = true;
  5100. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  5101. SERIAL_ERROR_START;
  5102. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  5103. LCD_MESSAGEPGM(MSG_STOPPED);
  5104. }
  5105. }
  5106. bool IsStopped() { return Stopped; };
  5107. #ifdef FAST_PWM_FAN
  5108. void setPwmFrequency(uint8_t pin, int val)
  5109. {
  5110. val &= 0x07;
  5111. switch(digitalPinToTimer(pin))
  5112. {
  5113. #if defined(TCCR0A)
  5114. case TIMER0A:
  5115. case TIMER0B:
  5116. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  5117. // TCCR0B |= val;
  5118. break;
  5119. #endif
  5120. #if defined(TCCR1A)
  5121. case TIMER1A:
  5122. case TIMER1B:
  5123. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  5124. // TCCR1B |= val;
  5125. break;
  5126. #endif
  5127. #if defined(TCCR2)
  5128. case TIMER2:
  5129. case TIMER2:
  5130. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  5131. TCCR2 |= val;
  5132. break;
  5133. #endif
  5134. #if defined(TCCR2A)
  5135. case TIMER2A:
  5136. case TIMER2B:
  5137. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  5138. TCCR2B |= val;
  5139. break;
  5140. #endif
  5141. #if defined(TCCR3A)
  5142. case TIMER3A:
  5143. case TIMER3B:
  5144. case TIMER3C:
  5145. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  5146. TCCR3B |= val;
  5147. break;
  5148. #endif
  5149. #if defined(TCCR4A)
  5150. case TIMER4A:
  5151. case TIMER4B:
  5152. case TIMER4C:
  5153. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  5154. TCCR4B |= val;
  5155. break;
  5156. #endif
  5157. #if defined(TCCR5A)
  5158. case TIMER5A:
  5159. case TIMER5B:
  5160. case TIMER5C:
  5161. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  5162. TCCR5B |= val;
  5163. break;
  5164. #endif
  5165. }
  5166. }
  5167. #endif //FAST_PWM_FAN
  5168. bool setTargetedHotend(int code){
  5169. tmp_extruder = active_extruder;
  5170. if(code_seen('T')) {
  5171. tmp_extruder = code_value();
  5172. if(tmp_extruder >= EXTRUDERS) {
  5173. SERIAL_ECHO_START;
  5174. switch(code){
  5175. case 104:
  5176. SERIAL_ECHO(MSG_M104_INVALID_EXTRUDER);
  5177. break;
  5178. case 105:
  5179. SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER);
  5180. break;
  5181. case 109:
  5182. SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
  5183. break;
  5184. case 218:
  5185. SERIAL_ECHO(MSG_M218_INVALID_EXTRUDER);
  5186. break;
  5187. case 221:
  5188. SERIAL_ECHO(MSG_M221_INVALID_EXTRUDER);
  5189. break;
  5190. }
  5191. SERIAL_ECHOLN(tmp_extruder);
  5192. return true;
  5193. }
  5194. }
  5195. return false;
  5196. }
  5197. float calculate_volumetric_multiplier(float diameter) {
  5198. if (!volumetric_enabled || diameter == 0) return 1.0;
  5199. float d2 = diameter * 0.5;
  5200. return 1.0 / (M_PI * d2 * d2);
  5201. }
  5202. void calculate_volumetric_multipliers() {
  5203. for (int i=0; i<EXTRUDERS; i++)
  5204. volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
  5205. }