My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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Marlin_main.cpp 390KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. /**
  23. * About Marlin
  24. *
  25. * This firmware is a mashup between Sprinter and grbl.
  26. * - https://github.com/kliment/Sprinter
  27. * - https://github.com/simen/grbl/tree
  28. */
  29. /**
  30. * -----------------
  31. * G-Codes in Marlin
  32. * -----------------
  33. *
  34. * Helpful G-code references:
  35. * - http://linuxcnc.org/handbook/gcode/g-code.html
  36. * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  37. *
  38. * Help to document Marlin's G-codes online:
  39. * - http://reprap.org/wiki/G-code
  40. * - https://github.com/MarlinFirmware/MarlinDocumentation
  41. *
  42. * -----------------
  43. *
  44. * "G" Codes
  45. *
  46. * G0 -> G1
  47. * G1 - Coordinated Movement X Y Z E
  48. * G2 - CW ARC
  49. * G3 - CCW ARC
  50. * G4 - Dwell S<seconds> or P<milliseconds>
  51. * G5 - Cubic B-spline with XYZE destination and IJPQ offsets
  52. * G10 - Retract filament according to settings of M207
  53. * G11 - Retract recover filament according to settings of M208
  54. * G12 - Clean tool
  55. * G20 - Set input units to inches
  56. * G21 - Set input units to millimeters
  57. * G28 - Home one or more axes
  58. * G29 - Detailed Z probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  59. * G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
  60. * G31 - Dock sled (Z_PROBE_SLED only)
  61. * G32 - Undock sled (Z_PROBE_SLED only)
  62. * G33 - Delta Auto-Calibration (Requires DELTA_AUTO_CALIBRATION)
  63. * G38 - Probe target - similar to G28 except it uses the Z_MIN_PROBE for all three axes
  64. * G90 - Use Absolute Coordinates
  65. * G91 - Use Relative Coordinates
  66. * G92 - Set current position to coordinates given
  67. *
  68. * "M" Codes
  69. *
  70. * M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
  71. * M1 - Same as M0
  72. * M17 - Enable/Power all stepper motors
  73. * M18 - Disable all stepper motors; same as M84
  74. * M20 - List SD card. (Requires SDSUPPORT)
  75. * M21 - Init SD card. (Requires SDSUPPORT)
  76. * M22 - Release SD card. (Requires SDSUPPORT)
  77. * M23 - Select SD file: "M23 /path/file.gco". (Requires SDSUPPORT)
  78. * M24 - Start/resume SD print. (Requires SDSUPPORT)
  79. * M25 - Pause SD print. (Requires SDSUPPORT)
  80. * M26 - Set SD position in bytes: "M26 S12345". (Requires SDSUPPORT)
  81. * M27 - Report SD print status. (Requires SDSUPPORT)
  82. * M28 - Start SD write: "M28 /path/file.gco". (Requires SDSUPPORT)
  83. * M29 - Stop SD write. (Requires SDSUPPORT)
  84. * M30 - Delete file from SD: "M30 /path/file.gco"
  85. * M31 - Report time since last M109 or SD card start to serial.
  86. * M32 - Select file and start SD print: "M32 [S<bytepos>] !/path/file.gco#". (Requires SDSUPPORT)
  87. * Use P to run other files as sub-programs: "M32 P !filename#"
  88. * The '#' is necessary when calling from within sd files, as it stops buffer prereading
  89. * M33 - Get the longname version of a path. (Requires LONG_FILENAME_HOST_SUPPORT)
  90. * M34 - Set SD Card sorting options. (Requires SDCARD_SORT_ALPHA)
  91. * M42 - Change pin status via gcode: M42 P<pin> S<value>. LED pin assumed if P is omitted.
  92. * M43 - Display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  93. * M48 - Measure Z Probe repeatability: M48 P<points> X<pos> Y<pos> V<level> E<engage> L<legs>. (Requires Z_MIN_PROBE_REPEATABILITY_TEST)
  94. * M75 - Start the print job timer.
  95. * M76 - Pause the print job timer.
  96. * M77 - Stop the print job timer.
  97. * M78 - Show statistical information about the print jobs. (Requires PRINTCOUNTER)
  98. * M80 - Turn on Power Supply. (Requires POWER_SUPPLY)
  99. * M81 - Turn off Power Supply. (Requires POWER_SUPPLY)
  100. * M82 - Set E codes absolute (default).
  101. * M83 - Set E codes relative while in Absolute (G90) mode.
  102. * M84 - Disable steppers until next move, or use S<seconds> to specify an idle
  103. * duration after which steppers should turn off. S0 disables the timeout.
  104. * M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  105. * M92 - Set planner.axis_steps_per_mm for one or more axes.
  106. * M104 - Set extruder target temp.
  107. * M105 - Report current temperatures.
  108. * M106 - Fan on.
  109. * M107 - Fan off.
  110. * M108 - Break out of heating loops (M109, M190, M303). With no controller, breaks out of M0/M1. (Requires EMERGENCY_PARSER)
  111. * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  112. * Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  113. * If AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  114. * M110 - Set the current line number. (Used by host printing)
  115. * M111 - Set debug flags: "M111 S<flagbits>". See flag bits defined in enum.h.
  116. * M112 - Emergency stop.
  117. * M113 - Get or set the timeout interval for Host Keepalive "busy" messages. (Requires HOST_KEEPALIVE_FEATURE)
  118. * M114 - Report current position.
  119. * M115 - Report capabilities. (Extended capabilities requires EXTENDED_CAPABILITIES_REPORT)
  120. * M117 - Display a message on the controller screen. (Requires an LCD)
  121. * M119 - Report endstops status.
  122. * M120 - Enable endstops detection.
  123. * M121 - Disable endstops detection.
  124. * M125 - Save current position and move to filament change position. (Requires PARK_HEAD_ON_PAUSE)
  125. * M126 - Solenoid Air Valve Open. (Requires BARICUDA)
  126. * M127 - Solenoid Air Valve Closed. (Requires BARICUDA)
  127. * M128 - EtoP Open. (Requires BARICUDA)
  128. * M129 - EtoP Closed. (Requires BARICUDA)
  129. * M140 - Set bed target temp. S<temp>
  130. * M145 - Set heatup values for materials on the LCD. H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
  131. * M149 - Set temperature units. (Requires TEMPERATURE_UNITS_SUPPORT)
  132. * M150 - Set Status LED Color as R<red> U<green> B<blue>. Values 0-255. (Requires BLINKM or RGB_LED)
  133. * M155 - Auto-report temperatures with interval of S<seconds>. (Requires AUTO_REPORT_TEMPERATURES)
  134. * M163 - Set a single proportion for a mixing extruder. (Requires MIXING_EXTRUDER)
  135. * M164 - Save the mix as a virtual extruder. (Requires MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS)
  136. * M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. (Requires MIXING_EXTRUDER)
  137. * M190 - Sxxx Wait for bed current temp to reach target temp. ** Waits only when heating! **
  138. * Rxxx Wait for bed current temp to reach target temp. ** Waits for heating or cooling. **
  139. * M200 - Set filament diameter, D<diameter>, setting E axis units to cubic. (Use S0 to revert to linear units.)
  140. * M201 - Set max acceleration in units/s^2 for print moves: "M201 X<accel> Y<accel> Z<accel> E<accel>"
  141. * M202 - Set max acceleration in units/s^2 for travel moves: "M202 X<accel> Y<accel> Z<accel> E<accel>" ** UNUSED IN MARLIN! **
  142. * M203 - Set maximum feedrate: "M203 X<fr> Y<fr> Z<fr> E<fr>" in units/sec.
  143. * M204 - Set default acceleration in units/sec^2: P<printing> R<extruder_only> T<travel>
  144. * M205 - Set advanced settings. Current units apply:
  145. S<print> T<travel> minimum speeds
  146. B<minimum segment time>
  147. X<max X jerk>, Y<max Y jerk>, Z<max Z jerk>, E<max E jerk>
  148. * M206 - Set additional homing offset. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
  149. * M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>. (Requires FWRETRACT)
  150. * M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>. (Requires FWRETRACT)
  151. * M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT)
  152. Every normal extrude-only move will be classified as retract depending on the direction.
  153. * M211 - Enable, Disable, and/or Report software endstops: S<0|1> (Requires MIN_SOFTWARE_ENDSTOPS or MAX_SOFTWARE_ENDSTOPS)
  154. * M218 - Set a tool offset: "M218 T<index> X<offset> Y<offset>". (Requires 2 or more extruders)
  155. * M220 - Set Feedrate Percentage: "M220 S<percent>" (i.e., "FR" on the LCD)
  156. * M221 - Set Flow Percentage: "M221 S<percent>"
  157. * M226 - Wait until a pin is in a given state: "M226 P<pin> S<state>"
  158. * M240 - Trigger a camera to take a photograph. (Requires CHDK or PHOTOGRAPH_PIN)
  159. * M250 - Set LCD contrast: "M250 C<contrast>" (0-63). (Requires LCD support)
  160. * M260 - i2c Send Data (Requires EXPERIMENTAL_I2CBUS)
  161. * M261 - i2c Request Data (Requires EXPERIMENTAL_I2CBUS)
  162. * M280 - Set servo position absolute: "M280 P<index> S<angle|µs>". (Requires servos)
  163. * M300 - Play beep sound S<frequency Hz> P<duration ms>
  164. * M301 - Set PID parameters P I and D. (Requires PIDTEMP)
  165. * M302 - Allow cold extrudes, or set the minimum extrude S<temperature>. (Requires PREVENT_COLD_EXTRUSION)
  166. * M303 - PID relay autotune S<temperature> sets the target temperature. Default 150C. (Requires PIDTEMP)
  167. * M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED)
  168. * M355 - Turn the Case Light on/off and set its brightness. (Requires CASE_LIGHT_PIN)
  169. * M380 - Activate solenoid on active extruder. (Requires EXT_SOLENOID)
  170. * M381 - Disable all solenoids. (Requires EXT_SOLENOID)
  171. * M400 - Finish all moves.
  172. * M401 - Lower Z probe. (Requires a probe)
  173. * M402 - Raise Z probe. (Requires a probe)
  174. * M404 - Display or set the Nominal Filament Width: "W<diameter>". (Requires FILAMENT_WIDTH_SENSOR)
  175. * M405 - Enable Filament Sensor flow control. "M405 D<delay_cm>". (Requires FILAMENT_WIDTH_SENSOR)
  176. * M406 - Disable Filament Sensor flow control. (Requires FILAMENT_WIDTH_SENSOR)
  177. * M407 - Display measured filament diameter in millimeters. (Requires FILAMENT_WIDTH_SENSOR)
  178. * M410 - Quickstop. Abort all planned moves.
  179. * M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL)
  180. * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units> (Requires MESH_BED_LEVELING or AUTO_BED_LEVELING_UBL)
  181. * M428 - Set the home_offset based on the current_position. Nearest edge applies. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
  182. * M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS)
  183. * M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS)
  184. * M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! **
  185. * M503 - Print the current settings (in memory): "M503 S<verbose>". S0 specifies compact output.
  186. * M540 - Enable/disable SD card abort on endstop hit: "M540 S<state>". (Requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  187. * M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires FILAMENT_CHANGE_FEATURE)
  188. * M665 - Set delta configurations: "M665 L<diagonal rod> R<delta radius> S<segments/s> A<rod A trim mm> B<rod B trim mm> C<rod C trim mm> I<tower A trim angle> J<tower B trim angle> K<tower C trim angle>" (Requires DELTA)
  189. * M666 - Set delta endstop adjustment. (Requires DELTA)
  190. * M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
  191. * M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
  192. * M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires HAVE_TMC2130)
  193. * M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
  194. * M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN)
  195. * M909 - Print digipot/DAC current value. (Requires DAC_STEPPER_CURRENT)
  196. * M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT)
  197. * M911 - Report stepper driver overtemperature pre-warn condition. (Requires HAVE_TMC2130)
  198. * M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires HAVE_TMC2130)
  199. * M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD)
  200. * M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING)
  201. * M350 - Set microstepping mode. (Requires digital microstepping pins.)
  202. * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
  203. *
  204. * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  205. * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  206. * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  207. * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  208. * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  209. *
  210. * ************ Custom codes - This can change to suit future G-code regulations
  211. * M100 - Watch Free Memory (For Debugging). (Requires M100_FREE_MEMORY_WATCHER)
  212. * M928 - Start SD logging: "M928 filename.gco". Stop with M29. (Requires SDSUPPORT)
  213. * M999 - Restart after being stopped by error
  214. *
  215. * "T" Codes
  216. *
  217. * T0-T3 - Select an extruder (tool) by index: "T<n> F<units/min>"
  218. *
  219. */
  220. #include "Marlin.h"
  221. #include "ultralcd.h"
  222. #include "planner.h"
  223. #include "stepper.h"
  224. #include "endstops.h"
  225. #include "temperature.h"
  226. #include "cardreader.h"
  227. #include "configuration_store.h"
  228. #include "language.h"
  229. #include "pins_arduino.h"
  230. #include "math.h"
  231. #include "nozzle.h"
  232. #include "duration_t.h"
  233. #include "types.h"
  234. #if HAS_ABL
  235. #include "vector_3.h"
  236. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  237. #include "qr_solve.h"
  238. #endif
  239. #elif ENABLED(MESH_BED_LEVELING)
  240. #include "mesh_bed_leveling.h"
  241. #endif
  242. #if ENABLED(BEZIER_CURVE_SUPPORT)
  243. #include "planner_bezier.h"
  244. #endif
  245. #if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
  246. #include "buzzer.h"
  247. #endif
  248. #if ENABLED(USE_WATCHDOG)
  249. #include "watchdog.h"
  250. #endif
  251. #if ENABLED(BLINKM)
  252. #include "blinkm.h"
  253. #include "Wire.h"
  254. #endif
  255. #if HAS_SERVOS
  256. #include "servo.h"
  257. #endif
  258. #if HAS_DIGIPOTSS
  259. #include <SPI.h>
  260. #endif
  261. #if ENABLED(DAC_STEPPER_CURRENT)
  262. #include "stepper_dac.h"
  263. #endif
  264. #if ENABLED(EXPERIMENTAL_I2CBUS)
  265. #include "twibus.h"
  266. #endif
  267. #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
  268. #include "endstop_interrupts.h"
  269. #endif
  270. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  271. void gcode_M100();
  272. void M100_dump_routine(const char * const title, const char *start, const char *end);
  273. #endif
  274. #if ENABLED(SDSUPPORT)
  275. CardReader card;
  276. #endif
  277. #if ENABLED(EXPERIMENTAL_I2CBUS)
  278. TWIBus i2c;
  279. #endif
  280. #if ENABLED(G38_PROBE_TARGET)
  281. bool G38_move = false,
  282. G38_endstop_hit = false;
  283. #endif
  284. #if ENABLED(AUTO_BED_LEVELING_UBL)
  285. #include "ubl.h"
  286. unified_bed_leveling ubl;
  287. #define UBL_MESH_VALID !( ( ubl.z_values[0][0] == ubl.z_values[0][1] && ubl.z_values[0][1] == ubl.z_values[0][2] \
  288. && ubl.z_values[1][0] == ubl.z_values[1][1] && ubl.z_values[1][1] == ubl.z_values[1][2] \
  289. && ubl.z_values[2][0] == ubl.z_values[2][1] && ubl.z_values[2][1] == ubl.z_values[2][2] \
  290. && ubl.z_values[0][0] == 0 && ubl.z_values[1][0] == 0 && ubl.z_values[2][0] == 0 ) \
  291. || isnan(ubl.z_values[0][0]))
  292. #endif
  293. bool Running = true;
  294. uint8_t marlin_debug_flags = DEBUG_NONE;
  295. /**
  296. * Cartesian Current Position
  297. * Used to track the logical position as moves are queued.
  298. * Used by 'line_to_current_position' to do a move after changing it.
  299. * Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'.
  300. */
  301. float current_position[XYZE] = { 0.0 };
  302. /**
  303. * Cartesian Destination
  304. * A temporary position, usually applied to 'current_position'.
  305. * Set with 'gcode_get_destination' or 'set_destination_to_current'.
  306. * 'line_to_destination' sets 'current_position' to 'destination'.
  307. */
  308. float destination[XYZE] = { 0.0 };
  309. /**
  310. * axis_homed
  311. * Flags that each linear axis was homed.
  312. * XYZ on cartesian, ABC on delta, ABZ on SCARA.
  313. *
  314. * axis_known_position
  315. * Flags that the position is known in each linear axis. Set when homed.
  316. * Cleared whenever a stepper powers off, potentially losing its position.
  317. */
  318. bool axis_homed[XYZ] = { false }, axis_known_position[XYZ] = { false };
  319. /**
  320. * GCode line number handling. Hosts may opt to include line numbers when
  321. * sending commands to Marlin, and lines will be checked for sequentiality.
  322. * M110 N<int> sets the current line number.
  323. */
  324. static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
  325. /**
  326. * GCode Command Queue
  327. * A simple ring buffer of BUFSIZE command strings.
  328. *
  329. * Commands are copied into this buffer by the command injectors
  330. * (immediate, serial, sd card) and they are processed sequentially by
  331. * the main loop. The process_next_command function parses the next
  332. * command and hands off execution to individual handler functions.
  333. */
  334. uint8_t commands_in_queue = 0; // Count of commands in the queue
  335. static uint8_t cmd_queue_index_r = 0, // Ring buffer read position
  336. cmd_queue_index_w = 0; // Ring buffer write position
  337. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  338. char command_queue[BUFSIZE][MAX_CMD_SIZE]; // Necessary so M100 Free Memory Dumper can show us the commands and any corruption
  339. #else // This can be collapsed back to the way it was soon.
  340. static char command_queue[BUFSIZE][MAX_CMD_SIZE];
  341. #endif
  342. /**
  343. * Current GCode Command
  344. * When a GCode handler is running, these will be set
  345. */
  346. static char *current_command, // The command currently being executed
  347. *current_command_args, // The address where arguments begin
  348. *seen_pointer; // Set by code_seen(), used by the code_value functions
  349. /**
  350. * Next Injected Command pointer. NULL if no commands are being injected.
  351. * Used by Marlin internally to ensure that commands initiated from within
  352. * are enqueued ahead of any pending serial or sd card commands.
  353. */
  354. static const char *injected_commands_P = NULL;
  355. #if ENABLED(INCH_MODE_SUPPORT)
  356. float linear_unit_factor = 1.0, volumetric_unit_factor = 1.0;
  357. #endif
  358. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  359. TempUnit input_temp_units = TEMPUNIT_C;
  360. #endif
  361. /**
  362. * Feed rates are often configured with mm/m
  363. * but the planner and stepper like mm/s units.
  364. */
  365. float constexpr homing_feedrate_mm_s[] = {
  366. #if ENABLED(DELTA)
  367. MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z),
  368. #else
  369. MMM_TO_MMS(HOMING_FEEDRATE_XY), MMM_TO_MMS(HOMING_FEEDRATE_XY),
  370. #endif
  371. MMM_TO_MMS(HOMING_FEEDRATE_Z), 0
  372. };
  373. static float feedrate_mm_s = MMM_TO_MMS(1500.0), saved_feedrate_mm_s;
  374. int feedrate_percentage = 100, saved_feedrate_percentage,
  375. flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
  376. bool axis_relative_modes[] = AXIS_RELATIVE_MODES,
  377. volumetric_enabled =
  378. #if ENABLED(VOLUMETRIC_DEFAULT_ON)
  379. true
  380. #else
  381. false
  382. #endif
  383. ;
  384. float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA),
  385. volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
  386. #if HAS_WORKSPACE_OFFSET
  387. #if HAS_POSITION_SHIFT
  388. // The distance that XYZ has been offset by G92. Reset by G28.
  389. float position_shift[XYZ] = { 0 };
  390. #endif
  391. #if HAS_HOME_OFFSET
  392. // This offset is added to the configured home position.
  393. // Set by M206, M428, or menu item. Saved to EEPROM.
  394. float home_offset[XYZ] = { 0 };
  395. #endif
  396. #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
  397. // The above two are combined to save on computes
  398. float workspace_offset[XYZ] = { 0 };
  399. #endif
  400. #endif
  401. // Software Endstops are based on the configured limits.
  402. #if HAS_SOFTWARE_ENDSTOPS
  403. bool soft_endstops_enabled = true;
  404. #endif
  405. float soft_endstop_min[XYZ] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
  406. soft_endstop_max[XYZ] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  407. #if FAN_COUNT > 0
  408. int16_t fanSpeeds[FAN_COUNT] = { 0 };
  409. #endif
  410. // The active extruder (tool). Set with T<extruder> command.
  411. uint8_t active_extruder = 0;
  412. // Relative Mode. Enable with G91, disable with G90.
  413. static bool relative_mode = false;
  414. // For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
  415. volatile bool wait_for_heatup = true;
  416. // For M0/M1, this flag may be cleared (by M108) to exit the wait-for-user loop
  417. #if HAS_RESUME_CONTINUE
  418. volatile bool wait_for_user = false;
  419. #endif
  420. const char axis_codes[XYZE] = {'X', 'Y', 'Z', 'E'};
  421. // Number of characters read in the current line of serial input
  422. static int serial_count = 0;
  423. // Inactivity shutdown
  424. millis_t previous_cmd_ms = 0;
  425. static millis_t max_inactive_time = 0;
  426. static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
  427. // Print Job Timer
  428. #if ENABLED(PRINTCOUNTER)
  429. PrintCounter print_job_timer = PrintCounter();
  430. #else
  431. Stopwatch print_job_timer = Stopwatch();
  432. #endif
  433. // Buzzer - I2C on the LCD or a BEEPER_PIN
  434. #if ENABLED(LCD_USE_I2C_BUZZER)
  435. #define BUZZ(d,f) lcd_buzz(d, f)
  436. #elif PIN_EXISTS(BEEPER)
  437. Buzzer buzzer;
  438. #define BUZZ(d,f) buzzer.tone(d, f)
  439. #else
  440. #define BUZZ(d,f) NOOP
  441. #endif
  442. static uint8_t target_extruder;
  443. #if HAS_BED_PROBE
  444. float zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER;
  445. #endif
  446. #if HAS_ABL
  447. float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
  448. #define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s
  449. #elif defined(XY_PROBE_SPEED)
  450. #define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED)
  451. #else
  452. #define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
  453. #endif
  454. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  455. #if ENABLED(DELTA)
  456. #define ADJUST_DELTA(V) \
  457. if (planner.abl_enabled) { \
  458. const float zadj = bilinear_z_offset(V); \
  459. delta[A_AXIS] += zadj; \
  460. delta[B_AXIS] += zadj; \
  461. delta[C_AXIS] += zadj; \
  462. }
  463. #else
  464. #define ADJUST_DELTA(V) if (planner.abl_enabled) { delta[Z_AXIS] += bilinear_z_offset(V); }
  465. #endif
  466. #elif IS_KINEMATIC
  467. #define ADJUST_DELTA(V) NOOP
  468. #endif
  469. #if ENABLED(Z_DUAL_ENDSTOPS)
  470. float z_endstop_adj =
  471. #ifdef Z_DUAL_ENDSTOPS_ADJUSTMENT
  472. Z_DUAL_ENDSTOPS_ADJUSTMENT
  473. #else
  474. 0
  475. #endif
  476. ;
  477. #endif
  478. // Extruder offsets
  479. #if HOTENDS > 1
  480. float hotend_offset[XYZ][HOTENDS];
  481. #endif
  482. #if HAS_Z_SERVO_ENDSTOP
  483. const int z_servo_angle[2] = Z_SERVO_ANGLES;
  484. #endif
  485. #if ENABLED(BARICUDA)
  486. int baricuda_valve_pressure = 0;
  487. int baricuda_e_to_p_pressure = 0;
  488. #endif
  489. #if ENABLED(FWRETRACT)
  490. bool autoretract_enabled = false;
  491. bool retracted[EXTRUDERS] = { false };
  492. bool retracted_swap[EXTRUDERS] = { false };
  493. float retract_length = RETRACT_LENGTH;
  494. float retract_length_swap = RETRACT_LENGTH_SWAP;
  495. float retract_feedrate_mm_s = RETRACT_FEEDRATE;
  496. float retract_zlift = RETRACT_ZLIFT;
  497. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  498. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  499. float retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE;
  500. #endif // FWRETRACT
  501. #if ENABLED(ULTIPANEL) && HAS_POWER_SWITCH
  502. bool powersupply =
  503. #if ENABLED(PS_DEFAULT_OFF)
  504. false
  505. #else
  506. true
  507. #endif
  508. ;
  509. #endif
  510. #if HAS_CASE_LIGHT
  511. bool case_light_on =
  512. #if ENABLED(CASE_LIGHT_DEFAULT_ON)
  513. true
  514. #else
  515. false
  516. #endif
  517. ;
  518. #endif
  519. #if ENABLED(DELTA)
  520. float delta[ABC],
  521. endstop_adj[ABC] = { 0 };
  522. // These values are loaded or reset at boot time when setup() calls
  523. // settings.load(), which calls recalc_delta_settings().
  524. float delta_radius,
  525. delta_tower_angle_trim[2],
  526. delta_tower[ABC][2],
  527. delta_diagonal_rod,
  528. delta_calibration_radius,
  529. delta_diagonal_rod_2_tower[ABC],
  530. delta_segments_per_second,
  531. delta_clip_start_height = Z_MAX_POS;
  532. float delta_safe_distance_from_top();
  533. #endif
  534. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  535. int bilinear_grid_spacing[2], bilinear_start[2];
  536. float bilinear_grid_factor[2],
  537. z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
  538. #endif
  539. #if IS_SCARA
  540. // Float constants for SCARA calculations
  541. const float L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
  542. L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
  543. L2_2 = sq(float(L2));
  544. float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
  545. delta[ABC];
  546. #endif
  547. float cartes[XYZ] = { 0 };
  548. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  549. bool filament_sensor = false; // M405 turns on filament sensor control. M406 turns it off.
  550. float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA, // Nominal filament width. Change with M404.
  551. filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA; // Measured filament diameter
  552. int8_t measurement_delay[MAX_MEASUREMENT_DELAY + 1]; // Ring buffer to delayed measurement. Store extruder factor after subtracting 100
  553. int filwidth_delay_index[2] = { 0, -1 }; // Indexes into ring buffer
  554. int meas_delay_cm = MEASUREMENT_DELAY_CM; // Distance delay setting
  555. #endif
  556. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  557. static bool filament_ran_out = false;
  558. #endif
  559. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  560. FilamentChangeMenuResponse filament_change_menu_response;
  561. #endif
  562. #if ENABLED(MIXING_EXTRUDER)
  563. float mixing_factor[MIXING_STEPPERS]; // Reciprocal of mix proportion. 0.0 = off, otherwise >= 1.0.
  564. #if MIXING_VIRTUAL_TOOLS > 1
  565. float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
  566. #endif
  567. #endif
  568. static bool send_ok[BUFSIZE];
  569. #if HAS_SERVOS
  570. Servo servo[NUM_SERVOS];
  571. #define MOVE_SERVO(I, P) servo[I].move(P)
  572. #if HAS_Z_SERVO_ENDSTOP
  573. #define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0])
  574. #define STOW_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[1])
  575. #endif
  576. #endif
  577. #ifdef CHDK
  578. millis_t chdkHigh = 0;
  579. bool chdkActive = false;
  580. #endif
  581. #ifdef AUTOMATIC_CURRENT_CONTROL
  582. bool auto_current_control = 0;
  583. #endif
  584. #if ENABLED(PID_EXTRUSION_SCALING)
  585. int lpq_len = 20;
  586. #endif
  587. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  588. MarlinBusyState busy_state = NOT_BUSY;
  589. static millis_t next_busy_signal_ms = 0;
  590. uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
  591. #else
  592. #define host_keepalive() NOOP
  593. #endif
  594. static inline float pgm_read_any(const float *p) { return pgm_read_float_near(p); }
  595. static inline signed char pgm_read_any(const signed char *p) { return pgm_read_byte_near(p); }
  596. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  597. static const PROGMEM type array##_P[XYZ] = { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  598. static inline type array(AxisEnum axis) { return pgm_read_any(&array##_P[axis]); } \
  599. typedef void __void_##CONFIG##__
  600. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  601. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  602. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  603. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  604. XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM);
  605. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  606. /**
  607. * ***************************************************************************
  608. * ******************************** FUNCTIONS ********************************
  609. * ***************************************************************************
  610. */
  611. void stop();
  612. void get_available_commands();
  613. void process_next_command();
  614. void prepare_move_to_destination();
  615. void get_cartesian_from_steppers();
  616. void set_current_from_steppers_for_axis(const AxisEnum axis);
  617. #if ENABLED(ARC_SUPPORT)
  618. void plan_arc(float target[XYZE], float* offset, uint8_t clockwise);
  619. #endif
  620. #if ENABLED(BEZIER_CURVE_SUPPORT)
  621. void plan_cubic_move(const float offset[4]);
  622. #endif
  623. void tool_change(const uint8_t tmp_extruder, const float fr_mm_s=0.0, bool no_move=false);
  624. static void report_current_position();
  625. #if ENABLED(DEBUG_LEVELING_FEATURE)
  626. void print_xyz(const char* prefix, const char* suffix, const float x, const float y, const float z) {
  627. serialprintPGM(prefix);
  628. SERIAL_CHAR('(');
  629. SERIAL_ECHO(x);
  630. SERIAL_ECHOPAIR(", ", y);
  631. SERIAL_ECHOPAIR(", ", z);
  632. SERIAL_CHAR(')');
  633. suffix ? serialprintPGM(suffix) : SERIAL_EOL;
  634. }
  635. void print_xyz(const char* prefix, const char* suffix, const float xyz[]) {
  636. print_xyz(prefix, suffix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
  637. }
  638. #if HAS_ABL
  639. void print_xyz(const char* prefix, const char* suffix, const vector_3 &xyz) {
  640. print_xyz(prefix, suffix, xyz.x, xyz.y, xyz.z);
  641. }
  642. #endif
  643. #define DEBUG_POS(SUFFIX,VAR) do { \
  644. print_xyz(PSTR(" " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); } while(0)
  645. #endif
  646. /**
  647. * sync_plan_position
  648. *
  649. * Set the planner/stepper positions directly from current_position with
  650. * no kinematic translation. Used for homing axes and cartesian/core syncing.
  651. */
  652. inline void sync_plan_position() {
  653. #if ENABLED(DEBUG_LEVELING_FEATURE)
  654. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
  655. #endif
  656. planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  657. }
  658. inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
  659. #if IS_KINEMATIC
  660. inline void sync_plan_position_kinematic() {
  661. #if ENABLED(DEBUG_LEVELING_FEATURE)
  662. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
  663. #endif
  664. planner.set_position_mm_kinematic(current_position);
  665. }
  666. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
  667. #else
  668. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
  669. #endif
  670. #if ENABLED(SDSUPPORT)
  671. #include "SdFatUtil.h"
  672. int freeMemory() { return SdFatUtil::FreeRam(); }
  673. #else
  674. extern "C" {
  675. extern char __bss_end;
  676. extern char __heap_start;
  677. extern void* __brkval;
  678. int freeMemory() {
  679. int free_memory;
  680. if ((int)__brkval == 0)
  681. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  682. else
  683. free_memory = ((int)&free_memory) - ((int)__brkval);
  684. return free_memory;
  685. }
  686. }
  687. #endif //!SDSUPPORT
  688. #if ENABLED(DIGIPOT_I2C)
  689. extern void digipot_i2c_set_current(int channel, float current);
  690. extern void digipot_i2c_init();
  691. #endif
  692. /**
  693. * Inject the next "immediate" command, when possible, onto the front of the queue.
  694. * Return true if any immediate commands remain to inject.
  695. */
  696. static bool drain_injected_commands_P() {
  697. if (injected_commands_P != NULL) {
  698. size_t i = 0;
  699. char c, cmd[30];
  700. strncpy_P(cmd, injected_commands_P, sizeof(cmd) - 1);
  701. cmd[sizeof(cmd) - 1] = '\0';
  702. while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
  703. cmd[i] = '\0';
  704. if (enqueue_and_echo_command(cmd)) // success?
  705. injected_commands_P = c ? injected_commands_P + i + 1 : NULL; // next command or done
  706. }
  707. return (injected_commands_P != NULL); // return whether any more remain
  708. }
  709. /**
  710. * Record one or many commands to run from program memory.
  711. * Aborts the current queue, if any.
  712. * Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards
  713. */
  714. void enqueue_and_echo_commands_P(const char* pgcode) {
  715. injected_commands_P = pgcode;
  716. drain_injected_commands_P(); // first command executed asap (when possible)
  717. }
  718. /**
  719. * Clear the Marlin command queue
  720. */
  721. void clear_command_queue() {
  722. cmd_queue_index_r = cmd_queue_index_w;
  723. commands_in_queue = 0;
  724. }
  725. /**
  726. * Once a new command is in the ring buffer, call this to commit it
  727. */
  728. inline void _commit_command(bool say_ok) {
  729. send_ok[cmd_queue_index_w] = say_ok;
  730. cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE;
  731. commands_in_queue++;
  732. }
  733. /**
  734. * Copy a command from RAM into the main command buffer.
  735. * Return true if the command was successfully added.
  736. * Return false for a full buffer, or if the 'command' is a comment.
  737. */
  738. inline bool _enqueuecommand(const char* cmd, bool say_ok=false) {
  739. if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
  740. strcpy(command_queue[cmd_queue_index_w], cmd);
  741. _commit_command(say_ok);
  742. return true;
  743. }
  744. /**
  745. * Enqueue with Serial Echo
  746. */
  747. bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
  748. if (_enqueuecommand(cmd, say_ok)) {
  749. SERIAL_ECHO_START;
  750. SERIAL_ECHOPAIR(MSG_ENQUEUEING, cmd);
  751. SERIAL_CHAR('"');
  752. SERIAL_EOL;
  753. return true;
  754. }
  755. return false;
  756. }
  757. void setup_killpin() {
  758. #if HAS_KILL
  759. SET_INPUT_PULLUP(KILL_PIN);
  760. #endif
  761. }
  762. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  763. void setup_filrunoutpin() {
  764. #if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
  765. SET_INPUT_PULLUP(FIL_RUNOUT_PIN);
  766. #else
  767. SET_INPUT(FIL_RUNOUT_PIN);
  768. #endif
  769. }
  770. #endif
  771. void setup_homepin(void) {
  772. #if HAS_HOME
  773. SET_INPUT_PULLUP(HOME_PIN);
  774. #endif
  775. }
  776. void setup_powerhold() {
  777. #if HAS_SUICIDE
  778. OUT_WRITE(SUICIDE_PIN, HIGH);
  779. #endif
  780. #if HAS_POWER_SWITCH
  781. #if ENABLED(PS_DEFAULT_OFF)
  782. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  783. #else
  784. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
  785. #endif
  786. #endif
  787. }
  788. void suicide() {
  789. #if HAS_SUICIDE
  790. OUT_WRITE(SUICIDE_PIN, LOW);
  791. #endif
  792. }
  793. void servo_init() {
  794. #if NUM_SERVOS >= 1 && HAS_SERVO_0
  795. servo[0].attach(SERVO0_PIN);
  796. servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
  797. #endif
  798. #if NUM_SERVOS >= 2 && HAS_SERVO_1
  799. servo[1].attach(SERVO1_PIN);
  800. servo[1].detach();
  801. #endif
  802. #if NUM_SERVOS >= 3 && HAS_SERVO_2
  803. servo[2].attach(SERVO2_PIN);
  804. servo[2].detach();
  805. #endif
  806. #if NUM_SERVOS >= 4 && HAS_SERVO_3
  807. servo[3].attach(SERVO3_PIN);
  808. servo[3].detach();
  809. #endif
  810. #if HAS_Z_SERVO_ENDSTOP
  811. /**
  812. * Set position of Z Servo Endstop
  813. *
  814. * The servo might be deployed and positioned too low to stow
  815. * when starting up the machine or rebooting the board.
  816. * There's no way to know where the nozzle is positioned until
  817. * homing has been done - no homing with z-probe without init!
  818. *
  819. */
  820. STOW_Z_SERVO();
  821. #endif
  822. }
  823. /**
  824. * Stepper Reset (RigidBoard, et.al.)
  825. */
  826. #if HAS_STEPPER_RESET
  827. void disableStepperDrivers() {
  828. OUT_WRITE(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
  829. }
  830. void enableStepperDrivers() { SET_INPUT(STEPPER_RESET_PIN); } // set to input, which allows it to be pulled high by pullups
  831. #endif
  832. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  833. void i2c_on_receive(int bytes) { // just echo all bytes received to serial
  834. i2c.receive(bytes);
  835. }
  836. void i2c_on_request() { // just send dummy data for now
  837. i2c.reply("Hello World!\n");
  838. }
  839. #endif
  840. #if HAS_COLOR_LEDS
  841. void set_led_color(
  842. const uint8_t r, const uint8_t g, const uint8_t b
  843. #if ENABLED(RGBW_LED)
  844. , const uint8_t w=0
  845. #endif
  846. ) {
  847. #if ENABLED(BLINKM)
  848. // This variant uses i2c to send the RGB components to the device.
  849. SendColors(r, g, b);
  850. #else
  851. // This variant uses 3 separate pins for the RGB components.
  852. // If the pins can do PWM then their intensity will be set.
  853. WRITE(RGB_LED_R_PIN, r ? HIGH : LOW);
  854. WRITE(RGB_LED_G_PIN, g ? HIGH : LOW);
  855. WRITE(RGB_LED_B_PIN, b ? HIGH : LOW);
  856. analogWrite(RGB_LED_R_PIN, r);
  857. analogWrite(RGB_LED_G_PIN, g);
  858. analogWrite(RGB_LED_B_PIN, b);
  859. #if ENABLED(RGBW_LED)
  860. WRITE(RGB_LED_W_PIN, w ? HIGH : LOW);
  861. analogWrite(RGB_LED_W_PIN, w);
  862. #endif
  863. #endif
  864. }
  865. #endif // HAS_COLOR_LEDS
  866. void gcode_line_error(const char* err, bool doFlush = true) {
  867. SERIAL_ERROR_START;
  868. serialprintPGM(err);
  869. SERIAL_ERRORLN(gcode_LastN);
  870. //Serial.println(gcode_N);
  871. if (doFlush) FlushSerialRequestResend();
  872. serial_count = 0;
  873. }
  874. /**
  875. * Get all commands waiting on the serial port and queue them.
  876. * Exit when the buffer is full or when no more characters are
  877. * left on the serial port.
  878. */
  879. inline void get_serial_commands() {
  880. static char serial_line_buffer[MAX_CMD_SIZE];
  881. static bool serial_comment_mode = false;
  882. // If the command buffer is empty for too long,
  883. // send "wait" to indicate Marlin is still waiting.
  884. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  885. static millis_t last_command_time = 0;
  886. const millis_t ms = millis();
  887. if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
  888. SERIAL_ECHOLNPGM(MSG_WAIT);
  889. last_command_time = ms;
  890. }
  891. #endif
  892. /**
  893. * Loop while serial characters are incoming and the queue is not full
  894. */
  895. while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) {
  896. char serial_char = MYSERIAL.read();
  897. /**
  898. * If the character ends the line
  899. */
  900. if (serial_char == '\n' || serial_char == '\r') {
  901. serial_comment_mode = false; // end of line == end of comment
  902. if (!serial_count) continue; // skip empty lines
  903. serial_line_buffer[serial_count] = 0; // terminate string
  904. serial_count = 0; //reset buffer
  905. char* command = serial_line_buffer;
  906. while (*command == ' ') command++; // skip any leading spaces
  907. char* npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
  908. char* apos = strchr(command, '*');
  909. if (npos) {
  910. bool M110 = strstr_P(command, PSTR("M110")) != NULL;
  911. if (M110) {
  912. char* n2pos = strchr(command + 4, 'N');
  913. if (n2pos) npos = n2pos;
  914. }
  915. gcode_N = strtol(npos + 1, NULL, 10);
  916. if (gcode_N != gcode_LastN + 1 && !M110) {
  917. gcode_line_error(PSTR(MSG_ERR_LINE_NO));
  918. return;
  919. }
  920. if (apos) {
  921. byte checksum = 0, count = 0;
  922. while (command[count] != '*') checksum ^= command[count++];
  923. if (strtol(apos + 1, NULL, 10) != checksum) {
  924. gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
  925. return;
  926. }
  927. // if no errors, continue parsing
  928. }
  929. else {
  930. gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
  931. return;
  932. }
  933. gcode_LastN = gcode_N;
  934. // if no errors, continue parsing
  935. }
  936. else if (apos) { // No '*' without 'N'
  937. gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false);
  938. return;
  939. }
  940. // Movement commands alert when stopped
  941. if (IsStopped()) {
  942. char* gpos = strchr(command, 'G');
  943. if (gpos) {
  944. const int codenum = strtol(gpos + 1, NULL, 10);
  945. switch (codenum) {
  946. case 0:
  947. case 1:
  948. case 2:
  949. case 3:
  950. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  951. LCD_MESSAGEPGM(MSG_STOPPED);
  952. break;
  953. }
  954. }
  955. }
  956. #if DISABLED(EMERGENCY_PARSER)
  957. // If command was e-stop process now
  958. if (strcmp(command, "M108") == 0) {
  959. wait_for_heatup = false;
  960. #if ENABLED(ULTIPANEL)
  961. wait_for_user = false;
  962. #endif
  963. }
  964. if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
  965. if (strcmp(command, "M410") == 0) { quickstop_stepper(); }
  966. #endif
  967. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  968. last_command_time = ms;
  969. #endif
  970. // Add the command to the queue
  971. _enqueuecommand(serial_line_buffer, true);
  972. }
  973. else if (serial_count >= MAX_CMD_SIZE - 1) {
  974. // Keep fetching, but ignore normal characters beyond the max length
  975. // The command will be injected when EOL is reached
  976. }
  977. else if (serial_char == '\\') { // Handle escapes
  978. if (MYSERIAL.available() > 0) {
  979. // if we have one more character, copy it over
  980. serial_char = MYSERIAL.read();
  981. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  982. }
  983. // otherwise do nothing
  984. }
  985. else { // it's not a newline, carriage return or escape char
  986. if (serial_char == ';') serial_comment_mode = true;
  987. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  988. }
  989. } // queue has space, serial has data
  990. }
  991. #if ENABLED(SDSUPPORT)
  992. /**
  993. * Get commands from the SD Card until the command buffer is full
  994. * or until the end of the file is reached. The special character '#'
  995. * can also interrupt buffering.
  996. */
  997. inline void get_sdcard_commands() {
  998. static bool stop_buffering = false,
  999. sd_comment_mode = false;
  1000. if (!card.sdprinting) return;
  1001. /**
  1002. * '#' stops reading from SD to the buffer prematurely, so procedural
  1003. * macro calls are possible. If it occurs, stop_buffering is triggered
  1004. * and the buffer is run dry; this character _can_ occur in serial com
  1005. * due to checksums, however, no checksums are used in SD printing.
  1006. */
  1007. if (commands_in_queue == 0) stop_buffering = false;
  1008. uint16_t sd_count = 0;
  1009. bool card_eof = card.eof();
  1010. while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
  1011. const int16_t n = card.get();
  1012. char sd_char = (char)n;
  1013. card_eof = card.eof();
  1014. if (card_eof || n == -1
  1015. || sd_char == '\n' || sd_char == '\r'
  1016. || ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
  1017. ) {
  1018. if (card_eof) {
  1019. SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
  1020. card.printingHasFinished();
  1021. #if ENABLED(PRINTER_EVENT_LEDS)
  1022. LCD_MESSAGEPGM(MSG_INFO_COMPLETED_PRINTS);
  1023. set_led_color(0, 255, 0); // Green
  1024. #if HAS_RESUME_CONTINUE
  1025. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1026. wait_for_user = true;
  1027. while (wait_for_user) idle();
  1028. KEEPALIVE_STATE(IN_HANDLER);
  1029. #else
  1030. safe_delay(1000);
  1031. #endif
  1032. set_led_color(0, 0, 0); // OFF
  1033. #endif
  1034. card.checkautostart(true);
  1035. }
  1036. else if (n == -1) {
  1037. SERIAL_ERROR_START;
  1038. SERIAL_ECHOLNPGM(MSG_SD_ERR_READ);
  1039. }
  1040. if (sd_char == '#') stop_buffering = true;
  1041. sd_comment_mode = false; // for new command
  1042. if (!sd_count) continue; // skip empty lines (and comment lines)
  1043. command_queue[cmd_queue_index_w][sd_count] = '\0'; // terminate string
  1044. sd_count = 0; // clear sd line buffer
  1045. _commit_command(false);
  1046. }
  1047. else if (sd_count >= MAX_CMD_SIZE - 1) {
  1048. /**
  1049. * Keep fetching, but ignore normal characters beyond the max length
  1050. * The command will be injected when EOL is reached
  1051. */
  1052. }
  1053. else {
  1054. if (sd_char == ';') sd_comment_mode = true;
  1055. if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
  1056. }
  1057. }
  1058. }
  1059. #endif // SDSUPPORT
  1060. /**
  1061. * Add to the circular command queue the next command from:
  1062. * - The command-injection queue (injected_commands_P)
  1063. * - The active serial input (usually USB)
  1064. * - The SD card file being actively printed
  1065. */
  1066. void get_available_commands() {
  1067. // if any immediate commands remain, don't get other commands yet
  1068. if (drain_injected_commands_P()) return;
  1069. get_serial_commands();
  1070. #if ENABLED(SDSUPPORT)
  1071. get_sdcard_commands();
  1072. #endif
  1073. }
  1074. inline bool code_has_value() {
  1075. int i = 1;
  1076. char c = seen_pointer[i];
  1077. while (c == ' ') c = seen_pointer[++i];
  1078. if (c == '-' || c == '+') c = seen_pointer[++i];
  1079. if (c == '.') c = seen_pointer[++i];
  1080. return NUMERIC(c);
  1081. }
  1082. inline float code_value_float() {
  1083. char* e = strchr(seen_pointer, 'E');
  1084. if (!e) return strtod(seen_pointer + 1, NULL);
  1085. *e = 0;
  1086. float ret = strtod(seen_pointer + 1, NULL);
  1087. *e = 'E';
  1088. return ret;
  1089. }
  1090. inline unsigned long code_value_ulong() { return strtoul(seen_pointer + 1, NULL, 10); }
  1091. inline long code_value_long() { return strtol(seen_pointer + 1, NULL, 10); }
  1092. inline int code_value_int() { return (int)strtol(seen_pointer + 1, NULL, 10); }
  1093. inline uint16_t code_value_ushort() { return (uint16_t)strtoul(seen_pointer + 1, NULL, 10); }
  1094. inline uint8_t code_value_byte() { return (uint8_t)(constrain(strtol(seen_pointer + 1, NULL, 10), 0, 255)); }
  1095. inline bool code_value_bool() { return !code_has_value() || code_value_byte() > 0; }
  1096. #if ENABLED(INCH_MODE_SUPPORT)
  1097. inline void set_input_linear_units(LinearUnit units) {
  1098. switch (units) {
  1099. case LINEARUNIT_INCH:
  1100. linear_unit_factor = 25.4;
  1101. break;
  1102. case LINEARUNIT_MM:
  1103. default:
  1104. linear_unit_factor = 1.0;
  1105. break;
  1106. }
  1107. volumetric_unit_factor = pow(linear_unit_factor, 3.0);
  1108. }
  1109. inline float axis_unit_factor(const AxisEnum axis) {
  1110. return (axis >= E_AXIS && volumetric_enabled ? volumetric_unit_factor : linear_unit_factor);
  1111. }
  1112. inline float code_value_linear_units() { return code_value_float() * linear_unit_factor; }
  1113. inline float code_value_axis_units(const AxisEnum axis) { return code_value_float() * axis_unit_factor(axis); }
  1114. inline float code_value_per_axis_unit(const AxisEnum axis) { return code_value_float() / axis_unit_factor(axis); }
  1115. #endif
  1116. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  1117. inline void set_input_temp_units(TempUnit units) { input_temp_units = units; }
  1118. int16_t code_value_temp_abs() {
  1119. switch (input_temp_units) {
  1120. case TEMPUNIT_F:
  1121. return (code_value_float() - 32) * 0.5555555556;
  1122. case TEMPUNIT_K:
  1123. return code_value_float() - 273.15;
  1124. case TEMPUNIT_C:
  1125. default:
  1126. return code_value_int();
  1127. }
  1128. }
  1129. int16_t code_value_temp_diff() {
  1130. switch (input_temp_units) {
  1131. case TEMPUNIT_C:
  1132. case TEMPUNIT_K:
  1133. return code_value_float();
  1134. case TEMPUNIT_F:
  1135. return code_value_float() * 0.5555555556;
  1136. default:
  1137. return code_value_float();
  1138. }
  1139. }
  1140. #else
  1141. int16_t code_value_temp_abs() { return code_value_int(); }
  1142. int16_t code_value_temp_diff() { return code_value_int(); }
  1143. #endif
  1144. FORCE_INLINE millis_t code_value_millis() { return code_value_ulong(); }
  1145. inline millis_t code_value_millis_from_seconds() { return code_value_float() * 1000; }
  1146. bool code_seen(char code) {
  1147. seen_pointer = strchr(current_command_args, code);
  1148. return (seen_pointer != NULL); // Return TRUE if the code-letter was found
  1149. }
  1150. /**
  1151. * Set target_extruder from the T parameter or the active_extruder
  1152. *
  1153. * Returns TRUE if the target is invalid
  1154. */
  1155. bool get_target_extruder_from_command(int code) {
  1156. if (code_seen('T')) {
  1157. if (code_value_byte() >= EXTRUDERS) {
  1158. SERIAL_ECHO_START;
  1159. SERIAL_CHAR('M');
  1160. SERIAL_ECHO(code);
  1161. SERIAL_ECHOLNPAIR(" " MSG_INVALID_EXTRUDER " ", code_value_byte());
  1162. return true;
  1163. }
  1164. target_extruder = code_value_byte();
  1165. }
  1166. else
  1167. target_extruder = active_extruder;
  1168. return false;
  1169. }
  1170. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  1171. bool extruder_duplication_enabled = false; // Used in Dual X mode 2
  1172. #endif
  1173. #if ENABLED(DUAL_X_CARRIAGE)
  1174. static DualXMode dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  1175. static float x_home_pos(const int extruder) {
  1176. if (extruder == 0)
  1177. return LOGICAL_X_POSITION(base_home_pos(X_AXIS));
  1178. else
  1179. /**
  1180. * In dual carriage mode the extruder offset provides an override of the
  1181. * second X-carriage position when homed - otherwise X2_HOME_POS is used.
  1182. * This allows soft recalibration of the second extruder home position
  1183. * without firmware reflash (through the M218 command).
  1184. */
  1185. return LOGICAL_X_POSITION(hotend_offset[X_AXIS][1] > 0 ? hotend_offset[X_AXIS][1] : X2_HOME_POS);
  1186. }
  1187. static int x_home_dir(const int extruder) { return extruder ? X2_HOME_DIR : X_HOME_DIR; }
  1188. static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
  1189. static bool active_extruder_parked = false; // used in mode 1 & 2
  1190. static float raised_parked_position[XYZE]; // used in mode 1
  1191. static millis_t delayed_move_time = 0; // used in mode 1
  1192. static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
  1193. static int16_t duplicate_extruder_temp_offset = 0; // used in mode 2
  1194. #endif // DUAL_X_CARRIAGE
  1195. #if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
  1196. /**
  1197. * Software endstops can be used to monitor the open end of
  1198. * an axis that has a hardware endstop on the other end. Or
  1199. * they can prevent axes from moving past endstops and grinding.
  1200. *
  1201. * To keep doing their job as the coordinate system changes,
  1202. * the software endstop positions must be refreshed to remain
  1203. * at the same positions relative to the machine.
  1204. */
  1205. void update_software_endstops(const AxisEnum axis) {
  1206. const float offs = 0.0
  1207. #if HAS_HOME_OFFSET
  1208. + home_offset[axis]
  1209. #endif
  1210. #if HAS_POSITION_SHIFT
  1211. + position_shift[axis]
  1212. #endif
  1213. ;
  1214. #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
  1215. workspace_offset[axis] = offs;
  1216. #endif
  1217. #if ENABLED(DUAL_X_CARRIAGE)
  1218. if (axis == X_AXIS) {
  1219. // In Dual X mode hotend_offset[X] is T1's home position
  1220. float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
  1221. if (active_extruder != 0) {
  1222. // T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
  1223. soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
  1224. soft_endstop_max[X_AXIS] = dual_max_x + offs;
  1225. }
  1226. else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
  1227. // In Duplication Mode, T0 can move as far left as X_MIN_POS
  1228. // but not so far to the right that T1 would move past the end
  1229. soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
  1230. soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
  1231. }
  1232. else {
  1233. // In other modes, T0 can move from X_MIN_POS to X_MAX_POS
  1234. soft_endstop_min[axis] = base_min_pos(axis) + offs;
  1235. soft_endstop_max[axis] = base_max_pos(axis) + offs;
  1236. }
  1237. }
  1238. #else
  1239. soft_endstop_min[axis] = base_min_pos(axis) + offs;
  1240. soft_endstop_max[axis] = base_max_pos(axis) + offs;
  1241. #endif
  1242. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1243. if (DEBUGGING(LEVELING)) {
  1244. SERIAL_ECHOPAIR("For ", axis_codes[axis]);
  1245. #if HAS_HOME_OFFSET
  1246. SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
  1247. #endif
  1248. #if HAS_POSITION_SHIFT
  1249. SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
  1250. #endif
  1251. SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
  1252. SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
  1253. }
  1254. #endif
  1255. #if ENABLED(DELTA)
  1256. if (axis == Z_AXIS)
  1257. delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
  1258. #endif
  1259. }
  1260. #endif // HAS_WORKSPACE_OFFSET || DUAL_X_CARRIAGE
  1261. #if HAS_M206_COMMAND
  1262. /**
  1263. * Change the home offset for an axis, update the current
  1264. * position and the software endstops to retain the same
  1265. * relative distance to the new home.
  1266. *
  1267. * Since this changes the current_position, code should
  1268. * call sync_plan_position soon after this.
  1269. */
  1270. static void set_home_offset(const AxisEnum axis, const float v) {
  1271. current_position[axis] += v - home_offset[axis];
  1272. home_offset[axis] = v;
  1273. update_software_endstops(axis);
  1274. }
  1275. #endif // HAS_M206_COMMAND
  1276. /**
  1277. * Set an axis' current position to its home position (after homing).
  1278. *
  1279. * For Core and Cartesian robots this applies one-to-one when an
  1280. * individual axis has been homed.
  1281. *
  1282. * DELTA should wait until all homing is done before setting the XYZ
  1283. * current_position to home, because homing is a single operation.
  1284. * In the case where the axis positions are already known and previously
  1285. * homed, DELTA could home to X or Y individually by moving either one
  1286. * to the center. However, homing Z always homes XY and Z.
  1287. *
  1288. * SCARA should wait until all XY homing is done before setting the XY
  1289. * current_position to home, because neither X nor Y is at home until
  1290. * both are at home. Z can however be homed individually.
  1291. *
  1292. * Callers must sync the planner position after calling this!
  1293. */
  1294. static void set_axis_is_at_home(AxisEnum axis) {
  1295. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1296. if (DEBUGGING(LEVELING)) {
  1297. SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]);
  1298. SERIAL_CHAR(')');
  1299. SERIAL_EOL;
  1300. }
  1301. #endif
  1302. axis_known_position[axis] = axis_homed[axis] = true;
  1303. #if HAS_POSITION_SHIFT
  1304. position_shift[axis] = 0;
  1305. update_software_endstops(axis);
  1306. #endif
  1307. #if ENABLED(DUAL_X_CARRIAGE)
  1308. if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
  1309. current_position[X_AXIS] = x_home_pos(active_extruder);
  1310. return;
  1311. }
  1312. #endif
  1313. #if ENABLED(MORGAN_SCARA)
  1314. /**
  1315. * Morgan SCARA homes XY at the same time
  1316. */
  1317. if (axis == X_AXIS || axis == Y_AXIS) {
  1318. float homeposition[XYZ];
  1319. LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos((AxisEnum)i), i);
  1320. // SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
  1321. // SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
  1322. /**
  1323. * Get Home position SCARA arm angles using inverse kinematics,
  1324. * and calculate homing offset using forward kinematics
  1325. */
  1326. inverse_kinematics(homeposition);
  1327. forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
  1328. // SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
  1329. // SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
  1330. current_position[axis] = LOGICAL_POSITION(cartes[axis], axis);
  1331. /**
  1332. * SCARA home positions are based on configuration since the actual
  1333. * limits are determined by the inverse kinematic transform.
  1334. */
  1335. soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis));
  1336. soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis));
  1337. }
  1338. else
  1339. #endif
  1340. {
  1341. current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis);
  1342. }
  1343. /**
  1344. * Z Probe Z Homing? Account for the probe's Z offset.
  1345. */
  1346. #if HAS_BED_PROBE && Z_HOME_DIR < 0
  1347. if (axis == Z_AXIS) {
  1348. #if HOMING_Z_WITH_PROBE
  1349. current_position[Z_AXIS] -= zprobe_zoffset;
  1350. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1351. if (DEBUGGING(LEVELING)) {
  1352. SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***");
  1353. SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset);
  1354. }
  1355. #endif
  1356. #elif ENABLED(DEBUG_LEVELING_FEATURE)
  1357. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP (Z_MIN_PROBE_ENDSTOP) ***");
  1358. #endif
  1359. }
  1360. #endif
  1361. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1362. if (DEBUGGING(LEVELING)) {
  1363. #if HAS_HOME_OFFSET
  1364. SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
  1365. SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
  1366. #endif
  1367. DEBUG_POS("", current_position);
  1368. SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
  1369. SERIAL_CHAR(')');
  1370. SERIAL_EOL;
  1371. }
  1372. #endif
  1373. }
  1374. /**
  1375. * Some planner shorthand inline functions
  1376. */
  1377. inline float get_homing_bump_feedrate(AxisEnum axis) {
  1378. int constexpr homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
  1379. int hbd = homing_bump_divisor[axis];
  1380. if (hbd < 1) {
  1381. hbd = 10;
  1382. SERIAL_ECHO_START;
  1383. SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
  1384. }
  1385. return homing_feedrate_mm_s[axis] / hbd;
  1386. }
  1387. //
  1388. // line_to_current_position
  1389. // Move the planner to the current position from wherever it last moved
  1390. // (or from wherever it has been told it is located).
  1391. //
  1392. inline void line_to_current_position() {
  1393. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
  1394. }
  1395. //
  1396. // line_to_destination
  1397. // Move the planner, not necessarily synced with current_position
  1398. //
  1399. inline void line_to_destination(float fr_mm_s) {
  1400. planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
  1401. }
  1402. inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
  1403. inline void set_current_to_destination() { COPY(current_position, destination); }
  1404. inline void set_destination_to_current() { COPY(destination, current_position); }
  1405. #if IS_KINEMATIC
  1406. /**
  1407. * Calculate delta, start a line, and set current_position to destination
  1408. */
  1409. void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0) {
  1410. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1411. if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
  1412. #endif
  1413. if ( current_position[X_AXIS] == destination[X_AXIS]
  1414. && current_position[Y_AXIS] == destination[Y_AXIS]
  1415. && current_position[Z_AXIS] == destination[Z_AXIS]
  1416. && current_position[E_AXIS] == destination[E_AXIS]
  1417. ) return;
  1418. refresh_cmd_timeout();
  1419. planner.buffer_line_kinematic(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
  1420. set_current_to_destination();
  1421. }
  1422. #endif // IS_KINEMATIC
  1423. /**
  1424. * Plan a move to (X, Y, Z) and set the current_position
  1425. * The final current_position may not be the one that was requested
  1426. */
  1427. void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s /*=0.0*/) {
  1428. const float old_feedrate_mm_s = feedrate_mm_s;
  1429. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1430. if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, x, y, z);
  1431. #endif
  1432. #if ENABLED(DELTA)
  1433. feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  1434. set_destination_to_current(); // sync destination at the start
  1435. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1436. if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_to_current", destination);
  1437. #endif
  1438. // when in the danger zone
  1439. if (current_position[Z_AXIS] > delta_clip_start_height) {
  1440. if (z > delta_clip_start_height) { // staying in the danger zone
  1441. destination[X_AXIS] = x; // move directly (uninterpolated)
  1442. destination[Y_AXIS] = y;
  1443. destination[Z_AXIS] = z;
  1444. prepare_uninterpolated_move_to_destination(); // set_current_to_destination
  1445. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1446. if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
  1447. #endif
  1448. return;
  1449. }
  1450. else {
  1451. destination[Z_AXIS] = delta_clip_start_height;
  1452. prepare_uninterpolated_move_to_destination(); // set_current_to_destination
  1453. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1454. if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
  1455. #endif
  1456. }
  1457. }
  1458. if (z > current_position[Z_AXIS]) { // raising?
  1459. destination[Z_AXIS] = z;
  1460. prepare_uninterpolated_move_to_destination(); // set_current_to_destination
  1461. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1462. if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
  1463. #endif
  1464. }
  1465. destination[X_AXIS] = x;
  1466. destination[Y_AXIS] = y;
  1467. prepare_move_to_destination(); // set_current_to_destination
  1468. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1469. if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
  1470. #endif
  1471. if (z < current_position[Z_AXIS]) { // lowering?
  1472. destination[Z_AXIS] = z;
  1473. prepare_uninterpolated_move_to_destination(); // set_current_to_destination
  1474. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1475. if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
  1476. #endif
  1477. }
  1478. #elif IS_SCARA
  1479. set_destination_to_current();
  1480. // If Z needs to raise, do it before moving XY
  1481. if (destination[Z_AXIS] < z) {
  1482. destination[Z_AXIS] = z;
  1483. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
  1484. }
  1485. destination[X_AXIS] = x;
  1486. destination[Y_AXIS] = y;
  1487. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
  1488. // If Z needs to lower, do it after moving XY
  1489. if (destination[Z_AXIS] > z) {
  1490. destination[Z_AXIS] = z;
  1491. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
  1492. }
  1493. #else
  1494. // If Z needs to raise, do it before moving XY
  1495. if (current_position[Z_AXIS] < z) {
  1496. feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
  1497. current_position[Z_AXIS] = z;
  1498. line_to_current_position();
  1499. }
  1500. feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  1501. current_position[X_AXIS] = x;
  1502. current_position[Y_AXIS] = y;
  1503. line_to_current_position();
  1504. // If Z needs to lower, do it after moving XY
  1505. if (current_position[Z_AXIS] > z) {
  1506. feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
  1507. current_position[Z_AXIS] = z;
  1508. line_to_current_position();
  1509. }
  1510. #endif
  1511. stepper.synchronize();
  1512. feedrate_mm_s = old_feedrate_mm_s;
  1513. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1514. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
  1515. #endif
  1516. }
  1517. void do_blocking_move_to_x(const float &x, const float &fr_mm_s/*=0.0*/) {
  1518. do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
  1519. }
  1520. void do_blocking_move_to_z(const float &z, const float &fr_mm_s/*=0.0*/) {
  1521. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, fr_mm_s);
  1522. }
  1523. void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s/*=0.0*/) {
  1524. do_blocking_move_to(x, y, current_position[Z_AXIS], fr_mm_s);
  1525. }
  1526. //
  1527. // Prepare to do endstop or probe moves
  1528. // with custom feedrates.
  1529. //
  1530. // - Save current feedrates
  1531. // - Reset the rate multiplier
  1532. // - Reset the command timeout
  1533. // - Enable the endstops (for endstop moves)
  1534. //
  1535. static void setup_for_endstop_or_probe_move() {
  1536. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1537. if (DEBUGGING(LEVELING)) DEBUG_POS("setup_for_endstop_or_probe_move", current_position);
  1538. #endif
  1539. saved_feedrate_mm_s = feedrate_mm_s;
  1540. saved_feedrate_percentage = feedrate_percentage;
  1541. feedrate_percentage = 100;
  1542. refresh_cmd_timeout();
  1543. }
  1544. static void clean_up_after_endstop_or_probe_move() {
  1545. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1546. if (DEBUGGING(LEVELING)) DEBUG_POS("clean_up_after_endstop_or_probe_move", current_position);
  1547. #endif
  1548. feedrate_mm_s = saved_feedrate_mm_s;
  1549. feedrate_percentage = saved_feedrate_percentage;
  1550. refresh_cmd_timeout();
  1551. }
  1552. #if HAS_BED_PROBE
  1553. /**
  1554. * Raise Z to a minimum height to make room for a probe to move
  1555. */
  1556. inline void do_probe_raise(float z_raise) {
  1557. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1558. if (DEBUGGING(LEVELING)) {
  1559. SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
  1560. SERIAL_CHAR(')');
  1561. SERIAL_EOL;
  1562. }
  1563. #endif
  1564. float z_dest = LOGICAL_Z_POSITION(z_raise);
  1565. if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
  1566. #if ENABLED(DELTA)
  1567. z_dest -= home_offset[Z_AXIS];
  1568. #endif
  1569. if (z_dest > current_position[Z_AXIS])
  1570. do_blocking_move_to_z(z_dest);
  1571. }
  1572. #endif //HAS_BED_PROBE
  1573. #if HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE) || ENABLED(DELTA_AUTO_CALIBRATION)
  1574. bool axis_unhomed_error(const bool x, const bool y, const bool z) {
  1575. const bool xx = x && !axis_homed[X_AXIS],
  1576. yy = y && !axis_homed[Y_AXIS],
  1577. zz = z && !axis_homed[Z_AXIS];
  1578. if (xx || yy || zz) {
  1579. SERIAL_ECHO_START;
  1580. SERIAL_ECHOPGM(MSG_HOME " ");
  1581. if (xx) SERIAL_ECHOPGM(MSG_X);
  1582. if (yy) SERIAL_ECHOPGM(MSG_Y);
  1583. if (zz) SERIAL_ECHOPGM(MSG_Z);
  1584. SERIAL_ECHOLNPGM(" " MSG_FIRST);
  1585. #if ENABLED(ULTRA_LCD)
  1586. lcd_status_printf_P(0, PSTR(MSG_HOME " %s%s%s " MSG_FIRST), xx ? MSG_X : "", yy ? MSG_Y : "", zz ? MSG_Z : "");
  1587. #endif
  1588. return true;
  1589. }
  1590. return false;
  1591. }
  1592. #endif
  1593. #if ENABLED(Z_PROBE_SLED)
  1594. #ifndef SLED_DOCKING_OFFSET
  1595. #define SLED_DOCKING_OFFSET 0
  1596. #endif
  1597. /**
  1598. * Method to dock/undock a sled designed by Charles Bell.
  1599. *
  1600. * stow[in] If false, move to MAX_X and engage the solenoid
  1601. * If true, move to MAX_X and release the solenoid
  1602. */
  1603. static void dock_sled(bool stow) {
  1604. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1605. if (DEBUGGING(LEVELING)) {
  1606. SERIAL_ECHOPAIR("dock_sled(", stow);
  1607. SERIAL_CHAR(')');
  1608. SERIAL_EOL;
  1609. }
  1610. #endif
  1611. // Dock sled a bit closer to ensure proper capturing
  1612. do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
  1613. #if HAS_SOLENOID_1 && DISABLED(EXT_SOLENOID)
  1614. WRITE(SOL1_PIN, !stow); // switch solenoid
  1615. #endif
  1616. }
  1617. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1618. void run_deploy_moves_script() {
  1619. #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
  1620. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
  1621. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
  1622. #endif
  1623. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
  1624. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
  1625. #endif
  1626. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
  1627. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
  1628. #endif
  1629. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
  1630. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
  1631. #endif
  1632. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE));
  1633. #endif
  1634. #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Z)
  1635. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
  1636. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
  1637. #endif
  1638. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
  1639. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
  1640. #endif
  1641. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
  1642. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
  1643. #endif
  1644. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
  1645. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
  1646. #endif
  1647. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE));
  1648. #endif
  1649. #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Z)
  1650. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
  1651. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
  1652. #endif
  1653. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
  1654. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
  1655. #endif
  1656. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
  1657. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
  1658. #endif
  1659. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
  1660. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
  1661. #endif
  1662. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE));
  1663. #endif
  1664. #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Z)
  1665. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
  1666. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
  1667. #endif
  1668. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
  1669. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
  1670. #endif
  1671. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
  1672. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
  1673. #endif
  1674. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
  1675. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
  1676. #endif
  1677. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE));
  1678. #endif
  1679. #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Z)
  1680. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
  1681. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
  1682. #endif
  1683. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
  1684. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
  1685. #endif
  1686. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
  1687. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
  1688. #endif
  1689. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
  1690. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
  1691. #endif
  1692. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE));
  1693. #endif
  1694. }
  1695. void run_stow_moves_script() {
  1696. #if defined(Z_PROBE_ALLEN_KEY_STOW_1_X) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Z)
  1697. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
  1698. #define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
  1699. #endif
  1700. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
  1701. #define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
  1702. #endif
  1703. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
  1704. #define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
  1705. #endif
  1706. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
  1707. #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
  1708. #endif
  1709. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE));
  1710. #endif
  1711. #if defined(Z_PROBE_ALLEN_KEY_STOW_2_X) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Z)
  1712. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
  1713. #define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
  1714. #endif
  1715. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
  1716. #define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
  1717. #endif
  1718. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
  1719. #define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
  1720. #endif
  1721. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
  1722. #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
  1723. #endif
  1724. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE));
  1725. #endif
  1726. #if defined(Z_PROBE_ALLEN_KEY_STOW_3_X) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Z)
  1727. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
  1728. #define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
  1729. #endif
  1730. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
  1731. #define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
  1732. #endif
  1733. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
  1734. #define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
  1735. #endif
  1736. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
  1737. #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
  1738. #endif
  1739. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE));
  1740. #endif
  1741. #if defined(Z_PROBE_ALLEN_KEY_STOW_4_X) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Z)
  1742. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
  1743. #define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
  1744. #endif
  1745. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
  1746. #define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
  1747. #endif
  1748. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
  1749. #define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
  1750. #endif
  1751. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
  1752. #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
  1753. #endif
  1754. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE));
  1755. #endif
  1756. #if defined(Z_PROBE_ALLEN_KEY_STOW_5_X) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Z)
  1757. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
  1758. #define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
  1759. #endif
  1760. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
  1761. #define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
  1762. #endif
  1763. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
  1764. #define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
  1765. #endif
  1766. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
  1767. #define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
  1768. #endif
  1769. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE));
  1770. #endif
  1771. }
  1772. #endif
  1773. #if HAS_BED_PROBE
  1774. // TRIGGERED_WHEN_STOWED_TEST can easily be extended to servo probes, ... if needed.
  1775. #if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST)
  1776. #if ENABLED(Z_MIN_PROBE_ENDSTOP)
  1777. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
  1778. #else
  1779. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
  1780. #endif
  1781. #endif
  1782. #if ENABLED(BLTOUCH)
  1783. void bltouch_command(int angle) {
  1784. servo[Z_ENDSTOP_SERVO_NR].move(angle); // Give the BL-Touch the command and wait
  1785. safe_delay(BLTOUCH_DELAY);
  1786. }
  1787. /**
  1788. * BLTouch probes have a Hall effect sensor. The high currents switching
  1789. * on and off cause a magnetic field that can affect the repeatability of the
  1790. * sensor. So for BLTouch probes, heaters are turned off during the probe,
  1791. * then quickly turned back on after the point is sampled.
  1792. */
  1793. #if ENABLED(BLTOUCH_HEATERS_OFF)
  1794. void set_heaters_for_bltouch(const bool deploy) {
  1795. static bool heaters_were_disabled = false;
  1796. static millis_t next_emi_protection = 0;
  1797. static int16_t temps_at_entry[HOTENDS];
  1798. #if HAS_TEMP_BED
  1799. static int16_t bed_temp_at_entry;
  1800. #endif
  1801. // If called out of order or far apart something is seriously wrong
  1802. if (deploy == heaters_were_disabled
  1803. || (next_emi_protection && ELAPSED(millis(), next_emi_protection)))
  1804. kill(PSTR(MSG_KILLED));
  1805. if (deploy) {
  1806. next_emi_protection = millis() + 20 * 1000UL;
  1807. HOTEND_LOOP() {
  1808. temps_at_entry[e] = thermalManager.degTargetHotend(e);
  1809. thermalManager.setTargetHotend(0, e);
  1810. }
  1811. #if HAS_TEMP_BED
  1812. bed_temp_at_entry = thermalManager.degTargetBed();
  1813. thermalManager.setTargetBed(0);
  1814. #endif
  1815. }
  1816. else {
  1817. next_emi_protection = 0;
  1818. HOTEND_LOOP() thermalManager.setTargetHotend(temps_at_entry[e], e);
  1819. #if HAS_TEMP_BED
  1820. thermalManager.setTargetBed(bed_temp_at_entry);
  1821. #endif
  1822. }
  1823. heaters_were_disabled = deploy;
  1824. }
  1825. #endif // BLTOUCH_HEATERS_OFF
  1826. void set_bltouch_deployed(const bool deploy) {
  1827. if (deploy && TEST_BLTOUCH()) { // If BL-Touch says it's triggered
  1828. bltouch_command(BLTOUCH_RESET); // try to reset it.
  1829. bltouch_command(BLTOUCH_DEPLOY); // Also needs to deploy and stow to
  1830. bltouch_command(BLTOUCH_STOW); // clear the triggered condition.
  1831. safe_delay(1500); // Wait for internal self-test to complete.
  1832. // (Measured completion time was 0.65 seconds
  1833. // after reset, deploy, and stow sequence)
  1834. if (TEST_BLTOUCH()) { // If it still claims to be triggered...
  1835. SERIAL_ERROR_START;
  1836. SERIAL_ERRORLNPGM(MSG_STOP_BLTOUCH);
  1837. stop(); // punt!
  1838. }
  1839. }
  1840. #if ENABLED(BLTOUCH_HEATERS_OFF)
  1841. set_heaters_for_bltouch(deploy);
  1842. #endif
  1843. bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
  1844. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1845. if (DEBUGGING(LEVELING)) {
  1846. SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy);
  1847. SERIAL_CHAR(')');
  1848. SERIAL_EOL;
  1849. }
  1850. #endif
  1851. }
  1852. #endif // BLTOUCH
  1853. // returns false for ok and true for failure
  1854. bool set_probe_deployed(bool deploy) {
  1855. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1856. if (DEBUGGING(LEVELING)) {
  1857. DEBUG_POS("set_probe_deployed", current_position);
  1858. SERIAL_ECHOLNPAIR("deploy: ", deploy);
  1859. }
  1860. #endif
  1861. if (endstops.z_probe_enabled == deploy) return false;
  1862. // Make room for probe
  1863. do_probe_raise(_Z_CLEARANCE_DEPLOY_PROBE);
  1864. // When deploying make sure BLTOUCH is not already triggered
  1865. #if ENABLED(BLTOUCH)
  1866. if (deploy && TEST_BLTOUCH()) { // If BL-Touch says it's triggered
  1867. bltouch_command(BLTOUCH_RESET); // try to reset it.
  1868. bltouch_command(BLTOUCH_DEPLOY); // Also needs to deploy and stow to
  1869. bltouch_command(BLTOUCH_STOW); // clear the triggered condition.
  1870. safe_delay(1500); // wait for internal self test to complete
  1871. // measured completion time was 0.65 seconds
  1872. // after reset, deploy & stow sequence
  1873. if (TEST_BLTOUCH()) { // If it still claims to be triggered...
  1874. SERIAL_ERROR_START;
  1875. SERIAL_ERRORLNPGM(MSG_STOP_BLTOUCH);
  1876. stop(); // punt!
  1877. return true;
  1878. }
  1879. }
  1880. #elif ENABLED(Z_PROBE_SLED)
  1881. if (axis_unhomed_error(true, false, false)) {
  1882. SERIAL_ERROR_START;
  1883. SERIAL_ERRORLNPGM(MSG_STOP_UNHOMED);
  1884. stop();
  1885. return true;
  1886. }
  1887. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1888. if (axis_unhomed_error(true, true, true )) {
  1889. SERIAL_ERROR_START;
  1890. SERIAL_ERRORLNPGM(MSG_STOP_UNHOMED);
  1891. stop();
  1892. return true;
  1893. }
  1894. #endif
  1895. const float oldXpos = current_position[X_AXIS],
  1896. oldYpos = current_position[Y_AXIS];
  1897. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1898. // If endstop is already false, the Z probe is deployed
  1899. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
  1900. // Would a goto be less ugly?
  1901. //while (!_TRIGGERED_WHEN_STOWED_TEST) idle(); // would offer the opportunity
  1902. // for a triggered when stowed manual probe.
  1903. if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early
  1904. // otherwise an Allen-Key probe can't be stowed.
  1905. #endif
  1906. #if ENABLED(SOLENOID_PROBE)
  1907. #if HAS_SOLENOID_1
  1908. WRITE(SOL1_PIN, deploy);
  1909. #endif
  1910. #elif ENABLED(Z_PROBE_SLED)
  1911. dock_sled(!deploy);
  1912. #elif HAS_Z_SERVO_ENDSTOP && DISABLED(BLTOUCH)
  1913. servo[Z_ENDSTOP_SERVO_NR].move(z_servo_angle[deploy ? 0 : 1]);
  1914. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1915. deploy ? run_deploy_moves_script() : run_stow_moves_script();
  1916. #endif
  1917. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1918. } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  1919. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // State hasn't changed?
  1920. if (IsRunning()) {
  1921. SERIAL_ERROR_START;
  1922. SERIAL_ERRORLNPGM("Z-Probe failed");
  1923. LCD_ALERTMESSAGEPGM("Err: ZPROBE");
  1924. }
  1925. stop();
  1926. return true;
  1927. } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  1928. #endif
  1929. do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
  1930. endstops.enable_z_probe(deploy);
  1931. return false;
  1932. }
  1933. static void do_probe_move(float z, float fr_mm_m) {
  1934. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1935. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
  1936. #endif
  1937. // Deploy BLTouch at the start of any probe
  1938. #if ENABLED(BLTOUCH)
  1939. set_bltouch_deployed(true);
  1940. #endif
  1941. // Move down until probe triggered
  1942. do_blocking_move_to_z(LOGICAL_Z_POSITION(z), MMM_TO_MMS(fr_mm_m));
  1943. // Retract BLTouch immediately after a probe
  1944. #if ENABLED(BLTOUCH)
  1945. set_bltouch_deployed(false);
  1946. #endif
  1947. // Clear endstop flags
  1948. endstops.hit_on_purpose();
  1949. // Get Z where the steppers were interrupted
  1950. set_current_from_steppers_for_axis(Z_AXIS);
  1951. // Tell the planner where we actually are
  1952. SYNC_PLAN_POSITION_KINEMATIC();
  1953. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1954. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
  1955. #endif
  1956. }
  1957. // Do a single Z probe and return with current_position[Z_AXIS]
  1958. // at the height where the probe triggered.
  1959. static float run_z_probe() {
  1960. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1961. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
  1962. #endif
  1963. // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
  1964. refresh_cmd_timeout();
  1965. #if ENABLED(PROBE_DOUBLE_TOUCH)
  1966. // Do a first probe at the fast speed
  1967. do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_FAST);
  1968. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1969. float first_probe_z = current_position[Z_AXIS];
  1970. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("1st Probe Z:", first_probe_z);
  1971. #endif
  1972. // move up by the bump distance
  1973. do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  1974. #else
  1975. // If the nozzle is above the travel height then
  1976. // move down quickly before doing the slow probe
  1977. float z = LOGICAL_Z_POSITION(Z_CLEARANCE_BETWEEN_PROBES);
  1978. if (zprobe_zoffset < 0) z -= zprobe_zoffset;
  1979. #if ENABLED(DELTA)
  1980. z -= home_offset[Z_AXIS];
  1981. #endif
  1982. if (z < current_position[Z_AXIS])
  1983. do_blocking_move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  1984. #endif
  1985. // move down slowly to find bed
  1986. do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_SLOW);
  1987. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1988. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
  1989. #endif
  1990. // Debug: compare probe heights
  1991. #if ENABLED(PROBE_DOUBLE_TOUCH) && ENABLED(DEBUG_LEVELING_FEATURE)
  1992. if (DEBUGGING(LEVELING)) {
  1993. SERIAL_ECHOPAIR("2nd Probe Z:", current_position[Z_AXIS]);
  1994. SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - current_position[Z_AXIS]);
  1995. }
  1996. #endif
  1997. return current_position[Z_AXIS] + zprobe_zoffset;
  1998. }
  1999. /**
  2000. * - Move to the given XY
  2001. * - Deploy the probe, if not already deployed
  2002. * - Probe the bed, get the Z position
  2003. * - Depending on the 'stow' flag
  2004. * - Stow the probe, or
  2005. * - Raise to the BETWEEN height
  2006. * - Return the probed Z position
  2007. */
  2008. float probe_pt(const float x, const float y, const bool stow/*=true*/, const int verbose_level/*=1*/) {
  2009. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2010. if (DEBUGGING(LEVELING)) {
  2011. SERIAL_ECHOPAIR(">>> probe_pt(", x);
  2012. SERIAL_ECHOPAIR(", ", y);
  2013. SERIAL_ECHOPAIR(", ", stow ? "" : "no ");
  2014. SERIAL_ECHOLNPGM("stow)");
  2015. DEBUG_POS("", current_position);
  2016. }
  2017. #endif
  2018. const float old_feedrate_mm_s = feedrate_mm_s;
  2019. #if ENABLED(DELTA)
  2020. if (current_position[Z_AXIS] > delta_clip_start_height)
  2021. do_blocking_move_to_z(delta_clip_start_height);
  2022. #endif
  2023. // Ensure a minimum height before moving the probe
  2024. do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
  2025. feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
  2026. // Move the probe to the given XY
  2027. do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
  2028. if (DEPLOY_PROBE()) return NAN;
  2029. const float measured_z = run_z_probe();
  2030. if (!stow)
  2031. do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
  2032. else
  2033. if (STOW_PROBE()) return NAN;
  2034. if (verbose_level > 2) {
  2035. SERIAL_PROTOCOLPGM("Bed X: ");
  2036. SERIAL_PROTOCOL_F(x, 3);
  2037. SERIAL_PROTOCOLPGM(" Y: ");
  2038. SERIAL_PROTOCOL_F(y, 3);
  2039. SERIAL_PROTOCOLPGM(" Z: ");
  2040. SERIAL_PROTOCOL_F(measured_z, 3);
  2041. SERIAL_EOL;
  2042. }
  2043. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2044. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
  2045. #endif
  2046. feedrate_mm_s = old_feedrate_mm_s;
  2047. return measured_z;
  2048. }
  2049. #endif // HAS_BED_PROBE
  2050. #if HAS_LEVELING
  2051. /**
  2052. * Turn bed leveling on or off, fixing the current
  2053. * position as-needed.
  2054. *
  2055. * Disable: Current position = physical position
  2056. * Enable: Current position = "unleveled" physical position
  2057. */
  2058. void set_bed_leveling_enabled(bool enable/*=true*/) {
  2059. #if ENABLED(MESH_BED_LEVELING)
  2060. if (enable != mbl.active()) {
  2061. if (!enable)
  2062. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
  2063. mbl.set_active(enable && mbl.has_mesh());
  2064. if (enable && mbl.has_mesh()) planner.unapply_leveling(current_position);
  2065. }
  2066. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  2067. ubl.state.active = enable;
  2068. //set_current_from_steppers_for_axis(Z_AXIS);
  2069. #else
  2070. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2071. const bool can_change = (!enable || (bilinear_grid_spacing[0] && bilinear_grid_spacing[1]));
  2072. #else
  2073. constexpr bool can_change = true;
  2074. #endif
  2075. if (can_change && enable != planner.abl_enabled) {
  2076. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2077. // Force bilinear_z_offset to re-calculate next time
  2078. const float reset[XYZ] = { -9999.999, -9999.999, 0 };
  2079. (void)bilinear_z_offset(reset);
  2080. #endif
  2081. planner.abl_enabled = enable;
  2082. if (!enable)
  2083. set_current_from_steppers_for_axis(
  2084. #if ABL_PLANAR
  2085. ALL_AXES
  2086. #else
  2087. Z_AXIS
  2088. #endif
  2089. );
  2090. else
  2091. planner.unapply_leveling(current_position);
  2092. }
  2093. #endif
  2094. }
  2095. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  2096. void set_z_fade_height(const float zfh) {
  2097. planner.z_fade_height = zfh;
  2098. planner.inverse_z_fade_height = RECIPROCAL(zfh);
  2099. if (
  2100. #if ENABLED(MESH_BED_LEVELING)
  2101. mbl.active()
  2102. #else
  2103. planner.abl_enabled
  2104. #endif
  2105. ) {
  2106. set_current_from_steppers_for_axis(
  2107. #if ABL_PLANAR
  2108. ALL_AXES
  2109. #else
  2110. Z_AXIS
  2111. #endif
  2112. );
  2113. }
  2114. }
  2115. #endif // LEVELING_FADE_HEIGHT
  2116. /**
  2117. * Reset calibration results to zero.
  2118. */
  2119. void reset_bed_level() {
  2120. set_bed_leveling_enabled(false);
  2121. #if ENABLED(MESH_BED_LEVELING)
  2122. if (mbl.has_mesh()) {
  2123. mbl.reset();
  2124. mbl.set_has_mesh(false);
  2125. }
  2126. #else
  2127. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2128. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
  2129. #endif
  2130. #if ABL_PLANAR
  2131. planner.bed_level_matrix.set_to_identity();
  2132. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2133. bilinear_start[X_AXIS] = bilinear_start[Y_AXIS] =
  2134. bilinear_grid_spacing[X_AXIS] = bilinear_grid_spacing[Y_AXIS] = 0;
  2135. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
  2136. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
  2137. z_values[x][y] = NAN;
  2138. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  2139. ubl.reset();
  2140. #endif
  2141. #endif
  2142. }
  2143. #endif // HAS_LEVELING
  2144. #if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(MESH_BED_LEVELING)
  2145. /**
  2146. * Enable to produce output in JSON format suitable
  2147. * for SCAD or JavaScript mesh visualizers.
  2148. *
  2149. * Visualize meshes in OpenSCAD using the included script.
  2150. *
  2151. * buildroot/shared/scripts/MarlinMesh.scad
  2152. */
  2153. //#define SCAD_MESH_OUTPUT
  2154. /**
  2155. * Print calibration results for plotting or manual frame adjustment.
  2156. */
  2157. static void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, float (*fn)(const uint8_t, const uint8_t)) {
  2158. #ifndef SCAD_MESH_OUTPUT
  2159. for (uint8_t x = 0; x < sx; x++) {
  2160. for (uint8_t i = 0; i < precision + 2 + (x < 10 ? 1 : 0); i++)
  2161. SERIAL_PROTOCOLCHAR(' ');
  2162. SERIAL_PROTOCOL((int)x);
  2163. }
  2164. SERIAL_EOL;
  2165. #endif
  2166. #ifdef SCAD_MESH_OUTPUT
  2167. SERIAL_PROTOCOLLNPGM("measured_z = ["); // open 2D array
  2168. #endif
  2169. for (uint8_t y = 0; y < sy; y++) {
  2170. #ifdef SCAD_MESH_OUTPUT
  2171. SERIAL_PROTOCOLLNPGM(" ["); // open sub-array
  2172. #else
  2173. if (y < 10) SERIAL_PROTOCOLCHAR(' ');
  2174. SERIAL_PROTOCOL((int)y);
  2175. #endif
  2176. for (uint8_t x = 0; x < sx; x++) {
  2177. SERIAL_PROTOCOLCHAR(' ');
  2178. const float offset = fn(x, y);
  2179. if (!isnan(offset)) {
  2180. if (offset >= 0) SERIAL_PROTOCOLCHAR('+');
  2181. SERIAL_PROTOCOL_F(offset, precision);
  2182. }
  2183. else {
  2184. #ifdef SCAD_MESH_OUTPUT
  2185. for (uint8_t i = 3; i < precision + 3; i++)
  2186. SERIAL_PROTOCOLCHAR(' ');
  2187. SERIAL_PROTOCOLPGM("NAN");
  2188. #else
  2189. for (uint8_t i = 0; i < precision + 3; i++)
  2190. SERIAL_PROTOCOLCHAR(i ? '=' : ' ');
  2191. #endif
  2192. }
  2193. #ifdef SCAD_MESH_OUTPUT
  2194. if (x < sx - 1) SERIAL_PROTOCOLCHAR(',');
  2195. #endif
  2196. }
  2197. #ifdef SCAD_MESH_OUTPUT
  2198. SERIAL_PROTOCOLCHAR(' ');
  2199. SERIAL_PROTOCOLCHAR(']'); // close sub-array
  2200. if (y < sy - 1) SERIAL_PROTOCOLCHAR(',');
  2201. #endif
  2202. SERIAL_EOL;
  2203. }
  2204. #ifdef SCAD_MESH_OUTPUT
  2205. SERIAL_PROTOCOLPGM("\n];"); // close 2D array
  2206. #endif
  2207. SERIAL_EOL;
  2208. }
  2209. #endif
  2210. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2211. /**
  2212. * Extrapolate a single point from its neighbors
  2213. */
  2214. static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
  2215. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2216. if (DEBUGGING(LEVELING)) {
  2217. SERIAL_ECHOPGM("Extrapolate [");
  2218. if (x < 10) SERIAL_CHAR(' ');
  2219. SERIAL_ECHO((int)x);
  2220. SERIAL_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' ');
  2221. SERIAL_CHAR(' ');
  2222. if (y < 10) SERIAL_CHAR(' ');
  2223. SERIAL_ECHO((int)y);
  2224. SERIAL_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
  2225. SERIAL_CHAR(']');
  2226. }
  2227. #endif
  2228. if (!isnan(z_values[x][y])) {
  2229. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2230. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" (done)");
  2231. #endif
  2232. return; // Don't overwrite good values.
  2233. }
  2234. SERIAL_EOL;
  2235. // Get X neighbors, Y neighbors, and XY neighbors
  2236. const uint8_t x1 = x + xdir, y1 = y + ydir, x2 = x1 + xdir, y2 = y1 + ydir;
  2237. float a1 = z_values[x1][y ], a2 = z_values[x2][y ],
  2238. b1 = z_values[x ][y1], b2 = z_values[x ][y2],
  2239. c1 = z_values[x1][y1], c2 = z_values[x2][y2];
  2240. // Treat far unprobed points as zero, near as equal to far
  2241. if (isnan(a2)) a2 = 0.0; if (isnan(a1)) a1 = a2;
  2242. if (isnan(b2)) b2 = 0.0; if (isnan(b1)) b1 = b2;
  2243. if (isnan(c2)) c2 = 0.0; if (isnan(c1)) c1 = c2;
  2244. const float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2;
  2245. // Take the average instead of the median
  2246. z_values[x][y] = (a + b + c) / 3.0;
  2247. // Median is robust (ignores outliers).
  2248. // z_values[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
  2249. // : ((c < b) ? b : (a < c) ? a : c);
  2250. }
  2251. //Enable this if your SCARA uses 180° of total area
  2252. //#define EXTRAPOLATE_FROM_EDGE
  2253. #if ENABLED(EXTRAPOLATE_FROM_EDGE)
  2254. #if GRID_MAX_POINTS_X < GRID_MAX_POINTS_Y
  2255. #define HALF_IN_X
  2256. #elif GRID_MAX_POINTS_Y < GRID_MAX_POINTS_X
  2257. #define HALF_IN_Y
  2258. #endif
  2259. #endif
  2260. /**
  2261. * Fill in the unprobed points (corners of circular print surface)
  2262. * using linear extrapolation, away from the center.
  2263. */
  2264. static void extrapolate_unprobed_bed_level() {
  2265. #ifdef HALF_IN_X
  2266. constexpr uint8_t ctrx2 = 0, xlen = GRID_MAX_POINTS_X - 1;
  2267. #else
  2268. constexpr uint8_t ctrx1 = (GRID_MAX_POINTS_X - 1) / 2, // left-of-center
  2269. ctrx2 = (GRID_MAX_POINTS_X) / 2, // right-of-center
  2270. xlen = ctrx1;
  2271. #endif
  2272. #ifdef HALF_IN_Y
  2273. constexpr uint8_t ctry2 = 0, ylen = GRID_MAX_POINTS_Y - 1;
  2274. #else
  2275. constexpr uint8_t ctry1 = (GRID_MAX_POINTS_Y - 1) / 2, // top-of-center
  2276. ctry2 = (GRID_MAX_POINTS_Y) / 2, // bottom-of-center
  2277. ylen = ctry1;
  2278. #endif
  2279. for (uint8_t xo = 0; xo <= xlen; xo++)
  2280. for (uint8_t yo = 0; yo <= ylen; yo++) {
  2281. uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo;
  2282. #ifndef HALF_IN_X
  2283. const uint8_t x1 = ctrx1 - xo;
  2284. #endif
  2285. #ifndef HALF_IN_Y
  2286. const uint8_t y1 = ctry1 - yo;
  2287. #ifndef HALF_IN_X
  2288. extrapolate_one_point(x1, y1, +1, +1); // left-below + +
  2289. #endif
  2290. extrapolate_one_point(x2, y1, -1, +1); // right-below - +
  2291. #endif
  2292. #ifndef HALF_IN_X
  2293. extrapolate_one_point(x1, y2, +1, -1); // left-above + -
  2294. #endif
  2295. extrapolate_one_point(x2, y2, -1, -1); // right-above - -
  2296. }
  2297. }
  2298. static void print_bilinear_leveling_grid() {
  2299. SERIAL_ECHOLNPGM("Bilinear Leveling Grid:");
  2300. print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3,
  2301. [](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; }
  2302. );
  2303. }
  2304. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  2305. #define ABL_GRID_POINTS_VIRT_X (GRID_MAX_POINTS_X - 1) * (BILINEAR_SUBDIVISIONS) + 1
  2306. #define ABL_GRID_POINTS_VIRT_Y (GRID_MAX_POINTS_Y - 1) * (BILINEAR_SUBDIVISIONS) + 1
  2307. #define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2)
  2308. #define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2)
  2309. float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
  2310. int bilinear_grid_spacing_virt[2] = { 0 };
  2311. float bilinear_grid_factor_virt[2] = { 0 };
  2312. static void bed_level_virt_print() {
  2313. SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
  2314. print_2d_array(ABL_GRID_POINTS_VIRT_X, ABL_GRID_POINTS_VIRT_Y, 5,
  2315. [](const uint8_t ix, const uint8_t iy) { return z_values_virt[ix][iy]; }
  2316. );
  2317. }
  2318. #define LINEAR_EXTRAPOLATION(E, I) ((E) * 2 - (I))
  2319. float bed_level_virt_coord(const uint8_t x, const uint8_t y) {
  2320. uint8_t ep = 0, ip = 1;
  2321. if (!x || x == ABL_TEMP_POINTS_X - 1) {
  2322. if (x) {
  2323. ep = GRID_MAX_POINTS_X - 1;
  2324. ip = GRID_MAX_POINTS_X - 2;
  2325. }
  2326. if (WITHIN(y, 1, ABL_TEMP_POINTS_Y - 2))
  2327. return LINEAR_EXTRAPOLATION(
  2328. z_values[ep][y - 1],
  2329. z_values[ip][y - 1]
  2330. );
  2331. else
  2332. return LINEAR_EXTRAPOLATION(
  2333. bed_level_virt_coord(ep + 1, y),
  2334. bed_level_virt_coord(ip + 1, y)
  2335. );
  2336. }
  2337. if (!y || y == ABL_TEMP_POINTS_Y - 1) {
  2338. if (y) {
  2339. ep = GRID_MAX_POINTS_Y - 1;
  2340. ip = GRID_MAX_POINTS_Y - 2;
  2341. }
  2342. if (WITHIN(x, 1, ABL_TEMP_POINTS_X - 2))
  2343. return LINEAR_EXTRAPOLATION(
  2344. z_values[x - 1][ep],
  2345. z_values[x - 1][ip]
  2346. );
  2347. else
  2348. return LINEAR_EXTRAPOLATION(
  2349. bed_level_virt_coord(x, ep + 1),
  2350. bed_level_virt_coord(x, ip + 1)
  2351. );
  2352. }
  2353. return z_values[x - 1][y - 1];
  2354. }
  2355. static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) {
  2356. return (
  2357. p[i-1] * -t * sq(1 - t)
  2358. + p[i] * (2 - 5 * sq(t) + 3 * t * sq(t))
  2359. + p[i+1] * t * (1 + 4 * t - 3 * sq(t))
  2360. - p[i+2] * sq(t) * (1 - t)
  2361. ) * 0.5;
  2362. }
  2363. static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) {
  2364. float row[4], column[4];
  2365. for (uint8_t i = 0; i < 4; i++) {
  2366. for (uint8_t j = 0; j < 4; j++) {
  2367. column[j] = bed_level_virt_coord(i + x - 1, j + y - 1);
  2368. }
  2369. row[i] = bed_level_virt_cmr(column, 1, ty);
  2370. }
  2371. return bed_level_virt_cmr(row, 1, tx);
  2372. }
  2373. void bed_level_virt_interpolate() {
  2374. bilinear_grid_spacing_virt[X_AXIS] = bilinear_grid_spacing[X_AXIS] / (BILINEAR_SUBDIVISIONS);
  2375. bilinear_grid_spacing_virt[Y_AXIS] = bilinear_grid_spacing[Y_AXIS] / (BILINEAR_SUBDIVISIONS);
  2376. bilinear_grid_factor_virt[X_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[X_AXIS]);
  2377. bilinear_grid_factor_virt[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[Y_AXIS]);
  2378. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
  2379. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
  2380. for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++)
  2381. for (uint8_t tx = 0; tx < BILINEAR_SUBDIVISIONS; tx++) {
  2382. if ((ty && y == GRID_MAX_POINTS_Y - 1) || (tx && x == GRID_MAX_POINTS_X - 1))
  2383. continue;
  2384. z_values_virt[x * (BILINEAR_SUBDIVISIONS) + tx][y * (BILINEAR_SUBDIVISIONS) + ty] =
  2385. bed_level_virt_2cmr(
  2386. x + 1,
  2387. y + 1,
  2388. (float)tx / (BILINEAR_SUBDIVISIONS),
  2389. (float)ty / (BILINEAR_SUBDIVISIONS)
  2390. );
  2391. }
  2392. }
  2393. #endif // ABL_BILINEAR_SUBDIVISION
  2394. // Refresh after other values have been updated
  2395. void refresh_bed_level() {
  2396. bilinear_grid_factor[X_AXIS] = RECIPROCAL(bilinear_grid_spacing[X_AXIS]);
  2397. bilinear_grid_factor[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing[Y_AXIS]);
  2398. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  2399. bed_level_virt_interpolate();
  2400. #endif
  2401. }
  2402. #endif // AUTO_BED_LEVELING_BILINEAR
  2403. /**
  2404. * Home an individual linear axis
  2405. */
  2406. static void do_homing_move(const AxisEnum axis, float distance, float fr_mm_s=0.0) {
  2407. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2408. if (DEBUGGING(LEVELING)) {
  2409. SERIAL_ECHOPAIR(">>> do_homing_move(", axis_codes[axis]);
  2410. SERIAL_ECHOPAIR(", ", distance);
  2411. SERIAL_ECHOPAIR(", ", fr_mm_s);
  2412. SERIAL_CHAR(')');
  2413. SERIAL_EOL;
  2414. }
  2415. #endif
  2416. #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
  2417. const bool deploy_bltouch = (axis == Z_AXIS && distance < 0);
  2418. if (deploy_bltouch) set_bltouch_deployed(true);
  2419. #endif
  2420. // Tell the planner we're at Z=0
  2421. current_position[axis] = 0;
  2422. #if IS_SCARA
  2423. SYNC_PLAN_POSITION_KINEMATIC();
  2424. current_position[axis] = distance;
  2425. inverse_kinematics(current_position);
  2426. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
  2427. #else
  2428. sync_plan_position();
  2429. current_position[axis] = distance;
  2430. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
  2431. #endif
  2432. stepper.synchronize();
  2433. #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
  2434. if (deploy_bltouch) set_bltouch_deployed(false);
  2435. #endif
  2436. endstops.hit_on_purpose();
  2437. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2438. if (DEBUGGING(LEVELING)) {
  2439. SERIAL_ECHOPAIR("<<< do_homing_move(", axis_codes[axis]);
  2440. SERIAL_CHAR(')');
  2441. SERIAL_EOL;
  2442. }
  2443. #endif
  2444. }
  2445. /**
  2446. * TMC2130 specific sensorless homing using stallGuard2.
  2447. * stallGuard2 only works when in spreadCycle mode.
  2448. * spreadCycle and stealthChop are mutually exclusive.
  2449. */
  2450. #if ENABLED(SENSORLESS_HOMING)
  2451. void tmc2130_sensorless_homing(TMC2130Stepper &st, bool enable=true) {
  2452. #if ENABLED(STEALTHCHOP)
  2453. if (enable) {
  2454. st.coolstep_min_speed(1024UL * 1024UL - 1UL);
  2455. st.stealthChop(0);
  2456. }
  2457. else {
  2458. st.coolstep_min_speed(0);
  2459. st.stealthChop(1);
  2460. }
  2461. #endif
  2462. st.diag1_stall(enable ? 1 : 0);
  2463. }
  2464. #endif
  2465. /**
  2466. * Home an individual "raw axis" to its endstop.
  2467. * This applies to XYZ on Cartesian and Core robots, and
  2468. * to the individual ABC steppers on DELTA and SCARA.
  2469. *
  2470. * At the end of the procedure the axis is marked as
  2471. * homed and the current position of that axis is updated.
  2472. * Kinematic robots should wait till all axes are homed
  2473. * before updating the current position.
  2474. */
  2475. #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
  2476. static void homeaxis(const AxisEnum axis) {
  2477. #if IS_SCARA
  2478. // Only Z homing (with probe) is permitted
  2479. if (axis != Z_AXIS) { BUZZ(100, 880); return; }
  2480. #else
  2481. #define CAN_HOME(A) \
  2482. (axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
  2483. if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
  2484. #endif
  2485. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2486. if (DEBUGGING(LEVELING)) {
  2487. SERIAL_ECHOPAIR(">>> homeaxis(", axis_codes[axis]);
  2488. SERIAL_CHAR(')');
  2489. SERIAL_EOL;
  2490. }
  2491. #endif
  2492. const int axis_home_dir =
  2493. #if ENABLED(DUAL_X_CARRIAGE)
  2494. (axis == X_AXIS) ? x_home_dir(active_extruder) :
  2495. #endif
  2496. home_dir(axis);
  2497. // Homing Z towards the bed? Deploy the Z probe or endstop.
  2498. #if HOMING_Z_WITH_PROBE
  2499. if (axis == Z_AXIS && DEPLOY_PROBE()) return;
  2500. #endif
  2501. // Set a flag for Z motor locking
  2502. #if ENABLED(Z_DUAL_ENDSTOPS)
  2503. if (axis == Z_AXIS) stepper.set_homing_flag(true);
  2504. #endif
  2505. // Disable stealthChop if used. Enable diag1 pin on driver.
  2506. #if ENABLED(SENSORLESS_HOMING)
  2507. #if ENABLED(X_IS_TMC2130)
  2508. if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX);
  2509. #endif
  2510. #if ENABLED(Y_IS_TMC2130)
  2511. if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY);
  2512. #endif
  2513. #endif
  2514. // Fast move towards endstop until triggered
  2515. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2516. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
  2517. #endif
  2518. do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
  2519. // When homing Z with probe respect probe clearance
  2520. const float bump = axis_home_dir * (
  2521. #if HOMING_Z_WITH_PROBE
  2522. (axis == Z_AXIS) ? max(Z_CLEARANCE_BETWEEN_PROBES, home_bump_mm(Z_AXIS)) :
  2523. #endif
  2524. home_bump_mm(axis)
  2525. );
  2526. // If a second homing move is configured...
  2527. if (bump) {
  2528. // Move away from the endstop by the axis HOME_BUMP_MM
  2529. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2530. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Move Away:");
  2531. #endif
  2532. do_homing_move(axis, -bump);
  2533. // Slow move towards endstop until triggered
  2534. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2535. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 2 Slow:");
  2536. #endif
  2537. do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis));
  2538. }
  2539. #if ENABLED(Z_DUAL_ENDSTOPS)
  2540. if (axis == Z_AXIS) {
  2541. float adj = fabs(z_endstop_adj);
  2542. bool lockZ1;
  2543. if (axis_home_dir > 0) {
  2544. adj = -adj;
  2545. lockZ1 = (z_endstop_adj > 0);
  2546. }
  2547. else
  2548. lockZ1 = (z_endstop_adj < 0);
  2549. if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
  2550. // Move to the adjusted endstop height
  2551. do_homing_move(axis, adj);
  2552. if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
  2553. stepper.set_homing_flag(false);
  2554. } // Z_AXIS
  2555. #endif
  2556. #if IS_SCARA
  2557. set_axis_is_at_home(axis);
  2558. SYNC_PLAN_POSITION_KINEMATIC();
  2559. #elif ENABLED(DELTA)
  2560. // Delta has already moved all three towers up in G28
  2561. // so here it re-homes each tower in turn.
  2562. // Delta homing treats the axes as normal linear axes.
  2563. // retrace by the amount specified in endstop_adj
  2564. if (endstop_adj[axis] * Z_HOME_DIR < 0) {
  2565. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2566. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("endstop_adj:");
  2567. #endif
  2568. do_homing_move(axis, endstop_adj[axis]);
  2569. }
  2570. #else
  2571. // For cartesian/core machines,
  2572. // set the axis to its home position
  2573. set_axis_is_at_home(axis);
  2574. sync_plan_position();
  2575. destination[axis] = current_position[axis];
  2576. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2577. if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
  2578. #endif
  2579. #endif
  2580. // Re-enable stealthChop if used. Disable diag1 pin on driver.
  2581. #if ENABLED(SENSORLESS_HOMING)
  2582. #if ENABLED(X_IS_TMC2130)
  2583. if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX, false);
  2584. #endif
  2585. #if ENABLED(Y_IS_TMC2130)
  2586. if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY, false);
  2587. #endif
  2588. #endif
  2589. // Put away the Z probe
  2590. #if HOMING_Z_WITH_PROBE
  2591. if (axis == Z_AXIS && STOW_PROBE()) return;
  2592. #endif
  2593. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2594. if (DEBUGGING(LEVELING)) {
  2595. SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]);
  2596. SERIAL_CHAR(')');
  2597. SERIAL_EOL;
  2598. }
  2599. #endif
  2600. } // homeaxis()
  2601. #if ENABLED(FWRETRACT)
  2602. void retract(const bool retracting, const bool swapping = false) {
  2603. static float hop_height;
  2604. if (retracting == retracted[active_extruder]) return;
  2605. const float old_feedrate_mm_s = feedrate_mm_s;
  2606. set_destination_to_current();
  2607. if (retracting) {
  2608. feedrate_mm_s = retract_feedrate_mm_s;
  2609. current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
  2610. sync_plan_position_e();
  2611. prepare_move_to_destination();
  2612. if (retract_zlift > 0.01) {
  2613. hop_height = current_position[Z_AXIS];
  2614. // Pretend current position is lower
  2615. current_position[Z_AXIS] -= retract_zlift;
  2616. SYNC_PLAN_POSITION_KINEMATIC();
  2617. // Raise up to the old current_position
  2618. prepare_move_to_destination();
  2619. }
  2620. }
  2621. else {
  2622. // If the height hasn't been altered, undo the Z hop
  2623. if (retract_zlift > 0.01 && hop_height == current_position[Z_AXIS]) {
  2624. // Pretend current position is higher. Z will lower on the next move
  2625. current_position[Z_AXIS] += retract_zlift;
  2626. SYNC_PLAN_POSITION_KINEMATIC();
  2627. }
  2628. feedrate_mm_s = retract_recover_feedrate_mm_s;
  2629. const float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
  2630. current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
  2631. sync_plan_position_e();
  2632. // Lower Z and recover E
  2633. prepare_move_to_destination();
  2634. }
  2635. feedrate_mm_s = old_feedrate_mm_s;
  2636. retracted[active_extruder] = retracting;
  2637. } // retract()
  2638. #endif // FWRETRACT
  2639. #if ENABLED(MIXING_EXTRUDER)
  2640. void normalize_mix() {
  2641. float mix_total = 0.0;
  2642. for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mix_total += RECIPROCAL(mixing_factor[i]);
  2643. // Scale all values if they don't add up to ~1.0
  2644. if (!NEAR(mix_total, 1.0)) {
  2645. SERIAL_PROTOCOLLNPGM("Warning: Mix factors must add up to 1.0. Scaling.");
  2646. for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mixing_factor[i] *= mix_total;
  2647. }
  2648. }
  2649. #if ENABLED(DIRECT_MIXING_IN_G1)
  2650. // Get mixing parameters from the GCode
  2651. // The total "must" be 1.0 (but it will be normalized)
  2652. // If no mix factors are given, the old mix is preserved
  2653. void gcode_get_mix() {
  2654. const char* mixing_codes = "ABCDHI";
  2655. byte mix_bits = 0;
  2656. for (uint8_t i = 0; i < MIXING_STEPPERS; i++) {
  2657. if (code_seen(mixing_codes[i])) {
  2658. SBI(mix_bits, i);
  2659. float v = code_value_float();
  2660. NOLESS(v, 0.0);
  2661. mixing_factor[i] = RECIPROCAL(v);
  2662. }
  2663. }
  2664. // If any mixing factors were included, clear the rest
  2665. // If none were included, preserve the last mix
  2666. if (mix_bits) {
  2667. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  2668. if (!TEST(mix_bits, i)) mixing_factor[i] = 0.0;
  2669. normalize_mix();
  2670. }
  2671. }
  2672. #endif
  2673. #endif
  2674. /**
  2675. * ***************************************************************************
  2676. * ***************************** G-CODE HANDLING *****************************
  2677. * ***************************************************************************
  2678. */
  2679. /**
  2680. * Set XYZE destination and feedrate from the current GCode command
  2681. *
  2682. * - Set destination from included axis codes
  2683. * - Set to current for missing axis codes
  2684. * - Set the feedrate, if included
  2685. */
  2686. void gcode_get_destination() {
  2687. LOOP_XYZE(i) {
  2688. if (code_seen(axis_codes[i]))
  2689. destination[i] = code_value_axis_units((AxisEnum)i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
  2690. else
  2691. destination[i] = current_position[i];
  2692. }
  2693. if (code_seen('F') && code_value_linear_units() > 0.0)
  2694. feedrate_mm_s = MMM_TO_MMS(code_value_linear_units());
  2695. #if ENABLED(PRINTCOUNTER)
  2696. if (!DEBUGGING(DRYRUN))
  2697. print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
  2698. #endif
  2699. // Get ABCDHI mixing factors
  2700. #if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1)
  2701. gcode_get_mix();
  2702. #endif
  2703. }
  2704. void unknown_command_error() {
  2705. SERIAL_ECHO_START;
  2706. SERIAL_ECHOPAIR(MSG_UNKNOWN_COMMAND, current_command);
  2707. SERIAL_CHAR('"');
  2708. SERIAL_EOL;
  2709. }
  2710. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  2711. /**
  2712. * Output a "busy" message at regular intervals
  2713. * while the machine is not accepting commands.
  2714. */
  2715. void host_keepalive() {
  2716. const millis_t ms = millis();
  2717. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  2718. if (PENDING(ms, next_busy_signal_ms)) return;
  2719. switch (busy_state) {
  2720. case IN_HANDLER:
  2721. case IN_PROCESS:
  2722. SERIAL_ECHO_START;
  2723. SERIAL_ECHOLNPGM(MSG_BUSY_PROCESSING);
  2724. break;
  2725. case PAUSED_FOR_USER:
  2726. SERIAL_ECHO_START;
  2727. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_USER);
  2728. break;
  2729. case PAUSED_FOR_INPUT:
  2730. SERIAL_ECHO_START;
  2731. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_INPUT);
  2732. break;
  2733. default:
  2734. break;
  2735. }
  2736. }
  2737. next_busy_signal_ms = ms + host_keepalive_interval * 1000UL;
  2738. }
  2739. #endif //HOST_KEEPALIVE_FEATURE
  2740. bool position_is_reachable(const float target[XYZ]
  2741. #if HAS_BED_PROBE
  2742. , bool by_probe=false
  2743. #endif
  2744. ) {
  2745. float dx = RAW_X_POSITION(target[X_AXIS]),
  2746. dy = RAW_Y_POSITION(target[Y_AXIS]);
  2747. #if HAS_BED_PROBE
  2748. if (by_probe) {
  2749. dx -= X_PROBE_OFFSET_FROM_EXTRUDER;
  2750. dy -= Y_PROBE_OFFSET_FROM_EXTRUDER;
  2751. }
  2752. #endif
  2753. #if IS_SCARA
  2754. #if MIDDLE_DEAD_ZONE_R > 0
  2755. const float R2 = HYPOT2(dx - SCARA_OFFSET_X, dy - SCARA_OFFSET_Y);
  2756. return R2 >= sq(float(MIDDLE_DEAD_ZONE_R)) && R2 <= sq(L1 + L2);
  2757. #else
  2758. return HYPOT2(dx - SCARA_OFFSET_X, dy - SCARA_OFFSET_Y) <= sq(L1 + L2);
  2759. #endif
  2760. #elif ENABLED(DELTA)
  2761. return HYPOT2(dx, dy) <= sq((float)(DELTA_PRINTABLE_RADIUS));
  2762. #else
  2763. const float dz = RAW_Z_POSITION(target[Z_AXIS]);
  2764. return WITHIN(dx, X_MIN_POS - 0.0001, X_MAX_POS + 0.0001)
  2765. && WITHIN(dy, Y_MIN_POS - 0.0001, Y_MAX_POS + 0.0001)
  2766. && WITHIN(dz, Z_MIN_POS - 0.0001, Z_MAX_POS + 0.0001);
  2767. #endif
  2768. }
  2769. /**************************************************
  2770. ***************** GCode Handlers *****************
  2771. **************************************************/
  2772. /**
  2773. * G0, G1: Coordinated movement of X Y Z E axes
  2774. */
  2775. inline void gcode_G0_G1(
  2776. #if IS_SCARA
  2777. bool fast_move=false
  2778. #endif
  2779. ) {
  2780. if (IsRunning()) {
  2781. gcode_get_destination(); // For X Y Z E F
  2782. #if ENABLED(FWRETRACT)
  2783. if (autoretract_enabled && !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  2784. const float echange = destination[E_AXIS] - current_position[E_AXIS];
  2785. // Is this move an attempt to retract or recover?
  2786. if ((echange < -MIN_RETRACT && !retracted[active_extruder]) || (echange > MIN_RETRACT && retracted[active_extruder])) {
  2787. current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations
  2788. sync_plan_position_e(); // AND from the planner
  2789. retract(!retracted[active_extruder]);
  2790. return;
  2791. }
  2792. }
  2793. #endif //FWRETRACT
  2794. #if IS_SCARA
  2795. fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination();
  2796. #else
  2797. prepare_move_to_destination();
  2798. #endif
  2799. }
  2800. }
  2801. /**
  2802. * G2: Clockwise Arc
  2803. * G3: Counterclockwise Arc
  2804. *
  2805. * This command has two forms: IJ-form and R-form.
  2806. *
  2807. * - I specifies an X offset. J specifies a Y offset.
  2808. * At least one of the IJ parameters is required.
  2809. * X and Y can be omitted to do a complete circle.
  2810. * The given XY is not error-checked. The arc ends
  2811. * based on the angle of the destination.
  2812. * Mixing I or J with R will throw an error.
  2813. *
  2814. * - R specifies the radius. X or Y is required.
  2815. * Omitting both X and Y will throw an error.
  2816. * X or Y must differ from the current XY.
  2817. * Mixing R with I or J will throw an error.
  2818. *
  2819. * Examples:
  2820. *
  2821. * G2 I10 ; CW circle centered at X+10
  2822. * G3 X20 Y12 R14 ; CCW circle with r=14 ending at X20 Y12
  2823. */
  2824. #if ENABLED(ARC_SUPPORT)
  2825. inline void gcode_G2_G3(bool clockwise) {
  2826. if (IsRunning()) {
  2827. #if ENABLED(SF_ARC_FIX)
  2828. const bool relative_mode_backup = relative_mode;
  2829. relative_mode = true;
  2830. #endif
  2831. gcode_get_destination();
  2832. #if ENABLED(SF_ARC_FIX)
  2833. relative_mode = relative_mode_backup;
  2834. #endif
  2835. float arc_offset[2] = { 0.0, 0.0 };
  2836. if (code_seen('R')) {
  2837. const float r = code_value_linear_units(),
  2838. x1 = current_position[X_AXIS], y1 = current_position[Y_AXIS],
  2839. x2 = destination[X_AXIS], y2 = destination[Y_AXIS];
  2840. if (r && (x2 != x1 || y2 != y1)) {
  2841. const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
  2842. dx = x2 - x1, dy = y2 - y1, // X and Y differences
  2843. d = HYPOT(dx, dy), // Linear distance between the points
  2844. h = sqrt(sq(r) - sq(d * 0.5)), // Distance to the arc pivot-point
  2845. mx = (x1 + x2) * 0.5, my = (y1 + y2) * 0.5, // Point between the two points
  2846. sx = -dy / d, sy = dx / d, // Slope of the perpendicular bisector
  2847. cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc
  2848. arc_offset[X_AXIS] = cx - x1;
  2849. arc_offset[Y_AXIS] = cy - y1;
  2850. }
  2851. }
  2852. else {
  2853. if (code_seen('I')) arc_offset[X_AXIS] = code_value_linear_units();
  2854. if (code_seen('J')) arc_offset[Y_AXIS] = code_value_linear_units();
  2855. }
  2856. if (arc_offset[0] || arc_offset[1]) {
  2857. // Send an arc to the planner
  2858. plan_arc(destination, arc_offset, clockwise);
  2859. refresh_cmd_timeout();
  2860. }
  2861. else {
  2862. // Bad arguments
  2863. SERIAL_ERROR_START;
  2864. SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS);
  2865. }
  2866. }
  2867. }
  2868. #endif
  2869. /**
  2870. * G4: Dwell S<seconds> or P<milliseconds>
  2871. */
  2872. inline void gcode_G4() {
  2873. millis_t dwell_ms = 0;
  2874. if (code_seen('P')) dwell_ms = code_value_millis(); // milliseconds to wait
  2875. if (code_seen('S')) dwell_ms = code_value_millis_from_seconds(); // seconds to wait
  2876. stepper.synchronize();
  2877. refresh_cmd_timeout();
  2878. dwell_ms += previous_cmd_ms; // keep track of when we started waiting
  2879. if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
  2880. while (PENDING(millis(), dwell_ms)) idle();
  2881. }
  2882. #if ENABLED(BEZIER_CURVE_SUPPORT)
  2883. /**
  2884. * Parameters interpreted according to:
  2885. * http://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G5-Cubic-Spline
  2886. * However I, J omission is not supported at this point; all
  2887. * parameters can be omitted and default to zero.
  2888. */
  2889. /**
  2890. * G5: Cubic B-spline
  2891. */
  2892. inline void gcode_G5() {
  2893. if (IsRunning()) {
  2894. gcode_get_destination();
  2895. const float offset[] = {
  2896. code_seen('I') ? code_value_linear_units() : 0.0,
  2897. code_seen('J') ? code_value_linear_units() : 0.0,
  2898. code_seen('P') ? code_value_linear_units() : 0.0,
  2899. code_seen('Q') ? code_value_linear_units() : 0.0
  2900. };
  2901. plan_cubic_move(offset);
  2902. }
  2903. }
  2904. #endif // BEZIER_CURVE_SUPPORT
  2905. #if ENABLED(FWRETRACT)
  2906. /**
  2907. * G10 - Retract filament according to settings of M207
  2908. * G11 - Recover filament according to settings of M208
  2909. */
  2910. inline void gcode_G10_G11(bool doRetract=false) {
  2911. #if EXTRUDERS > 1
  2912. if (doRetract) {
  2913. retracted_swap[active_extruder] = (code_seen('S') && code_value_bool()); // checks for swap retract argument
  2914. }
  2915. #endif
  2916. retract(doRetract
  2917. #if EXTRUDERS > 1
  2918. , retracted_swap[active_extruder]
  2919. #endif
  2920. );
  2921. }
  2922. #endif //FWRETRACT
  2923. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  2924. /**
  2925. * G12: Clean the nozzle
  2926. */
  2927. inline void gcode_G12() {
  2928. // Don't allow nozzle cleaning without homing first
  2929. if (axis_unhomed_error(true, true, true)) return;
  2930. const uint8_t pattern = code_seen('P') ? code_value_ushort() : 0,
  2931. strokes = code_seen('S') ? code_value_ushort() : NOZZLE_CLEAN_STROKES,
  2932. objects = code_seen('T') ? code_value_ushort() : NOZZLE_CLEAN_TRIANGLES;
  2933. const float radius = code_seen('R') ? code_value_float() : NOZZLE_CLEAN_CIRCLE_RADIUS;
  2934. Nozzle::clean(pattern, strokes, radius, objects);
  2935. }
  2936. #endif
  2937. #if ENABLED(INCH_MODE_SUPPORT)
  2938. /**
  2939. * G20: Set input mode to inches
  2940. */
  2941. inline void gcode_G20() { set_input_linear_units(LINEARUNIT_INCH); }
  2942. /**
  2943. * G21: Set input mode to millimeters
  2944. */
  2945. inline void gcode_G21() { set_input_linear_units(LINEARUNIT_MM); }
  2946. #endif
  2947. #if ENABLED(NOZZLE_PARK_FEATURE)
  2948. /**
  2949. * G27: Park the nozzle
  2950. */
  2951. inline void gcode_G27() {
  2952. // Don't allow nozzle parking without homing first
  2953. if (axis_unhomed_error(true, true, true)) return;
  2954. Nozzle::park(code_seen('P') ? code_value_ushort() : 0);
  2955. }
  2956. #endif // NOZZLE_PARK_FEATURE
  2957. #if ENABLED(QUICK_HOME)
  2958. static void quick_home_xy() {
  2959. // Pretend the current position is 0,0
  2960. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  2961. sync_plan_position();
  2962. const int x_axis_home_dir =
  2963. #if ENABLED(DUAL_X_CARRIAGE)
  2964. x_home_dir(active_extruder)
  2965. #else
  2966. home_dir(X_AXIS)
  2967. #endif
  2968. ;
  2969. const float mlx = max_length(X_AXIS),
  2970. mly = max_length(Y_AXIS),
  2971. mlratio = mlx > mly ? mly / mlx : mlx / mly,
  2972. fr_mm_s = min(homing_feedrate_mm_s[X_AXIS], homing_feedrate_mm_s[Y_AXIS]) * sqrt(sq(mlratio) + 1.0);
  2973. do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
  2974. endstops.hit_on_purpose(); // clear endstop hit flags
  2975. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  2976. }
  2977. #endif // QUICK_HOME
  2978. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2979. void log_machine_info() {
  2980. SERIAL_ECHOPGM("Machine Type: ");
  2981. #if ENABLED(DELTA)
  2982. SERIAL_ECHOLNPGM("Delta");
  2983. #elif IS_SCARA
  2984. SERIAL_ECHOLNPGM("SCARA");
  2985. #elif IS_CORE
  2986. SERIAL_ECHOLNPGM("Core");
  2987. #else
  2988. SERIAL_ECHOLNPGM("Cartesian");
  2989. #endif
  2990. SERIAL_ECHOPGM("Probe: ");
  2991. #if ENABLED(PROBE_MANUALLY)
  2992. SERIAL_ECHOLNPGM("PROBE_MANUALLY");
  2993. #elif ENABLED(FIX_MOUNTED_PROBE)
  2994. SERIAL_ECHOLNPGM("FIX_MOUNTED_PROBE");
  2995. #elif ENABLED(BLTOUCH)
  2996. SERIAL_ECHOLNPGM("BLTOUCH");
  2997. #elif HAS_Z_SERVO_ENDSTOP
  2998. SERIAL_ECHOLNPGM("SERVO PROBE");
  2999. #elif ENABLED(Z_PROBE_SLED)
  3000. SERIAL_ECHOLNPGM("Z_PROBE_SLED");
  3001. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  3002. SERIAL_ECHOLNPGM("Z_PROBE_ALLEN_KEY");
  3003. #else
  3004. SERIAL_ECHOLNPGM("NONE");
  3005. #endif
  3006. #if HAS_BED_PROBE
  3007. SERIAL_ECHOPAIR("Probe Offset X:", X_PROBE_OFFSET_FROM_EXTRUDER);
  3008. SERIAL_ECHOPAIR(" Y:", Y_PROBE_OFFSET_FROM_EXTRUDER);
  3009. SERIAL_ECHOPAIR(" Z:", zprobe_zoffset);
  3010. #if (X_PROBE_OFFSET_FROM_EXTRUDER > 0)
  3011. SERIAL_ECHOPGM(" (Right");
  3012. #elif (X_PROBE_OFFSET_FROM_EXTRUDER < 0)
  3013. SERIAL_ECHOPGM(" (Left");
  3014. #elif (Y_PROBE_OFFSET_FROM_EXTRUDER != 0)
  3015. SERIAL_ECHOPGM(" (Middle");
  3016. #else
  3017. SERIAL_ECHOPGM(" (Aligned With");
  3018. #endif
  3019. #if (Y_PROBE_OFFSET_FROM_EXTRUDER > 0)
  3020. SERIAL_ECHOPGM("-Back");
  3021. #elif (Y_PROBE_OFFSET_FROM_EXTRUDER < 0)
  3022. SERIAL_ECHOPGM("-Front");
  3023. #elif (X_PROBE_OFFSET_FROM_EXTRUDER != 0)
  3024. SERIAL_ECHOPGM("-Center");
  3025. #endif
  3026. if (zprobe_zoffset < 0)
  3027. SERIAL_ECHOPGM(" & Below");
  3028. else if (zprobe_zoffset > 0)
  3029. SERIAL_ECHOPGM(" & Above");
  3030. else
  3031. SERIAL_ECHOPGM(" & Same Z as");
  3032. SERIAL_ECHOLNPGM(" Nozzle)");
  3033. #endif
  3034. #if HAS_ABL
  3035. SERIAL_ECHOPGM("Auto Bed Leveling: ");
  3036. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3037. SERIAL_ECHOPGM("LINEAR");
  3038. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3039. SERIAL_ECHOPGM("BILINEAR");
  3040. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  3041. SERIAL_ECHOPGM("3POINT");
  3042. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  3043. SERIAL_ECHOPGM("UBL");
  3044. #endif
  3045. if (planner.abl_enabled) {
  3046. SERIAL_ECHOLNPGM(" (enabled)");
  3047. #if ABL_PLANAR
  3048. float diff[XYZ] = {
  3049. stepper.get_axis_position_mm(X_AXIS) - current_position[X_AXIS],
  3050. stepper.get_axis_position_mm(Y_AXIS) - current_position[Y_AXIS],
  3051. stepper.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]
  3052. };
  3053. SERIAL_ECHOPGM("ABL Adjustment X");
  3054. if (diff[X_AXIS] > 0) SERIAL_CHAR('+');
  3055. SERIAL_ECHO(diff[X_AXIS]);
  3056. SERIAL_ECHOPGM(" Y");
  3057. if (diff[Y_AXIS] > 0) SERIAL_CHAR('+');
  3058. SERIAL_ECHO(diff[Y_AXIS]);
  3059. SERIAL_ECHOPGM(" Z");
  3060. if (diff[Z_AXIS] > 0) SERIAL_CHAR('+');
  3061. SERIAL_ECHO(diff[Z_AXIS]);
  3062. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  3063. SERIAL_ECHOPAIR("UBL Adjustment Z", stepper.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]);
  3064. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3065. SERIAL_ECHOPAIR("ABL Adjustment Z", bilinear_z_offset(current_position));
  3066. #endif
  3067. }
  3068. else
  3069. SERIAL_ECHOLNPGM(" (disabled)");
  3070. SERIAL_EOL;
  3071. #elif ENABLED(MESH_BED_LEVELING)
  3072. SERIAL_ECHOPGM("Mesh Bed Leveling");
  3073. if (mbl.active()) {
  3074. float lz = current_position[Z_AXIS];
  3075. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], lz);
  3076. SERIAL_ECHOLNPGM(" (enabled)");
  3077. SERIAL_ECHOPAIR("MBL Adjustment Z", lz);
  3078. }
  3079. else
  3080. SERIAL_ECHOPGM(" (disabled)");
  3081. SERIAL_EOL;
  3082. #endif // MESH_BED_LEVELING
  3083. }
  3084. #endif // DEBUG_LEVELING_FEATURE
  3085. #if ENABLED(DELTA)
  3086. /**
  3087. * A delta can only safely home all axes at the same time
  3088. * This is like quick_home_xy() but for 3 towers.
  3089. */
  3090. inline void home_delta() {
  3091. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3092. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
  3093. #endif
  3094. // Init the current position of all carriages to 0,0,0
  3095. ZERO(current_position);
  3096. sync_plan_position();
  3097. // Move all carriages together linearly until an endstop is hit.
  3098. current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10);
  3099. feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
  3100. line_to_current_position();
  3101. stepper.synchronize();
  3102. endstops.hit_on_purpose(); // clear endstop hit flags
  3103. // At least one carriage has reached the top.
  3104. // Now re-home each carriage separately.
  3105. HOMEAXIS(A);
  3106. HOMEAXIS(B);
  3107. HOMEAXIS(C);
  3108. // Set all carriages to their home positions
  3109. // Do this here all at once for Delta, because
  3110. // XYZ isn't ABC. Applying this per-tower would
  3111. // give the impression that they are the same.
  3112. LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
  3113. SYNC_PLAN_POSITION_KINEMATIC();
  3114. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3115. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
  3116. #endif
  3117. }
  3118. #endif // DELTA
  3119. #if ENABLED(Z_SAFE_HOMING)
  3120. inline void home_z_safely() {
  3121. // Disallow Z homing if X or Y are unknown
  3122. if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
  3123. LCD_MESSAGEPGM(MSG_ERR_Z_HOMING);
  3124. SERIAL_ECHO_START;
  3125. SERIAL_ECHOLNPGM(MSG_ERR_Z_HOMING);
  3126. return;
  3127. }
  3128. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3129. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>");
  3130. #endif
  3131. SYNC_PLAN_POSITION_KINEMATIC();
  3132. /**
  3133. * Move the Z probe (or just the nozzle) to the safe homing point
  3134. */
  3135. destination[X_AXIS] = LOGICAL_X_POSITION(Z_SAFE_HOMING_X_POINT);
  3136. destination[Y_AXIS] = LOGICAL_Y_POSITION(Z_SAFE_HOMING_Y_POINT);
  3137. destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
  3138. if (position_is_reachable(
  3139. destination
  3140. #if HOMING_Z_WITH_PROBE
  3141. , true
  3142. #endif
  3143. )
  3144. ) {
  3145. #if HOMING_Z_WITH_PROBE
  3146. destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
  3147. destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
  3148. #endif
  3149. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3150. if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
  3151. #endif
  3152. // This causes the carriage on Dual X to unpark
  3153. #if ENABLED(DUAL_X_CARRIAGE)
  3154. active_extruder_parked = false;
  3155. #endif
  3156. do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
  3157. HOMEAXIS(Z);
  3158. }
  3159. else {
  3160. LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
  3161. SERIAL_ECHO_START;
  3162. SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
  3163. }
  3164. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3165. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
  3166. #endif
  3167. }
  3168. #endif // Z_SAFE_HOMING
  3169. #if ENABLED(PROBE_MANUALLY)
  3170. bool g29_in_progress = false;
  3171. #else
  3172. constexpr bool g29_in_progress = false;
  3173. #endif
  3174. /**
  3175. * G28: Home all axes according to settings
  3176. *
  3177. * Parameters
  3178. *
  3179. * None Home to all axes with no parameters.
  3180. * With QUICK_HOME enabled XY will home together, then Z.
  3181. *
  3182. * Cartesian parameters
  3183. *
  3184. * X Home to the X endstop
  3185. * Y Home to the Y endstop
  3186. * Z Home to the Z endstop
  3187. *
  3188. */
  3189. inline void gcode_G28() {
  3190. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3191. if (DEBUGGING(LEVELING)) {
  3192. SERIAL_ECHOLNPGM(">>> gcode_G28");
  3193. log_machine_info();
  3194. }
  3195. #endif
  3196. // Wait for planner moves to finish!
  3197. stepper.synchronize();
  3198. // Cancel the active G29 session
  3199. #if ENABLED(PROBE_MANUALLY)
  3200. g29_in_progress = false;
  3201. #endif
  3202. // Disable the leveling matrix before homing
  3203. #if HAS_LEVELING
  3204. set_bed_leveling_enabled(false);
  3205. #endif
  3206. // Always home with tool 0 active
  3207. #if HOTENDS > 1
  3208. const uint8_t old_tool_index = active_extruder;
  3209. tool_change(0, 0, true);
  3210. #endif
  3211. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  3212. extruder_duplication_enabled = false;
  3213. #endif
  3214. setup_for_endstop_or_probe_move();
  3215. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3216. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
  3217. #endif
  3218. endstops.enable(true); // Enable endstops for next homing move
  3219. #if ENABLED(DELTA)
  3220. home_delta();
  3221. #else // NOT DELTA
  3222. const bool homeX = code_seen('X'), homeY = code_seen('Y'), homeZ = code_seen('Z'),
  3223. home_all_axis = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
  3224. set_destination_to_current();
  3225. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  3226. if (home_all_axis || homeZ) {
  3227. HOMEAXIS(Z);
  3228. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3229. if (DEBUGGING(LEVELING)) DEBUG_POS("> HOMEAXIS(Z)", current_position);
  3230. #endif
  3231. }
  3232. #else
  3233. if (home_all_axis || homeX || homeY) {
  3234. // Raise Z before homing any other axes and z is not already high enough (never lower z)
  3235. destination[Z_AXIS] = LOGICAL_Z_POSITION(Z_HOMING_HEIGHT);
  3236. if (destination[Z_AXIS] > current_position[Z_AXIS]) {
  3237. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3238. if (DEBUGGING(LEVELING))
  3239. SERIAL_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
  3240. #endif
  3241. do_blocking_move_to_z(destination[Z_AXIS]);
  3242. }
  3243. }
  3244. #endif
  3245. #if ENABLED(QUICK_HOME)
  3246. if (home_all_axis || (homeX && homeY)) quick_home_xy();
  3247. #endif
  3248. #if ENABLED(HOME_Y_BEFORE_X)
  3249. // Home Y
  3250. if (home_all_axis || homeY) {
  3251. HOMEAXIS(Y);
  3252. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3253. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  3254. #endif
  3255. }
  3256. #endif
  3257. // Home X
  3258. if (home_all_axis || homeX) {
  3259. #if ENABLED(DUAL_X_CARRIAGE)
  3260. // Always home the 2nd (right) extruder first
  3261. active_extruder = 1;
  3262. HOMEAXIS(X);
  3263. // Remember this extruder's position for later tool change
  3264. inactive_extruder_x_pos = RAW_X_POSITION(current_position[X_AXIS]);
  3265. // Home the 1st (left) extruder
  3266. active_extruder = 0;
  3267. HOMEAXIS(X);
  3268. // Consider the active extruder to be parked
  3269. COPY(raised_parked_position, current_position);
  3270. delayed_move_time = 0;
  3271. active_extruder_parked = true;
  3272. #else
  3273. HOMEAXIS(X);
  3274. #endif
  3275. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3276. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
  3277. #endif
  3278. }
  3279. #if DISABLED(HOME_Y_BEFORE_X)
  3280. // Home Y
  3281. if (home_all_axis || homeY) {
  3282. HOMEAXIS(Y);
  3283. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3284. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  3285. #endif
  3286. }
  3287. #endif
  3288. // Home Z last if homing towards the bed
  3289. #if Z_HOME_DIR < 0
  3290. if (home_all_axis || homeZ) {
  3291. #if ENABLED(Z_SAFE_HOMING)
  3292. home_z_safely();
  3293. #else
  3294. HOMEAXIS(Z);
  3295. #endif
  3296. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3297. if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all_axis || homeZ) > final", current_position);
  3298. #endif
  3299. } // home_all_axis || homeZ
  3300. #endif // Z_HOME_DIR < 0
  3301. SYNC_PLAN_POSITION_KINEMATIC();
  3302. #endif // !DELTA (gcode_G28)
  3303. endstops.not_homing();
  3304. #if ENABLED(DELTA) && ENABLED(DELTA_HOME_TO_SAFE_ZONE)
  3305. // move to a height where we can use the full xy-area
  3306. do_blocking_move_to_z(delta_clip_start_height);
  3307. #endif
  3308. clean_up_after_endstop_or_probe_move();
  3309. // Restore the active tool after homing
  3310. #if HOTENDS > 1
  3311. tool_change(old_tool_index, 0, true);
  3312. #endif
  3313. report_current_position();
  3314. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3315. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28");
  3316. #endif
  3317. } // G28
  3318. void home_all_axes() { gcode_G28(); }
  3319. #if HAS_PROBING_PROCEDURE
  3320. void out_of_range_error(const char* p_edge) {
  3321. SERIAL_PROTOCOLPGM("?Probe ");
  3322. serialprintPGM(p_edge);
  3323. SERIAL_PROTOCOLLNPGM(" position out of range.");
  3324. }
  3325. #endif
  3326. #if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
  3327. inline void _manual_goto_xy(const float &x, const float &y) {
  3328. const float old_feedrate_mm_s = feedrate_mm_s;
  3329. #if MANUAL_PROBE_HEIGHT > 0
  3330. feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS];
  3331. current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS) + MANUAL_PROBE_HEIGHT;
  3332. line_to_current_position();
  3333. #endif
  3334. feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
  3335. current_position[X_AXIS] = LOGICAL_X_POSITION(x);
  3336. current_position[Y_AXIS] = LOGICAL_Y_POSITION(y);
  3337. line_to_current_position();
  3338. #if MANUAL_PROBE_HEIGHT > 0
  3339. feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS];
  3340. current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS) + 0.2; // just slightly over the bed
  3341. line_to_current_position();
  3342. #endif
  3343. feedrate_mm_s = old_feedrate_mm_s;
  3344. stepper.synchronize();
  3345. }
  3346. #endif
  3347. #if ENABLED(MESH_BED_LEVELING)
  3348. // Save 130 bytes with non-duplication of PSTR
  3349. void say_not_entered() { SERIAL_PROTOCOLLNPGM(" not entered."); }
  3350. void mbl_mesh_report() {
  3351. SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(GRID_MAX_POINTS_X) "," STRINGIFY(GRID_MAX_POINTS_Y));
  3352. SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
  3353. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  3354. print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5,
  3355. [](const uint8_t ix, const uint8_t iy) { return mbl.z_values[ix][iy]; }
  3356. );
  3357. }
  3358. void mesh_probing_done() {
  3359. mbl.set_has_mesh(true);
  3360. home_all_axes();
  3361. set_bed_leveling_enabled(true);
  3362. #if ENABLED(MESH_G28_REST_ORIGIN)
  3363. current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS);
  3364. set_destination_to_current();
  3365. line_to_destination(homing_feedrate_mm_s[Z_AXIS]);
  3366. stepper.synchronize();
  3367. #endif
  3368. }
  3369. /**
  3370. * G29: Mesh-based Z probe, probes a grid and produces a
  3371. * mesh to compensate for variable bed height
  3372. *
  3373. * Parameters With MESH_BED_LEVELING:
  3374. *
  3375. * S0 Produce a mesh report
  3376. * S1 Start probing mesh points
  3377. * S2 Probe the next mesh point
  3378. * S3 Xn Yn Zn.nn Manually modify a single point
  3379. * S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.
  3380. * S5 Reset and disable mesh
  3381. *
  3382. * The S0 report the points as below
  3383. *
  3384. * +----> X-axis 1-n
  3385. * |
  3386. * |
  3387. * v Y-axis 1-n
  3388. *
  3389. */
  3390. inline void gcode_G29() {
  3391. static int mbl_probe_index = -1;
  3392. #if HAS_SOFTWARE_ENDSTOPS
  3393. static bool enable_soft_endstops;
  3394. #endif
  3395. const MeshLevelingState state = code_seen('S') ? (MeshLevelingState)code_value_byte() : MeshReport;
  3396. if (!WITHIN(state, 0, 5)) {
  3397. SERIAL_PROTOCOLLNPGM("S out of range (0-5).");
  3398. return;
  3399. }
  3400. int8_t px, py;
  3401. switch (state) {
  3402. case MeshReport:
  3403. if (mbl.has_mesh()) {
  3404. SERIAL_PROTOCOLLNPAIR("State: ", mbl.active() ? MSG_ON : MSG_OFF);
  3405. mbl_mesh_report();
  3406. }
  3407. else
  3408. SERIAL_PROTOCOLLNPGM("Mesh bed leveling has no data.");
  3409. break;
  3410. case MeshStart:
  3411. mbl.reset();
  3412. mbl_probe_index = 0;
  3413. enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
  3414. break;
  3415. case MeshNext:
  3416. if (mbl_probe_index < 0) {
  3417. SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
  3418. return;
  3419. }
  3420. // For each G29 S2...
  3421. if (mbl_probe_index == 0) {
  3422. #if HAS_SOFTWARE_ENDSTOPS
  3423. // For the initial G29 S2 save software endstop state
  3424. enable_soft_endstops = soft_endstops_enabled;
  3425. #endif
  3426. }
  3427. else {
  3428. // For G29 S2 after adjusting Z.
  3429. mbl.set_zigzag_z(mbl_probe_index - 1, current_position[Z_AXIS]);
  3430. #if HAS_SOFTWARE_ENDSTOPS
  3431. soft_endstops_enabled = enable_soft_endstops;
  3432. #endif
  3433. }
  3434. // If there's another point to sample, move there with optional lift.
  3435. if (mbl_probe_index < (GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y)) {
  3436. mbl.zigzag(mbl_probe_index, px, py);
  3437. _manual_goto_xy(mbl.index_to_xpos[px], mbl.index_to_ypos[py]);
  3438. #if HAS_SOFTWARE_ENDSTOPS
  3439. // Disable software endstops to allow manual adjustment
  3440. // If G29 is not completed, they will not be re-enabled
  3441. soft_endstops_enabled = false;
  3442. #endif
  3443. mbl_probe_index++;
  3444. }
  3445. else {
  3446. // One last "return to the bed" (as originally coded) at completion
  3447. current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS) + MANUAL_PROBE_HEIGHT;
  3448. line_to_current_position();
  3449. stepper.synchronize();
  3450. // After recording the last point, activate home and activate
  3451. mbl_probe_index = -1;
  3452. SERIAL_PROTOCOLLNPGM("Mesh probing done.");
  3453. BUZZ(100, 659);
  3454. BUZZ(100, 698);
  3455. mesh_probing_done();
  3456. }
  3457. break;
  3458. case MeshSet:
  3459. if (code_seen('X')) {
  3460. px = code_value_int() - 1;
  3461. if (!WITHIN(px, 0, GRID_MAX_POINTS_X - 1)) {
  3462. SERIAL_PROTOCOLLNPGM("X out of range (1-" STRINGIFY(GRID_MAX_POINTS_X) ").");
  3463. return;
  3464. }
  3465. }
  3466. else {
  3467. SERIAL_CHAR('X'); say_not_entered();
  3468. return;
  3469. }
  3470. if (code_seen('Y')) {
  3471. py = code_value_int() - 1;
  3472. if (!WITHIN(py, 0, GRID_MAX_POINTS_Y - 1)) {
  3473. SERIAL_PROTOCOLLNPGM("Y out of range (1-" STRINGIFY(GRID_MAX_POINTS_Y) ").");
  3474. return;
  3475. }
  3476. }
  3477. else {
  3478. SERIAL_CHAR('Y'); say_not_entered();
  3479. return;
  3480. }
  3481. if (code_seen('Z')) {
  3482. mbl.z_values[px][py] = code_value_linear_units();
  3483. }
  3484. else {
  3485. SERIAL_CHAR('Z'); say_not_entered();
  3486. return;
  3487. }
  3488. break;
  3489. case MeshSetZOffset:
  3490. if (code_seen('Z')) {
  3491. mbl.z_offset = code_value_linear_units();
  3492. }
  3493. else {
  3494. SERIAL_CHAR('Z'); say_not_entered();
  3495. return;
  3496. }
  3497. break;
  3498. case MeshReset:
  3499. reset_bed_level();
  3500. break;
  3501. } // switch(state)
  3502. report_current_position();
  3503. }
  3504. #elif HAS_ABL && DISABLED(AUTO_BED_LEVELING_UBL)
  3505. #if ABL_GRID
  3506. #if ENABLED(PROBE_Y_FIRST)
  3507. #define PR_OUTER_VAR xCount
  3508. #define PR_OUTER_END abl_grid_points_x
  3509. #define PR_INNER_VAR yCount
  3510. #define PR_INNER_END abl_grid_points_y
  3511. #else
  3512. #define PR_OUTER_VAR yCount
  3513. #define PR_OUTER_END abl_grid_points_y
  3514. #define PR_INNER_VAR xCount
  3515. #define PR_INNER_END abl_grid_points_x
  3516. #endif
  3517. #endif
  3518. /**
  3519. * G29: Detailed Z probe, probes the bed at 3 or more points.
  3520. * Will fail if the printer has not been homed with G28.
  3521. *
  3522. * Enhanced G29 Auto Bed Leveling Probe Routine
  3523. *
  3524. * D Dry-Run mode. Just evaluate the bed Topology - Don't apply
  3525. * or alter the bed level data. Useful to check the topology
  3526. * after a first run of G29.
  3527. *
  3528. * J Jettison current bed leveling data
  3529. *
  3530. * V Set the verbose level (0-4). Example: "G29 V3"
  3531. *
  3532. * Parameters With LINEAR leveling only:
  3533. *
  3534. * P Set the size of the grid that will be probed (P x P points).
  3535. * Example: "G29 P4"
  3536. *
  3537. * X Set the X size of the grid that will be probed (X x Y points).
  3538. * Example: "G29 X7 Y5"
  3539. *
  3540. * Y Set the Y size of the grid that will be probed (X x Y points).
  3541. *
  3542. * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
  3543. * This is useful for manual bed leveling and finding flaws in the bed (to
  3544. * assist with part placement).
  3545. * Not supported by non-linear delta printer bed leveling.
  3546. *
  3547. * Parameters With LINEAR and BILINEAR leveling only:
  3548. *
  3549. * S Set the XY travel speed between probe points (in units/min)
  3550. *
  3551. * F Set the Front limit of the probing grid
  3552. * B Set the Back limit of the probing grid
  3553. * L Set the Left limit of the probing grid
  3554. * R Set the Right limit of the probing grid
  3555. *
  3556. * Parameters with DEBUG_LEVELING_FEATURE only:
  3557. *
  3558. * C Make a totally fake grid with no actual probing.
  3559. * For use in testing when no probing is possible.
  3560. *
  3561. * Parameters with BILINEAR leveling only:
  3562. *
  3563. * Z Supply an additional Z probe offset
  3564. *
  3565. * Extra parameters with PROBE_MANUALLY:
  3566. *
  3567. * To do manual probing simply repeat G29 until the procedure is complete.
  3568. * The first G29 accepts parameters. 'G29 Q' for status, 'G29 A' to abort.
  3569. *
  3570. * Q Query leveling and G29 state
  3571. *
  3572. * A Abort current leveling procedure
  3573. *
  3574. * W Write a mesh point. (Ignored during leveling.)
  3575. * X Required X for mesh point
  3576. * Y Required Y for mesh point
  3577. * Z Required Z for mesh point
  3578. *
  3579. * Without PROBE_MANUALLY:
  3580. *
  3581. * E By default G29 will engage the Z probe, test the bed, then disengage.
  3582. * Include "E" to engage/disengage the Z probe for each sample.
  3583. * There's no extra effect if you have a fixed Z probe.
  3584. *
  3585. */
  3586. inline void gcode_G29() {
  3587. // G29 Q is also available if debugging
  3588. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3589. const bool query = code_seen('Q');
  3590. const uint8_t old_debug_flags = marlin_debug_flags;
  3591. if (query) marlin_debug_flags |= DEBUG_LEVELING;
  3592. if (DEBUGGING(LEVELING)) {
  3593. DEBUG_POS(">>> gcode_G29", current_position);
  3594. log_machine_info();
  3595. }
  3596. marlin_debug_flags = old_debug_flags;
  3597. #if DISABLED(PROBE_MANUALLY)
  3598. if (query) return;
  3599. #endif
  3600. #endif
  3601. #if ENABLED(DEBUG_LEVELING_FEATURE) && DISABLED(PROBE_MANUALLY)
  3602. const bool faux = code_seen('C') && code_value_bool();
  3603. #else
  3604. bool constexpr faux = false;
  3605. #endif
  3606. // Don't allow auto-leveling without homing first
  3607. if (axis_unhomed_error(true, true, true)) return;
  3608. // Define local vars 'static' for manual probing, 'auto' otherwise
  3609. #if ENABLED(PROBE_MANUALLY)
  3610. #define ABL_VAR static
  3611. #else
  3612. #define ABL_VAR
  3613. #endif
  3614. ABL_VAR int verbose_level;
  3615. ABL_VAR float xProbe, yProbe, measured_z;
  3616. ABL_VAR bool dryrun, abl_should_enable;
  3617. #if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR)
  3618. ABL_VAR int abl_probe_index;
  3619. #endif
  3620. #if HAS_SOFTWARE_ENDSTOPS && ENABLED(PROBE_MANUALLY)
  3621. ABL_VAR bool enable_soft_endstops = true;
  3622. #endif
  3623. #if ABL_GRID
  3624. #if ENABLED(PROBE_MANUALLY)
  3625. ABL_VAR uint8_t PR_OUTER_VAR;
  3626. ABL_VAR int8_t PR_INNER_VAR;
  3627. #endif
  3628. ABL_VAR int left_probe_bed_position, right_probe_bed_position, front_probe_bed_position, back_probe_bed_position;
  3629. ABL_VAR float xGridSpacing, yGridSpacing;
  3630. #define ABL_GRID_MAX (GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y)
  3631. #if ABL_PLANAR
  3632. ABL_VAR uint8_t abl_grid_points_x = GRID_MAX_POINTS_X,
  3633. abl_grid_points_y = GRID_MAX_POINTS_Y;
  3634. ABL_VAR bool do_topography_map;
  3635. #else // 3-point
  3636. uint8_t constexpr abl_grid_points_x = GRID_MAX_POINTS_X,
  3637. abl_grid_points_y = GRID_MAX_POINTS_Y;
  3638. #endif
  3639. #if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(PROBE_MANUALLY)
  3640. #if ABL_PLANAR
  3641. ABL_VAR int abl2;
  3642. #else // 3-point
  3643. int constexpr abl2 = ABL_GRID_MAX;
  3644. #endif
  3645. #endif
  3646. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3647. ABL_VAR float zoffset;
  3648. #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
  3649. ABL_VAR int indexIntoAB[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
  3650. ABL_VAR float eqnAMatrix[ABL_GRID_MAX * 3], // "A" matrix of the linear system of equations
  3651. eqnBVector[ABL_GRID_MAX], // "B" vector of Z points
  3652. mean;
  3653. #endif
  3654. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  3655. // Probe at 3 arbitrary points
  3656. ABL_VAR vector_3 points[3] = {
  3657. vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, 0),
  3658. vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, 0),
  3659. vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, 0)
  3660. };
  3661. #endif // AUTO_BED_LEVELING_3POINT
  3662. /**
  3663. * On the initial G29 fetch command parameters.
  3664. */
  3665. if (!g29_in_progress) {
  3666. #if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR)
  3667. abl_probe_index = 0;
  3668. #endif
  3669. abl_should_enable = planner.abl_enabled;
  3670. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3671. if (code_seen('W')) {
  3672. if (!bilinear_grid_spacing[X_AXIS]) {
  3673. SERIAL_ERROR_START;
  3674. SERIAL_ERRORLNPGM("No bilinear grid");
  3675. return;
  3676. }
  3677. const float z = code_seen('Z') && code_has_value() ? code_value_float() : 99999;
  3678. if (!WITHIN(z, -10, 10)) {
  3679. SERIAL_ERROR_START;
  3680. SERIAL_ERRORLNPGM("Bad Z value");
  3681. return;
  3682. }
  3683. const float x = code_seen('X') && code_has_value() ? code_value_float() : 99999,
  3684. y = code_seen('Y') && code_has_value() ? code_value_float() : 99999;
  3685. int8_t i = code_seen('I') && code_has_value() ? code_value_byte() : -1,
  3686. j = code_seen('J') && code_has_value() ? code_value_byte() : -1;
  3687. if (x < 99998 && y < 99998) {
  3688. // Get nearest i / j from x / y
  3689. i = (x - LOGICAL_X_POSITION(bilinear_start[X_AXIS]) + 0.5 * xGridSpacing) / xGridSpacing;
  3690. j = (y - LOGICAL_Y_POSITION(bilinear_start[Y_AXIS]) + 0.5 * yGridSpacing) / yGridSpacing;
  3691. i = constrain(i, 0, GRID_MAX_POINTS_X - 1);
  3692. j = constrain(j, 0, GRID_MAX_POINTS_Y - 1);
  3693. }
  3694. if (WITHIN(i, 0, GRID_MAX_POINTS_X - 1) && WITHIN(j, 0, GRID_MAX_POINTS_Y)) {
  3695. set_bed_leveling_enabled(false);
  3696. z_values[i][j] = z;
  3697. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  3698. bed_level_virt_interpolate();
  3699. #endif
  3700. set_bed_leveling_enabled(abl_should_enable);
  3701. }
  3702. return;
  3703. } // code_seen('W')
  3704. #endif
  3705. #if HAS_LEVELING
  3706. // Jettison bed leveling data
  3707. if (code_seen('J')) {
  3708. reset_bed_level();
  3709. return;
  3710. }
  3711. #endif
  3712. verbose_level = code_seen('V') && code_has_value() ? code_value_int() : 0;
  3713. if (!WITHIN(verbose_level, 0, 4)) {
  3714. SERIAL_PROTOCOLLNPGM("?(V)erbose Level is implausible (0-4).");
  3715. return;
  3716. }
  3717. dryrun = code_seen('D') && code_value_bool();
  3718. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3719. do_topography_map = verbose_level > 2 || code_seen('T');
  3720. // X and Y specify points in each direction, overriding the default
  3721. // These values may be saved with the completed mesh
  3722. abl_grid_points_x = code_seen('X') ? code_value_int() : GRID_MAX_POINTS_X;
  3723. abl_grid_points_y = code_seen('Y') ? code_value_int() : GRID_MAX_POINTS_Y;
  3724. if (code_seen('P')) abl_grid_points_x = abl_grid_points_y = code_value_int();
  3725. if (abl_grid_points_x < 2 || abl_grid_points_y < 2) {
  3726. SERIAL_PROTOCOLLNPGM("?Number of probe points is implausible (2 minimum).");
  3727. return;
  3728. }
  3729. abl2 = abl_grid_points_x * abl_grid_points_y;
  3730. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3731. zoffset = code_seen('Z') ? code_value_linear_units() : 0;
  3732. #endif
  3733. #if ABL_GRID
  3734. xy_probe_feedrate_mm_s = MMM_TO_MMS(code_seen('S') ? code_value_linear_units() : XY_PROBE_SPEED);
  3735. left_probe_bed_position = code_seen('L') ? (int)code_value_linear_units() : LOGICAL_X_POSITION(LEFT_PROBE_BED_POSITION);
  3736. right_probe_bed_position = code_seen('R') ? (int)code_value_linear_units() : LOGICAL_X_POSITION(RIGHT_PROBE_BED_POSITION);
  3737. front_probe_bed_position = code_seen('F') ? (int)code_value_linear_units() : LOGICAL_Y_POSITION(FRONT_PROBE_BED_POSITION);
  3738. back_probe_bed_position = code_seen('B') ? (int)code_value_linear_units() : LOGICAL_Y_POSITION(BACK_PROBE_BED_POSITION);
  3739. const bool left_out_l = left_probe_bed_position < LOGICAL_X_POSITION(MIN_PROBE_X),
  3740. left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE),
  3741. right_out_r = right_probe_bed_position > LOGICAL_X_POSITION(MAX_PROBE_X),
  3742. right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
  3743. front_out_f = front_probe_bed_position < LOGICAL_Y_POSITION(MIN_PROBE_Y),
  3744. front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE),
  3745. back_out_b = back_probe_bed_position > LOGICAL_Y_POSITION(MAX_PROBE_Y),
  3746. back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
  3747. if (left_out || right_out || front_out || back_out) {
  3748. if (left_out) {
  3749. out_of_range_error(PSTR("(L)eft"));
  3750. left_probe_bed_position = left_out_l ? LOGICAL_X_POSITION(MIN_PROBE_X) : right_probe_bed_position - (MIN_PROBE_EDGE);
  3751. }
  3752. if (right_out) {
  3753. out_of_range_error(PSTR("(R)ight"));
  3754. right_probe_bed_position = right_out_r ? LOGICAL_Y_POSITION(MAX_PROBE_X) : left_probe_bed_position + MIN_PROBE_EDGE;
  3755. }
  3756. if (front_out) {
  3757. out_of_range_error(PSTR("(F)ront"));
  3758. front_probe_bed_position = front_out_f ? LOGICAL_Y_POSITION(MIN_PROBE_Y) : back_probe_bed_position - (MIN_PROBE_EDGE);
  3759. }
  3760. if (back_out) {
  3761. out_of_range_error(PSTR("(B)ack"));
  3762. back_probe_bed_position = back_out_b ? LOGICAL_Y_POSITION(MAX_PROBE_Y) : front_probe_bed_position + MIN_PROBE_EDGE;
  3763. }
  3764. return;
  3765. }
  3766. // probe at the points of a lattice grid
  3767. xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1);
  3768. yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1);
  3769. #endif // ABL_GRID
  3770. if (verbose_level > 0) {
  3771. SERIAL_PROTOCOLLNPGM("G29 Auto Bed Leveling");
  3772. if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode");
  3773. }
  3774. stepper.synchronize();
  3775. // Disable auto bed leveling during G29
  3776. planner.abl_enabled = false;
  3777. if (!dryrun) {
  3778. // Re-orient the current position without leveling
  3779. // based on where the steppers are positioned.
  3780. set_current_from_steppers_for_axis(ALL_AXES);
  3781. // Sync the planner to where the steppers stopped
  3782. SYNC_PLAN_POSITION_KINEMATIC();
  3783. }
  3784. if (!faux) setup_for_endstop_or_probe_move();
  3785. //xProbe = yProbe = measured_z = 0;
  3786. #if HAS_BED_PROBE
  3787. // Deploy the probe. Probe will raise if needed.
  3788. if (DEPLOY_PROBE()) {
  3789. planner.abl_enabled = abl_should_enable;
  3790. return;
  3791. }
  3792. #endif
  3793. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3794. if ( xGridSpacing != bilinear_grid_spacing[X_AXIS]
  3795. || yGridSpacing != bilinear_grid_spacing[Y_AXIS]
  3796. || left_probe_bed_position != LOGICAL_X_POSITION(bilinear_start[X_AXIS])
  3797. || front_probe_bed_position != LOGICAL_Y_POSITION(bilinear_start[Y_AXIS])
  3798. ) {
  3799. if (dryrun) {
  3800. // Before reset bed level, re-enable to correct the position
  3801. planner.abl_enabled = abl_should_enable;
  3802. }
  3803. // Reset grid to 0.0 or "not probed". (Also disables ABL)
  3804. reset_bed_level();
  3805. // Initialize a grid with the given dimensions
  3806. bilinear_grid_spacing[X_AXIS] = xGridSpacing;
  3807. bilinear_grid_spacing[Y_AXIS] = yGridSpacing;
  3808. bilinear_start[X_AXIS] = RAW_X_POSITION(left_probe_bed_position);
  3809. bilinear_start[Y_AXIS] = RAW_Y_POSITION(front_probe_bed_position);
  3810. // Can't re-enable (on error) until the new grid is written
  3811. abl_should_enable = false;
  3812. }
  3813. #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
  3814. mean = 0.0;
  3815. #endif // AUTO_BED_LEVELING_LINEAR
  3816. #if ENABLED(AUTO_BED_LEVELING_3POINT)
  3817. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3818. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
  3819. #endif
  3820. // Probe at 3 arbitrary points
  3821. points[0].z = points[1].z = points[2].z = 0;
  3822. #endif // AUTO_BED_LEVELING_3POINT
  3823. } // !g29_in_progress
  3824. #if ENABLED(PROBE_MANUALLY)
  3825. // Abort current G29 procedure, go back to ABLStart
  3826. if (code_seen('A') && g29_in_progress) {
  3827. SERIAL_PROTOCOLLNPGM("Manual G29 aborted");
  3828. #if HAS_SOFTWARE_ENDSTOPS
  3829. soft_endstops_enabled = enable_soft_endstops;
  3830. #endif
  3831. planner.abl_enabled = abl_should_enable;
  3832. g29_in_progress = false;
  3833. }
  3834. // Query G29 status
  3835. if (code_seen('Q')) {
  3836. if (!g29_in_progress)
  3837. SERIAL_PROTOCOLLNPGM("Manual G29 idle");
  3838. else {
  3839. SERIAL_PROTOCOLPAIR("Manual G29 point ", abl_probe_index + 1);
  3840. SERIAL_PROTOCOLLNPAIR(" of ", abl2);
  3841. }
  3842. }
  3843. if (code_seen('A') || code_seen('Q')) return;
  3844. // Fall through to probe the first point
  3845. g29_in_progress = true;
  3846. if (abl_probe_index == 0) {
  3847. // For the initial G29 save software endstop state
  3848. #if HAS_SOFTWARE_ENDSTOPS
  3849. enable_soft_endstops = soft_endstops_enabled;
  3850. #endif
  3851. }
  3852. else {
  3853. // For G29 after adjusting Z.
  3854. // Save the previous Z before going to the next point
  3855. measured_z = current_position[Z_AXIS];
  3856. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3857. mean += measured_z;
  3858. eqnBVector[abl_probe_index] = measured_z;
  3859. eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe;
  3860. eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe;
  3861. eqnAMatrix[abl_probe_index + 2 * abl2] = 1;
  3862. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3863. z_values[xCount][yCount] = measured_z + zoffset;
  3864. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  3865. points[i].z = measured_z;
  3866. #endif
  3867. }
  3868. //
  3869. // If there's another point to sample, move there with optional lift.
  3870. //
  3871. #if ABL_GRID
  3872. // Find a next point to probe
  3873. // On the first G29 this will be the first probe point
  3874. while (abl_probe_index < abl2) {
  3875. // Set xCount, yCount based on abl_probe_index, with zig-zag
  3876. PR_OUTER_VAR = abl_probe_index / PR_INNER_END;
  3877. PR_INNER_VAR = abl_probe_index - (PR_OUTER_VAR * PR_INNER_END);
  3878. bool zig = (PR_OUTER_VAR & 1) != ((PR_OUTER_END) & 1);
  3879. if (zig) PR_INNER_VAR = (PR_INNER_END - 1) - PR_INNER_VAR;
  3880. const float xBase = left_probe_bed_position + xGridSpacing * xCount,
  3881. yBase = front_probe_bed_position + yGridSpacing * yCount;
  3882. xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5));
  3883. yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5));
  3884. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3885. indexIntoAB[xCount][yCount] = abl_probe_index;
  3886. #endif
  3887. float pos[XYZ] = { xProbe, yProbe, 0 };
  3888. if (position_is_reachable(pos)) break;
  3889. ++abl_probe_index;
  3890. }
  3891. // Is there a next point to move to?
  3892. if (abl_probe_index < abl2) {
  3893. _manual_goto_xy(xProbe, yProbe); // Can be used here too!
  3894. ++abl_probe_index;
  3895. #if HAS_SOFTWARE_ENDSTOPS
  3896. // Disable software endstops to allow manual adjustment
  3897. // If G29 is not completed, they will not be re-enabled
  3898. soft_endstops_enabled = false;
  3899. #endif
  3900. return;
  3901. }
  3902. else {
  3903. // Then leveling is done!
  3904. // G29 finishing code goes here
  3905. // After recording the last point, activate abl
  3906. SERIAL_PROTOCOLLNPGM("Grid probing done.");
  3907. g29_in_progress = false;
  3908. // Re-enable software endstops, if needed
  3909. #if HAS_SOFTWARE_ENDSTOPS
  3910. soft_endstops_enabled = enable_soft_endstops;
  3911. #endif
  3912. }
  3913. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  3914. // Probe at 3 arbitrary points
  3915. if (abl_probe_index < 3) {
  3916. xProbe = LOGICAL_X_POSITION(points[i].x);
  3917. yProbe = LOGICAL_Y_POSITION(points[i].y);
  3918. ++abl_probe_index;
  3919. #if HAS_SOFTWARE_ENDSTOPS
  3920. // Disable software endstops to allow manual adjustment
  3921. // If G29 is not completed, they will not be re-enabled
  3922. soft_endstops_enabled = false;
  3923. #endif
  3924. return;
  3925. }
  3926. else {
  3927. SERIAL_PROTOCOLLNPGM("3-point probing done.");
  3928. g29_in_progress = false;
  3929. // Re-enable software endstops, if needed
  3930. #if HAS_SOFTWARE_ENDSTOPS
  3931. soft_endstops_enabled = enable_soft_endstops;
  3932. #endif
  3933. if (!dryrun) {
  3934. vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
  3935. if (planeNormal.z < 0) {
  3936. planeNormal.x *= -1;
  3937. planeNormal.y *= -1;
  3938. planeNormal.z *= -1;
  3939. }
  3940. planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  3941. // Can't re-enable (on error) until the new grid is written
  3942. abl_should_enable = false;
  3943. }
  3944. }
  3945. #endif // AUTO_BED_LEVELING_3POINT
  3946. #else // !PROBE_MANUALLY
  3947. bool stow_probe_after_each = code_seen('E');
  3948. #if ABL_GRID
  3949. bool zig = PR_OUTER_END & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION
  3950. // Outer loop is Y with PROBE_Y_FIRST disabled
  3951. for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END; PR_OUTER_VAR++) {
  3952. int8_t inStart, inStop, inInc;
  3953. if (zig) { // away from origin
  3954. inStart = 0;
  3955. inStop = PR_INNER_END;
  3956. inInc = 1;
  3957. }
  3958. else { // towards origin
  3959. inStart = PR_INNER_END - 1;
  3960. inStop = -1;
  3961. inInc = -1;
  3962. }
  3963. zig ^= true; // zag
  3964. // Inner loop is Y with PROBE_Y_FIRST enabled
  3965. for (int8_t PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) {
  3966. float xBase = left_probe_bed_position + xGridSpacing * xCount,
  3967. yBase = front_probe_bed_position + yGridSpacing * yCount;
  3968. xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5));
  3969. yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5));
  3970. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3971. indexIntoAB[xCount][yCount] = ++abl_probe_index;
  3972. #endif
  3973. #if IS_KINEMATIC
  3974. // Avoid probing outside the round or hexagonal area
  3975. const float pos[XYZ] = { xProbe, yProbe, 0 };
  3976. if (!position_is_reachable(pos, true)) continue;
  3977. #endif
  3978. measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
  3979. if (isnan(measured_z)) {
  3980. planner.abl_enabled = abl_should_enable;
  3981. return;
  3982. }
  3983. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3984. mean += measured_z;
  3985. eqnBVector[abl_probe_index] = measured_z;
  3986. eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe;
  3987. eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe;
  3988. eqnAMatrix[abl_probe_index + 2 * abl2] = 1;
  3989. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3990. z_values[xCount][yCount] = measured_z + zoffset;
  3991. #endif
  3992. abl_should_enable = false;
  3993. idle();
  3994. } // inner
  3995. } // outer
  3996. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  3997. // Probe at 3 arbitrary points
  3998. for (uint8_t i = 0; i < 3; ++i) {
  3999. // Retain the last probe position
  4000. xProbe = LOGICAL_X_POSITION(points[i].x);
  4001. yProbe = LOGICAL_Y_POSITION(points[i].y);
  4002. measured_z = points[i].z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
  4003. }
  4004. if (isnan(measured_z)) {
  4005. planner.abl_enabled = abl_should_enable;
  4006. return;
  4007. }
  4008. if (!dryrun) {
  4009. vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
  4010. if (planeNormal.z < 0) {
  4011. planeNormal.x *= -1;
  4012. planeNormal.y *= -1;
  4013. planeNormal.z *= -1;
  4014. }
  4015. planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  4016. // Can't re-enable (on error) until the new grid is written
  4017. abl_should_enable = false;
  4018. }
  4019. #endif // AUTO_BED_LEVELING_3POINT
  4020. // Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe.
  4021. if (STOW_PROBE()) {
  4022. planner.abl_enabled = abl_should_enable;
  4023. return;
  4024. }
  4025. #endif // !PROBE_MANUALLY
  4026. //
  4027. // G29 Finishing Code
  4028. //
  4029. // Unless this is a dry run, auto bed leveling will
  4030. // definitely be enabled after this point
  4031. //
  4032. // Restore state after probing
  4033. if (!faux) clean_up_after_endstop_or_probe_move();
  4034. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4035. if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
  4036. #endif
  4037. // Calculate leveling, print reports, correct the position
  4038. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  4039. if (!dryrun) extrapolate_unprobed_bed_level();
  4040. print_bilinear_leveling_grid();
  4041. refresh_bed_level();
  4042. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  4043. bed_level_virt_print();
  4044. #endif
  4045. #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
  4046. // For LINEAR leveling calculate matrix, print reports, correct the position
  4047. /**
  4048. * solve the plane equation ax + by + d = z
  4049. * A is the matrix with rows [x y 1] for all the probed points
  4050. * B is the vector of the Z positions
  4051. * the normal vector to the plane is formed by the coefficients of the
  4052. * plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
  4053. * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  4054. */
  4055. float plane_equation_coefficients[3];
  4056. qr_solve(plane_equation_coefficients, abl2, 3, eqnAMatrix, eqnBVector);
  4057. mean /= abl2;
  4058. if (verbose_level) {
  4059. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  4060. SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
  4061. SERIAL_PROTOCOLPGM(" b: ");
  4062. SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
  4063. SERIAL_PROTOCOLPGM(" d: ");
  4064. SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
  4065. SERIAL_EOL;
  4066. if (verbose_level > 2) {
  4067. SERIAL_PROTOCOLPGM("Mean of sampled points: ");
  4068. SERIAL_PROTOCOL_F(mean, 8);
  4069. SERIAL_EOL;
  4070. }
  4071. }
  4072. // Create the matrix but don't correct the position yet
  4073. if (!dryrun) {
  4074. planner.bed_level_matrix = matrix_3x3::create_look_at(
  4075. vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1)
  4076. );
  4077. }
  4078. // Show the Topography map if enabled
  4079. if (do_topography_map) {
  4080. SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n"
  4081. " +--- BACK --+\n"
  4082. " | |\n"
  4083. " L | (+) | R\n"
  4084. " E | | I\n"
  4085. " F | (-) N (+) | G\n"
  4086. " T | | H\n"
  4087. " | (-) | T\n"
  4088. " | |\n"
  4089. " O-- FRONT --+\n"
  4090. " (0,0)");
  4091. float min_diff = 999;
  4092. for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
  4093. for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
  4094. int ind = indexIntoAB[xx][yy];
  4095. float diff = eqnBVector[ind] - mean,
  4096. x_tmp = eqnAMatrix[ind + 0 * abl2],
  4097. y_tmp = eqnAMatrix[ind + 1 * abl2],
  4098. z_tmp = 0;
  4099. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  4100. NOMORE(min_diff, eqnBVector[ind] - z_tmp);
  4101. if (diff >= 0.0)
  4102. SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
  4103. else
  4104. SERIAL_PROTOCOLCHAR(' ');
  4105. SERIAL_PROTOCOL_F(diff, 5);
  4106. } // xx
  4107. SERIAL_EOL;
  4108. } // yy
  4109. SERIAL_EOL;
  4110. if (verbose_level > 3) {
  4111. SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:");
  4112. for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
  4113. for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
  4114. int ind = indexIntoAB[xx][yy];
  4115. float x_tmp = eqnAMatrix[ind + 0 * abl2],
  4116. y_tmp = eqnAMatrix[ind + 1 * abl2],
  4117. z_tmp = 0;
  4118. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  4119. float diff = eqnBVector[ind] - z_tmp - min_diff;
  4120. if (diff >= 0.0)
  4121. SERIAL_PROTOCOLPGM(" +");
  4122. // Include + for column alignment
  4123. else
  4124. SERIAL_PROTOCOLCHAR(' ');
  4125. SERIAL_PROTOCOL_F(diff, 5);
  4126. } // xx
  4127. SERIAL_EOL;
  4128. } // yy
  4129. SERIAL_EOL;
  4130. }
  4131. } //do_topography_map
  4132. #endif // AUTO_BED_LEVELING_LINEAR
  4133. #if ABL_PLANAR
  4134. // For LINEAR and 3POINT leveling correct the current position
  4135. if (verbose_level > 0)
  4136. planner.bed_level_matrix.debug(PSTR("\n\nBed Level Correction Matrix:"));
  4137. if (!dryrun) {
  4138. //
  4139. // Correct the current XYZ position based on the tilted plane.
  4140. //
  4141. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4142. if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
  4143. #endif
  4144. float converted[XYZ];
  4145. COPY(converted, current_position);
  4146. planner.abl_enabled = true;
  4147. planner.unapply_leveling(converted); // use conversion machinery
  4148. planner.abl_enabled = false;
  4149. // Use the last measured distance to the bed, if possible
  4150. if ( NEAR(current_position[X_AXIS], xProbe - (X_PROBE_OFFSET_FROM_EXTRUDER))
  4151. && NEAR(current_position[Y_AXIS], yProbe - (Y_PROBE_OFFSET_FROM_EXTRUDER))
  4152. ) {
  4153. float simple_z = current_position[Z_AXIS] - measured_z;
  4154. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4155. if (DEBUGGING(LEVELING)) {
  4156. SERIAL_ECHOPAIR("Z from Probe:", simple_z);
  4157. SERIAL_ECHOPAIR(" Matrix:", converted[Z_AXIS]);
  4158. SERIAL_ECHOLNPAIR(" Discrepancy:", simple_z - converted[Z_AXIS]);
  4159. }
  4160. #endif
  4161. converted[Z_AXIS] = simple_z;
  4162. }
  4163. // The rotated XY and corrected Z are now current_position
  4164. COPY(current_position, converted);
  4165. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4166. if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
  4167. #endif
  4168. }
  4169. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  4170. if (!dryrun) {
  4171. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4172. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]);
  4173. #endif
  4174. // Unapply the offset because it is going to be immediately applied
  4175. // and cause compensation movement in Z
  4176. current_position[Z_AXIS] -= bilinear_z_offset(current_position);
  4177. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4178. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]);
  4179. #endif
  4180. }
  4181. #endif // ABL_PLANAR
  4182. #ifdef Z_PROBE_END_SCRIPT
  4183. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4184. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
  4185. #endif
  4186. enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
  4187. stepper.synchronize();
  4188. #endif
  4189. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4190. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29");
  4191. #endif
  4192. report_current_position();
  4193. KEEPALIVE_STATE(IN_HANDLER);
  4194. // Auto Bed Leveling is complete! Enable if possible.
  4195. planner.abl_enabled = dryrun ? abl_should_enable : true;
  4196. if (planner.abl_enabled)
  4197. SYNC_PLAN_POSITION_KINEMATIC();
  4198. }
  4199. #endif // HAS_ABL && !AUTO_BED_LEVELING_UBL
  4200. #if HAS_BED_PROBE
  4201. /**
  4202. * G30: Do a single Z probe at the current XY
  4203. *
  4204. * Parameters:
  4205. *
  4206. * X Probe X position (default current X)
  4207. * Y Probe Y position (default current Y)
  4208. * S0 Leave the probe deployed
  4209. */
  4210. inline void gcode_G30() {
  4211. const float xpos = code_seen('X') ? code_value_linear_units() : current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
  4212. ypos = code_seen('Y') ? code_value_linear_units() : current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
  4213. pos[XYZ] = { xpos, ypos, LOGICAL_Z_POSITION(0) };
  4214. if (!position_is_reachable(pos, true)) return;
  4215. // Disable leveling so the planner won't mess with us
  4216. #if HAS_LEVELING
  4217. set_bed_leveling_enabled(false);
  4218. #endif
  4219. setup_for_endstop_or_probe_move();
  4220. const float measured_z = probe_pt(xpos, ypos, !code_seen('S') || code_value_bool(), 1);
  4221. SERIAL_PROTOCOLPAIR("Bed X: ", FIXFLOAT(xpos));
  4222. SERIAL_PROTOCOLPAIR(" Y: ", FIXFLOAT(ypos));
  4223. SERIAL_PROTOCOLLNPAIR(" Z: ", FIXFLOAT(measured_z));
  4224. clean_up_after_endstop_or_probe_move();
  4225. report_current_position();
  4226. }
  4227. #if ENABLED(Z_PROBE_SLED)
  4228. /**
  4229. * G31: Deploy the Z probe
  4230. */
  4231. inline void gcode_G31() { DEPLOY_PROBE(); }
  4232. /**
  4233. * G32: Stow the Z probe
  4234. */
  4235. inline void gcode_G32() { STOW_PROBE(); }
  4236. #endif // Z_PROBE_SLED
  4237. #if ENABLED(DELTA_AUTO_CALIBRATION)
  4238. /**
  4239. * G33 - Delta '1-4-7-point' Auto-Calibration
  4240. * Calibrate height, endstops, delta radius, and tower angles.
  4241. *
  4242. * Parameters:
  4243. *
  4244. * P Number of probe points:
  4245. *
  4246. * P1 Probe center and set height only.
  4247. * P2 Probe center and towers. Set height, endstops, and delta radius.
  4248. * P3 Probe all positions: center, towers and opposite towers. Set all.
  4249. * P4-P7 Probe all positions at different locations and average them.
  4250. *
  4251. * A Abort delta height calibration after 1 probe (only P1)
  4252. *
  4253. * O Use opposite tower points instead of tower points (only P2)
  4254. *
  4255. * T Don't calibrate tower angle corrections (P3-P7)
  4256. *
  4257. * V Verbose level:
  4258. *
  4259. * V0 Dry-run mode. Report settings and probe results. No calibration.
  4260. * V1 Report settings
  4261. * V2 Report settings and probe results
  4262. */
  4263. inline void gcode_G33() {
  4264. const int8_t probe_points = code_seen('P') ? code_value_int() : DELTA_CALIBRATION_DEFAULT_POINTS;
  4265. if (!WITHIN(probe_points, 1, 7)) {
  4266. SERIAL_PROTOCOLLNPGM("?(P)oints is implausible (1 to 7).");
  4267. return;
  4268. }
  4269. const int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
  4270. if (!WITHIN(verbose_level, 0, 2)) {
  4271. SERIAL_PROTOCOLLNPGM("?(V)erbose Level is implausible (0-2).");
  4272. return;
  4273. }
  4274. const bool do_height_only = probe_points == 1,
  4275. do_center_and_towers = probe_points == 2,
  4276. do_all_positions = probe_points == 3,
  4277. do_circle_x2 = probe_points == 5,
  4278. do_circle_x3 = probe_points == 6,
  4279. do_circle_x4 = probe_points == 7,
  4280. probe_center_plus_3 = probe_points >= 3,
  4281. point_averaging = probe_points >= 4,
  4282. probe_center_plus_6 = probe_points >= 5;
  4283. const char negating_parameter = do_height_only ? 'A' : do_center_and_towers ? 'O' : 'T';
  4284. int8_t probe_mode = code_seen(negating_parameter) && code_value_bool() ? -probe_points : probe_points;
  4285. SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
  4286. #if HAS_LEVELING
  4287. set_bed_leveling_enabled(false);
  4288. #endif
  4289. home_all_axes();
  4290. const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
  4291. float test_precision,
  4292. zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
  4293. e_old[XYZ] = {
  4294. endstop_adj[A_AXIS],
  4295. endstop_adj[B_AXIS],
  4296. endstop_adj[C_AXIS]
  4297. },
  4298. dr_old = delta_radius,
  4299. zh_old = home_offset[Z_AXIS],
  4300. alpha_old = delta_tower_angle_trim[A_AXIS],
  4301. beta_old = delta_tower_angle_trim[B_AXIS];
  4302. // print settings
  4303. SERIAL_PROTOCOLPGM("Checking... AC");
  4304. if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
  4305. SERIAL_EOL;
  4306. LCD_MESSAGEPGM("Checking... AC");
  4307. SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
  4308. if (!do_height_only) {
  4309. SERIAL_PROTOCOLPGM(" Ex:");
  4310. if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
  4311. SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
  4312. SERIAL_PROTOCOLPGM(" Ey:");
  4313. if (endstop_adj[B_AXIS] >= 0) SERIAL_CHAR('+');
  4314. SERIAL_PROTOCOL_F(endstop_adj[B_AXIS], 2);
  4315. SERIAL_PROTOCOLPGM(" Ez:");
  4316. if (endstop_adj[C_AXIS] >= 0) SERIAL_CHAR('+');
  4317. SERIAL_PROTOCOL_F(endstop_adj[C_AXIS], 2);
  4318. SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
  4319. }
  4320. SERIAL_EOL;
  4321. if (probe_mode > 2) { // negative disables tower angles
  4322. SERIAL_PROTOCOLPGM(".Tower angle : Tx:");
  4323. if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
  4324. SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);
  4325. SERIAL_PROTOCOLPGM(" Ty:");
  4326. if (delta_tower_angle_trim[B_AXIS] >= 0) SERIAL_CHAR('+');
  4327. SERIAL_PROTOCOL_F(delta_tower_angle_trim[B_AXIS], 2);
  4328. SERIAL_PROTOCOLPGM(" Tz:+0.00");
  4329. SERIAL_EOL;
  4330. }
  4331. #if ENABLED(Z_PROBE_SLED)
  4332. DEPLOY_PROBE();
  4333. #endif
  4334. int8_t iterations = 0;
  4335. do {
  4336. float z_at_pt[13] = { 0 },
  4337. S1 = 0.0,
  4338. S2 = 0.0;
  4339. int16_t N = 0;
  4340. test_precision = zero_std_dev;
  4341. iterations++;
  4342. // Probe the points
  4343. if (!do_all_positions && !do_circle_x3) { // probe the center
  4344. setup_for_endstop_or_probe_move();
  4345. z_at_pt[0] += probe_pt(0.0, 0.0 , true, 1);
  4346. clean_up_after_endstop_or_probe_move();
  4347. }
  4348. if (probe_center_plus_3) { // probe extra center points
  4349. for (int8_t axis = probe_center_plus_6 ? 11 : 9; axis > 0; axis -= probe_center_plus_6 ? 2 : 4) {
  4350. setup_for_endstop_or_probe_move();
  4351. z_at_pt[0] += probe_pt(
  4352. cos(RADIANS(180 + 30 * axis)) * (0.1 * delta_calibration_radius),
  4353. sin(RADIANS(180 + 30 * axis)) * (0.1 * delta_calibration_radius), true, 1);
  4354. clean_up_after_endstop_or_probe_move();
  4355. }
  4356. z_at_pt[0] /= float(do_circle_x2 ? 7 : probe_points);
  4357. }
  4358. if (!do_height_only) { // probe the radius
  4359. bool zig_zag = true;
  4360. for (uint8_t axis = (probe_mode == -2 ? 3 : 1); axis < 13;
  4361. axis += (do_center_and_towers ? 4 : do_all_positions ? 2 : 1)) {
  4362. float offset_circles = (do_circle_x4 ? (zig_zag ? 1.5 : 1.0) :
  4363. do_circle_x3 ? (zig_zag ? 1.0 : 0.5) :
  4364. do_circle_x2 ? (zig_zag ? 0.5 : 0.0) : 0);
  4365. for (float circles = -offset_circles ; circles <= offset_circles; circles++) {
  4366. setup_for_endstop_or_probe_move();
  4367. z_at_pt[axis] += probe_pt(
  4368. cos(RADIANS(180 + 30 * axis)) * delta_calibration_radius *
  4369. (1 + circles * 0.1 * (zig_zag ? 1 : -1)),
  4370. sin(RADIANS(180 + 30 * axis)) * delta_calibration_radius *
  4371. (1 + circles * 0.1 * (zig_zag ? 1 : -1)), true, 1);
  4372. clean_up_after_endstop_or_probe_move();
  4373. }
  4374. zig_zag = !zig_zag;
  4375. z_at_pt[axis] /= (2 * offset_circles + 1);
  4376. }
  4377. }
  4378. if (point_averaging) // average intermediates to tower and opposites
  4379. for (uint8_t axis = 1; axis <= 11; axis += 2)
  4380. z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0;
  4381. S1 += z_at_pt[0];
  4382. S2 += sq(z_at_pt[0]);
  4383. N++;
  4384. if (!do_height_only) // std dev from zero plane
  4385. for (uint8_t axis = (probe_mode == -2 ? 3 : 1); axis < 13; axis += (do_center_and_towers ? 4 : 2)) {
  4386. S1 += z_at_pt[axis];
  4387. S2 += sq(z_at_pt[axis]);
  4388. N++;
  4389. }
  4390. zero_std_dev = round(sqrt(S2 / N) * 1000.0) / 1000.0 + 0.00001;
  4391. // Solve matrices
  4392. if (zero_std_dev < test_precision) {
  4393. COPY(e_old, endstop_adj);
  4394. dr_old = delta_radius;
  4395. zh_old = home_offset[Z_AXIS];
  4396. alpha_old = delta_tower_angle_trim[A_AXIS];
  4397. beta_old = delta_tower_angle_trim[B_AXIS];
  4398. float e_delta[XYZ] = { 0.0 }, r_delta = 0.0,
  4399. t_alpha = 0.0, t_beta = 0.0;
  4400. const float r_diff = delta_radius - delta_calibration_radius,
  4401. h_factor = 1.00 + r_diff * 0.001, //1.02 for r_diff = 20mm
  4402. r_factor = -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), //2.25 for r_diff = 20mm
  4403. a_factor = 100.0 / delta_calibration_radius; //1.25 for cal_rd = 80mm
  4404. #define ZP(N,I) ((N) * z_at_pt[I])
  4405. #define Z1000(I) ZP(1.00, I)
  4406. #define Z1050(I) ZP(h_factor, I)
  4407. #define Z0700(I) ZP(h_factor * 2.0 / 3.00, I)
  4408. #define Z0350(I) ZP(h_factor / 3.00, I)
  4409. #define Z0175(I) ZP(h_factor / 6.00, I)
  4410. #define Z2250(I) ZP(r_factor, I)
  4411. #define Z0750(I) ZP(r_factor / 3.00, I)
  4412. #define Z0375(I) ZP(r_factor / 6.00, I)
  4413. #define Z0444(I) ZP(a_factor * 4.0 / 9.0, I)
  4414. #define Z0888(I) ZP(a_factor * 8.0 / 9.0, I)
  4415. switch (probe_mode) {
  4416. case -1:
  4417. test_precision = 0.00;
  4418. case 1:
  4419. LOOP_XYZ(i) e_delta[i] = Z1000(0);
  4420. break;
  4421. case 2:
  4422. e_delta[X_AXIS] = Z1050(0) + Z0700(1) - Z0350(5) - Z0350(9);
  4423. e_delta[Y_AXIS] = Z1050(0) - Z0350(1) + Z0700(5) - Z0350(9);
  4424. e_delta[Z_AXIS] = Z1050(0) - Z0350(1) - Z0350(5) + Z0700(9);
  4425. r_delta = Z2250(0) - Z0750(1) - Z0750(5) - Z0750(9);
  4426. break;
  4427. case -2:
  4428. e_delta[X_AXIS] = Z1050(0) - Z0700(7) + Z0350(11) + Z0350(3);
  4429. e_delta[Y_AXIS] = Z1050(0) + Z0350(7) - Z0700(11) + Z0350(3);
  4430. e_delta[Z_AXIS] = Z1050(0) + Z0350(7) + Z0350(11) - Z0700(3);
  4431. r_delta = Z2250(0) - Z0750(7) - Z0750(11) - Z0750(3);
  4432. break;
  4433. default:
  4434. e_delta[X_AXIS] = Z1050(0) + Z0350(1) - Z0175(5) - Z0175(9) - Z0350(7) + Z0175(11) + Z0175(3);
  4435. e_delta[Y_AXIS] = Z1050(0) - Z0175(1) + Z0350(5) - Z0175(9) + Z0175(7) - Z0350(11) + Z0175(3);
  4436. e_delta[Z_AXIS] = Z1050(0) - Z0175(1) - Z0175(5) + Z0350(9) + Z0175(7) + Z0175(11) - Z0350(3);
  4437. r_delta = Z2250(0) - Z0375(1) - Z0375(5) - Z0375(9) - Z0375(7) - Z0375(11) - Z0375(3);
  4438. if (probe_mode > 0) { // negative disables tower angles
  4439. t_alpha = + Z0444(1) - Z0888(5) + Z0444(9) + Z0444(7) - Z0888(11) + Z0444(3);
  4440. t_beta = - Z0888(1) + Z0444(5) + Z0444(9) - Z0888(7) + Z0444(11) + Z0444(3);
  4441. }
  4442. break;
  4443. }
  4444. LOOP_XYZ(axis) endstop_adj[axis] += e_delta[axis];
  4445. delta_radius += r_delta;
  4446. delta_tower_angle_trim[A_AXIS] += t_alpha;
  4447. delta_tower_angle_trim[B_AXIS] -= t_beta;
  4448. // adjust delta_height and endstops by the max amount
  4449. const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
  4450. home_offset[Z_AXIS] -= z_temp;
  4451. LOOP_XYZ(i) endstop_adj[i] -= z_temp;
  4452. recalc_delta_settings(delta_radius, delta_diagonal_rod);
  4453. }
  4454. else { // step one back
  4455. COPY(endstop_adj, e_old);
  4456. delta_radius = dr_old;
  4457. home_offset[Z_AXIS] = zh_old;
  4458. delta_tower_angle_trim[A_AXIS] = alpha_old;
  4459. delta_tower_angle_trim[B_AXIS] = beta_old;
  4460. recalc_delta_settings(delta_radius, delta_diagonal_rod);
  4461. }
  4462. // print report
  4463. if (verbose_level != 1) {
  4464. SERIAL_PROTOCOLPGM(". c:");
  4465. if (z_at_pt[0] > 0) SERIAL_CHAR('+');
  4466. SERIAL_PROTOCOL_F(z_at_pt[0], 2);
  4467. if (probe_mode == 2 || probe_center_plus_3) {
  4468. SERIAL_PROTOCOLPGM(" x:");
  4469. if (z_at_pt[1] >= 0) SERIAL_CHAR('+');
  4470. SERIAL_PROTOCOL_F(z_at_pt[1], 2);
  4471. SERIAL_PROTOCOLPGM(" y:");
  4472. if (z_at_pt[5] >= 0) SERIAL_CHAR('+');
  4473. SERIAL_PROTOCOL_F(z_at_pt[5], 2);
  4474. SERIAL_PROTOCOLPGM(" z:");
  4475. if (z_at_pt[9] >= 0) SERIAL_CHAR('+');
  4476. SERIAL_PROTOCOL_F(z_at_pt[9], 2);
  4477. }
  4478. if (probe_mode != -2) SERIAL_EOL;
  4479. if (probe_mode == -2 || probe_center_plus_3) {
  4480. if (probe_center_plus_3) {
  4481. SERIAL_CHAR('.');
  4482. SERIAL_PROTOCOL_SP(13);
  4483. }
  4484. SERIAL_PROTOCOLPGM(" yz:");
  4485. if (z_at_pt[7] >= 0) SERIAL_CHAR('+');
  4486. SERIAL_PROTOCOL_F(z_at_pt[7], 2);
  4487. SERIAL_PROTOCOLPGM(" zx:");
  4488. if (z_at_pt[11] >= 0) SERIAL_CHAR('+');
  4489. SERIAL_PROTOCOL_F(z_at_pt[11], 2);
  4490. SERIAL_PROTOCOLPGM(" xy:");
  4491. if (z_at_pt[3] >= 0) SERIAL_CHAR('+');
  4492. SERIAL_PROTOCOL_F(z_at_pt[3], 2);
  4493. SERIAL_EOL;
  4494. }
  4495. }
  4496. if (test_precision != 0.0) { // !forced end
  4497. if (zero_std_dev >= test_precision) { // end iterations
  4498. SERIAL_PROTOCOLPGM("Calibration OK");
  4499. SERIAL_PROTOCOL_SP(36);
  4500. SERIAL_PROTOCOLPGM("rolling back.");
  4501. SERIAL_EOL;
  4502. LCD_MESSAGEPGM("Calibration OK");
  4503. }
  4504. else { // !end iterations
  4505. char mess[15] = "No convergence";
  4506. if (iterations < 31)
  4507. sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations);
  4508. SERIAL_PROTOCOL(mess);
  4509. SERIAL_PROTOCOL_SP(36);
  4510. SERIAL_PROTOCOLPGM("std dev:");
  4511. SERIAL_PROTOCOL_F(zero_std_dev, 3);
  4512. SERIAL_EOL;
  4513. lcd_setstatus(mess);
  4514. }
  4515. SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
  4516. if (!do_height_only) {
  4517. SERIAL_PROTOCOLPGM(" Ex:");
  4518. if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
  4519. SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
  4520. SERIAL_PROTOCOLPGM(" Ey:");
  4521. if (endstop_adj[B_AXIS] >= 0) SERIAL_CHAR('+');
  4522. SERIAL_PROTOCOL_F(endstop_adj[B_AXIS], 2);
  4523. SERIAL_PROTOCOLPGM(" Ez:");
  4524. if (endstop_adj[C_AXIS] >= 0) SERIAL_CHAR('+');
  4525. SERIAL_PROTOCOL_F(endstop_adj[C_AXIS], 2);
  4526. SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
  4527. }
  4528. SERIAL_EOL;
  4529. if (probe_mode > 2) { // negative disables tower angles
  4530. SERIAL_PROTOCOLPGM(".Tower angle : Tx:");
  4531. if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
  4532. SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);
  4533. SERIAL_PROTOCOLPGM(" Ty:");
  4534. if (delta_tower_angle_trim[B_AXIS] >= 0) SERIAL_CHAR('+');
  4535. SERIAL_PROTOCOL_F(delta_tower_angle_trim[B_AXIS], 2);
  4536. SERIAL_PROTOCOLPGM(" Tz:+0.00");
  4537. SERIAL_EOL;
  4538. }
  4539. if (zero_std_dev >= test_precision)
  4540. serialprintPGM(save_message);
  4541. SERIAL_EOL;
  4542. }
  4543. else { // forced end
  4544. if (verbose_level == 0) {
  4545. SERIAL_PROTOCOLPGM("End DRY-RUN");
  4546. SERIAL_PROTOCOL_SP(39);
  4547. SERIAL_PROTOCOLPGM("std dev:");
  4548. SERIAL_PROTOCOL_F(zero_std_dev, 3);
  4549. SERIAL_EOL;
  4550. }
  4551. else {
  4552. SERIAL_PROTOCOLLNPGM("Calibration OK");
  4553. LCD_MESSAGEPGM("Calibration OK");
  4554. SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
  4555. SERIAL_EOL;
  4556. serialprintPGM(save_message);
  4557. SERIAL_EOL;
  4558. }
  4559. }
  4560. stepper.synchronize();
  4561. home_all_axes();
  4562. } while (zero_std_dev < test_precision && iterations < 31);
  4563. #if ENABLED(Z_PROBE_SLED)
  4564. RETRACT_PROBE();
  4565. #endif
  4566. }
  4567. #endif // DELTA_AUTO_CALIBRATION
  4568. #endif // HAS_BED_PROBE
  4569. #if ENABLED(G38_PROBE_TARGET)
  4570. static bool G38_run_probe() {
  4571. bool G38_pass_fail = false;
  4572. // Get direction of move and retract
  4573. float retract_mm[XYZ];
  4574. LOOP_XYZ(i) {
  4575. float dist = destination[i] - current_position[i];
  4576. retract_mm[i] = fabs(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm((AxisEnum)i) * (dist > 0 ? -1 : 1);
  4577. }
  4578. stepper.synchronize(); // wait until the machine is idle
  4579. // Move until destination reached or target hit
  4580. endstops.enable(true);
  4581. G38_move = true;
  4582. G38_endstop_hit = false;
  4583. prepare_move_to_destination();
  4584. stepper.synchronize();
  4585. G38_move = false;
  4586. endstops.hit_on_purpose();
  4587. set_current_from_steppers_for_axis(ALL_AXES);
  4588. SYNC_PLAN_POSITION_KINEMATIC();
  4589. if (G38_endstop_hit) {
  4590. G38_pass_fail = true;
  4591. #if ENABLED(PROBE_DOUBLE_TOUCH)
  4592. // Move away by the retract distance
  4593. set_destination_to_current();
  4594. LOOP_XYZ(i) destination[i] += retract_mm[i];
  4595. endstops.enable(false);
  4596. prepare_move_to_destination();
  4597. stepper.synchronize();
  4598. feedrate_mm_s /= 4;
  4599. // Bump the target more slowly
  4600. LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
  4601. endstops.enable(true);
  4602. G38_move = true;
  4603. prepare_move_to_destination();
  4604. stepper.synchronize();
  4605. G38_move = false;
  4606. set_current_from_steppers_for_axis(ALL_AXES);
  4607. SYNC_PLAN_POSITION_KINEMATIC();
  4608. #endif
  4609. }
  4610. endstops.hit_on_purpose();
  4611. endstops.not_homing();
  4612. return G38_pass_fail;
  4613. }
  4614. /**
  4615. * G38.2 - probe toward workpiece, stop on contact, signal error if failure
  4616. * G38.3 - probe toward workpiece, stop on contact
  4617. *
  4618. * Like G28 except uses Z min probe for all axes
  4619. */
  4620. inline void gcode_G38(bool is_38_2) {
  4621. // Get X Y Z E F
  4622. gcode_get_destination();
  4623. setup_for_endstop_or_probe_move();
  4624. // If any axis has enough movement, do the move
  4625. LOOP_XYZ(i)
  4626. if (fabs(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
  4627. if (!code_seen('F')) feedrate_mm_s = homing_feedrate_mm_s[i];
  4628. // If G38.2 fails throw an error
  4629. if (!G38_run_probe() && is_38_2) {
  4630. SERIAL_ERROR_START;
  4631. SERIAL_ERRORLNPGM("Failed to reach target");
  4632. }
  4633. break;
  4634. }
  4635. clean_up_after_endstop_or_probe_move();
  4636. }
  4637. #endif // G38_PROBE_TARGET
  4638. /**
  4639. * G92: Set current position to given X Y Z E
  4640. */
  4641. inline void gcode_G92() {
  4642. bool didXYZ = false,
  4643. didE = code_seen('E');
  4644. if (!didE) stepper.synchronize();
  4645. LOOP_XYZE(i) {
  4646. if (code_seen(axis_codes[i])) {
  4647. #if IS_SCARA
  4648. current_position[i] = code_value_axis_units((AxisEnum)i);
  4649. if (i != E_AXIS) didXYZ = true;
  4650. #else
  4651. #if HAS_POSITION_SHIFT
  4652. const float p = current_position[i];
  4653. #endif
  4654. float v = code_value_axis_units((AxisEnum)i);
  4655. current_position[i] = v;
  4656. if (i != E_AXIS) {
  4657. didXYZ = true;
  4658. #if HAS_POSITION_SHIFT
  4659. position_shift[i] += v - p; // Offset the coordinate space
  4660. update_software_endstops((AxisEnum)i);
  4661. #endif
  4662. }
  4663. #endif
  4664. }
  4665. }
  4666. if (didXYZ)
  4667. SYNC_PLAN_POSITION_KINEMATIC();
  4668. else if (didE)
  4669. sync_plan_position_e();
  4670. report_current_position();
  4671. }
  4672. #if HAS_RESUME_CONTINUE
  4673. /**
  4674. * M0: Unconditional stop - Wait for user button press on LCD
  4675. * M1: Conditional stop - Wait for user button press on LCD
  4676. */
  4677. inline void gcode_M0_M1() {
  4678. const char * const args = current_command_args;
  4679. millis_t codenum = 0;
  4680. bool hasP = false, hasS = false;
  4681. if (code_seen('P')) {
  4682. codenum = code_value_millis(); // milliseconds to wait
  4683. hasP = codenum > 0;
  4684. }
  4685. if (code_seen('S')) {
  4686. codenum = code_value_millis_from_seconds(); // seconds to wait
  4687. hasS = codenum > 0;
  4688. }
  4689. #if ENABLED(ULTIPANEL)
  4690. if (!hasP && !hasS && *args != '\0')
  4691. lcd_setstatus(args, true);
  4692. else {
  4693. LCD_MESSAGEPGM(MSG_USERWAIT);
  4694. #if ENABLED(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
  4695. dontExpireStatus();
  4696. #endif
  4697. }
  4698. #else
  4699. if (!hasP && !hasS && *args != '\0') {
  4700. SERIAL_ECHO_START;
  4701. SERIAL_ECHOLN(args);
  4702. }
  4703. #endif
  4704. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4705. wait_for_user = true;
  4706. stepper.synchronize();
  4707. refresh_cmd_timeout();
  4708. if (codenum > 0) {
  4709. codenum += previous_cmd_ms; // wait until this time for a click
  4710. while (PENDING(millis(), codenum) && wait_for_user) idle();
  4711. }
  4712. else {
  4713. #if ENABLED(ULTIPANEL)
  4714. if (lcd_detected()) {
  4715. while (wait_for_user) idle();
  4716. IS_SD_PRINTING ? LCD_MESSAGEPGM(MSG_RESUMING) : LCD_MESSAGEPGM(WELCOME_MSG);
  4717. }
  4718. #else
  4719. while (wait_for_user) idle();
  4720. #endif
  4721. }
  4722. wait_for_user = false;
  4723. KEEPALIVE_STATE(IN_HANDLER);
  4724. }
  4725. #endif // HAS_RESUME_CONTINUE
  4726. /**
  4727. * M17: Enable power on all stepper motors
  4728. */
  4729. inline void gcode_M17() {
  4730. LCD_MESSAGEPGM(MSG_NO_MOVE);
  4731. enable_all_steppers();
  4732. }
  4733. #if IS_KINEMATIC
  4734. #define RUNPLAN(RATE_MM_S) planner.buffer_line_kinematic(destination, RATE_MM_S, active_extruder)
  4735. #else
  4736. #define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S)
  4737. #endif
  4738. #if ENABLED(PARK_HEAD_ON_PAUSE)
  4739. float resume_position[XYZE];
  4740. bool move_away_flag = false;
  4741. inline void move_back_on_resume() {
  4742. if (!move_away_flag) return;
  4743. move_away_flag = false;
  4744. // Set extruder to saved position
  4745. destination[E_AXIS] = current_position[E_AXIS] = resume_position[E_AXIS];
  4746. planner.set_e_position_mm(current_position[E_AXIS]);
  4747. #if IS_KINEMATIC
  4748. // Move XYZ to starting position
  4749. planner.buffer_line_kinematic(lastpos, FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
  4750. #else
  4751. // Move XY to starting position, then Z
  4752. destination[X_AXIS] = resume_position[X_AXIS];
  4753. destination[Y_AXIS] = resume_position[Y_AXIS];
  4754. RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
  4755. destination[Z_AXIS] = resume_position[Z_AXIS];
  4756. RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
  4757. #endif
  4758. stepper.synchronize();
  4759. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  4760. filament_ran_out = false;
  4761. #endif
  4762. set_current_to_destination();
  4763. }
  4764. #endif // PARK_HEAD_ON_PAUSE
  4765. #if ENABLED(SDSUPPORT)
  4766. /**
  4767. * M20: List SD card to serial output
  4768. */
  4769. inline void gcode_M20() {
  4770. SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
  4771. card.ls();
  4772. SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
  4773. }
  4774. /**
  4775. * M21: Init SD Card
  4776. */
  4777. inline void gcode_M21() { card.initsd(); }
  4778. /**
  4779. * M22: Release SD Card
  4780. */
  4781. inline void gcode_M22() { card.release(); }
  4782. /**
  4783. * M23: Open a file
  4784. */
  4785. inline void gcode_M23() { card.openFile(current_command_args, true); }
  4786. /**
  4787. * M24: Start or Resume SD Print
  4788. */
  4789. inline void gcode_M24() {
  4790. #if ENABLED(PARK_HEAD_ON_PAUSE)
  4791. move_back_on_resume();
  4792. #endif
  4793. card.startFileprint();
  4794. print_job_timer.start();
  4795. }
  4796. /**
  4797. * M25: Pause SD Print
  4798. */
  4799. inline void gcode_M25() {
  4800. card.pauseSDPrint();
  4801. print_job_timer.pause();
  4802. #if ENABLED(PARK_HEAD_ON_PAUSE)
  4803. enqueue_and_echo_commands_P(PSTR("M125")); // Must be enqueued with pauseSDPrint set to be last in the buffer
  4804. #endif
  4805. }
  4806. /**
  4807. * M26: Set SD Card file index
  4808. */
  4809. inline void gcode_M26() {
  4810. if (card.cardOK && code_seen('S'))
  4811. card.setIndex(code_value_long());
  4812. }
  4813. /**
  4814. * M27: Get SD Card status
  4815. */
  4816. inline void gcode_M27() { card.getStatus(); }
  4817. /**
  4818. * M28: Start SD Write
  4819. */
  4820. inline void gcode_M28() { card.openFile(current_command_args, false); }
  4821. /**
  4822. * M29: Stop SD Write
  4823. * Processed in write to file routine above
  4824. */
  4825. inline void gcode_M29() {
  4826. // card.saving = false;
  4827. }
  4828. /**
  4829. * M30 <filename>: Delete SD Card file
  4830. */
  4831. inline void gcode_M30() {
  4832. if (card.cardOK) {
  4833. card.closefile();
  4834. card.removeFile(current_command_args);
  4835. }
  4836. }
  4837. #endif // SDSUPPORT
  4838. /**
  4839. * M31: Get the time since the start of SD Print (or last M109)
  4840. */
  4841. inline void gcode_M31() {
  4842. char buffer[21];
  4843. duration_t elapsed = print_job_timer.duration();
  4844. elapsed.toString(buffer);
  4845. lcd_setstatus(buffer);
  4846. SERIAL_ECHO_START;
  4847. SERIAL_ECHOLNPAIR("Print time: ", buffer);
  4848. #if ENABLED(AUTOTEMP)
  4849. thermalManager.autotempShutdown();
  4850. #endif
  4851. }
  4852. #if ENABLED(SDSUPPORT)
  4853. /**
  4854. * M32: Select file and start SD Print
  4855. */
  4856. inline void gcode_M32() {
  4857. if (card.sdprinting)
  4858. stepper.synchronize();
  4859. char* namestartpos = strchr(current_command_args, '!'); // Find ! to indicate filename string start.
  4860. if (!namestartpos)
  4861. namestartpos = current_command_args; // Default name position, 4 letters after the M
  4862. else
  4863. namestartpos++; //to skip the '!'
  4864. bool call_procedure = code_seen('P') && (seen_pointer < namestartpos);
  4865. if (card.cardOK) {
  4866. card.openFile(namestartpos, true, call_procedure);
  4867. if (code_seen('S') && seen_pointer < namestartpos) // "S" (must occur _before_ the filename!)
  4868. card.setIndex(code_value_long());
  4869. card.startFileprint();
  4870. // Procedure calls count as normal print time.
  4871. if (!call_procedure) print_job_timer.start();
  4872. }
  4873. }
  4874. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  4875. /**
  4876. * M33: Get the long full path of a file or folder
  4877. *
  4878. * Parameters:
  4879. * <dospath> Case-insensitive DOS-style path to a file or folder
  4880. *
  4881. * Example:
  4882. * M33 miscel~1/armchair/armcha~1.gco
  4883. *
  4884. * Output:
  4885. * /Miscellaneous/Armchair/Armchair.gcode
  4886. */
  4887. inline void gcode_M33() {
  4888. card.printLongPath(current_command_args);
  4889. }
  4890. #endif
  4891. #if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
  4892. /**
  4893. * M34: Set SD Card Sorting Options
  4894. */
  4895. inline void gcode_M34() {
  4896. if (code_seen('S')) card.setSortOn(code_value_bool());
  4897. if (code_seen('F')) {
  4898. int v = code_value_long();
  4899. card.setSortFolders(v < 0 ? -1 : v > 0 ? 1 : 0);
  4900. }
  4901. //if (code_seen('R')) card.setSortReverse(code_value_bool());
  4902. }
  4903. #endif // SDCARD_SORT_ALPHA && SDSORT_GCODE
  4904. /**
  4905. * M928: Start SD Write
  4906. */
  4907. inline void gcode_M928() {
  4908. card.openLogFile(current_command_args);
  4909. }
  4910. #endif // SDSUPPORT
  4911. /**
  4912. * Sensitive pin test for M42, M226
  4913. */
  4914. static bool pin_is_protected(uint8_t pin) {
  4915. static const int sensitive_pins[] = SENSITIVE_PINS;
  4916. for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
  4917. if (sensitive_pins[i] == pin) return true;
  4918. return false;
  4919. }
  4920. /**
  4921. * M42: Change pin status via GCode
  4922. *
  4923. * P<pin> Pin number (LED if omitted)
  4924. * S<byte> Pin status from 0 - 255
  4925. */
  4926. inline void gcode_M42() {
  4927. if (!code_seen('S')) return;
  4928. int pin_status = code_value_int();
  4929. if (!WITHIN(pin_status, 0, 255)) return;
  4930. int pin_number = code_seen('P') ? code_value_int() : LED_PIN;
  4931. if (pin_number < 0) return;
  4932. if (pin_is_protected(pin_number)) {
  4933. SERIAL_ERROR_START;
  4934. SERIAL_ERRORLNPGM(MSG_ERR_PROTECTED_PIN);
  4935. return;
  4936. }
  4937. pinMode(pin_number, OUTPUT);
  4938. digitalWrite(pin_number, pin_status);
  4939. analogWrite(pin_number, pin_status);
  4940. #if FAN_COUNT > 0
  4941. switch (pin_number) {
  4942. #if HAS_FAN0
  4943. case FAN_PIN: fanSpeeds[0] = pin_status; break;
  4944. #endif
  4945. #if HAS_FAN1
  4946. case FAN1_PIN: fanSpeeds[1] = pin_status; break;
  4947. #endif
  4948. #if HAS_FAN2
  4949. case FAN2_PIN: fanSpeeds[2] = pin_status; break;
  4950. #endif
  4951. }
  4952. #endif
  4953. }
  4954. #if ENABLED(PINS_DEBUGGING)
  4955. #include "pinsDebug.h"
  4956. inline void toggle_pins() {
  4957. const bool I_flag = code_seen('I') && code_value_bool();
  4958. const int repeat = code_seen('R') ? code_value_int() : 1,
  4959. start = code_seen('S') ? code_value_int() : 0,
  4960. end = code_seen('E') ? code_value_int() : NUM_DIGITAL_PINS - 1,
  4961. wait = code_seen('W') ? code_value_int() : 500;
  4962. for (uint8_t pin = start; pin <= end; pin++) {
  4963. if (!I_flag && pin_is_protected(pin)) {
  4964. SERIAL_ECHOPAIR("Sensitive Pin: ", pin);
  4965. SERIAL_ECHOLNPGM(" untouched.");
  4966. }
  4967. else {
  4968. SERIAL_ECHOPAIR("Pulsing Pin: ", pin);
  4969. pinMode(pin, OUTPUT);
  4970. for (int16_t j = 0; j < repeat; j++) {
  4971. digitalWrite(pin, 0);
  4972. safe_delay(wait);
  4973. digitalWrite(pin, 1);
  4974. safe_delay(wait);
  4975. digitalWrite(pin, 0);
  4976. safe_delay(wait);
  4977. }
  4978. }
  4979. SERIAL_CHAR('\n');
  4980. }
  4981. SERIAL_ECHOLNPGM("Done.");
  4982. } // toggle_pins
  4983. inline void servo_probe_test() {
  4984. #if !(NUM_SERVOS > 0 && HAS_SERVO_0)
  4985. SERIAL_ERROR_START;
  4986. SERIAL_ERRORLNPGM("SERVO not setup");
  4987. #elif !HAS_Z_SERVO_ENDSTOP
  4988. SERIAL_ERROR_START;
  4989. SERIAL_ERRORLNPGM("Z_ENDSTOP_SERVO_NR not setup");
  4990. #else
  4991. const uint8_t probe_index = code_seen('P') ? code_value_byte() : Z_ENDSTOP_SERVO_NR;
  4992. SERIAL_PROTOCOLLNPGM("Servo probe test");
  4993. SERIAL_PROTOCOLLNPAIR(". using index: ", probe_index);
  4994. SERIAL_PROTOCOLLNPAIR(". deploy angle: ", z_servo_angle[0]);
  4995. SERIAL_PROTOCOLLNPAIR(". stow angle: ", z_servo_angle[1]);
  4996. bool probe_inverting;
  4997. #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
  4998. #define PROBE_TEST_PIN Z_MIN_PIN
  4999. SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN pin: ", PROBE_TEST_PIN);
  5000. SERIAL_PROTOCOLLNPGM(". uses Z_MIN_ENDSTOP_INVERTING (ignores Z_MIN_PROBE_ENDSTOP_INVERTING)");
  5001. SERIAL_PROTOCOLPGM(". Z_MIN_ENDSTOP_INVERTING: ");
  5002. #if Z_MIN_ENDSTOP_INVERTING
  5003. SERIAL_PROTOCOLLNPGM("true");
  5004. #else
  5005. SERIAL_PROTOCOLLNPGM("false");
  5006. #endif
  5007. probe_inverting = Z_MIN_ENDSTOP_INVERTING;
  5008. #elif ENABLED(Z_MIN_PROBE_ENDSTOP)
  5009. #define PROBE_TEST_PIN Z_MIN_PROBE_PIN
  5010. SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN_PROBE_PIN: ", PROBE_TEST_PIN);
  5011. SERIAL_PROTOCOLLNPGM(". uses Z_MIN_PROBE_ENDSTOP_INVERTING (ignores Z_MIN_ENDSTOP_INVERTING)");
  5012. SERIAL_PROTOCOLPGM(". Z_MIN_PROBE_ENDSTOP_INVERTING: ");
  5013. #if Z_MIN_PROBE_ENDSTOP_INVERTING
  5014. SERIAL_PROTOCOLLNPGM("true");
  5015. #else
  5016. SERIAL_PROTOCOLLNPGM("false");
  5017. #endif
  5018. probe_inverting = Z_MIN_PROBE_ENDSTOP_INVERTING;
  5019. #endif
  5020. SERIAL_PROTOCOLLNPGM(". deploy & stow 4 times");
  5021. pinMode(PROBE_TEST_PIN, INPUT_PULLUP);
  5022. bool deploy_state;
  5023. bool stow_state;
  5024. for (uint8_t i = 0; i < 4; i++) {
  5025. servo[probe_index].move(z_servo_angle[0]); //deploy
  5026. safe_delay(500);
  5027. deploy_state = digitalRead(PROBE_TEST_PIN);
  5028. servo[probe_index].move(z_servo_angle[1]); //stow
  5029. safe_delay(500);
  5030. stow_state = digitalRead(PROBE_TEST_PIN);
  5031. }
  5032. if (probe_inverting != deploy_state) SERIAL_PROTOCOLLNPGM("WARNING - INVERTING setting probably backwards");
  5033. refresh_cmd_timeout();
  5034. if (deploy_state != stow_state) {
  5035. SERIAL_PROTOCOLLNPGM("BLTouch clone detected");
  5036. if (deploy_state) {
  5037. SERIAL_PROTOCOLLNPGM(". DEPLOYED state: HIGH (logic 1)");
  5038. SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: LOW (logic 0)");
  5039. }
  5040. else {
  5041. SERIAL_PROTOCOLLNPGM(". DEPLOYED state: LOW (logic 0)");
  5042. SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: HIGH (logic 1)");
  5043. }
  5044. #if ENABLED(BLTOUCH)
  5045. SERIAL_PROTOCOLLNPGM("ERROR: BLTOUCH enabled - set this device up as a Z Servo Probe with inverting as true.");
  5046. #endif
  5047. }
  5048. else { // measure active signal length
  5049. servo[probe_index].move(z_servo_angle[0]); // deploy
  5050. safe_delay(500);
  5051. SERIAL_PROTOCOLLNPGM("please trigger probe");
  5052. uint16_t probe_counter = 0;
  5053. // Allow 30 seconds max for operator to trigger probe
  5054. for (uint16_t j = 0; j < 500 * 30 && probe_counter == 0 ; j++) {
  5055. safe_delay(2);
  5056. if (0 == j % (500 * 1)) // keep cmd_timeout happy
  5057. refresh_cmd_timeout();
  5058. if (deploy_state != digitalRead(PROBE_TEST_PIN)) { // probe triggered
  5059. for (probe_counter = 1; probe_counter < 50 && deploy_state != digitalRead(PROBE_TEST_PIN); ++probe_counter)
  5060. safe_delay(2);
  5061. if (probe_counter == 50)
  5062. SERIAL_PROTOCOLLNPGM("Z Servo Probe detected"); // >= 100mS active time
  5063. else if (probe_counter >= 2)
  5064. SERIAL_PROTOCOLLNPAIR("BLTouch compatible probe detected - pulse width (+/- 4mS): ", probe_counter * 2); // allow 4 - 100mS pulse
  5065. else
  5066. SERIAL_PROTOCOLLNPGM("noise detected - please re-run test"); // less than 2mS pulse
  5067. servo[probe_index].move(z_servo_angle[1]); //stow
  5068. } // pulse detected
  5069. } // for loop waiting for trigger
  5070. if (probe_counter == 0) SERIAL_PROTOCOLLNPGM("trigger not detected");
  5071. } // measure active signal length
  5072. #endif
  5073. } // servo_probe_test
  5074. /**
  5075. * M43: Pin debug - report pin state, watch pins, toggle pins and servo probe test/report
  5076. *
  5077. * M43 - report name and state of pin(s)
  5078. * P<pin> Pin to read or watch. If omitted, reads all pins.
  5079. * I Flag to ignore Marlin's pin protection.
  5080. *
  5081. * M43 W - Watch pins -reporting changes- until reset, click, or M108.
  5082. * P<pin> Pin to read or watch. If omitted, read/watch all pins.
  5083. * I Flag to ignore Marlin's pin protection.
  5084. *
  5085. * M43 E<bool> - Enable / disable background endstop monitoring
  5086. * - Machine continues to operate
  5087. * - Reports changes to endstops
  5088. * - Toggles LED when an endstop changes
  5089. * - Can not reliably catch the 5mS pulse from BLTouch type probes
  5090. *
  5091. * M43 T - Toggle pin(s) and report which pin is being toggled
  5092. * S<pin> - Start Pin number. If not given, will default to 0
  5093. * L<pin> - End Pin number. If not given, will default to last pin defined for this board
  5094. * I - Flag to ignore Marlin's pin protection. Use with caution!!!!
  5095. * R - Repeat pulses on each pin this number of times before continueing to next pin
  5096. * W - Wait time (in miliseconds) between pulses. If not given will default to 500
  5097. *
  5098. * M43 S - Servo probe test
  5099. * P<index> - Probe index (optional - defaults to 0
  5100. */
  5101. inline void gcode_M43() {
  5102. if (code_seen('T')) { // must be first ot else it's "S" and "E" parameters will execute endstop or servo test
  5103. toggle_pins();
  5104. return;
  5105. }
  5106. // Enable or disable endstop monitoring
  5107. if (code_seen('E')) {
  5108. endstop_monitor_flag = code_value_bool();
  5109. SERIAL_PROTOCOLPGM("endstop monitor ");
  5110. SERIAL_PROTOCOL(endstop_monitor_flag ? "en" : "dis");
  5111. SERIAL_PROTOCOLLNPGM("abled");
  5112. return;
  5113. }
  5114. if (code_seen('S')) {
  5115. servo_probe_test();
  5116. return;
  5117. }
  5118. // Get the range of pins to test or watch
  5119. const uint8_t first_pin = code_seen('P') ? code_value_byte() : 0,
  5120. last_pin = code_seen('P') ? first_pin : NUM_DIGITAL_PINS - 1;
  5121. if (first_pin > last_pin) return;
  5122. const bool ignore_protection = code_seen('I') && code_value_bool();
  5123. // Watch until click, M108, or reset
  5124. if (code_seen('W') && code_value_bool()) {
  5125. SERIAL_PROTOCOLLNPGM("Watching pins");
  5126. byte pin_state[last_pin - first_pin + 1];
  5127. for (int8_t pin = first_pin; pin <= last_pin; pin++) {
  5128. if (pin_is_protected(pin) && !ignore_protection) continue;
  5129. pinMode(pin, INPUT_PULLUP);
  5130. /*
  5131. if (IS_ANALOG(pin))
  5132. pin_state[pin - first_pin] = analogRead(pin - analogInputToDigitalPin(0)); // int16_t pin_state[...]
  5133. else
  5134. //*/
  5135. pin_state[pin - first_pin] = digitalRead(pin);
  5136. }
  5137. #if HAS_RESUME_CONTINUE
  5138. wait_for_user = true;
  5139. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5140. #endif
  5141. for (;;) {
  5142. for (int8_t pin = first_pin; pin <= last_pin; pin++) {
  5143. if (pin_is_protected(pin)) continue;
  5144. const byte val =
  5145. /*
  5146. IS_ANALOG(pin)
  5147. ? analogRead(pin - analogInputToDigitalPin(0)) : // int16_t val
  5148. :
  5149. //*/
  5150. digitalRead(pin);
  5151. if (val != pin_state[pin - first_pin]) {
  5152. report_pin_state(pin);
  5153. pin_state[pin - first_pin] = val;
  5154. }
  5155. }
  5156. #if HAS_RESUME_CONTINUE
  5157. if (!wait_for_user) {
  5158. KEEPALIVE_STATE(IN_HANDLER);
  5159. break;
  5160. }
  5161. #endif
  5162. safe_delay(500);
  5163. }
  5164. return;
  5165. }
  5166. // Report current state of selected pin(s)
  5167. for (uint8_t pin = first_pin; pin <= last_pin; pin++)
  5168. report_pin_state_extended(pin, ignore_protection);
  5169. }
  5170. #endif // PINS_DEBUGGING
  5171. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  5172. /**
  5173. * M48: Z probe repeatability measurement function.
  5174. *
  5175. * Usage:
  5176. * M48 <P#> <X#> <Y#> <V#> <E> <L#>
  5177. * P = Number of sampled points (4-50, default 10)
  5178. * X = Sample X position
  5179. * Y = Sample Y position
  5180. * V = Verbose level (0-4, default=1)
  5181. * E = Engage Z probe for each reading
  5182. * L = Number of legs of movement before probe
  5183. * S = Schizoid (Or Star if you prefer)
  5184. *
  5185. * This function assumes the bed has been homed. Specifically, that a G28 command
  5186. * as been issued prior to invoking the M48 Z probe repeatability measurement function.
  5187. * Any information generated by a prior G29 Bed leveling command will be lost and need to be
  5188. * regenerated.
  5189. */
  5190. inline void gcode_M48() {
  5191. if (axis_unhomed_error(true, true, true)) return;
  5192. const int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
  5193. if (!WITHIN(verbose_level, 0, 4)) {
  5194. SERIAL_PROTOCOLLNPGM("?Verbose Level not plausible (0-4).");
  5195. return;
  5196. }
  5197. if (verbose_level > 0)
  5198. SERIAL_PROTOCOLLNPGM("M48 Z-Probe Repeatability Test");
  5199. int8_t n_samples = code_seen('P') ? code_value_byte() : 10;
  5200. if (!WITHIN(n_samples, 4, 50)) {
  5201. SERIAL_PROTOCOLLNPGM("?Sample size not plausible (4-50).");
  5202. return;
  5203. }
  5204. float X_current = current_position[X_AXIS],
  5205. Y_current = current_position[Y_AXIS];
  5206. bool stow_probe_after_each = code_seen('E');
  5207. float X_probe_location = code_seen('X') ? code_value_linear_units() : X_current + X_PROBE_OFFSET_FROM_EXTRUDER;
  5208. #if DISABLED(DELTA)
  5209. if (!WITHIN(X_probe_location, LOGICAL_X_POSITION(MIN_PROBE_X), LOGICAL_X_POSITION(MAX_PROBE_X))) {
  5210. out_of_range_error(PSTR("X"));
  5211. return;
  5212. }
  5213. #endif
  5214. float Y_probe_location = code_seen('Y') ? code_value_linear_units() : Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER;
  5215. #if DISABLED(DELTA)
  5216. if (!WITHIN(Y_probe_location, LOGICAL_Y_POSITION(MIN_PROBE_Y), LOGICAL_Y_POSITION(MAX_PROBE_Y))) {
  5217. out_of_range_error(PSTR("Y"));
  5218. return;
  5219. }
  5220. #else
  5221. float pos[XYZ] = { X_probe_location, Y_probe_location, 0 };
  5222. if (!position_is_reachable(pos, true)) {
  5223. SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius.");
  5224. return;
  5225. }
  5226. #endif
  5227. bool seen_L = code_seen('L');
  5228. uint8_t n_legs = seen_L ? code_value_byte() : 0;
  5229. if (n_legs > 15) {
  5230. SERIAL_PROTOCOLLNPGM("?Number of legs in movement not plausible (0-15).");
  5231. return;
  5232. }
  5233. if (n_legs == 1) n_legs = 2;
  5234. bool schizoid_flag = code_seen('S');
  5235. if (schizoid_flag && !seen_L) n_legs = 7;
  5236. /**
  5237. * Now get everything to the specified probe point So we can safely do a
  5238. * probe to get us close to the bed. If the Z-Axis is far from the bed,
  5239. * we don't want to use that as a starting point for each probe.
  5240. */
  5241. if (verbose_level > 2)
  5242. SERIAL_PROTOCOLLNPGM("Positioning the probe...");
  5243. // Disable bed level correction in M48 because we want the raw data when we probe
  5244. #if HAS_LEVELING
  5245. const bool was_enabled =
  5246. #if ENABLED(AUTO_BED_LEVELING_UBL)
  5247. ubl.state.active
  5248. #elif ENABLED(MESH_BED_LEVELING)
  5249. mbl.active()
  5250. #else
  5251. planner.abl_enabled
  5252. #endif
  5253. ;
  5254. set_bed_leveling_enabled(false);
  5255. #endif
  5256. setup_for_endstop_or_probe_move();
  5257. // Move to the first point, deploy, and probe
  5258. probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
  5259. randomSeed(millis());
  5260. double mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
  5261. for (uint8_t n = 0; n < n_samples; n++) {
  5262. if (n_legs) {
  5263. int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
  5264. float angle = random(0.0, 360.0),
  5265. radius = random(
  5266. #if ENABLED(DELTA)
  5267. DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3
  5268. #else
  5269. 5, X_MAX_LENGTH / 8
  5270. #endif
  5271. );
  5272. if (verbose_level > 3) {
  5273. SERIAL_ECHOPAIR("Starting radius: ", radius);
  5274. SERIAL_ECHOPAIR(" angle: ", angle);
  5275. SERIAL_ECHOPGM(" Direction: ");
  5276. if (dir > 0) SERIAL_ECHOPGM("Counter-");
  5277. SERIAL_ECHOLNPGM("Clockwise");
  5278. }
  5279. for (uint8_t l = 0; l < n_legs - 1; l++) {
  5280. double delta_angle;
  5281. if (schizoid_flag)
  5282. // The points of a 5 point star are 72 degrees apart. We need to
  5283. // skip a point and go to the next one on the star.
  5284. delta_angle = dir * 2.0 * 72.0;
  5285. else
  5286. // If we do this line, we are just trying to move further
  5287. // around the circle.
  5288. delta_angle = dir * (float) random(25, 45);
  5289. angle += delta_angle;
  5290. while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
  5291. angle -= 360.0; // Arduino documentation says the trig functions should not be given values
  5292. while (angle < 0.0) // outside of this range. It looks like they behave correctly with
  5293. angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
  5294. X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
  5295. Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
  5296. #if DISABLED(DELTA)
  5297. X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
  5298. Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
  5299. #else
  5300. // If we have gone out too far, we can do a simple fix and scale the numbers
  5301. // back in closer to the origin.
  5302. while (HYPOT(X_current, Y_current) > DELTA_PROBEABLE_RADIUS) {
  5303. X_current *= 0.8;
  5304. Y_current *= 0.8;
  5305. if (verbose_level > 3) {
  5306. SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
  5307. SERIAL_ECHOLNPAIR(", ", Y_current);
  5308. }
  5309. }
  5310. #endif
  5311. if (verbose_level > 3) {
  5312. SERIAL_PROTOCOLPGM("Going to:");
  5313. SERIAL_ECHOPAIR(" X", X_current);
  5314. SERIAL_ECHOPAIR(" Y", Y_current);
  5315. SERIAL_ECHOLNPAIR(" Z", current_position[Z_AXIS]);
  5316. }
  5317. do_blocking_move_to_xy(X_current, Y_current);
  5318. } // n_legs loop
  5319. } // n_legs
  5320. // Probe a single point
  5321. sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, 0);
  5322. /**
  5323. * Get the current mean for the data points we have so far
  5324. */
  5325. double sum = 0.0;
  5326. for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
  5327. mean = sum / (n + 1);
  5328. NOMORE(min, sample_set[n]);
  5329. NOLESS(max, sample_set[n]);
  5330. /**
  5331. * Now, use that mean to calculate the standard deviation for the
  5332. * data points we have so far
  5333. */
  5334. sum = 0.0;
  5335. for (uint8_t j = 0; j <= n; j++)
  5336. sum += sq(sample_set[j] - mean);
  5337. sigma = sqrt(sum / (n + 1));
  5338. if (verbose_level > 0) {
  5339. if (verbose_level > 1) {
  5340. SERIAL_PROTOCOL(n + 1);
  5341. SERIAL_PROTOCOLPGM(" of ");
  5342. SERIAL_PROTOCOL((int)n_samples);
  5343. SERIAL_PROTOCOLPGM(": z: ");
  5344. SERIAL_PROTOCOL_F(sample_set[n], 3);
  5345. if (verbose_level > 2) {
  5346. SERIAL_PROTOCOLPGM(" mean: ");
  5347. SERIAL_PROTOCOL_F(mean, 4);
  5348. SERIAL_PROTOCOLPGM(" sigma: ");
  5349. SERIAL_PROTOCOL_F(sigma, 6);
  5350. SERIAL_PROTOCOLPGM(" min: ");
  5351. SERIAL_PROTOCOL_F(min, 3);
  5352. SERIAL_PROTOCOLPGM(" max: ");
  5353. SERIAL_PROTOCOL_F(max, 3);
  5354. SERIAL_PROTOCOLPGM(" range: ");
  5355. SERIAL_PROTOCOL_F(max-min, 3);
  5356. }
  5357. SERIAL_EOL;
  5358. }
  5359. }
  5360. } // End of probe loop
  5361. if (STOW_PROBE()) return;
  5362. SERIAL_PROTOCOLPGM("Finished!");
  5363. SERIAL_EOL;
  5364. if (verbose_level > 0) {
  5365. SERIAL_PROTOCOLPGM("Mean: ");
  5366. SERIAL_PROTOCOL_F(mean, 6);
  5367. SERIAL_PROTOCOLPGM(" Min: ");
  5368. SERIAL_PROTOCOL_F(min, 3);
  5369. SERIAL_PROTOCOLPGM(" Max: ");
  5370. SERIAL_PROTOCOL_F(max, 3);
  5371. SERIAL_PROTOCOLPGM(" Range: ");
  5372. SERIAL_PROTOCOL_F(max-min, 3);
  5373. SERIAL_EOL;
  5374. }
  5375. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  5376. SERIAL_PROTOCOL_F(sigma, 6);
  5377. SERIAL_EOL;
  5378. SERIAL_EOL;
  5379. clean_up_after_endstop_or_probe_move();
  5380. // Re-enable bed level correction if it had been on
  5381. #if HAS_LEVELING
  5382. set_bed_leveling_enabled(was_enabled);
  5383. #endif
  5384. report_current_position();
  5385. }
  5386. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  5387. #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_EDITING)
  5388. inline void gcode_M49() {
  5389. ubl.g26_debug_flag ^= true;
  5390. SERIAL_PROTOCOLPGM("UBL Debug Flag turned ");
  5391. serialprintPGM(ubl.g26_debug_flag ? PSTR("on.") : PSTR("off."));
  5392. }
  5393. #endif // AUTO_BED_LEVELING_UBL && UBL_G26_MESH_EDITING
  5394. /**
  5395. * M75: Start print timer
  5396. */
  5397. inline void gcode_M75() { print_job_timer.start(); }
  5398. /**
  5399. * M76: Pause print timer
  5400. */
  5401. inline void gcode_M76() { print_job_timer.pause(); }
  5402. /**
  5403. * M77: Stop print timer
  5404. */
  5405. inline void gcode_M77() { print_job_timer.stop(); }
  5406. #if ENABLED(PRINTCOUNTER)
  5407. /**
  5408. * M78: Show print statistics
  5409. */
  5410. inline void gcode_M78() {
  5411. // "M78 S78" will reset the statistics
  5412. if (code_seen('S') && code_value_int() == 78)
  5413. print_job_timer.initStats();
  5414. else
  5415. print_job_timer.showStats();
  5416. }
  5417. #endif
  5418. /**
  5419. * M104: Set hot end temperature
  5420. */
  5421. inline void gcode_M104() {
  5422. if (get_target_extruder_from_command(104)) return;
  5423. if (DEBUGGING(DRYRUN)) return;
  5424. #if ENABLED(SINGLENOZZLE)
  5425. if (target_extruder != active_extruder) return;
  5426. #endif
  5427. if (code_seen('S')) {
  5428. const int16_t temp = code_value_temp_abs();
  5429. thermalManager.setTargetHotend(temp, target_extruder);
  5430. #if ENABLED(DUAL_X_CARRIAGE)
  5431. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  5432. thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1);
  5433. #endif
  5434. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  5435. /**
  5436. * Stop the timer at the end of print. Start is managed by 'heat and wait' M109.
  5437. * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
  5438. * standby mode, for instance in a dual extruder setup, without affecting
  5439. * the running print timer.
  5440. */
  5441. if (code_value_temp_abs() <= (EXTRUDE_MINTEMP) / 2) {
  5442. print_job_timer.stop();
  5443. LCD_MESSAGEPGM(WELCOME_MSG);
  5444. }
  5445. #endif
  5446. if (code_value_temp_abs() > thermalManager.degHotend(target_extruder)) lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
  5447. }
  5448. #if ENABLED(AUTOTEMP)
  5449. planner.autotemp_M104_M109();
  5450. #endif
  5451. }
  5452. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  5453. void print_heaterstates() {
  5454. #if HAS_TEMP_HOTEND
  5455. SERIAL_PROTOCOLPGM(" T:");
  5456. SERIAL_PROTOCOL_F(thermalManager.degHotend(target_extruder), 1);
  5457. SERIAL_PROTOCOLPGM(" /");
  5458. SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(target_extruder), 1);
  5459. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  5460. SERIAL_PROTOCOLPAIR(" (", thermalManager.rawHotendTemp(target_extruder) / OVERSAMPLENR);
  5461. SERIAL_PROTOCOLCHAR(')');
  5462. #endif
  5463. #endif
  5464. #if HAS_TEMP_BED
  5465. SERIAL_PROTOCOLPGM(" B:");
  5466. SERIAL_PROTOCOL_F(thermalManager.degBed(), 1);
  5467. SERIAL_PROTOCOLPGM(" /");
  5468. SERIAL_PROTOCOL_F(thermalManager.degTargetBed(), 1);
  5469. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  5470. SERIAL_PROTOCOLPAIR(" (", thermalManager.rawBedTemp() / OVERSAMPLENR);
  5471. SERIAL_PROTOCOLCHAR(')');
  5472. #endif
  5473. #endif
  5474. #if HOTENDS > 1
  5475. HOTEND_LOOP() {
  5476. SERIAL_PROTOCOLPAIR(" T", e);
  5477. SERIAL_PROTOCOLCHAR(':');
  5478. SERIAL_PROTOCOL_F(thermalManager.degHotend(e), 1);
  5479. SERIAL_PROTOCOLPGM(" /");
  5480. SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(e), 1);
  5481. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  5482. SERIAL_PROTOCOLPAIR(" (", thermalManager.rawHotendTemp(e) / OVERSAMPLENR);
  5483. SERIAL_PROTOCOLCHAR(')');
  5484. #endif
  5485. }
  5486. #endif
  5487. SERIAL_PROTOCOLPGM(" @:");
  5488. SERIAL_PROTOCOL(thermalManager.getHeaterPower(target_extruder));
  5489. #if HAS_TEMP_BED
  5490. SERIAL_PROTOCOLPGM(" B@:");
  5491. SERIAL_PROTOCOL(thermalManager.getHeaterPower(-1));
  5492. #endif
  5493. #if HOTENDS > 1
  5494. HOTEND_LOOP() {
  5495. SERIAL_PROTOCOLPAIR(" @", e);
  5496. SERIAL_PROTOCOLCHAR(':');
  5497. SERIAL_PROTOCOL(thermalManager.getHeaterPower(e));
  5498. }
  5499. #endif
  5500. }
  5501. #endif
  5502. /**
  5503. * M105: Read hot end and bed temperature
  5504. */
  5505. inline void gcode_M105() {
  5506. if (get_target_extruder_from_command(105)) return;
  5507. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  5508. SERIAL_PROTOCOLPGM(MSG_OK);
  5509. print_heaterstates();
  5510. #else // !HAS_TEMP_HOTEND && !HAS_TEMP_BED
  5511. SERIAL_ERROR_START;
  5512. SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
  5513. #endif
  5514. SERIAL_EOL;
  5515. }
  5516. #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
  5517. static uint8_t auto_report_temp_interval;
  5518. static millis_t next_temp_report_ms;
  5519. /**
  5520. * M155: Set temperature auto-report interval. M155 S<seconds>
  5521. */
  5522. inline void gcode_M155() {
  5523. if (code_seen('S')) {
  5524. auto_report_temp_interval = code_value_byte();
  5525. NOMORE(auto_report_temp_interval, 60);
  5526. next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval;
  5527. }
  5528. }
  5529. inline void auto_report_temperatures() {
  5530. if (auto_report_temp_interval && ELAPSED(millis(), next_temp_report_ms)) {
  5531. next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval;
  5532. print_heaterstates();
  5533. SERIAL_EOL;
  5534. }
  5535. }
  5536. #endif // AUTO_REPORT_TEMPERATURES
  5537. #if FAN_COUNT > 0
  5538. /**
  5539. * M106: Set Fan Speed
  5540. *
  5541. * S<int> Speed between 0-255
  5542. * P<index> Fan index, if more than one fan
  5543. */
  5544. inline void gcode_M106() {
  5545. uint16_t s = code_seen('S') ? code_value_ushort() : 255,
  5546. p = code_seen('P') ? code_value_ushort() : 0;
  5547. NOMORE(s, 255);
  5548. if (p < FAN_COUNT) fanSpeeds[p] = s;
  5549. }
  5550. /**
  5551. * M107: Fan Off
  5552. */
  5553. inline void gcode_M107() {
  5554. uint16_t p = code_seen('P') ? code_value_ushort() : 0;
  5555. if (p < FAN_COUNT) fanSpeeds[p] = 0;
  5556. }
  5557. #endif // FAN_COUNT > 0
  5558. #if DISABLED(EMERGENCY_PARSER)
  5559. /**
  5560. * M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
  5561. */
  5562. inline void gcode_M108() { wait_for_heatup = false; }
  5563. /**
  5564. * M112: Emergency Stop
  5565. */
  5566. inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
  5567. /**
  5568. * M410: Quickstop - Abort all planned moves
  5569. *
  5570. * This will stop the carriages mid-move, so most likely they
  5571. * will be out of sync with the stepper position after this.
  5572. */
  5573. inline void gcode_M410() { quickstop_stepper(); }
  5574. #endif
  5575. /**
  5576. * M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
  5577. * Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
  5578. */
  5579. #ifndef MIN_COOLING_SLOPE_DEG
  5580. #define MIN_COOLING_SLOPE_DEG 1.50
  5581. #endif
  5582. #ifndef MIN_COOLING_SLOPE_TIME
  5583. #define MIN_COOLING_SLOPE_TIME 60
  5584. #endif
  5585. inline void gcode_M109() {
  5586. if (get_target_extruder_from_command(109)) return;
  5587. if (DEBUGGING(DRYRUN)) return;
  5588. #if ENABLED(SINGLENOZZLE)
  5589. if (target_extruder != active_extruder) return;
  5590. #endif
  5591. const bool no_wait_for_cooling = code_seen('S');
  5592. if (no_wait_for_cooling || code_seen('R')) {
  5593. const int16_t temp = code_value_temp_abs();
  5594. thermalManager.setTargetHotend(temp, target_extruder);
  5595. #if ENABLED(DUAL_X_CARRIAGE)
  5596. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  5597. thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1);
  5598. #endif
  5599. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  5600. /**
  5601. * Use half EXTRUDE_MINTEMP to allow nozzles to be put into hot
  5602. * standby mode, (e.g., in a dual extruder setup) without affecting
  5603. * the running print timer.
  5604. */
  5605. if (code_value_temp_abs() <= (EXTRUDE_MINTEMP) / 2) {
  5606. print_job_timer.stop();
  5607. LCD_MESSAGEPGM(WELCOME_MSG);
  5608. }
  5609. else
  5610. print_job_timer.start();
  5611. #endif
  5612. if (thermalManager.isHeatingHotend(target_extruder)) lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
  5613. }
  5614. else return;
  5615. #if ENABLED(AUTOTEMP)
  5616. planner.autotemp_M104_M109();
  5617. #endif
  5618. #if TEMP_RESIDENCY_TIME > 0
  5619. millis_t residency_start_ms = 0;
  5620. // Loop until the temperature has stabilized
  5621. #define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL))
  5622. #else
  5623. // Loop until the temperature is very close target
  5624. #define TEMP_CONDITIONS (wants_to_cool ? thermalManager.isCoolingHotend(target_extruder) : thermalManager.isHeatingHotend(target_extruder))
  5625. #endif
  5626. float target_temp = -1.0, old_temp = 9999.0;
  5627. bool wants_to_cool = false;
  5628. wait_for_heatup = true;
  5629. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  5630. KEEPALIVE_STATE(NOT_BUSY);
  5631. #if ENABLED(PRINTER_EVENT_LEDS)
  5632. const float start_temp = thermalManager.degHotend(target_extruder);
  5633. uint8_t old_blue = 0;
  5634. #endif
  5635. do {
  5636. // Target temperature might be changed during the loop
  5637. if (target_temp != thermalManager.degTargetHotend(target_extruder)) {
  5638. wants_to_cool = thermalManager.isCoolingHotend(target_extruder);
  5639. target_temp = thermalManager.degTargetHotend(target_extruder);
  5640. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  5641. if (no_wait_for_cooling && wants_to_cool) break;
  5642. }
  5643. now = millis();
  5644. if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting
  5645. next_temp_ms = now + 1000UL;
  5646. print_heaterstates();
  5647. #if TEMP_RESIDENCY_TIME > 0
  5648. SERIAL_PROTOCOLPGM(" W:");
  5649. if (residency_start_ms) {
  5650. long rem = (((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
  5651. SERIAL_PROTOCOLLN(rem);
  5652. }
  5653. else {
  5654. SERIAL_PROTOCOLLNPGM("?");
  5655. }
  5656. #else
  5657. SERIAL_EOL;
  5658. #endif
  5659. }
  5660. idle();
  5661. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  5662. const float temp = thermalManager.degHotend(target_extruder);
  5663. #if ENABLED(PRINTER_EVENT_LEDS)
  5664. // Gradually change LED strip from violet to red as nozzle heats up
  5665. if (!wants_to_cool) {
  5666. const uint8_t blue = map(constrain(temp, start_temp, target_temp), start_temp, target_temp, 255, 0);
  5667. if (blue != old_blue) set_led_color(255, 0, (old_blue = blue));
  5668. }
  5669. #endif
  5670. #if TEMP_RESIDENCY_TIME > 0
  5671. const float temp_diff = fabs(target_temp - temp);
  5672. if (!residency_start_ms) {
  5673. // Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
  5674. if (temp_diff < TEMP_WINDOW) residency_start_ms = now;
  5675. }
  5676. else if (temp_diff > TEMP_HYSTERESIS) {
  5677. // Restart the timer whenever the temperature falls outside the hysteresis.
  5678. residency_start_ms = now;
  5679. }
  5680. #endif
  5681. // Prevent a wait-forever situation if R is misused i.e. M109 R0
  5682. if (wants_to_cool) {
  5683. // break after MIN_COOLING_SLOPE_TIME seconds
  5684. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG
  5685. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  5686. if (old_temp - temp < MIN_COOLING_SLOPE_DEG) break;
  5687. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME;
  5688. old_temp = temp;
  5689. }
  5690. }
  5691. } while (wait_for_heatup && TEMP_CONDITIONS);
  5692. if (wait_for_heatup) {
  5693. LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
  5694. #if ENABLED(PRINTER_EVENT_LEDS)
  5695. #if ENABLED(RGBW_LED)
  5696. set_led_color(0, 0, 0, 255); // Turn on the WHITE LED
  5697. #else
  5698. set_led_color(255, 255, 255); // Set LEDs All On
  5699. #endif
  5700. #endif
  5701. }
  5702. KEEPALIVE_STATE(IN_HANDLER);
  5703. }
  5704. #if HAS_TEMP_BED
  5705. #ifndef MIN_COOLING_SLOPE_DEG_BED
  5706. #define MIN_COOLING_SLOPE_DEG_BED 1.50
  5707. #endif
  5708. #ifndef MIN_COOLING_SLOPE_TIME_BED
  5709. #define MIN_COOLING_SLOPE_TIME_BED 60
  5710. #endif
  5711. /**
  5712. * M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  5713. * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  5714. */
  5715. inline void gcode_M190() {
  5716. if (DEBUGGING(DRYRUN)) return;
  5717. LCD_MESSAGEPGM(MSG_BED_HEATING);
  5718. const bool no_wait_for_cooling = code_seen('S');
  5719. if (no_wait_for_cooling || code_seen('R')) {
  5720. thermalManager.setTargetBed(code_value_temp_abs());
  5721. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  5722. if (code_value_temp_abs() > BED_MINTEMP)
  5723. print_job_timer.start();
  5724. #endif
  5725. }
  5726. else return;
  5727. #if TEMP_BED_RESIDENCY_TIME > 0
  5728. millis_t residency_start_ms = 0;
  5729. // Loop until the temperature has stabilized
  5730. #define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL))
  5731. #else
  5732. // Loop until the temperature is very close target
  5733. #define TEMP_BED_CONDITIONS (wants_to_cool ? thermalManager.isCoolingBed() : thermalManager.isHeatingBed())
  5734. #endif
  5735. float target_temp = -1.0, old_temp = 9999.0;
  5736. bool wants_to_cool = false;
  5737. wait_for_heatup = true;
  5738. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  5739. KEEPALIVE_STATE(NOT_BUSY);
  5740. target_extruder = active_extruder; // for print_heaterstates
  5741. #if ENABLED(PRINTER_EVENT_LEDS)
  5742. const float start_temp = thermalManager.degBed();
  5743. uint8_t old_red = 255;
  5744. #endif
  5745. do {
  5746. // Target temperature might be changed during the loop
  5747. if (target_temp != thermalManager.degTargetBed()) {
  5748. wants_to_cool = thermalManager.isCoolingBed();
  5749. target_temp = thermalManager.degTargetBed();
  5750. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  5751. if (no_wait_for_cooling && wants_to_cool) break;
  5752. }
  5753. now = millis();
  5754. if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up.
  5755. next_temp_ms = now + 1000UL;
  5756. print_heaterstates();
  5757. #if TEMP_BED_RESIDENCY_TIME > 0
  5758. SERIAL_PROTOCOLPGM(" W:");
  5759. if (residency_start_ms) {
  5760. long rem = (((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
  5761. SERIAL_PROTOCOLLN(rem);
  5762. }
  5763. else {
  5764. SERIAL_PROTOCOLLNPGM("?");
  5765. }
  5766. #else
  5767. SERIAL_EOL;
  5768. #endif
  5769. }
  5770. idle();
  5771. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  5772. const float temp = thermalManager.degBed();
  5773. #if ENABLED(PRINTER_EVENT_LEDS)
  5774. // Gradually change LED strip from blue to violet as bed heats up
  5775. if (!wants_to_cool) {
  5776. const uint8_t red = map(constrain(temp, start_temp, target_temp), start_temp, target_temp, 0, 255);
  5777. if (red != old_red) set_led_color((old_red = red), 0, 255);
  5778. }
  5779. }
  5780. #endif
  5781. #if TEMP_BED_RESIDENCY_TIME > 0
  5782. const float temp_diff = fabs(target_temp - temp);
  5783. if (!residency_start_ms) {
  5784. // Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
  5785. if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = now;
  5786. }
  5787. else if (temp_diff > TEMP_BED_HYSTERESIS) {
  5788. // Restart the timer whenever the temperature falls outside the hysteresis.
  5789. residency_start_ms = now;
  5790. }
  5791. #endif // TEMP_BED_RESIDENCY_TIME > 0
  5792. // Prevent a wait-forever situation if R is misused i.e. M190 R0
  5793. if (wants_to_cool) {
  5794. // Break after MIN_COOLING_SLOPE_TIME_BED seconds
  5795. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED
  5796. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  5797. if (old_temp - temp < MIN_COOLING_SLOPE_DEG_BED) break;
  5798. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME_BED;
  5799. old_temp = temp;
  5800. }
  5801. }
  5802. } while (wait_for_heatup && TEMP_BED_CONDITIONS);
  5803. if (wait_for_heatup) LCD_MESSAGEPGM(MSG_BED_DONE);
  5804. KEEPALIVE_STATE(IN_HANDLER);
  5805. }
  5806. #endif // HAS_TEMP_BED
  5807. /**
  5808. * M110: Set Current Line Number
  5809. */
  5810. inline void gcode_M110() {
  5811. if (code_seen('N')) gcode_LastN = code_value_long();
  5812. }
  5813. /**
  5814. * M111: Set the debug level
  5815. */
  5816. inline void gcode_M111() {
  5817. marlin_debug_flags = code_seen('S') ? code_value_byte() : (uint8_t)DEBUG_NONE;
  5818. const static char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO;
  5819. const static char str_debug_2[] PROGMEM = MSG_DEBUG_INFO;
  5820. const static char str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS;
  5821. const static char str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN;
  5822. const static char str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION;
  5823. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5824. const static char str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING;
  5825. #endif
  5826. const static char* const debug_strings[] PROGMEM = {
  5827. str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16,
  5828. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5829. str_debug_32
  5830. #endif
  5831. };
  5832. SERIAL_ECHO_START;
  5833. SERIAL_ECHOPGM(MSG_DEBUG_PREFIX);
  5834. if (marlin_debug_flags) {
  5835. uint8_t comma = 0;
  5836. for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
  5837. if (TEST(marlin_debug_flags, i)) {
  5838. if (comma++) SERIAL_CHAR(',');
  5839. serialprintPGM((char*)pgm_read_word(&debug_strings[i]));
  5840. }
  5841. }
  5842. }
  5843. else {
  5844. SERIAL_ECHOPGM(MSG_DEBUG_OFF);
  5845. }
  5846. SERIAL_EOL;
  5847. }
  5848. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  5849. /**
  5850. * M113: Get or set Host Keepalive interval (0 to disable)
  5851. *
  5852. * S<seconds> Optional. Set the keepalive interval.
  5853. */
  5854. inline void gcode_M113() {
  5855. if (code_seen('S')) {
  5856. host_keepalive_interval = code_value_byte();
  5857. NOMORE(host_keepalive_interval, 60);
  5858. }
  5859. else {
  5860. SERIAL_ECHO_START;
  5861. SERIAL_ECHOLNPAIR("M113 S", (unsigned long)host_keepalive_interval);
  5862. }
  5863. }
  5864. #endif
  5865. #if ENABLED(BARICUDA)
  5866. #if HAS_HEATER_1
  5867. /**
  5868. * M126: Heater 1 valve open
  5869. */
  5870. inline void gcode_M126() { baricuda_valve_pressure = code_seen('S') ? code_value_byte() : 255; }
  5871. /**
  5872. * M127: Heater 1 valve close
  5873. */
  5874. inline void gcode_M127() { baricuda_valve_pressure = 0; }
  5875. #endif
  5876. #if HAS_HEATER_2
  5877. /**
  5878. * M128: Heater 2 valve open
  5879. */
  5880. inline void gcode_M128() { baricuda_e_to_p_pressure = code_seen('S') ? code_value_byte() : 255; }
  5881. /**
  5882. * M129: Heater 2 valve close
  5883. */
  5884. inline void gcode_M129() { baricuda_e_to_p_pressure = 0; }
  5885. #endif
  5886. #endif //BARICUDA
  5887. /**
  5888. * M140: Set bed temperature
  5889. */
  5890. inline void gcode_M140() {
  5891. if (DEBUGGING(DRYRUN)) return;
  5892. if (code_seen('S')) thermalManager.setTargetBed(code_value_temp_abs());
  5893. }
  5894. #if ENABLED(ULTIPANEL)
  5895. /**
  5896. * M145: Set the heatup state for a material in the LCD menu
  5897. *
  5898. * S<material> (0=PLA, 1=ABS)
  5899. * H<hotend temp>
  5900. * B<bed temp>
  5901. * F<fan speed>
  5902. */
  5903. inline void gcode_M145() {
  5904. uint8_t material = code_seen('S') ? (uint8_t)code_value_int() : 0;
  5905. if (material >= COUNT(lcd_preheat_hotend_temp)) {
  5906. SERIAL_ERROR_START;
  5907. SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
  5908. }
  5909. else {
  5910. int v;
  5911. if (code_seen('H')) {
  5912. v = code_value_int();
  5913. lcd_preheat_hotend_temp[material] = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
  5914. }
  5915. if (code_seen('F')) {
  5916. v = code_value_int();
  5917. lcd_preheat_fan_speed[material] = constrain(v, 0, 255);
  5918. }
  5919. #if TEMP_SENSOR_BED != 0
  5920. if (code_seen('B')) {
  5921. v = code_value_int();
  5922. lcd_preheat_bed_temp[material] = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
  5923. }
  5924. #endif
  5925. }
  5926. }
  5927. #endif // ULTIPANEL
  5928. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  5929. /**
  5930. * M149: Set temperature units
  5931. */
  5932. inline void gcode_M149() {
  5933. if (code_seen('C')) set_input_temp_units(TEMPUNIT_C);
  5934. else if (code_seen('K')) set_input_temp_units(TEMPUNIT_K);
  5935. else if (code_seen('F')) set_input_temp_units(TEMPUNIT_F);
  5936. }
  5937. #endif
  5938. #if HAS_POWER_SWITCH
  5939. /**
  5940. * M80: Turn on Power Supply
  5941. */
  5942. inline void gcode_M80() {
  5943. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND
  5944. /**
  5945. * If you have a switch on suicide pin, this is useful
  5946. * if you want to start another print with suicide feature after
  5947. * a print without suicide...
  5948. */
  5949. #if HAS_SUICIDE
  5950. OUT_WRITE(SUICIDE_PIN, HIGH);
  5951. #endif
  5952. #if ENABLED(HAVE_TMC2130)
  5953. delay(100);
  5954. tmc2130_init(); // Settings only stick when the driver has power
  5955. #endif
  5956. #if ENABLED(ULTIPANEL)
  5957. powersupply = true;
  5958. LCD_MESSAGEPGM(WELCOME_MSG);
  5959. #endif
  5960. }
  5961. #endif // HAS_POWER_SWITCH
  5962. /**
  5963. * M81: Turn off Power, including Power Supply, if there is one.
  5964. *
  5965. * This code should ALWAYS be available for EMERGENCY SHUTDOWN!
  5966. */
  5967. inline void gcode_M81() {
  5968. thermalManager.disable_all_heaters();
  5969. stepper.finish_and_disable();
  5970. #if FAN_COUNT > 0
  5971. #if FAN_COUNT > 1
  5972. for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
  5973. #else
  5974. fanSpeeds[0] = 0;
  5975. #endif
  5976. #endif
  5977. safe_delay(1000); // Wait 1 second before switching off
  5978. #if HAS_SUICIDE
  5979. stepper.synchronize();
  5980. suicide();
  5981. #elif HAS_POWER_SWITCH
  5982. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  5983. #endif
  5984. #if ENABLED(ULTIPANEL)
  5985. #if HAS_POWER_SWITCH
  5986. powersupply = false;
  5987. #endif
  5988. LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
  5989. #endif
  5990. }
  5991. /**
  5992. * M82: Set E codes absolute (default)
  5993. */
  5994. inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
  5995. /**
  5996. * M83: Set E codes relative while in Absolute Coordinates (G90) mode
  5997. */
  5998. inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; }
  5999. /**
  6000. * M18, M84: Disable all stepper motors
  6001. */
  6002. inline void gcode_M18_M84() {
  6003. if (code_seen('S')) {
  6004. stepper_inactive_time = code_value_millis_from_seconds();
  6005. }
  6006. else {
  6007. bool all_axis = !((code_seen('X')) || (code_seen('Y')) || (code_seen('Z')) || (code_seen('E')));
  6008. if (all_axis) {
  6009. stepper.finish_and_disable();
  6010. }
  6011. else {
  6012. stepper.synchronize();
  6013. if (code_seen('X')) disable_X();
  6014. if (code_seen('Y')) disable_Y();
  6015. if (code_seen('Z')) disable_Z();
  6016. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  6017. if (code_seen('E')) disable_e_steppers();
  6018. #endif
  6019. }
  6020. }
  6021. }
  6022. /**
  6023. * M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  6024. */
  6025. inline void gcode_M85() {
  6026. if (code_seen('S')) max_inactive_time = code_value_millis_from_seconds();
  6027. }
  6028. /**
  6029. * Multi-stepper support for M92, M201, M203
  6030. */
  6031. #if ENABLED(DISTINCT_E_FACTORS)
  6032. #define GET_TARGET_EXTRUDER(CMD) if (get_target_extruder_from_command(CMD)) return
  6033. #define TARGET_EXTRUDER target_extruder
  6034. #else
  6035. #define GET_TARGET_EXTRUDER(CMD) NOOP
  6036. #define TARGET_EXTRUDER 0
  6037. #endif
  6038. /**
  6039. * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
  6040. * (Follows the same syntax as G92)
  6041. *
  6042. * With multiple extruders use T to specify which one.
  6043. */
  6044. inline void gcode_M92() {
  6045. GET_TARGET_EXTRUDER(92);
  6046. LOOP_XYZE(i) {
  6047. if (code_seen(axis_codes[i])) {
  6048. if (i == E_AXIS) {
  6049. const float value = code_value_per_axis_unit((AxisEnum)(E_AXIS + TARGET_EXTRUDER));
  6050. if (value < 20.0) {
  6051. float factor = planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] / value; // increase e constants if M92 E14 is given for netfab.
  6052. planner.max_jerk[E_AXIS] *= factor;
  6053. planner.max_feedrate_mm_s[E_AXIS + TARGET_EXTRUDER] *= factor;
  6054. planner.max_acceleration_steps_per_s2[E_AXIS + TARGET_EXTRUDER] *= factor;
  6055. }
  6056. planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] = value;
  6057. }
  6058. else {
  6059. planner.axis_steps_per_mm[i] = code_value_per_axis_unit((AxisEnum)i);
  6060. }
  6061. }
  6062. }
  6063. planner.refresh_positioning();
  6064. }
  6065. /**
  6066. * Output the current position to serial
  6067. */
  6068. static void report_current_position() {
  6069. SERIAL_PROTOCOLPGM("X:");
  6070. SERIAL_PROTOCOL(current_position[X_AXIS]);
  6071. SERIAL_PROTOCOLPGM(" Y:");
  6072. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  6073. SERIAL_PROTOCOLPGM(" Z:");
  6074. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  6075. SERIAL_PROTOCOLPGM(" E:");
  6076. SERIAL_PROTOCOL(current_position[E_AXIS]);
  6077. stepper.report_positions();
  6078. #if IS_SCARA
  6079. SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_degrees(A_AXIS));
  6080. SERIAL_PROTOCOLLNPAIR(" Psi+Theta:", stepper.get_axis_position_degrees(B_AXIS));
  6081. SERIAL_EOL;
  6082. #endif
  6083. }
  6084. /**
  6085. * M114: Output current position to serial port
  6086. */
  6087. inline void gcode_M114() { stepper.synchronize(); report_current_position(); }
  6088. /**
  6089. * M115: Capabilities string
  6090. */
  6091. inline void gcode_M115() {
  6092. SERIAL_PROTOCOLLNPGM(MSG_M115_REPORT);
  6093. #if ENABLED(EXTENDED_CAPABILITIES_REPORT)
  6094. // EEPROM (M500, M501)
  6095. #if ENABLED(EEPROM_SETTINGS)
  6096. SERIAL_PROTOCOLLNPGM("Cap:EEPROM:1");
  6097. #else
  6098. SERIAL_PROTOCOLLNPGM("Cap:EEPROM:0");
  6099. #endif
  6100. // AUTOREPORT_TEMP (M155)
  6101. #if ENABLED(AUTO_REPORT_TEMPERATURES)
  6102. SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:1");
  6103. #else
  6104. SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:0");
  6105. #endif
  6106. // PROGRESS (M530 S L, M531 <file>, M532 X L)
  6107. SERIAL_PROTOCOLLNPGM("Cap:PROGRESS:0");
  6108. // AUTOLEVEL (G29)
  6109. #if HAS_ABL
  6110. SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:1");
  6111. #else
  6112. SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:0");
  6113. #endif
  6114. // Z_PROBE (G30)
  6115. #if HAS_BED_PROBE
  6116. SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:1");
  6117. #else
  6118. SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:0");
  6119. #endif
  6120. // MESH_REPORT (M420 V)
  6121. #if HAS_LEVELING
  6122. SERIAL_PROTOCOLLNPGM("Cap:LEVELING_DATA:1");
  6123. #else
  6124. SERIAL_PROTOCOLLNPGM("Cap:LEVELING_DATA:0");
  6125. #endif
  6126. // SOFTWARE_POWER (G30)
  6127. #if HAS_POWER_SWITCH
  6128. SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:1");
  6129. #else
  6130. SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:0");
  6131. #endif
  6132. // TOGGLE_LIGHTS (M355)
  6133. #if HAS_CASE_LIGHT
  6134. SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:1");
  6135. #else
  6136. SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:0");
  6137. #endif
  6138. // EMERGENCY_PARSER (M108, M112, M410)
  6139. #if ENABLED(EMERGENCY_PARSER)
  6140. SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:1");
  6141. #else
  6142. SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:0");
  6143. #endif
  6144. #endif // EXTENDED_CAPABILITIES_REPORT
  6145. }
  6146. /**
  6147. * M117: Set LCD Status Message
  6148. */
  6149. inline void gcode_M117() {
  6150. lcd_setstatus(current_command_args);
  6151. }
  6152. /**
  6153. * M119: Output endstop states to serial output
  6154. */
  6155. inline void gcode_M119() { endstops.M119(); }
  6156. /**
  6157. * M120: Enable endstops and set non-homing endstop state to "enabled"
  6158. */
  6159. inline void gcode_M120() { endstops.enable_globally(true); }
  6160. /**
  6161. * M121: Disable endstops and set non-homing endstop state to "disabled"
  6162. */
  6163. inline void gcode_M121() { endstops.enable_globally(false); }
  6164. #if ENABLED(PARK_HEAD_ON_PAUSE)
  6165. /**
  6166. * M125: Store current position and move to filament change position.
  6167. * Called on pause (by M25) to prevent material leaking onto the
  6168. * object. On resume (M24) the head will be moved back and the
  6169. * print will resume.
  6170. *
  6171. * If Marlin is compiled without SD Card support, M125 can be
  6172. * used directly to pause the print and move to park position,
  6173. * resuming with a button click or M108.
  6174. *
  6175. * L = override retract length
  6176. * X = override X
  6177. * Y = override Y
  6178. * Z = override Z raise
  6179. */
  6180. inline void gcode_M125() {
  6181. if (move_away_flag) return; // already paused
  6182. const bool job_running = print_job_timer.isRunning();
  6183. // there are blocks after this one, or sd printing
  6184. move_away_flag = job_running || planner.blocks_queued()
  6185. #if ENABLED(SDSUPPORT)
  6186. || card.sdprinting
  6187. #endif
  6188. ;
  6189. if (!move_away_flag) return; // nothing to pause
  6190. // M125 can be used to pause a print too
  6191. #if ENABLED(SDSUPPORT)
  6192. card.pauseSDPrint();
  6193. #endif
  6194. print_job_timer.pause();
  6195. // Save current position
  6196. COPY(resume_position, current_position);
  6197. set_destination_to_current();
  6198. // Initial retract before move to filament change position
  6199. destination[E_AXIS] += code_seen('L') ? code_value_axis_units(E_AXIS) : 0
  6200. #if defined(FILAMENT_CHANGE_RETRACT_LENGTH) && FILAMENT_CHANGE_RETRACT_LENGTH > 0
  6201. - (FILAMENT_CHANGE_RETRACT_LENGTH)
  6202. #endif
  6203. ;
  6204. RUNPLAN(FILAMENT_CHANGE_RETRACT_FEEDRATE);
  6205. // Lift Z axis
  6206. const float z_lift = code_seen('Z') ? code_value_linear_units() :
  6207. #if defined(FILAMENT_CHANGE_Z_ADD) && FILAMENT_CHANGE_Z_ADD > 0
  6208. FILAMENT_CHANGE_Z_ADD
  6209. #else
  6210. 0
  6211. #endif
  6212. ;
  6213. if (z_lift > 0) {
  6214. destination[Z_AXIS] += z_lift;
  6215. NOMORE(destination[Z_AXIS], Z_MAX_POS);
  6216. RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
  6217. }
  6218. // Move XY axes to filament change position or given position
  6219. destination[X_AXIS] = code_seen('X') ? code_value_linear_units() : 0
  6220. #ifdef FILAMENT_CHANGE_X_POS
  6221. + FILAMENT_CHANGE_X_POS
  6222. #endif
  6223. ;
  6224. destination[Y_AXIS] = code_seen('Y') ? code_value_linear_units() : 0
  6225. #ifdef FILAMENT_CHANGE_Y_POS
  6226. + FILAMENT_CHANGE_Y_POS
  6227. #endif
  6228. ;
  6229. #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE)
  6230. if (active_extruder > 0) {
  6231. if (!code_seen('X')) destination[X_AXIS] += hotend_offset[X_AXIS][active_extruder];
  6232. if (!code_seen('Y')) destination[Y_AXIS] += hotend_offset[Y_AXIS][active_extruder];
  6233. }
  6234. #endif
  6235. clamp_to_software_endstops(destination);
  6236. RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
  6237. set_current_to_destination();
  6238. stepper.synchronize();
  6239. disable_e_steppers();
  6240. #if DISABLED(SDSUPPORT)
  6241. // Wait for lcd click or M108
  6242. KEEPALIVE_STATE(PAUSED_FOR_USER);
  6243. wait_for_user = true;
  6244. while (wait_for_user) idle();
  6245. KEEPALIVE_STATE(IN_HANDLER);
  6246. // Return to print position and continue
  6247. move_back_on_resume();
  6248. if (job_running) print_job_timer.start();
  6249. move_away_flag = false;
  6250. #endif
  6251. }
  6252. #endif // PARK_HEAD_ON_PAUSE
  6253. #if HAS_COLOR_LEDS
  6254. /**
  6255. * M150: Set Status LED Color - Use R-U-B-W for R-G-B-W
  6256. *
  6257. * Always sets all 3 or 4 components. If a component is left out, set to 0.
  6258. *
  6259. * Examples:
  6260. *
  6261. * M150 R255 ; Turn LED red
  6262. * M150 R255 U127 ; Turn LED orange (PWM only)
  6263. * M150 ; Turn LED off
  6264. * M150 R U B ; Turn LED white
  6265. * M150 W ; Turn LED white using a white LED
  6266. *
  6267. */
  6268. inline void gcode_M150() {
  6269. set_led_color(
  6270. code_seen('R') ? (code_has_value() ? code_value_byte() : 255) : 0,
  6271. code_seen('U') ? (code_has_value() ? code_value_byte() : 255) : 0,
  6272. code_seen('B') ? (code_has_value() ? code_value_byte() : 255) : 0
  6273. #if ENABLED(RGBW_LED)
  6274. , code_seen('W') ? (code_has_value() ? code_value_byte() : 255) : 0
  6275. #endif
  6276. );
  6277. }
  6278. #endif // BLINKM || RGB_LED
  6279. /**
  6280. * M200: Set filament diameter and set E axis units to cubic units
  6281. *
  6282. * T<extruder> - Optional extruder number. Current extruder if omitted.
  6283. * D<linear> - Diameter of the filament. Use "D0" to switch back to linear units on the E axis.
  6284. */
  6285. inline void gcode_M200() {
  6286. if (get_target_extruder_from_command(200)) return;
  6287. if (code_seen('D')) {
  6288. // setting any extruder filament size disables volumetric on the assumption that
  6289. // slicers either generate in extruder values as cubic mm or as as filament feeds
  6290. // for all extruders
  6291. volumetric_enabled = (code_value_linear_units() != 0.0);
  6292. if (volumetric_enabled) {
  6293. filament_size[target_extruder] = code_value_linear_units();
  6294. // make sure all extruders have some sane value for the filament size
  6295. for (uint8_t i = 0; i < COUNT(filament_size); i++)
  6296. if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
  6297. }
  6298. }
  6299. calculate_volumetric_multipliers();
  6300. }
  6301. /**
  6302. * M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  6303. *
  6304. * With multiple extruders use T to specify which one.
  6305. */
  6306. inline void gcode_M201() {
  6307. GET_TARGET_EXTRUDER(201);
  6308. LOOP_XYZE(i) {
  6309. if (code_seen(axis_codes[i])) {
  6310. const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
  6311. planner.max_acceleration_mm_per_s2[a] = code_value_axis_units((AxisEnum)a);
  6312. }
  6313. }
  6314. // 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)
  6315. planner.reset_acceleration_rates();
  6316. }
  6317. #if 0 // Not used for Sprinter/grbl gen6
  6318. inline void gcode_M202() {
  6319. LOOP_XYZE(i) {
  6320. if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value_axis_units((AxisEnum)i) * planner.axis_steps_per_mm[i];
  6321. }
  6322. }
  6323. #endif
  6324. /**
  6325. * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
  6326. *
  6327. * With multiple extruders use T to specify which one.
  6328. */
  6329. inline void gcode_M203() {
  6330. GET_TARGET_EXTRUDER(203);
  6331. LOOP_XYZE(i)
  6332. if (code_seen(axis_codes[i])) {
  6333. const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
  6334. planner.max_feedrate_mm_s[a] = code_value_axis_units((AxisEnum)a);
  6335. }
  6336. }
  6337. /**
  6338. * M204: Set Accelerations in units/sec^2 (M204 P1200 R3000 T3000)
  6339. *
  6340. * P = Printing moves
  6341. * R = Retract only (no X, Y, Z) moves
  6342. * T = Travel (non printing) moves
  6343. *
  6344. * Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
  6345. */
  6346. inline void gcode_M204() {
  6347. if (code_seen('S')) { // Kept for legacy compatibility. Should NOT BE USED for new developments.
  6348. planner.travel_acceleration = planner.acceleration = code_value_linear_units();
  6349. SERIAL_ECHOLNPAIR("Setting Print and Travel Acceleration: ", planner.acceleration);
  6350. }
  6351. if (code_seen('P')) {
  6352. planner.acceleration = code_value_linear_units();
  6353. SERIAL_ECHOLNPAIR("Setting Print Acceleration: ", planner.acceleration);
  6354. }
  6355. if (code_seen('R')) {
  6356. planner.retract_acceleration = code_value_linear_units();
  6357. SERIAL_ECHOLNPAIR("Setting Retract Acceleration: ", planner.retract_acceleration);
  6358. }
  6359. if (code_seen('T')) {
  6360. planner.travel_acceleration = code_value_linear_units();
  6361. SERIAL_ECHOLNPAIR("Setting Travel Acceleration: ", planner.travel_acceleration);
  6362. }
  6363. }
  6364. /**
  6365. * M205: Set Advanced Settings
  6366. *
  6367. * S = Min Feed Rate (units/s)
  6368. * T = Min Travel Feed Rate (units/s)
  6369. * B = Min Segment Time (µs)
  6370. * X = Max X Jerk (units/sec^2)
  6371. * Y = Max Y Jerk (units/sec^2)
  6372. * Z = Max Z Jerk (units/sec^2)
  6373. * E = Max E Jerk (units/sec^2)
  6374. */
  6375. inline void gcode_M205() {
  6376. if (code_seen('S')) planner.min_feedrate_mm_s = code_value_linear_units();
  6377. if (code_seen('T')) planner.min_travel_feedrate_mm_s = code_value_linear_units();
  6378. if (code_seen('B')) planner.min_segment_time = code_value_millis();
  6379. if (code_seen('X')) planner.max_jerk[X_AXIS] = code_value_linear_units();
  6380. if (code_seen('Y')) planner.max_jerk[Y_AXIS] = code_value_linear_units();
  6381. if (code_seen('Z')) planner.max_jerk[Z_AXIS] = code_value_linear_units();
  6382. if (code_seen('E')) planner.max_jerk[E_AXIS] = code_value_linear_units();
  6383. }
  6384. #if HAS_M206_COMMAND
  6385. /**
  6386. * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
  6387. */
  6388. inline void gcode_M206() {
  6389. LOOP_XYZ(i)
  6390. if (code_seen(axis_codes[i]))
  6391. set_home_offset((AxisEnum)i, code_value_linear_units());
  6392. #if ENABLED(MORGAN_SCARA)
  6393. if (code_seen('T')) set_home_offset(A_AXIS, code_value_linear_units()); // Theta
  6394. if (code_seen('P')) set_home_offset(B_AXIS, code_value_linear_units()); // Psi
  6395. #endif
  6396. SYNC_PLAN_POSITION_KINEMATIC();
  6397. report_current_position();
  6398. }
  6399. #endif // HAS_M206_COMMAND
  6400. #if ENABLED(DELTA)
  6401. /**
  6402. * M665: Set delta configurations
  6403. *
  6404. * H = diagonal rod // AC-version
  6405. * L = diagonal rod
  6406. * R = delta radius
  6407. * S = segments per second
  6408. * A = Alpha (Tower 1) diagonal rod trim
  6409. * B = Beta (Tower 2) diagonal rod trim
  6410. * C = Gamma (Tower 3) diagonal rod trim
  6411. */
  6412. inline void gcode_M665() {
  6413. if (code_seen('H')) {
  6414. home_offset[Z_AXIS] = code_value_linear_units() - DELTA_HEIGHT;
  6415. current_position[Z_AXIS] += code_value_linear_units() - DELTA_HEIGHT - home_offset[Z_AXIS];
  6416. home_offset[Z_AXIS] = code_value_linear_units() - DELTA_HEIGHT;
  6417. update_software_endstops(Z_AXIS);
  6418. }
  6419. if (code_seen('L')) delta_diagonal_rod = code_value_linear_units();
  6420. if (code_seen('R')) delta_radius = code_value_linear_units();
  6421. if (code_seen('S')) delta_segments_per_second = code_value_float();
  6422. if (code_seen('B')) delta_calibration_radius = code_value_float();
  6423. if (code_seen('X')) delta_tower_angle_trim[A_AXIS] = code_value_linear_units();
  6424. if (code_seen('Y')) delta_tower_angle_trim[B_AXIS] = code_value_linear_units();
  6425. if (code_seen('Z')) { // rotate all 3 axis for Z = 0
  6426. delta_tower_angle_trim[A_AXIS] -= code_value_linear_units();
  6427. delta_tower_angle_trim[B_AXIS] -= code_value_linear_units();
  6428. }
  6429. recalc_delta_settings(delta_radius, delta_diagonal_rod);
  6430. }
  6431. /**
  6432. * M666: Set delta endstop adjustment
  6433. */
  6434. inline void gcode_M666() {
  6435. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6436. if (DEBUGGING(LEVELING)) {
  6437. SERIAL_ECHOLNPGM(">>> gcode_M666");
  6438. }
  6439. #endif
  6440. LOOP_XYZ(i) {
  6441. if (code_seen(axis_codes[i])) {
  6442. endstop_adj[i] = code_value_linear_units();
  6443. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6444. if (DEBUGGING(LEVELING)) {
  6445. SERIAL_ECHOPAIR("endstop_adj[", axis_codes[i]);
  6446. SERIAL_ECHOLNPAIR("] = ", endstop_adj[i]);
  6447. }
  6448. #endif
  6449. }
  6450. }
  6451. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6452. if (DEBUGGING(LEVELING)) {
  6453. SERIAL_ECHOLNPGM("<<< gcode_M666");
  6454. }
  6455. #endif
  6456. // normalize endstops so all are <=0; set the residue to delta height
  6457. const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
  6458. home_offset[Z_AXIS] -= z_temp;
  6459. LOOP_XYZ(i) endstop_adj[i] -= z_temp;
  6460. }
  6461. #elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
  6462. /**
  6463. * M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
  6464. */
  6465. inline void gcode_M666() {
  6466. if (code_seen('Z')) z_endstop_adj = code_value_linear_units();
  6467. SERIAL_ECHOLNPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj);
  6468. }
  6469. #endif // !DELTA && Z_DUAL_ENDSTOPS
  6470. #if ENABLED(FWRETRACT)
  6471. /**
  6472. * M207: Set firmware retraction values
  6473. *
  6474. * S[+units] retract_length
  6475. * W[+units] retract_length_swap (multi-extruder)
  6476. * F[units/min] retract_feedrate_mm_s
  6477. * Z[units] retract_zlift
  6478. */
  6479. inline void gcode_M207() {
  6480. if (code_seen('S')) retract_length = code_value_axis_units(E_AXIS);
  6481. if (code_seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
  6482. if (code_seen('Z')) retract_zlift = code_value_linear_units();
  6483. #if EXTRUDERS > 1
  6484. if (code_seen('W')) retract_length_swap = code_value_axis_units(E_AXIS);
  6485. #endif
  6486. }
  6487. /**
  6488. * M208: Set firmware un-retraction values
  6489. *
  6490. * S[+units] retract_recover_length (in addition to M207 S*)
  6491. * W[+units] retract_recover_length_swap (multi-extruder)
  6492. * F[units/min] retract_recover_feedrate_mm_s
  6493. */
  6494. inline void gcode_M208() {
  6495. if (code_seen('S')) retract_recover_length = code_value_axis_units(E_AXIS);
  6496. if (code_seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
  6497. #if EXTRUDERS > 1
  6498. if (code_seen('W')) retract_recover_length_swap = code_value_axis_units(E_AXIS);
  6499. #endif
  6500. }
  6501. /**
  6502. * M209: Enable automatic retract (M209 S1)
  6503. * For slicers that don't support G10/11, reversed extrude-only
  6504. * moves will be classified as retraction.
  6505. */
  6506. inline void gcode_M209() {
  6507. if (code_seen('S')) {
  6508. autoretract_enabled = code_value_bool();
  6509. for (int i = 0; i < EXTRUDERS; i++) retracted[i] = false;
  6510. }
  6511. }
  6512. #endif // FWRETRACT
  6513. /**
  6514. * M211: Enable, Disable, and/or Report software endstops
  6515. *
  6516. * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
  6517. */
  6518. inline void gcode_M211() {
  6519. SERIAL_ECHO_START;
  6520. #if HAS_SOFTWARE_ENDSTOPS
  6521. if (code_seen('S')) soft_endstops_enabled = code_value_bool();
  6522. SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
  6523. serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF));
  6524. #else
  6525. SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
  6526. SERIAL_ECHOPGM(MSG_OFF);
  6527. #endif
  6528. SERIAL_ECHOPGM(MSG_SOFT_MIN);
  6529. SERIAL_ECHOPAIR( MSG_X, soft_endstop_min[X_AXIS]);
  6530. SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_min[Y_AXIS]);
  6531. SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_min[Z_AXIS]);
  6532. SERIAL_ECHOPGM(MSG_SOFT_MAX);
  6533. SERIAL_ECHOPAIR( MSG_X, soft_endstop_max[X_AXIS]);
  6534. SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]);
  6535. SERIAL_ECHOLNPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]);
  6536. }
  6537. #if HOTENDS > 1
  6538. /**
  6539. * M218 - set hotend offset (in linear units)
  6540. *
  6541. * T<tool>
  6542. * X<xoffset>
  6543. * Y<yoffset>
  6544. * Z<zoffset> - Available with DUAL_X_CARRIAGE and SWITCHING_EXTRUDER
  6545. */
  6546. inline void gcode_M218() {
  6547. if (get_target_extruder_from_command(218) || target_extruder == 0) return;
  6548. if (code_seen('X')) hotend_offset[X_AXIS][target_extruder] = code_value_linear_units();
  6549. if (code_seen('Y')) hotend_offset[Y_AXIS][target_extruder] = code_value_linear_units();
  6550. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
  6551. if (code_seen('Z')) hotend_offset[Z_AXIS][target_extruder] = code_value_linear_units();
  6552. #endif
  6553. SERIAL_ECHO_START;
  6554. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  6555. HOTEND_LOOP() {
  6556. SERIAL_CHAR(' ');
  6557. SERIAL_ECHO(hotend_offset[X_AXIS][e]);
  6558. SERIAL_CHAR(',');
  6559. SERIAL_ECHO(hotend_offset[Y_AXIS][e]);
  6560. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
  6561. SERIAL_CHAR(',');
  6562. SERIAL_ECHO(hotend_offset[Z_AXIS][e]);
  6563. #endif
  6564. }
  6565. SERIAL_EOL;
  6566. }
  6567. #endif // HOTENDS > 1
  6568. /**
  6569. * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
  6570. */
  6571. inline void gcode_M220() {
  6572. if (code_seen('S')) feedrate_percentage = code_value_int();
  6573. }
  6574. /**
  6575. * M221: Set extrusion percentage (M221 T0 S95)
  6576. */
  6577. inline void gcode_M221() {
  6578. if (get_target_extruder_from_command(221)) return;
  6579. if (code_seen('S'))
  6580. flow_percentage[target_extruder] = code_value_int();
  6581. }
  6582. /**
  6583. * M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
  6584. */
  6585. inline void gcode_M226() {
  6586. if (code_seen('P')) {
  6587. int pin_number = code_value_int(),
  6588. pin_state = code_seen('S') ? code_value_int() : -1; // required pin state - default is inverted
  6589. if (pin_state >= -1 && pin_state <= 1 && pin_number > -1 && !pin_is_protected(pin_number)) {
  6590. int target = LOW;
  6591. stepper.synchronize();
  6592. pinMode(pin_number, INPUT);
  6593. switch (pin_state) {
  6594. case 1:
  6595. target = HIGH;
  6596. break;
  6597. case 0:
  6598. target = LOW;
  6599. break;
  6600. case -1:
  6601. target = !digitalRead(pin_number);
  6602. break;
  6603. }
  6604. while (digitalRead(pin_number) != target) idle();
  6605. } // pin_state -1 0 1 && pin_number > -1
  6606. } // code_seen('P')
  6607. }
  6608. #if ENABLED(EXPERIMENTAL_I2CBUS)
  6609. /**
  6610. * M260: Send data to a I2C slave device
  6611. *
  6612. * This is a PoC, the formating and arguments for the GCODE will
  6613. * change to be more compatible, the current proposal is:
  6614. *
  6615. * M260 A<slave device address base 10> ; Sets the I2C slave address the data will be sent to
  6616. *
  6617. * M260 B<byte-1 value in base 10>
  6618. * M260 B<byte-2 value in base 10>
  6619. * M260 B<byte-3 value in base 10>
  6620. *
  6621. * M260 S1 ; Send the buffered data and reset the buffer
  6622. * M260 R1 ; Reset the buffer without sending data
  6623. *
  6624. */
  6625. inline void gcode_M260() {
  6626. // Set the target address
  6627. if (code_seen('A')) i2c.address(code_value_byte());
  6628. // Add a new byte to the buffer
  6629. if (code_seen('B')) i2c.addbyte(code_value_byte());
  6630. // Flush the buffer to the bus
  6631. if (code_seen('S')) i2c.send();
  6632. // Reset and rewind the buffer
  6633. else if (code_seen('R')) i2c.reset();
  6634. }
  6635. /**
  6636. * M261: Request X bytes from I2C slave device
  6637. *
  6638. * Usage: M261 A<slave device address base 10> B<number of bytes>
  6639. */
  6640. inline void gcode_M261() {
  6641. if (code_seen('A')) i2c.address(code_value_byte());
  6642. uint8_t bytes = code_seen('B') ? code_value_byte() : 1;
  6643. if (i2c.addr && bytes && bytes <= TWIBUS_BUFFER_SIZE) {
  6644. i2c.relay(bytes);
  6645. }
  6646. else {
  6647. SERIAL_ERROR_START;
  6648. SERIAL_ERRORLN("Bad i2c request");
  6649. }
  6650. }
  6651. #endif // EXPERIMENTAL_I2CBUS
  6652. #if HAS_SERVOS
  6653. /**
  6654. * M280: Get or set servo position. P<index> [S<angle>]
  6655. */
  6656. inline void gcode_M280() {
  6657. if (!code_seen('P')) return;
  6658. int servo_index = code_value_int();
  6659. if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) {
  6660. if (code_seen('S'))
  6661. MOVE_SERVO(servo_index, code_value_int());
  6662. else {
  6663. SERIAL_ECHO_START;
  6664. SERIAL_ECHOPAIR(" Servo ", servo_index);
  6665. SERIAL_ECHOLNPAIR(": ", servo[servo_index].read());
  6666. }
  6667. }
  6668. else {
  6669. SERIAL_ERROR_START;
  6670. SERIAL_ECHOPAIR("Servo ", servo_index);
  6671. SERIAL_ECHOLNPGM(" out of range");
  6672. }
  6673. }
  6674. #endif // HAS_SERVOS
  6675. #if HAS_BUZZER
  6676. /**
  6677. * M300: Play beep sound S<frequency Hz> P<duration ms>
  6678. */
  6679. inline void gcode_M300() {
  6680. uint16_t const frequency = code_seen('S') ? code_value_ushort() : 260;
  6681. uint16_t duration = code_seen('P') ? code_value_ushort() : 1000;
  6682. // Limits the tone duration to 0-5 seconds.
  6683. NOMORE(duration, 5000);
  6684. BUZZ(duration, frequency);
  6685. }
  6686. #endif // HAS_BUZZER
  6687. #if ENABLED(PIDTEMP)
  6688. /**
  6689. * M301: Set PID parameters P I D (and optionally C, L)
  6690. *
  6691. * P[float] Kp term
  6692. * I[float] Ki term (unscaled)
  6693. * D[float] Kd term (unscaled)
  6694. *
  6695. * With PID_EXTRUSION_SCALING:
  6696. *
  6697. * C[float] Kc term
  6698. * L[float] LPQ length
  6699. */
  6700. inline void gcode_M301() {
  6701. // multi-extruder PID patch: M301 updates or prints a single extruder's PID values
  6702. // default behaviour (omitting E parameter) is to update for extruder 0 only
  6703. int e = code_seen('E') ? code_value_int() : 0; // extruder being updated
  6704. if (e < HOTENDS) { // catch bad input value
  6705. if (code_seen('P')) PID_PARAM(Kp, e) = code_value_float();
  6706. if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value_float());
  6707. if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value_float());
  6708. #if ENABLED(PID_EXTRUSION_SCALING)
  6709. if (code_seen('C')) PID_PARAM(Kc, e) = code_value_float();
  6710. if (code_seen('L')) lpq_len = code_value_float();
  6711. NOMORE(lpq_len, LPQ_MAX_LEN);
  6712. #endif
  6713. thermalManager.updatePID();
  6714. SERIAL_ECHO_START;
  6715. #if ENABLED(PID_PARAMS_PER_HOTEND)
  6716. SERIAL_ECHOPAIR(" e:", e); // specify extruder in serial output
  6717. #endif // PID_PARAMS_PER_HOTEND
  6718. SERIAL_ECHOPAIR(" p:", PID_PARAM(Kp, e));
  6719. SERIAL_ECHOPAIR(" i:", unscalePID_i(PID_PARAM(Ki, e)));
  6720. SERIAL_ECHOPAIR(" d:", unscalePID_d(PID_PARAM(Kd, e)));
  6721. #if ENABLED(PID_EXTRUSION_SCALING)
  6722. //Kc does not have scaling applied above, or in resetting defaults
  6723. SERIAL_ECHOPAIR(" c:", PID_PARAM(Kc, e));
  6724. #endif
  6725. SERIAL_EOL;
  6726. }
  6727. else {
  6728. SERIAL_ERROR_START;
  6729. SERIAL_ERRORLN(MSG_INVALID_EXTRUDER);
  6730. }
  6731. }
  6732. #endif // PIDTEMP
  6733. #if ENABLED(PIDTEMPBED)
  6734. inline void gcode_M304() {
  6735. if (code_seen('P')) thermalManager.bedKp = code_value_float();
  6736. if (code_seen('I')) thermalManager.bedKi = scalePID_i(code_value_float());
  6737. if (code_seen('D')) thermalManager.bedKd = scalePID_d(code_value_float());
  6738. thermalManager.updatePID();
  6739. SERIAL_ECHO_START;
  6740. SERIAL_ECHOPAIR(" p:", thermalManager.bedKp);
  6741. SERIAL_ECHOPAIR(" i:", unscalePID_i(thermalManager.bedKi));
  6742. SERIAL_ECHOLNPAIR(" d:", unscalePID_d(thermalManager.bedKd));
  6743. }
  6744. #endif // PIDTEMPBED
  6745. #if defined(CHDK) || HAS_PHOTOGRAPH
  6746. /**
  6747. * M240: Trigger a camera by emulating a Canon RC-1
  6748. * See http://www.doc-diy.net/photo/rc-1_hacked/
  6749. */
  6750. inline void gcode_M240() {
  6751. #ifdef CHDK
  6752. OUT_WRITE(CHDK, HIGH);
  6753. chdkHigh = millis();
  6754. chdkActive = true;
  6755. #elif HAS_PHOTOGRAPH
  6756. const uint8_t NUM_PULSES = 16;
  6757. const float PULSE_LENGTH = 0.01524;
  6758. for (int i = 0; i < NUM_PULSES; i++) {
  6759. WRITE(PHOTOGRAPH_PIN, HIGH);
  6760. _delay_ms(PULSE_LENGTH);
  6761. WRITE(PHOTOGRAPH_PIN, LOW);
  6762. _delay_ms(PULSE_LENGTH);
  6763. }
  6764. delay(7.33);
  6765. for (int i = 0; i < NUM_PULSES; i++) {
  6766. WRITE(PHOTOGRAPH_PIN, HIGH);
  6767. _delay_ms(PULSE_LENGTH);
  6768. WRITE(PHOTOGRAPH_PIN, LOW);
  6769. _delay_ms(PULSE_LENGTH);
  6770. }
  6771. #endif // !CHDK && HAS_PHOTOGRAPH
  6772. }
  6773. #endif // CHDK || PHOTOGRAPH_PIN
  6774. #if HAS_LCD_CONTRAST
  6775. /**
  6776. * M250: Read and optionally set the LCD contrast
  6777. */
  6778. inline void gcode_M250() {
  6779. if (code_seen('C')) set_lcd_contrast(code_value_int());
  6780. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  6781. SERIAL_PROTOCOL(lcd_contrast);
  6782. SERIAL_EOL;
  6783. }
  6784. #endif // HAS_LCD_CONTRAST
  6785. #if ENABLED(PREVENT_COLD_EXTRUSION)
  6786. /**
  6787. * M302: Allow cold extrudes, or set the minimum extrude temperature
  6788. *
  6789. * S<temperature> sets the minimum extrude temperature
  6790. * P<bool> enables (1) or disables (0) cold extrusion
  6791. *
  6792. * Examples:
  6793. *
  6794. * M302 ; report current cold extrusion state
  6795. * M302 P0 ; enable cold extrusion checking
  6796. * M302 P1 ; disables cold extrusion checking
  6797. * M302 S0 ; always allow extrusion (disables checking)
  6798. * M302 S170 ; only allow extrusion above 170
  6799. * M302 S170 P1 ; set min extrude temp to 170 but leave disabled
  6800. */
  6801. inline void gcode_M302() {
  6802. bool seen_S = code_seen('S');
  6803. if (seen_S) {
  6804. thermalManager.extrude_min_temp = code_value_temp_abs();
  6805. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0);
  6806. }
  6807. if (code_seen('P'))
  6808. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0) || code_value_bool();
  6809. else if (!seen_S) {
  6810. // Report current state
  6811. SERIAL_ECHO_START;
  6812. SERIAL_ECHOPAIR("Cold extrudes are ", (thermalManager.allow_cold_extrude ? "en" : "dis"));
  6813. SERIAL_ECHOPAIR("abled (min temp ", int(thermalManager.extrude_min_temp + 0.5));
  6814. SERIAL_ECHOLNPGM("C)");
  6815. }
  6816. }
  6817. #endif // PREVENT_COLD_EXTRUSION
  6818. /**
  6819. * M303: PID relay autotune
  6820. *
  6821. * S<temperature> sets the target temperature. (default 150C)
  6822. * E<extruder> (-1 for the bed) (default 0)
  6823. * C<cycles>
  6824. * U<bool> with a non-zero value will apply the result to current settings
  6825. */
  6826. inline void gcode_M303() {
  6827. #if HAS_PID_HEATING
  6828. const int e = code_seen('E') ? code_value_int() : 0,
  6829. c = code_seen('C') ? code_value_int() : 5;
  6830. const bool u = code_seen('U') && code_value_bool();
  6831. int16_t temp = code_seen('S') ? code_value_temp_abs() : (e < 0 ? 70 : 150);
  6832. if (WITHIN(e, 0, HOTENDS - 1))
  6833. target_extruder = e;
  6834. KEEPALIVE_STATE(NOT_BUSY); // don't send "busy: processing" messages during autotune output
  6835. thermalManager.PID_autotune(temp, e, c, u);
  6836. KEEPALIVE_STATE(IN_HANDLER);
  6837. #else
  6838. SERIAL_ERROR_START;
  6839. SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
  6840. #endif
  6841. }
  6842. #if ENABLED(MORGAN_SCARA)
  6843. bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) {
  6844. if (IsRunning()) {
  6845. forward_kinematics_SCARA(delta_a, delta_b);
  6846. destination[X_AXIS] = LOGICAL_X_POSITION(cartes[X_AXIS]);
  6847. destination[Y_AXIS] = LOGICAL_Y_POSITION(cartes[Y_AXIS]);
  6848. destination[Z_AXIS] = current_position[Z_AXIS];
  6849. prepare_move_to_destination();
  6850. return true;
  6851. }
  6852. return false;
  6853. }
  6854. /**
  6855. * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  6856. */
  6857. inline bool gcode_M360() {
  6858. SERIAL_ECHOLNPGM(" Cal: Theta 0");
  6859. return SCARA_move_to_cal(0, 120);
  6860. }
  6861. /**
  6862. * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  6863. */
  6864. inline bool gcode_M361() {
  6865. SERIAL_ECHOLNPGM(" Cal: Theta 90");
  6866. return SCARA_move_to_cal(90, 130);
  6867. }
  6868. /**
  6869. * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  6870. */
  6871. inline bool gcode_M362() {
  6872. SERIAL_ECHOLNPGM(" Cal: Psi 0");
  6873. return SCARA_move_to_cal(60, 180);
  6874. }
  6875. /**
  6876. * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  6877. */
  6878. inline bool gcode_M363() {
  6879. SERIAL_ECHOLNPGM(" Cal: Psi 90");
  6880. return SCARA_move_to_cal(50, 90);
  6881. }
  6882. /**
  6883. * M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  6884. */
  6885. inline bool gcode_M364() {
  6886. SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
  6887. return SCARA_move_to_cal(45, 135);
  6888. }
  6889. #endif // SCARA
  6890. #if ENABLED(EXT_SOLENOID)
  6891. void enable_solenoid(const uint8_t num) {
  6892. switch (num) {
  6893. case 0:
  6894. OUT_WRITE(SOL0_PIN, HIGH);
  6895. break;
  6896. #if HAS_SOLENOID_1 && EXTRUDERS > 1
  6897. case 1:
  6898. OUT_WRITE(SOL1_PIN, HIGH);
  6899. break;
  6900. #endif
  6901. #if HAS_SOLENOID_2 && EXTRUDERS > 2
  6902. case 2:
  6903. OUT_WRITE(SOL2_PIN, HIGH);
  6904. break;
  6905. #endif
  6906. #if HAS_SOLENOID_3 && EXTRUDERS > 3
  6907. case 3:
  6908. OUT_WRITE(SOL3_PIN, HIGH);
  6909. break;
  6910. #endif
  6911. #if HAS_SOLENOID_4 && EXTRUDERS > 4
  6912. case 4:
  6913. OUT_WRITE(SOL4_PIN, HIGH);
  6914. break;
  6915. #endif
  6916. default:
  6917. SERIAL_ECHO_START;
  6918. SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
  6919. break;
  6920. }
  6921. }
  6922. void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
  6923. void disable_all_solenoids() {
  6924. OUT_WRITE(SOL0_PIN, LOW);
  6925. #if HAS_SOLENOID_1 && EXTRUDERS > 1
  6926. OUT_WRITE(SOL1_PIN, LOW);
  6927. #endif
  6928. #if HAS_SOLENOID_2 && EXTRUDERS > 2
  6929. OUT_WRITE(SOL2_PIN, LOW);
  6930. #endif
  6931. #if HAS_SOLENOID_3 && EXTRUDERS > 3
  6932. OUT_WRITE(SOL3_PIN, LOW);
  6933. #endif
  6934. #if HAS_SOLENOID_4 && EXTRUDERS > 4
  6935. OUT_WRITE(SOL4_PIN, LOW);
  6936. #endif
  6937. }
  6938. /**
  6939. * M380: Enable solenoid on the active extruder
  6940. */
  6941. inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
  6942. /**
  6943. * M381: Disable all solenoids
  6944. */
  6945. inline void gcode_M381() { disable_all_solenoids(); }
  6946. #endif // EXT_SOLENOID
  6947. /**
  6948. * M400: Finish all moves
  6949. */
  6950. inline void gcode_M400() { stepper.synchronize(); }
  6951. #if HAS_BED_PROBE
  6952. /**
  6953. * M401: Engage Z Servo endstop if available
  6954. */
  6955. inline void gcode_M401() { DEPLOY_PROBE(); }
  6956. /**
  6957. * M402: Retract Z Servo endstop if enabled
  6958. */
  6959. inline void gcode_M402() { STOW_PROBE(); }
  6960. #endif // HAS_BED_PROBE
  6961. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  6962. /**
  6963. * M404: Display or set (in current units) the nominal filament width (3mm, 1.75mm ) W<3.0>
  6964. */
  6965. inline void gcode_M404() {
  6966. if (code_seen('W')) {
  6967. filament_width_nominal = code_value_linear_units();
  6968. }
  6969. else {
  6970. SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
  6971. SERIAL_PROTOCOLLN(filament_width_nominal);
  6972. }
  6973. }
  6974. /**
  6975. * M405: Turn on filament sensor for control
  6976. */
  6977. inline void gcode_M405() {
  6978. // This is technically a linear measurement, but since it's quantized to centimeters and is a different unit than
  6979. // everything else, it uses code_value_int() instead of code_value_linear_units().
  6980. if (code_seen('D')) meas_delay_cm = code_value_int();
  6981. NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY);
  6982. if (filwidth_delay_index[1] == -1) { // Initialize the ring buffer if not done since startup
  6983. const int temp_ratio = thermalManager.widthFil_to_size_ratio() - 100; // -100 to scale within a signed byte
  6984. for (uint8_t i = 0; i < COUNT(measurement_delay); ++i)
  6985. measurement_delay[i] = temp_ratio;
  6986. filwidth_delay_index[0] = filwidth_delay_index[1] = 0;
  6987. }
  6988. filament_sensor = true;
  6989. //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  6990. //SERIAL_PROTOCOL(filament_width_meas);
  6991. //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
  6992. //SERIAL_PROTOCOL(flow_percentage[active_extruder]);
  6993. }
  6994. /**
  6995. * M406: Turn off filament sensor for control
  6996. */
  6997. inline void gcode_M406() { filament_sensor = false; }
  6998. /**
  6999. * M407: Get measured filament diameter on serial output
  7000. */
  7001. inline void gcode_M407() {
  7002. SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  7003. SERIAL_PROTOCOLLN(filament_width_meas);
  7004. }
  7005. #endif // FILAMENT_WIDTH_SENSOR
  7006. void quickstop_stepper() {
  7007. stepper.quick_stop();
  7008. stepper.synchronize();
  7009. set_current_from_steppers_for_axis(ALL_AXES);
  7010. SYNC_PLAN_POSITION_KINEMATIC();
  7011. }
  7012. #if HAS_LEVELING
  7013. /**
  7014. * M420: Enable/Disable Bed Leveling and/or set the Z fade height.
  7015. *
  7016. * S[bool] Turns leveling on or off
  7017. * Z[height] Sets the Z fade height (0 or none to disable)
  7018. * V[bool] Verbose - Print the leveling grid
  7019. *
  7020. * With AUTO_BED_LEVELING_UBL only:
  7021. *
  7022. * L[index] Load UBL mesh from index (0 is default)
  7023. */
  7024. inline void gcode_M420() {
  7025. #if ENABLED(AUTO_BED_LEVELING_UBL)
  7026. // L to load a mesh from the EEPROM
  7027. if (code_seen('L')) {
  7028. const int8_t storage_slot = code_has_value() ? code_value_int() : ubl.state.eeprom_storage_slot;
  7029. const int16_t j = (UBL_LAST_EEPROM_INDEX - ubl.eeprom_start) / sizeof(ubl.z_values);
  7030. if (!WITHIN(storage_slot, 0, j - 1) || ubl.eeprom_start <= 0) {
  7031. SERIAL_PROTOCOLLNPGM("?EEPROM storage not available for use.\n");
  7032. return;
  7033. }
  7034. ubl.load_mesh(storage_slot);
  7035. ubl.state.eeprom_storage_slot = storage_slot;
  7036. }
  7037. #endif // AUTO_BED_LEVELING_UBL
  7038. // V to print the matrix or mesh
  7039. if (code_seen('V')) {
  7040. #if ABL_PLANAR
  7041. planner.bed_level_matrix.debug(PSTR("Bed Level Correction Matrix:"));
  7042. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  7043. if (bilinear_grid_spacing[X_AXIS]) {
  7044. print_bilinear_leveling_grid();
  7045. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  7046. bed_level_virt_print();
  7047. #endif
  7048. }
  7049. #elif ENABLED(MESH_BED_LEVELING)
  7050. if (mbl.has_mesh()) {
  7051. SERIAL_ECHOLNPGM("Mesh Bed Level data:");
  7052. mbl_mesh_report();
  7053. }
  7054. #endif
  7055. }
  7056. #if ENABLED(AUTO_BED_LEVELING_UBL)
  7057. // L to load a mesh from the EEPROM
  7058. if (code_seen('L') || code_seen('V')) {
  7059. ubl.display_map(0); // Currently only supports one map type
  7060. SERIAL_ECHOLNPAIR("UBL_MESH_VALID = ", UBL_MESH_VALID);
  7061. SERIAL_ECHOLNPAIR("eeprom_storage_slot = ", ubl.state.eeprom_storage_slot);
  7062. }
  7063. #endif
  7064. bool to_enable = false;
  7065. if (code_seen('S')) {
  7066. to_enable = code_value_bool();
  7067. set_bed_leveling_enabled(to_enable);
  7068. }
  7069. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  7070. if (code_seen('Z')) set_z_fade_height(code_value_linear_units());
  7071. #endif
  7072. const bool new_status =
  7073. #if ENABLED(MESH_BED_LEVELING)
  7074. mbl.active()
  7075. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  7076. ubl.state.active
  7077. #else
  7078. planner.abl_enabled
  7079. #endif
  7080. ;
  7081. if (to_enable && !new_status) {
  7082. SERIAL_ERROR_START;
  7083. SERIAL_ERRORLNPGM(MSG_ERR_M420_FAILED);
  7084. }
  7085. SERIAL_ECHO_START;
  7086. SERIAL_ECHOLNPAIR("Bed Leveling ", new_status ? MSG_ON : MSG_OFF);
  7087. }
  7088. #endif
  7089. #if ENABLED(MESH_BED_LEVELING)
  7090. /**
  7091. * M421: Set a single Mesh Bed Leveling Z coordinate
  7092. * Use either 'M421 X<linear> Y<linear> Z<linear>' or 'M421 I<xindex> J<yindex> Z<linear>'
  7093. */
  7094. inline void gcode_M421() {
  7095. int8_t px = 0, py = 0;
  7096. float z = 0;
  7097. bool hasX, hasY, hasZ, hasI, hasJ;
  7098. if ((hasX = code_seen('X'))) px = mbl.probe_index_x(code_value_linear_units());
  7099. if ((hasY = code_seen('Y'))) py = mbl.probe_index_y(code_value_linear_units());
  7100. if ((hasI = code_seen('I'))) px = code_value_linear_units();
  7101. if ((hasJ = code_seen('J'))) py = code_value_linear_units();
  7102. if ((hasZ = code_seen('Z'))) z = code_value_linear_units();
  7103. if (hasX && hasY && hasZ) {
  7104. if (px >= 0 && py >= 0)
  7105. mbl.set_z(px, py, z);
  7106. else {
  7107. SERIAL_ERROR_START;
  7108. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  7109. }
  7110. }
  7111. else if (hasI && hasJ && hasZ) {
  7112. if (WITHIN(px, 0, GRID_MAX_POINTS_X - 1) && WITHIN(py, 0, GRID_MAX_POINTS_Y - 1))
  7113. mbl.set_z(px, py, z);
  7114. else {
  7115. SERIAL_ERROR_START;
  7116. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  7117. }
  7118. }
  7119. else {
  7120. SERIAL_ERROR_START;
  7121. SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
  7122. }
  7123. }
  7124. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(AUTO_BED_LEVELING_UBL)
  7125. /**
  7126. * M421: Set a single Mesh Bed Leveling Z coordinate
  7127. *
  7128. * M421 I<xindex> J<yindex> Z<linear>
  7129. */
  7130. inline void gcode_M421() {
  7131. int8_t px = 0, py = 0;
  7132. float z = 0;
  7133. bool hasI, hasJ, hasZ;
  7134. if ((hasI = code_seen('I'))) px = code_value_linear_units();
  7135. if ((hasJ = code_seen('J'))) py = code_value_linear_units();
  7136. if ((hasZ = code_seen('Z'))) z = code_value_linear_units();
  7137. if (hasI && hasJ && hasZ) {
  7138. if (WITHIN(px, 0, GRID_MAX_POINTS_X - 1) && WITHIN(py, 0, GRID_MAX_POINTS_X - 1)) {
  7139. #if ENABLED(AUTO_BED_LEVELING_UBL)
  7140. ubl.z_values[px][py] = z;
  7141. #else
  7142. z_values[px][py] = z;
  7143. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  7144. bed_level_virt_interpolate();
  7145. #endif
  7146. #endif
  7147. }
  7148. else {
  7149. SERIAL_ERROR_START;
  7150. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  7151. }
  7152. }
  7153. else {
  7154. SERIAL_ERROR_START;
  7155. SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
  7156. }
  7157. }
  7158. #endif
  7159. #if HAS_M206_COMMAND
  7160. /**
  7161. * M428: Set home_offset based on the distance between the
  7162. * current_position and the nearest "reference point."
  7163. * If an axis is past center its endstop position
  7164. * is the reference-point. Otherwise it uses 0. This allows
  7165. * the Z offset to be set near the bed when using a max endstop.
  7166. *
  7167. * M428 can't be used more than 2cm away from 0 or an endstop.
  7168. *
  7169. * Use M206 to set these values directly.
  7170. */
  7171. inline void gcode_M428() {
  7172. bool err = false;
  7173. LOOP_XYZ(i) {
  7174. if (axis_homed[i]) {
  7175. float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos((AxisEnum)i) : 0,
  7176. diff = current_position[i] - LOGICAL_POSITION(base, i);
  7177. if (WITHIN(diff, -20, 20)) {
  7178. set_home_offset((AxisEnum)i, home_offset[i] - diff);
  7179. }
  7180. else {
  7181. SERIAL_ERROR_START;
  7182. SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
  7183. LCD_ALERTMESSAGEPGM("Err: Too far!");
  7184. BUZZ(200, 40);
  7185. err = true;
  7186. break;
  7187. }
  7188. }
  7189. }
  7190. if (!err) {
  7191. SYNC_PLAN_POSITION_KINEMATIC();
  7192. report_current_position();
  7193. LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
  7194. BUZZ(100, 659);
  7195. BUZZ(100, 698);
  7196. }
  7197. }
  7198. #endif // HAS_M206_COMMAND
  7199. /**
  7200. * M500: Store settings in EEPROM
  7201. */
  7202. inline void gcode_M500() {
  7203. (void)settings.save();
  7204. }
  7205. /**
  7206. * M501: Read settings from EEPROM
  7207. */
  7208. inline void gcode_M501() {
  7209. (void)settings.load();
  7210. }
  7211. /**
  7212. * M502: Revert to default settings
  7213. */
  7214. inline void gcode_M502() {
  7215. (void)settings.reset();
  7216. }
  7217. /**
  7218. * M503: print settings currently in memory
  7219. */
  7220. inline void gcode_M503() {
  7221. (void)settings.report(code_seen('S') && !code_value_bool());
  7222. }
  7223. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  7224. /**
  7225. * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
  7226. */
  7227. inline void gcode_M540() {
  7228. if (code_seen('S')) stepper.abort_on_endstop_hit = code_value_bool();
  7229. }
  7230. #endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  7231. #if HAS_BED_PROBE
  7232. void refresh_zprobe_zoffset(const bool no_babystep/*=false*/) {
  7233. static float last_zoffset = NAN;
  7234. if (!isnan(last_zoffset)) {
  7235. #if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(BABYSTEP_ZPROBE_OFFSET) || ENABLED(DELTA)
  7236. const float diff = zprobe_zoffset - last_zoffset;
  7237. #endif
  7238. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  7239. // Correct bilinear grid for new probe offset
  7240. if (diff) {
  7241. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
  7242. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
  7243. z_values[x][y] -= diff;
  7244. }
  7245. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  7246. bed_level_virt_interpolate();
  7247. #endif
  7248. #endif
  7249. #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
  7250. if (!no_babystep && planner.abl_enabled)
  7251. thermalManager.babystep_axis(Z_AXIS, -lround(diff * planner.axis_steps_per_mm[Z_AXIS]));
  7252. #else
  7253. UNUSED(no_babystep);
  7254. #endif
  7255. #if ENABLED(DELTA) // correct the delta_height
  7256. home_offset[Z_AXIS] -= diff;
  7257. #endif
  7258. }
  7259. last_zoffset = zprobe_zoffset;
  7260. }
  7261. inline void gcode_M851() {
  7262. SERIAL_ECHO_START;
  7263. SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET " ");
  7264. if (code_seen('Z')) {
  7265. const float value = code_value_linear_units();
  7266. if (WITHIN(value, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX)) {
  7267. zprobe_zoffset = value;
  7268. refresh_zprobe_zoffset();
  7269. SERIAL_ECHO(zprobe_zoffset);
  7270. }
  7271. else
  7272. SERIAL_ECHOPGM(MSG_Z_MIN " " STRINGIFY(Z_PROBE_OFFSET_RANGE_MIN) " " MSG_Z_MAX " " STRINGIFY(Z_PROBE_OFFSET_RANGE_MAX));
  7273. }
  7274. else
  7275. SERIAL_ECHOPAIR(": ", zprobe_zoffset);
  7276. SERIAL_EOL;
  7277. }
  7278. #endif // HAS_BED_PROBE
  7279. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  7280. void filament_change_beep(const bool init=false) {
  7281. static millis_t next_buzz = 0;
  7282. static uint16_t runout_beep = 0;
  7283. if (init) next_buzz = runout_beep = 0;
  7284. const millis_t ms = millis();
  7285. if (ELAPSED(ms, next_buzz)) {
  7286. if (runout_beep <= FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS + 5) { // Only beep as long as we're supposed to
  7287. next_buzz = ms + (runout_beep <= FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS ? 2500 : 400);
  7288. BUZZ(300, 2000);
  7289. runout_beep++;
  7290. }
  7291. }
  7292. }
  7293. static bool busy_doing_M600 = false;
  7294. /**
  7295. * M600: Pause for filament change
  7296. *
  7297. * E[distance] - Retract the filament this far (negative value)
  7298. * Z[distance] - Move the Z axis by this distance
  7299. * X[position] - Move to this X position, with Y
  7300. * Y[position] - Move to this Y position, with X
  7301. * L[distance] - Retract distance for removal (manual reload)
  7302. *
  7303. * Default values are used for omitted arguments.
  7304. *
  7305. */
  7306. inline void gcode_M600() {
  7307. if (!DEBUGGING(DRYRUN) && thermalManager.tooColdToExtrude(active_extruder)) {
  7308. SERIAL_ERROR_START;
  7309. SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
  7310. return;
  7311. }
  7312. busy_doing_M600 = true; // Stepper Motors can't timeout when this is set
  7313. // Pause the print job timer
  7314. const bool job_running = print_job_timer.isRunning();
  7315. print_job_timer.pause();
  7316. // Show initial message and wait for synchronize steppers
  7317. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INIT);
  7318. stepper.synchronize();
  7319. // Save current position of all axes
  7320. float lastpos[XYZE];
  7321. COPY(lastpos, current_position);
  7322. set_destination_to_current();
  7323. // Initial retract before move to filament change position
  7324. destination[E_AXIS] += code_seen('E') ? code_value_axis_units(E_AXIS) : 0
  7325. #if defined(FILAMENT_CHANGE_RETRACT_LENGTH) && FILAMENT_CHANGE_RETRACT_LENGTH > 0
  7326. - (FILAMENT_CHANGE_RETRACT_LENGTH)
  7327. #endif
  7328. ;
  7329. RUNPLAN(FILAMENT_CHANGE_RETRACT_FEEDRATE);
  7330. // Lift Z axis
  7331. float z_lift = code_seen('Z') ? code_value_linear_units() :
  7332. #if defined(FILAMENT_CHANGE_Z_ADD) && FILAMENT_CHANGE_Z_ADD > 0
  7333. FILAMENT_CHANGE_Z_ADD
  7334. #else
  7335. 0
  7336. #endif
  7337. ;
  7338. if (z_lift > 0) {
  7339. destination[Z_AXIS] += z_lift;
  7340. NOMORE(destination[Z_AXIS], Z_MAX_POS);
  7341. RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
  7342. }
  7343. // Move XY axes to filament exchange position
  7344. if (code_seen('X')) destination[X_AXIS] = code_value_linear_units();
  7345. #ifdef FILAMENT_CHANGE_X_POS
  7346. else destination[X_AXIS] = FILAMENT_CHANGE_X_POS;
  7347. #endif
  7348. if (code_seen('Y')) destination[Y_AXIS] = code_value_linear_units();
  7349. #ifdef FILAMENT_CHANGE_Y_POS
  7350. else destination[Y_AXIS] = FILAMENT_CHANGE_Y_POS;
  7351. #endif
  7352. RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
  7353. stepper.synchronize();
  7354. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_UNLOAD);
  7355. idle();
  7356. // Unload filament
  7357. destination[E_AXIS] += code_seen('L') ? code_value_axis_units(E_AXIS) : 0
  7358. #if FILAMENT_CHANGE_UNLOAD_LENGTH > 0
  7359. - (FILAMENT_CHANGE_UNLOAD_LENGTH)
  7360. #endif
  7361. ;
  7362. RUNPLAN(FILAMENT_CHANGE_UNLOAD_FEEDRATE);
  7363. // Synchronize steppers and then disable extruders steppers for manual filament changing
  7364. stepper.synchronize();
  7365. disable_e_steppers();
  7366. safe_delay(100);
  7367. const millis_t nozzle_timeout = millis() + (millis_t)(FILAMENT_CHANGE_NOZZLE_TIMEOUT) * 1000UL;
  7368. bool nozzle_timed_out = false;
  7369. // Wait for filament insert by user and press button
  7370. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INSERT);
  7371. #if HAS_BUZZER
  7372. filament_change_beep(true);
  7373. #endif
  7374. idle();
  7375. int16_t temps[HOTENDS];
  7376. HOTEND_LOOP() temps[e] = thermalManager.target_temperature[e]; // Save nozzle temps
  7377. KEEPALIVE_STATE(PAUSED_FOR_USER);
  7378. wait_for_user = true; // LCD click or M108 will clear this
  7379. while (wait_for_user) {
  7380. if (nozzle_timed_out)
  7381. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_CLICK_TO_HEAT_NOZZLE);
  7382. #if HAS_BUZZER
  7383. filament_change_beep();
  7384. #endif
  7385. if (!nozzle_timed_out && ELAPSED(millis(), nozzle_timeout)) {
  7386. nozzle_timed_out = true; // on nozzle timeout remember the nozzles need to be reheated
  7387. HOTEND_LOOP() thermalManager.setTargetHotend(0, e); // Turn off all the nozzles
  7388. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_CLICK_TO_HEAT_NOZZLE);
  7389. }
  7390. idle(true);
  7391. }
  7392. KEEPALIVE_STATE(IN_HANDLER);
  7393. if (nozzle_timed_out) // Turn nozzles back on if they were turned off
  7394. HOTEND_LOOP() thermalManager.setTargetHotend(temps[e], e);
  7395. // Show "wait for heating"
  7396. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_WAIT_FOR_NOZZLES_TO_HEAT);
  7397. wait_for_heatup = true;
  7398. while (wait_for_heatup) {
  7399. idle();
  7400. wait_for_heatup = false;
  7401. HOTEND_LOOP() {
  7402. if (abs(thermalManager.degHotend(e) - temps[e]) > 3) {
  7403. wait_for_heatup = true;
  7404. break;
  7405. }
  7406. }
  7407. }
  7408. // Show "insert filament"
  7409. if (nozzle_timed_out)
  7410. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INSERT);
  7411. #if HAS_BUZZER
  7412. filament_change_beep(true);
  7413. #endif
  7414. KEEPALIVE_STATE(PAUSED_FOR_USER);
  7415. wait_for_user = true; // LCD click or M108 will clear this
  7416. while (wait_for_user && nozzle_timed_out) {
  7417. #if HAS_BUZZER
  7418. filament_change_beep();
  7419. #endif
  7420. idle(true);
  7421. }
  7422. KEEPALIVE_STATE(IN_HANDLER);
  7423. // Show "load" message
  7424. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_LOAD);
  7425. // Load filament
  7426. destination[E_AXIS] += code_seen('L') ? -code_value_axis_units(E_AXIS) : 0
  7427. #if FILAMENT_CHANGE_LOAD_LENGTH > 0
  7428. + FILAMENT_CHANGE_LOAD_LENGTH
  7429. #endif
  7430. ;
  7431. RUNPLAN(FILAMENT_CHANGE_LOAD_FEEDRATE);
  7432. stepper.synchronize();
  7433. #if defined(FILAMENT_CHANGE_EXTRUDE_LENGTH) && FILAMENT_CHANGE_EXTRUDE_LENGTH > 0
  7434. do {
  7435. // "Wait for filament extrude"
  7436. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_EXTRUDE);
  7437. // Extrude filament to get into hotend
  7438. destination[E_AXIS] += FILAMENT_CHANGE_EXTRUDE_LENGTH;
  7439. RUNPLAN(FILAMENT_CHANGE_EXTRUDE_FEEDRATE);
  7440. stepper.synchronize();
  7441. // Show "Extrude More" / "Resume" menu and wait for reply
  7442. KEEPALIVE_STATE(PAUSED_FOR_USER);
  7443. wait_for_user = false;
  7444. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_OPTION);
  7445. while (filament_change_menu_response == FILAMENT_CHANGE_RESPONSE_WAIT_FOR) idle(true);
  7446. KEEPALIVE_STATE(IN_HANDLER);
  7447. // Keep looping if "Extrude More" was selected
  7448. } while (filament_change_menu_response == FILAMENT_CHANGE_RESPONSE_EXTRUDE_MORE);
  7449. #endif
  7450. // "Wait for print to resume"
  7451. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_RESUME);
  7452. // Set extruder to saved position
  7453. destination[E_AXIS] = current_position[E_AXIS] = lastpos[E_AXIS];
  7454. planner.set_e_position_mm(current_position[E_AXIS]);
  7455. #if IS_KINEMATIC
  7456. // Move XYZ to starting position
  7457. planner.buffer_line_kinematic(lastpos, FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
  7458. #else
  7459. // Move XY to starting position, then Z
  7460. destination[X_AXIS] = lastpos[X_AXIS];
  7461. destination[Y_AXIS] = lastpos[Y_AXIS];
  7462. RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
  7463. destination[Z_AXIS] = lastpos[Z_AXIS];
  7464. RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
  7465. #endif
  7466. stepper.synchronize();
  7467. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  7468. filament_ran_out = false;
  7469. #endif
  7470. // Show status screen
  7471. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_STATUS);
  7472. // Resume the print job timer if it was running
  7473. if (job_running) print_job_timer.start();
  7474. busy_doing_M600 = false; // Allow Stepper Motors to be turned off during inactivity
  7475. }
  7476. #endif // FILAMENT_CHANGE_FEATURE
  7477. #if ENABLED(DUAL_X_CARRIAGE)
  7478. /**
  7479. * M605: Set dual x-carriage movement mode
  7480. *
  7481. * M605 S0: Full control mode. The slicer has full control over x-carriage movement
  7482. * M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
  7483. * M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
  7484. * units x-offset and an optional differential hotend temperature of
  7485. * mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
  7486. * the first with a spacing of 100mm in the x direction and 2 degrees hotter.
  7487. *
  7488. * Note: the X axis should be homed after changing dual x-carriage mode.
  7489. */
  7490. inline void gcode_M605() {
  7491. stepper.synchronize();
  7492. if (code_seen('S')) dual_x_carriage_mode = (DualXMode)code_value_byte();
  7493. switch (dual_x_carriage_mode) {
  7494. case DXC_FULL_CONTROL_MODE:
  7495. case DXC_AUTO_PARK_MODE:
  7496. break;
  7497. case DXC_DUPLICATION_MODE:
  7498. if (code_seen('X')) duplicate_extruder_x_offset = max(code_value_linear_units(), X2_MIN_POS - x_home_pos(0));
  7499. if (code_seen('R')) duplicate_extruder_temp_offset = code_value_temp_diff();
  7500. SERIAL_ECHO_START;
  7501. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  7502. SERIAL_CHAR(' ');
  7503. SERIAL_ECHO(hotend_offset[X_AXIS][0]);
  7504. SERIAL_CHAR(',');
  7505. SERIAL_ECHO(hotend_offset[Y_AXIS][0]);
  7506. SERIAL_CHAR(' ');
  7507. SERIAL_ECHO(duplicate_extruder_x_offset);
  7508. SERIAL_CHAR(',');
  7509. SERIAL_ECHOLN(hotend_offset[Y_AXIS][1]);
  7510. break;
  7511. default:
  7512. dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  7513. break;
  7514. }
  7515. active_extruder_parked = false;
  7516. extruder_duplication_enabled = false;
  7517. delayed_move_time = 0;
  7518. }
  7519. #elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  7520. inline void gcode_M605() {
  7521. stepper.synchronize();
  7522. extruder_duplication_enabled = code_seen('S') && code_value_int() == (int)DXC_DUPLICATION_MODE;
  7523. SERIAL_ECHO_START;
  7524. SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
  7525. }
  7526. #endif // DUAL_NOZZLE_DUPLICATION_MODE
  7527. #if ENABLED(LIN_ADVANCE)
  7528. /**
  7529. * M900: Set and/or Get advance K factor and WH/D ratio
  7530. *
  7531. * K<factor> Set advance K factor
  7532. * R<ratio> Set ratio directly (overrides WH/D)
  7533. * W<width> H<height> D<diam> Set ratio from WH/D
  7534. */
  7535. inline void gcode_M900() {
  7536. stepper.synchronize();
  7537. const float newK = code_seen('K') ? code_value_float() : -1;
  7538. if (newK >= 0) planner.extruder_advance_k = newK;
  7539. float newR = code_seen('R') ? code_value_float() : -1;
  7540. if (newR < 0) {
  7541. const float newD = code_seen('D') ? code_value_float() : -1,
  7542. newW = code_seen('W') ? code_value_float() : -1,
  7543. newH = code_seen('H') ? code_value_float() : -1;
  7544. if (newD >= 0 && newW >= 0 && newH >= 0)
  7545. newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
  7546. }
  7547. if (newR >= 0) planner.advance_ed_ratio = newR;
  7548. SERIAL_ECHO_START;
  7549. SERIAL_ECHOPAIR("Advance K=", planner.extruder_advance_k);
  7550. SERIAL_ECHOPGM(" E/D=");
  7551. const float ratio = planner.advance_ed_ratio;
  7552. ratio ? SERIAL_ECHO(ratio) : SERIAL_ECHOPGM("Auto");
  7553. SERIAL_EOL;
  7554. }
  7555. #endif // LIN_ADVANCE
  7556. #if ENABLED(HAVE_TMC2130)
  7557. static void tmc2130_get_current(TMC2130Stepper &st, const char name) {
  7558. SERIAL_CHAR(name);
  7559. SERIAL_ECHOPGM(" axis driver current: ");
  7560. SERIAL_ECHOLN(st.getCurrent());
  7561. }
  7562. static void tmc2130_set_current(TMC2130Stepper &st, const char name, const int mA) {
  7563. st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
  7564. tmc2130_get_current(st, name);
  7565. }
  7566. static void tmc2130_report_otpw(TMC2130Stepper &st, const char name) {
  7567. SERIAL_CHAR(name);
  7568. SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
  7569. serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
  7570. SERIAL_EOL;
  7571. }
  7572. static void tmc2130_clear_otpw(TMC2130Stepper &st, const char name) {
  7573. st.clear_otpw();
  7574. SERIAL_CHAR(name);
  7575. SERIAL_ECHOLNPGM(" prewarn flag cleared");
  7576. }
  7577. static void tmc2130_get_pwmthrs(TMC2130Stepper &st, const char name, const uint16_t spmm) {
  7578. SERIAL_CHAR(name);
  7579. SERIAL_ECHOPGM(" stealthChop max speed set to ");
  7580. SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.stealth_max_speed() * spmm));
  7581. }
  7582. static void tmc2130_set_pwmthrs(TMC2130Stepper &st, const char name, const int32_t thrs, const uint32_t spmm) {
  7583. st.stealth_max_speed(12650000UL * st.microsteps() / (256 * thrs * spmm));
  7584. tmc2130_get_pwmthrs(st, name, spmm);
  7585. }
  7586. static void tmc2130_get_sgt(TMC2130Stepper &st, const char name) {
  7587. SERIAL_CHAR(name);
  7588. SERIAL_ECHOPGM(" driver homing sensitivity set to ");
  7589. SERIAL_ECHOLN(st.sgt());
  7590. }
  7591. static void tmc2130_set_sgt(TMC2130Stepper &st, const char name, const int8_t sgt_val) {
  7592. st.sgt(sgt_val);
  7593. tmc2130_get_sgt(st, name);
  7594. }
  7595. /**
  7596. * M906: Set motor current in milliamps using axis codes X, Y, Z, E
  7597. * Report driver currents when no axis specified
  7598. *
  7599. * S1: Enable automatic current control
  7600. * S0: Disable
  7601. */
  7602. inline void gcode_M906() {
  7603. uint16_t values[XYZE];
  7604. LOOP_XYZE(i)
  7605. values[i] = code_seen(axis_codes[i]) ? code_value_int() : 0;
  7606. #if ENABLED(X_IS_TMC2130)
  7607. if (values[X_AXIS]) tmc2130_set_current(stepperX, 'X', values[X_AXIS]);
  7608. else tmc2130_get_current(stepperX, 'X');
  7609. #endif
  7610. #if ENABLED(Y_IS_TMC2130)
  7611. if (values[Y_AXIS]) tmc2130_set_current(stepperY, 'Y', values[Y_AXIS]);
  7612. else tmc2130_get_current(stepperY, 'Y');
  7613. #endif
  7614. #if ENABLED(Z_IS_TMC2130)
  7615. if (values[Z_AXIS]) tmc2130_set_current(stepperZ, 'Z', values[Z_AXIS]);
  7616. else tmc2130_get_current(stepperZ, 'Z');
  7617. #endif
  7618. #if ENABLED(E0_IS_TMC2130)
  7619. if (values[E_AXIS]) tmc2130_set_current(stepperE0, 'E', values[E_AXIS]);
  7620. else tmc2130_get_current(stepperE0, 'E');
  7621. #endif
  7622. #if ENABLED(AUTOMATIC_CURRENT_CONTROL)
  7623. if (code_seen('S')) auto_current_control = code_value_bool();
  7624. #endif
  7625. }
  7626. /**
  7627. * M911: Report TMC2130 stepper driver overtemperature pre-warn flag
  7628. * The flag is held by the library and persist until manually cleared by M912
  7629. */
  7630. inline void gcode_M911() {
  7631. const bool reportX = code_seen('X'), reportY = code_seen('Y'), reportZ = code_seen('Z'), reportE = code_seen('E'),
  7632. reportAll = (!reportX && !reportY && !reportZ && !reportE) || (reportX && reportY && reportZ && reportE);
  7633. #if ENABLED(X_IS_TMC2130)
  7634. if (reportX || reportAll) tmc2130_report_otpw(stepperX, 'X');
  7635. #endif
  7636. #if ENABLED(Y_IS_TMC2130)
  7637. if (reportY || reportAll) tmc2130_report_otpw(stepperY, 'Y');
  7638. #endif
  7639. #if ENABLED(Z_IS_TMC2130)
  7640. if (reportZ || reportAll) tmc2130_report_otpw(stepperZ, 'Z');
  7641. #endif
  7642. #if ENABLED(E0_IS_TMC2130)
  7643. if (reportE || reportAll) tmc2130_report_otpw(stepperE0, 'E');
  7644. #endif
  7645. }
  7646. /**
  7647. * M912: Clear TMC2130 stepper driver overtemperature pre-warn flag held by the library
  7648. */
  7649. inline void gcode_M912() {
  7650. const bool clearX = code_seen('X'), clearY = code_seen('Y'), clearZ = code_seen('Z'), clearE = code_seen('E'),
  7651. clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE);
  7652. #if ENABLED(X_IS_TMC2130)
  7653. if (clearX || clearAll) tmc2130_clear_otpw(stepperX, 'X');
  7654. #endif
  7655. #if ENABLED(Y_IS_TMC2130)
  7656. if (clearY || clearAll) tmc2130_clear_otpw(stepperY, 'Y');
  7657. #endif
  7658. #if ENABLED(Z_IS_TMC2130)
  7659. if (clearZ || clearAll) tmc2130_clear_otpw(stepperZ, 'Z');
  7660. #endif
  7661. #if ENABLED(E0_IS_TMC2130)
  7662. if (clearE || clearAll) tmc2130_clear_otpw(stepperE0, 'E');
  7663. #endif
  7664. }
  7665. /**
  7666. * M913: Set HYBRID_THRESHOLD speed.
  7667. */
  7668. #if ENABLED(HYBRID_THRESHOLD)
  7669. inline void gcode_M913() {
  7670. uint16_t values[XYZE];
  7671. LOOP_XYZE(i)
  7672. values[i] = code_seen(axis_codes[i]) ? code_value_int() : 0;
  7673. #if ENABLED(X_IS_TMC2130)
  7674. if (values[X_AXIS]) tmc2130_set_pwmthrs(stepperX, 'X', values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
  7675. else tmc2130_get_pwmthrs(stepperX, 'X', planner.axis_steps_per_mm[X_AXIS]);
  7676. #endif
  7677. #if ENABLED(Y_IS_TMC2130)
  7678. if (values[Y_AXIS]) tmc2130_set_pwmthrs(stepperY, 'Y', values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
  7679. else tmc2130_get_pwmthrs(stepperY, 'Y', planner.axis_steps_per_mm[Y_AXIS]);
  7680. #endif
  7681. #if ENABLED(Z_IS_TMC2130)
  7682. if (values[Z_AXIS]) tmc2130_set_pwmthrs(stepperZ, 'Z', values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
  7683. else tmc2130_get_pwmthrs(stepperZ, 'Z', planner.axis_steps_per_mm[Z_AXIS]);
  7684. #endif
  7685. #if ENABLED(E0_IS_TMC2130)
  7686. if (values[E_AXIS]) tmc2130_set_pwmthrs(stepperE0, 'E', values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
  7687. else tmc2130_get_pwmthrs(stepperE0, 'E', planner.axis_steps_per_mm[E_AXIS]);
  7688. #endif
  7689. }
  7690. #endif // HYBRID_THRESHOLD
  7691. /**
  7692. * M914: Set SENSORLESS_HOMING sensitivity.
  7693. */
  7694. #if ENABLED(SENSORLESS_HOMING)
  7695. inline void gcode_M914() {
  7696. #if ENABLED(X_IS_TMC2130)
  7697. if (code_seen(axis_codes[X_AXIS])) tmc2130_set_sgt(stepperX, 'X', code_value_int());
  7698. else tmc2130_get_sgt(stepperX, 'X');
  7699. #endif
  7700. #if ENABLED(Y_IS_TMC2130)
  7701. if (code_seen(axis_codes[Y_AXIS])) tmc2130_set_sgt(stepperY, 'Y', code_value_int());
  7702. else tmc2130_get_sgt(stepperY, 'Y');
  7703. #endif
  7704. }
  7705. #endif // SENSORLESS_HOMING
  7706. #endif // HAVE_TMC2130
  7707. /**
  7708. * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
  7709. */
  7710. inline void gcode_M907() {
  7711. #if HAS_DIGIPOTSS
  7712. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
  7713. if (code_seen('B')) stepper.digipot_current(4, code_value_int());
  7714. if (code_seen('S')) for (uint8_t i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int());
  7715. #elif HAS_MOTOR_CURRENT_PWM
  7716. #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
  7717. if (code_seen('X')) stepper.digipot_current(0, code_value_int());
  7718. #endif
  7719. #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
  7720. if (code_seen('Z')) stepper.digipot_current(1, code_value_int());
  7721. #endif
  7722. #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
  7723. if (code_seen('E')) stepper.digipot_current(2, code_value_int());
  7724. #endif
  7725. #endif
  7726. #if ENABLED(DIGIPOT_I2C)
  7727. // this one uses actual amps in floating point
  7728. LOOP_XYZE(i) if (code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value_float());
  7729. // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
  7730. for (uint8_t i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (code_seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, code_value_float());
  7731. #endif
  7732. #if ENABLED(DAC_STEPPER_CURRENT)
  7733. if (code_seen('S')) {
  7734. const float dac_percent = code_value_float();
  7735. for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
  7736. }
  7737. LOOP_XYZE(i) if (code_seen(axis_codes[i])) dac_current_percent(i, code_value_float());
  7738. #endif
  7739. }
  7740. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  7741. /**
  7742. * M908: Control digital trimpot directly (M908 P<pin> S<current>)
  7743. */
  7744. inline void gcode_M908() {
  7745. #if HAS_DIGIPOTSS
  7746. stepper.digitalPotWrite(
  7747. code_seen('P') ? code_value_int() : 0,
  7748. code_seen('S') ? code_value_int() : 0
  7749. );
  7750. #endif
  7751. #ifdef DAC_STEPPER_CURRENT
  7752. dac_current_raw(
  7753. code_seen('P') ? code_value_byte() : -1,
  7754. code_seen('S') ? code_value_ushort() : 0
  7755. );
  7756. #endif
  7757. }
  7758. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  7759. inline void gcode_M909() { dac_print_values(); }
  7760. inline void gcode_M910() { dac_commit_eeprom(); }
  7761. #endif
  7762. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  7763. #if HAS_MICROSTEPS
  7764. // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  7765. inline void gcode_M350() {
  7766. if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.microstep_mode(i, code_value_byte());
  7767. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_mode(i, code_value_byte());
  7768. if (code_seen('B')) stepper.microstep_mode(4, code_value_byte());
  7769. stepper.microstep_readings();
  7770. }
  7771. /**
  7772. * M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
  7773. * S# determines MS1 or MS2, X# sets the pin high/low.
  7774. */
  7775. inline void gcode_M351() {
  7776. if (code_seen('S')) switch (code_value_byte()) {
  7777. case 1:
  7778. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, code_value_byte(), -1);
  7779. if (code_seen('B')) stepper.microstep_ms(4, code_value_byte(), -1);
  7780. break;
  7781. case 2:
  7782. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, -1, code_value_byte());
  7783. if (code_seen('B')) stepper.microstep_ms(4, -1, code_value_byte());
  7784. break;
  7785. }
  7786. stepper.microstep_readings();
  7787. }
  7788. #endif // HAS_MICROSTEPS
  7789. #if HAS_CASE_LIGHT
  7790. uint8_t case_light_brightness = 255;
  7791. void update_case_light() {
  7792. WRITE(CASE_LIGHT_PIN, case_light_on != INVERT_CASE_LIGHT ? HIGH : LOW);
  7793. analogWrite(CASE_LIGHT_PIN, case_light_on != INVERT_CASE_LIGHT ? case_light_brightness : 0);
  7794. }
  7795. #endif // HAS_CASE_LIGHT
  7796. /**
  7797. * M355: Turn case lights on/off and set brightness
  7798. *
  7799. * S<bool> Turn case light on or off
  7800. * P<byte> Set case light brightness (PWM pin required)
  7801. */
  7802. inline void gcode_M355() {
  7803. #if HAS_CASE_LIGHT
  7804. if (code_seen('P')) case_light_brightness = code_value_byte();
  7805. if (code_seen('S')) case_light_on = code_value_bool();
  7806. update_case_light();
  7807. SERIAL_ECHO_START;
  7808. SERIAL_ECHOPGM("Case lights ");
  7809. case_light_on ? SERIAL_ECHOLNPGM("on") : SERIAL_ECHOLNPGM("off");
  7810. #else
  7811. SERIAL_ERROR_START;
  7812. SERIAL_ERRORLNPGM(MSG_ERR_M355_NONE);
  7813. #endif // HAS_CASE_LIGHT
  7814. }
  7815. #if ENABLED(MIXING_EXTRUDER)
  7816. /**
  7817. * M163: Set a single mix factor for a mixing extruder
  7818. * This is called "weight" by some systems.
  7819. *
  7820. * S[index] The channel index to set
  7821. * P[float] The mix value
  7822. *
  7823. */
  7824. inline void gcode_M163() {
  7825. const int mix_index = code_seen('S') ? code_value_int() : 0;
  7826. if (mix_index < MIXING_STEPPERS) {
  7827. float mix_value = code_seen('P') ? code_value_float() : 0.0;
  7828. NOLESS(mix_value, 0.0);
  7829. mixing_factor[mix_index] = RECIPROCAL(mix_value);
  7830. }
  7831. }
  7832. #if MIXING_VIRTUAL_TOOLS > 1
  7833. /**
  7834. * M164: Store the current mix factors as a virtual tool.
  7835. *
  7836. * S[index] The virtual tool to store
  7837. *
  7838. */
  7839. inline void gcode_M164() {
  7840. const int tool_index = code_seen('S') ? code_value_int() : 0;
  7841. if (tool_index < MIXING_VIRTUAL_TOOLS) {
  7842. normalize_mix();
  7843. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  7844. mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i];
  7845. }
  7846. }
  7847. #endif
  7848. #if ENABLED(DIRECT_MIXING_IN_G1)
  7849. /**
  7850. * M165: Set multiple mix factors for a mixing extruder.
  7851. * Factors that are left out will be set to 0.
  7852. * All factors together must add up to 1.0.
  7853. *
  7854. * A[factor] Mix factor for extruder stepper 1
  7855. * B[factor] Mix factor for extruder stepper 2
  7856. * C[factor] Mix factor for extruder stepper 3
  7857. * D[factor] Mix factor for extruder stepper 4
  7858. * H[factor] Mix factor for extruder stepper 5
  7859. * I[factor] Mix factor for extruder stepper 6
  7860. *
  7861. */
  7862. inline void gcode_M165() { gcode_get_mix(); }
  7863. #endif
  7864. #endif // MIXING_EXTRUDER
  7865. /**
  7866. * M999: Restart after being stopped
  7867. *
  7868. * Default behaviour is to flush the serial buffer and request
  7869. * a resend to the host starting on the last N line received.
  7870. *
  7871. * Sending "M999 S1" will resume printing without flushing the
  7872. * existing command buffer.
  7873. *
  7874. */
  7875. inline void gcode_M999() {
  7876. Running = true;
  7877. lcd_reset_alert_level();
  7878. if (code_seen('S') && code_value_bool()) return;
  7879. // gcode_LastN = Stopped_gcode_LastN;
  7880. FlushSerialRequestResend();
  7881. }
  7882. #if ENABLED(SWITCHING_EXTRUDER)
  7883. inline void move_extruder_servo(uint8_t e) {
  7884. const int angles[2] = SWITCHING_EXTRUDER_SERVO_ANGLES;
  7885. MOVE_SERVO(SWITCHING_EXTRUDER_SERVO_NR, angles[e]);
  7886. safe_delay(500);
  7887. }
  7888. #endif
  7889. inline void invalid_extruder_error(const uint8_t &e) {
  7890. SERIAL_ECHO_START;
  7891. SERIAL_CHAR('T');
  7892. SERIAL_ECHO_F(e, DEC);
  7893. SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
  7894. }
  7895. /**
  7896. * Perform a tool-change, which may result in moving the
  7897. * previous tool out of the way and the new tool into place.
  7898. */
  7899. void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
  7900. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  7901. if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
  7902. return invalid_extruder_error(tmp_extruder);
  7903. // T0-Tnnn: Switch virtual tool by changing the mix
  7904. for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
  7905. mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
  7906. #else //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  7907. #if HOTENDS > 1
  7908. if (tmp_extruder >= EXTRUDERS)
  7909. return invalid_extruder_error(tmp_extruder);
  7910. const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
  7911. feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  7912. if (tmp_extruder != active_extruder) {
  7913. if (!no_move && axis_unhomed_error(true, true, true)) {
  7914. SERIAL_ECHOLNPGM("No move on toolchange");
  7915. no_move = true;
  7916. }
  7917. // Save current position to destination, for use later
  7918. set_destination_to_current();
  7919. #if ENABLED(DUAL_X_CARRIAGE)
  7920. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7921. if (DEBUGGING(LEVELING)) {
  7922. SERIAL_ECHOPGM("Dual X Carriage Mode ");
  7923. switch (dual_x_carriage_mode) {
  7924. case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
  7925. case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
  7926. case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
  7927. }
  7928. }
  7929. #endif
  7930. const float xhome = x_home_pos(active_extruder);
  7931. if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
  7932. && IsRunning()
  7933. && (delayed_move_time || current_position[X_AXIS] != xhome)
  7934. ) {
  7935. float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT;
  7936. #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
  7937. NOMORE(raised_z, soft_endstop_max[Z_AXIS]);
  7938. #endif
  7939. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7940. if (DEBUGGING(LEVELING)) {
  7941. SERIAL_ECHOLNPAIR("Raise to ", raised_z);
  7942. SERIAL_ECHOLNPAIR("MoveX to ", xhome);
  7943. SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
  7944. }
  7945. #endif
  7946. // Park old head: 1) raise 2) move to park position 3) lower
  7947. for (uint8_t i = 0; i < 3; i++)
  7948. planner.buffer_line(
  7949. i == 0 ? current_position[X_AXIS] : xhome,
  7950. current_position[Y_AXIS],
  7951. i == 2 ? current_position[Z_AXIS] : raised_z,
  7952. current_position[E_AXIS],
  7953. planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
  7954. active_extruder
  7955. );
  7956. stepper.synchronize();
  7957. }
  7958. // Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
  7959. current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
  7960. current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
  7961. // Activate the new extruder
  7962. active_extruder = tmp_extruder;
  7963. // This function resets the max/min values - the current position may be overwritten below.
  7964. set_axis_is_at_home(X_AXIS);
  7965. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7966. if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
  7967. #endif
  7968. // Only when auto-parking are carriages safe to move
  7969. if (dual_x_carriage_mode != DXC_AUTO_PARK_MODE) no_move = true;
  7970. switch (dual_x_carriage_mode) {
  7971. case DXC_FULL_CONTROL_MODE:
  7972. // New current position is the position of the activated extruder
  7973. current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
  7974. // Save the inactive extruder's position (from the old current_position)
  7975. inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
  7976. break;
  7977. case DXC_AUTO_PARK_MODE:
  7978. // record raised toolhead position for use by unpark
  7979. COPY(raised_parked_position, current_position);
  7980. raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
  7981. #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
  7982. NOMORE(raised_parked_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
  7983. #endif
  7984. active_extruder_parked = true;
  7985. delayed_move_time = 0;
  7986. break;
  7987. case DXC_DUPLICATION_MODE:
  7988. // If the new extruder is the left one, set it "parked"
  7989. // This triggers the second extruder to move into the duplication position
  7990. active_extruder_parked = (active_extruder == 0);
  7991. if (active_extruder_parked)
  7992. current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
  7993. else
  7994. current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
  7995. inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
  7996. extruder_duplication_enabled = false;
  7997. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7998. if (DEBUGGING(LEVELING)) {
  7999. SERIAL_ECHOLNPAIR("Set inactive_extruder_x_pos=", inactive_extruder_x_pos);
  8000. SERIAL_ECHOLNPGM("Clear extruder_duplication_enabled");
  8001. }
  8002. #endif
  8003. break;
  8004. }
  8005. #if ENABLED(DEBUG_LEVELING_FEATURE)
  8006. if (DEBUGGING(LEVELING)) {
  8007. SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
  8008. DEBUG_POS("New extruder (parked)", current_position);
  8009. }
  8010. #endif
  8011. // No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
  8012. #else // !DUAL_X_CARRIAGE
  8013. #if ENABLED(SWITCHING_EXTRUDER)
  8014. // <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
  8015. const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
  8016. z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
  8017. // Always raise by some amount (destination copied from current_position earlier)
  8018. current_position[Z_AXIS] += z_raise;
  8019. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
  8020. stepper.synchronize();
  8021. move_extruder_servo(active_extruder);
  8022. #endif
  8023. /**
  8024. * Set current_position to the position of the new nozzle.
  8025. * Offsets are based on linear distance, so we need to get
  8026. * the resulting position in coordinate space.
  8027. *
  8028. * - With grid or 3-point leveling, offset XYZ by a tilted vector
  8029. * - With mesh leveling, update Z for the new position
  8030. * - Otherwise, just use the raw linear distance
  8031. *
  8032. * Software endstops are altered here too. Consider a case where:
  8033. * E0 at X=0 ... E1 at X=10
  8034. * When we switch to E1 now X=10, but E1 can't move left.
  8035. * To express this we apply the change in XY to the software endstops.
  8036. * E1 can move farther right than E0, so the right limit is extended.
  8037. *
  8038. * Note that we don't adjust the Z software endstops. Why not?
  8039. * Consider a case where Z=0 (here) and switching to E1 makes Z=1
  8040. * because the bed is 1mm lower at the new position. As long as
  8041. * the first nozzle is out of the way, the carriage should be
  8042. * allowed to move 1mm lower. This technically "breaks" the
  8043. * Z software endstop. But this is technically correct (and
  8044. * there is no viable alternative).
  8045. */
  8046. #if ABL_PLANAR
  8047. // Offset extruder, make sure to apply the bed level rotation matrix
  8048. vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
  8049. hotend_offset[Y_AXIS][tmp_extruder],
  8050. 0),
  8051. act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
  8052. hotend_offset[Y_AXIS][active_extruder],
  8053. 0),
  8054. offset_vec = tmp_offset_vec - act_offset_vec;
  8055. #if ENABLED(DEBUG_LEVELING_FEATURE)
  8056. if (DEBUGGING(LEVELING)) {
  8057. tmp_offset_vec.debug(PSTR("tmp_offset_vec"));
  8058. act_offset_vec.debug(PSTR("act_offset_vec"));
  8059. offset_vec.debug(PSTR("offset_vec (BEFORE)"));
  8060. }
  8061. #endif
  8062. offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
  8063. #if ENABLED(DEBUG_LEVELING_FEATURE)
  8064. if (DEBUGGING(LEVELING)) offset_vec.debug(PSTR("offset_vec (AFTER)"));
  8065. #endif
  8066. // Adjustments to the current position
  8067. const float xydiff[2] = { offset_vec.x, offset_vec.y };
  8068. current_position[Z_AXIS] += offset_vec.z;
  8069. #else // !ABL_PLANAR
  8070. const float xydiff[2] = {
  8071. hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
  8072. hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
  8073. };
  8074. #if ENABLED(MESH_BED_LEVELING)
  8075. if (mbl.active()) {
  8076. #if ENABLED(DEBUG_LEVELING_FEATURE)
  8077. if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before MBL: ", current_position[Z_AXIS]);
  8078. #endif
  8079. float x2 = current_position[X_AXIS] + xydiff[X_AXIS],
  8080. y2 = current_position[Y_AXIS] + xydiff[Y_AXIS],
  8081. z1 = current_position[Z_AXIS], z2 = z1;
  8082. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], z1);
  8083. planner.apply_leveling(x2, y2, z2);
  8084. current_position[Z_AXIS] += z2 - z1;
  8085. #if ENABLED(DEBUG_LEVELING_FEATURE)
  8086. if (DEBUGGING(LEVELING))
  8087. SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]);
  8088. #endif
  8089. }
  8090. #endif // MESH_BED_LEVELING
  8091. #endif // !HAS_ABL
  8092. #if ENABLED(DEBUG_LEVELING_FEATURE)
  8093. if (DEBUGGING(LEVELING)) {
  8094. SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
  8095. SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
  8096. SERIAL_ECHOLNPGM(" }");
  8097. }
  8098. #endif
  8099. // The newly-selected extruder XY is actually at...
  8100. current_position[X_AXIS] += xydiff[X_AXIS];
  8101. current_position[Y_AXIS] += xydiff[Y_AXIS];
  8102. #if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
  8103. for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
  8104. #if HAS_POSITION_SHIFT
  8105. position_shift[i] += xydiff[i];
  8106. #endif
  8107. update_software_endstops((AxisEnum)i);
  8108. }
  8109. #endif
  8110. // Set the new active extruder
  8111. active_extruder = tmp_extruder;
  8112. #endif // !DUAL_X_CARRIAGE
  8113. #if ENABLED(DEBUG_LEVELING_FEATURE)
  8114. if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
  8115. #endif
  8116. // Tell the planner the new "current position"
  8117. SYNC_PLAN_POSITION_KINEMATIC();
  8118. // Move to the "old position" (move the extruder into place)
  8119. if (!no_move && IsRunning()) {
  8120. #if ENABLED(DEBUG_LEVELING_FEATURE)
  8121. if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
  8122. #endif
  8123. prepare_move_to_destination();
  8124. }
  8125. #if ENABLED(SWITCHING_EXTRUDER)
  8126. // Move back down, if needed. (Including when the new tool is higher.)
  8127. if (z_raise != z_diff) {
  8128. destination[Z_AXIS] += z_diff;
  8129. feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS];
  8130. prepare_move_to_destination();
  8131. }
  8132. #endif
  8133. } // (tmp_extruder != active_extruder)
  8134. stepper.synchronize();
  8135. #if ENABLED(EXT_SOLENOID)
  8136. disable_all_solenoids();
  8137. enable_solenoid_on_active_extruder();
  8138. #endif // EXT_SOLENOID
  8139. feedrate_mm_s = old_feedrate_mm_s;
  8140. #else // HOTENDS <= 1
  8141. // Set the new active extruder
  8142. active_extruder = tmp_extruder;
  8143. UNUSED(fr_mm_s);
  8144. UNUSED(no_move);
  8145. #endif // HOTENDS <= 1
  8146. SERIAL_ECHO_START;
  8147. SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, (int)active_extruder);
  8148. #endif //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  8149. }
  8150. /**
  8151. * T0-T3: Switch tool, usually switching extruders
  8152. *
  8153. * F[units/min] Set the movement feedrate
  8154. * S1 Don't move the tool in XY after change
  8155. */
  8156. inline void gcode_T(uint8_t tmp_extruder) {
  8157. #if ENABLED(DEBUG_LEVELING_FEATURE)
  8158. if (DEBUGGING(LEVELING)) {
  8159. SERIAL_ECHOPAIR(">>> gcode_T(", tmp_extruder);
  8160. SERIAL_CHAR(')');
  8161. SERIAL_EOL;
  8162. DEBUG_POS("BEFORE", current_position);
  8163. }
  8164. #endif
  8165. #if HOTENDS == 1 || (ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1)
  8166. tool_change(tmp_extruder);
  8167. #elif HOTENDS > 1
  8168. tool_change(
  8169. tmp_extruder,
  8170. code_seen('F') ? MMM_TO_MMS(code_value_linear_units()) : 0.0,
  8171. (tmp_extruder == active_extruder) || (code_seen('S') && code_value_bool())
  8172. );
  8173. #endif
  8174. #if ENABLED(DEBUG_LEVELING_FEATURE)
  8175. if (DEBUGGING(LEVELING)) {
  8176. DEBUG_POS("AFTER", current_position);
  8177. SERIAL_ECHOLNPGM("<<< gcode_T");
  8178. }
  8179. #endif
  8180. }
  8181. /**
  8182. * Process a single command and dispatch it to its handler
  8183. * This is called from the main loop()
  8184. */
  8185. void process_next_command() {
  8186. current_command = command_queue[cmd_queue_index_r];
  8187. if (DEBUGGING(ECHO)) {
  8188. SERIAL_ECHO_START;
  8189. SERIAL_ECHOLN(current_command);
  8190. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  8191. SERIAL_ECHOPAIR("slot:", cmd_queue_index_r);
  8192. M100_dump_routine(" Command Queue:", &command_queue[0][0], &command_queue[BUFSIZE][MAX_CMD_SIZE]);
  8193. #endif
  8194. }
  8195. // Sanitize the current command:
  8196. // - Skip leading spaces
  8197. // - Bypass N[-0-9][0-9]*[ ]*
  8198. // - Overwrite * with nul to mark the end
  8199. while (*current_command == ' ') ++current_command;
  8200. if (*current_command == 'N' && NUMERIC_SIGNED(current_command[1])) {
  8201. current_command += 2; // skip N[-0-9]
  8202. while (NUMERIC(*current_command)) ++current_command; // skip [0-9]*
  8203. while (*current_command == ' ') ++current_command; // skip [ ]*
  8204. }
  8205. char* starpos = strchr(current_command, '*'); // * should always be the last parameter
  8206. if (starpos) while (*starpos == ' ' || *starpos == '*') *starpos-- = '\0'; // nullify '*' and ' '
  8207. char *cmd_ptr = current_command;
  8208. // Get the command code, which must be G, M, or T
  8209. char command_code = *cmd_ptr++;
  8210. // Skip spaces to get the numeric part
  8211. while (*cmd_ptr == ' ') cmd_ptr++;
  8212. // Allow for decimal point in command
  8213. #if ENABLED(G38_PROBE_TARGET)
  8214. uint8_t subcode = 0;
  8215. #endif
  8216. uint16_t codenum = 0; // define ahead of goto
  8217. // Bail early if there's no code
  8218. bool code_is_good = NUMERIC(*cmd_ptr);
  8219. if (!code_is_good) goto ExitUnknownCommand;
  8220. // Get and skip the code number
  8221. do {
  8222. codenum = (codenum * 10) + (*cmd_ptr - '0');
  8223. cmd_ptr++;
  8224. } while (NUMERIC(*cmd_ptr));
  8225. // Allow for decimal point in command
  8226. #if ENABLED(G38_PROBE_TARGET)
  8227. if (*cmd_ptr == '.') {
  8228. cmd_ptr++;
  8229. while (NUMERIC(*cmd_ptr))
  8230. subcode = (subcode * 10) + (*cmd_ptr++ - '0');
  8231. }
  8232. #endif
  8233. // Skip all spaces to get to the first argument, or nul
  8234. while (*cmd_ptr == ' ') cmd_ptr++;
  8235. // The command's arguments (if any) start here, for sure!
  8236. current_command_args = cmd_ptr;
  8237. KEEPALIVE_STATE(IN_HANDLER);
  8238. // Handle a known G, M, or T
  8239. switch (command_code) {
  8240. case 'G': switch (codenum) {
  8241. // G0, G1
  8242. case 0:
  8243. case 1:
  8244. #if IS_SCARA
  8245. gcode_G0_G1(codenum == 0);
  8246. #else
  8247. gcode_G0_G1();
  8248. #endif
  8249. break;
  8250. // G2, G3
  8251. #if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
  8252. case 2: // G2 - CW ARC
  8253. case 3: // G3 - CCW ARC
  8254. gcode_G2_G3(codenum == 2);
  8255. break;
  8256. #endif
  8257. // G4 Dwell
  8258. case 4:
  8259. gcode_G4();
  8260. break;
  8261. #if ENABLED(BEZIER_CURVE_SUPPORT)
  8262. // G5
  8263. case 5: // G5 - Cubic B_spline
  8264. gcode_G5();
  8265. break;
  8266. #endif // BEZIER_CURVE_SUPPORT
  8267. #if ENABLED(FWRETRACT)
  8268. case 10: // G10: retract
  8269. case 11: // G11: retract_recover
  8270. gcode_G10_G11(codenum == 10);
  8271. break;
  8272. #endif // FWRETRACT
  8273. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  8274. case 12:
  8275. gcode_G12(); // G12: Nozzle Clean
  8276. break;
  8277. #endif // NOZZLE_CLEAN_FEATURE
  8278. #if ENABLED(INCH_MODE_SUPPORT)
  8279. case 20: //G20: Inch Mode
  8280. gcode_G20();
  8281. break;
  8282. case 21: //G21: MM Mode
  8283. gcode_G21();
  8284. break;
  8285. #endif // INCH_MODE_SUPPORT
  8286. #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_EDITING)
  8287. case 26: // G26: Mesh Validation Pattern generation
  8288. gcode_G26();
  8289. break;
  8290. #endif // AUTO_BED_LEVELING_UBL
  8291. #if ENABLED(NOZZLE_PARK_FEATURE)
  8292. case 27: // G27: Nozzle Park
  8293. gcode_G27();
  8294. break;
  8295. #endif // NOZZLE_PARK_FEATURE
  8296. case 28: // G28: Home all axes, one at a time
  8297. gcode_G28();
  8298. break;
  8299. #if HAS_LEVELING
  8300. case 29: // G29 Detailed Z probe, probes the bed at 3 or more points,
  8301. // or provides access to the UBL System if enabled.
  8302. gcode_G29();
  8303. break;
  8304. #endif // HAS_LEVELING
  8305. #if HAS_BED_PROBE
  8306. case 30: // G30 Single Z probe
  8307. gcode_G30();
  8308. break;
  8309. #if ENABLED(Z_PROBE_SLED)
  8310. case 31: // G31: dock the sled
  8311. gcode_G31();
  8312. break;
  8313. case 32: // G32: undock the sled
  8314. gcode_G32();
  8315. break;
  8316. #endif // Z_PROBE_SLED
  8317. #if ENABLED(DELTA_AUTO_CALIBRATION)
  8318. case 33: // G33: Delta Auto-Calibration
  8319. gcode_G33();
  8320. break;
  8321. #endif // DELTA_AUTO_CALIBRATION
  8322. #endif // HAS_BED_PROBE
  8323. #if ENABLED(G38_PROBE_TARGET)
  8324. case 38: // G38.2 & G38.3
  8325. if (subcode == 2 || subcode == 3)
  8326. gcode_G38(subcode == 2);
  8327. break;
  8328. #endif
  8329. case 90: // G90
  8330. relative_mode = false;
  8331. break;
  8332. case 91: // G91
  8333. relative_mode = true;
  8334. break;
  8335. case 92: // G92
  8336. gcode_G92();
  8337. break;
  8338. }
  8339. break;
  8340. case 'M': switch (codenum) {
  8341. #if HAS_RESUME_CONTINUE
  8342. case 0: // M0: Unconditional stop - Wait for user button press on LCD
  8343. case 1: // M1: Conditional stop - Wait for user button press on LCD
  8344. gcode_M0_M1();
  8345. break;
  8346. #endif // ULTIPANEL
  8347. case 17: // M17: Enable all stepper motors
  8348. gcode_M17();
  8349. break;
  8350. #if ENABLED(SDSUPPORT)
  8351. case 20: // M20: list SD card
  8352. gcode_M20(); break;
  8353. case 21: // M21: init SD card
  8354. gcode_M21(); break;
  8355. case 22: // M22: release SD card
  8356. gcode_M22(); break;
  8357. case 23: // M23: Select file
  8358. gcode_M23(); break;
  8359. case 24: // M24: Start SD print
  8360. gcode_M24(); break;
  8361. case 25: // M25: Pause SD print
  8362. gcode_M25(); break;
  8363. case 26: // M26: Set SD index
  8364. gcode_M26(); break;
  8365. case 27: // M27: Get SD status
  8366. gcode_M27(); break;
  8367. case 28: // M28: Start SD write
  8368. gcode_M28(); break;
  8369. case 29: // M29: Stop SD write
  8370. gcode_M29(); break;
  8371. case 30: // M30 <filename> Delete File
  8372. gcode_M30(); break;
  8373. case 32: // M32: Select file and start SD print
  8374. gcode_M32(); break;
  8375. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  8376. case 33: // M33: Get the long full path to a file or folder
  8377. gcode_M33(); break;
  8378. #endif
  8379. #if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
  8380. case 34: //M34 - Set SD card sorting options
  8381. gcode_M34(); break;
  8382. #endif // SDCARD_SORT_ALPHA && SDSORT_GCODE
  8383. case 928: // M928: Start SD write
  8384. gcode_M928(); break;
  8385. #endif //SDSUPPORT
  8386. case 31: // M31: Report time since the start of SD print or last M109
  8387. gcode_M31(); break;
  8388. case 42: // M42: Change pin state
  8389. gcode_M42(); break;
  8390. #if ENABLED(PINS_DEBUGGING)
  8391. case 43: // M43: Read pin state
  8392. gcode_M43(); break;
  8393. #endif
  8394. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  8395. case 48: // M48: Z probe repeatability test
  8396. gcode_M48();
  8397. break;
  8398. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  8399. #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_EDITING)
  8400. case 49: // M49: Turn on or off G26 debug flag for verbose output
  8401. gcode_M49();
  8402. break;
  8403. #endif // AUTO_BED_LEVELING_UBL && UBL_G26_MESH_EDITING
  8404. case 75: // M75: Start print timer
  8405. gcode_M75(); break;
  8406. case 76: // M76: Pause print timer
  8407. gcode_M76(); break;
  8408. case 77: // M77: Stop print timer
  8409. gcode_M77(); break;
  8410. #if ENABLED(PRINTCOUNTER)
  8411. case 78: // M78: Show print statistics
  8412. gcode_M78(); break;
  8413. #endif
  8414. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  8415. case 100: // M100: Free Memory Report
  8416. gcode_M100();
  8417. break;
  8418. #endif
  8419. case 104: // M104: Set hot end temperature
  8420. gcode_M104();
  8421. break;
  8422. case 110: // M110: Set Current Line Number
  8423. gcode_M110();
  8424. break;
  8425. case 111: // M111: Set debug level
  8426. gcode_M111();
  8427. break;
  8428. #if DISABLED(EMERGENCY_PARSER)
  8429. case 108: // M108: Cancel Waiting
  8430. gcode_M108();
  8431. break;
  8432. case 112: // M112: Emergency Stop
  8433. gcode_M112();
  8434. break;
  8435. case 410: // M410 quickstop - Abort all the planned moves.
  8436. gcode_M410();
  8437. break;
  8438. #endif
  8439. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  8440. case 113: // M113: Set Host Keepalive interval
  8441. gcode_M113();
  8442. break;
  8443. #endif
  8444. case 140: // M140: Set bed temperature
  8445. gcode_M140();
  8446. break;
  8447. case 105: // M105: Report current temperature
  8448. gcode_M105();
  8449. KEEPALIVE_STATE(NOT_BUSY);
  8450. return; // "ok" already printed
  8451. #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
  8452. case 155: // M155: Set temperature auto-report interval
  8453. gcode_M155();
  8454. break;
  8455. #endif
  8456. case 109: // M109: Wait for hotend temperature to reach target
  8457. gcode_M109();
  8458. break;
  8459. #if HAS_TEMP_BED
  8460. case 190: // M190: Wait for bed temperature to reach target
  8461. gcode_M190();
  8462. break;
  8463. #endif // HAS_TEMP_BED
  8464. #if FAN_COUNT > 0
  8465. case 106: // M106: Fan On
  8466. gcode_M106();
  8467. break;
  8468. case 107: // M107: Fan Off
  8469. gcode_M107();
  8470. break;
  8471. #endif // FAN_COUNT > 0
  8472. #if ENABLED(PARK_HEAD_ON_PAUSE)
  8473. case 125: // M125: Store current position and move to filament change position
  8474. gcode_M125(); break;
  8475. #endif
  8476. #if ENABLED(BARICUDA)
  8477. // PWM for HEATER_1_PIN
  8478. #if HAS_HEATER_1
  8479. case 126: // M126: valve open
  8480. gcode_M126();
  8481. break;
  8482. case 127: // M127: valve closed
  8483. gcode_M127();
  8484. break;
  8485. #endif // HAS_HEATER_1
  8486. // PWM for HEATER_2_PIN
  8487. #if HAS_HEATER_2
  8488. case 128: // M128: valve open
  8489. gcode_M128();
  8490. break;
  8491. case 129: // M129: valve closed
  8492. gcode_M129();
  8493. break;
  8494. #endif // HAS_HEATER_2
  8495. #endif // BARICUDA
  8496. #if HAS_POWER_SWITCH
  8497. case 80: // M80: Turn on Power Supply
  8498. gcode_M80();
  8499. break;
  8500. #endif // HAS_POWER_SWITCH
  8501. case 81: // M81: Turn off Power, including Power Supply, if possible
  8502. gcode_M81();
  8503. break;
  8504. case 82: // M83: Set E axis normal mode (same as other axes)
  8505. gcode_M82();
  8506. break;
  8507. case 83: // M83: Set E axis relative mode
  8508. gcode_M83();
  8509. break;
  8510. case 18: // M18 => M84
  8511. case 84: // M84: Disable all steppers or set timeout
  8512. gcode_M18_M84();
  8513. break;
  8514. case 85: // M85: Set inactivity stepper shutdown timeout
  8515. gcode_M85();
  8516. break;
  8517. case 92: // M92: Set the steps-per-unit for one or more axes
  8518. gcode_M92();
  8519. break;
  8520. case 114: // M114: Report current position
  8521. gcode_M114();
  8522. break;
  8523. case 115: // M115: Report capabilities
  8524. gcode_M115();
  8525. break;
  8526. case 117: // M117: Set LCD message text, if possible
  8527. gcode_M117();
  8528. break;
  8529. case 119: // M119: Report endstop states
  8530. gcode_M119();
  8531. break;
  8532. case 120: // M120: Enable endstops
  8533. gcode_M120();
  8534. break;
  8535. case 121: // M121: Disable endstops
  8536. gcode_M121();
  8537. break;
  8538. #if ENABLED(ULTIPANEL)
  8539. case 145: // M145: Set material heatup parameters
  8540. gcode_M145();
  8541. break;
  8542. #endif
  8543. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  8544. case 149: // M149: Set temperature units
  8545. gcode_M149();
  8546. break;
  8547. #endif
  8548. #if HAS_COLOR_LEDS
  8549. case 150: // M150: Set Status LED Color
  8550. gcode_M150();
  8551. break;
  8552. #endif // BLINKM
  8553. #if ENABLED(MIXING_EXTRUDER)
  8554. case 163: // M163: Set a component weight for mixing extruder
  8555. gcode_M163();
  8556. break;
  8557. #if MIXING_VIRTUAL_TOOLS > 1
  8558. case 164: // M164: Save current mix as a virtual extruder
  8559. gcode_M164();
  8560. break;
  8561. #endif
  8562. #if ENABLED(DIRECT_MIXING_IN_G1)
  8563. case 165: // M165: Set multiple mix weights
  8564. gcode_M165();
  8565. break;
  8566. #endif
  8567. #endif
  8568. case 200: // M200: Set filament diameter, E to cubic units
  8569. gcode_M200();
  8570. break;
  8571. case 201: // M201: Set max acceleration for print moves (units/s^2)
  8572. gcode_M201();
  8573. break;
  8574. #if 0 // Not used for Sprinter/grbl gen6
  8575. case 202: // M202
  8576. gcode_M202();
  8577. break;
  8578. #endif
  8579. case 203: // M203: Set max feedrate (units/sec)
  8580. gcode_M203();
  8581. break;
  8582. case 204: // M204: Set acceleration
  8583. gcode_M204();
  8584. break;
  8585. case 205: //M205: Set advanced settings
  8586. gcode_M205();
  8587. break;
  8588. #if HAS_M206_COMMAND
  8589. case 206: // M206: Set home offsets
  8590. gcode_M206();
  8591. break;
  8592. #endif
  8593. #if ENABLED(DELTA)
  8594. case 665: // M665: Set delta configurations
  8595. gcode_M665();
  8596. break;
  8597. #endif
  8598. #if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS)
  8599. case 666: // M666: Set delta or dual endstop adjustment
  8600. gcode_M666();
  8601. break;
  8602. #endif
  8603. #if ENABLED(FWRETRACT)
  8604. case 207: // M207: Set Retract Length, Feedrate, and Z lift
  8605. gcode_M207();
  8606. break;
  8607. case 208: // M208: Set Recover (unretract) Additional Length and Feedrate
  8608. gcode_M208();
  8609. break;
  8610. case 209: // M209: Turn Automatic Retract Detection on/off
  8611. gcode_M209();
  8612. break;
  8613. #endif // FWRETRACT
  8614. case 211: // M211: Enable, Disable, and/or Report software endstops
  8615. gcode_M211();
  8616. break;
  8617. #if HOTENDS > 1
  8618. case 218: // M218: Set a tool offset
  8619. gcode_M218();
  8620. break;
  8621. #endif
  8622. case 220: // M220: Set Feedrate Percentage: S<percent> ("FR" on your LCD)
  8623. gcode_M220();
  8624. break;
  8625. case 221: // M221: Set Flow Percentage
  8626. gcode_M221();
  8627. break;
  8628. case 226: // M226: Wait until a pin reaches a state
  8629. gcode_M226();
  8630. break;
  8631. #if HAS_SERVOS
  8632. case 280: // M280: Set servo position absolute
  8633. gcode_M280();
  8634. break;
  8635. #endif // HAS_SERVOS
  8636. #if HAS_BUZZER
  8637. case 300: // M300: Play beep tone
  8638. gcode_M300();
  8639. break;
  8640. #endif // HAS_BUZZER
  8641. #if ENABLED(PIDTEMP)
  8642. case 301: // M301: Set hotend PID parameters
  8643. gcode_M301();
  8644. break;
  8645. #endif // PIDTEMP
  8646. #if ENABLED(PIDTEMPBED)
  8647. case 304: // M304: Set bed PID parameters
  8648. gcode_M304();
  8649. break;
  8650. #endif // PIDTEMPBED
  8651. #if defined(CHDK) || HAS_PHOTOGRAPH
  8652. case 240: // M240: Trigger a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  8653. gcode_M240();
  8654. break;
  8655. #endif // CHDK || PHOTOGRAPH_PIN
  8656. #if HAS_LCD_CONTRAST
  8657. case 250: // M250: Set LCD contrast
  8658. gcode_M250();
  8659. break;
  8660. #endif // HAS_LCD_CONTRAST
  8661. #if ENABLED(EXPERIMENTAL_I2CBUS)
  8662. case 260: // M260: Send data to an i2c slave
  8663. gcode_M260();
  8664. break;
  8665. case 261: // M261: Request data from an i2c slave
  8666. gcode_M261();
  8667. break;
  8668. #endif // EXPERIMENTAL_I2CBUS
  8669. #if ENABLED(PREVENT_COLD_EXTRUSION)
  8670. case 302: // M302: Allow cold extrudes (set the minimum extrude temperature)
  8671. gcode_M302();
  8672. break;
  8673. #endif // PREVENT_COLD_EXTRUSION
  8674. case 303: // M303: PID autotune
  8675. gcode_M303();
  8676. break;
  8677. #if ENABLED(MORGAN_SCARA)
  8678. case 360: // M360: SCARA Theta pos1
  8679. if (gcode_M360()) return;
  8680. break;
  8681. case 361: // M361: SCARA Theta pos2
  8682. if (gcode_M361()) return;
  8683. break;
  8684. case 362: // M362: SCARA Psi pos1
  8685. if (gcode_M362()) return;
  8686. break;
  8687. case 363: // M363: SCARA Psi pos2
  8688. if (gcode_M363()) return;
  8689. break;
  8690. case 364: // M364: SCARA Psi pos3 (90 deg to Theta)
  8691. if (gcode_M364()) return;
  8692. break;
  8693. #endif // SCARA
  8694. case 400: // M400: Finish all moves
  8695. gcode_M400();
  8696. break;
  8697. #if HAS_BED_PROBE
  8698. case 401: // M401: Deploy probe
  8699. gcode_M401();
  8700. break;
  8701. case 402: // M402: Stow probe
  8702. gcode_M402();
  8703. break;
  8704. #endif // HAS_BED_PROBE
  8705. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  8706. case 404: // M404: Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
  8707. gcode_M404();
  8708. break;
  8709. case 405: // M405: Turn on filament sensor for control
  8710. gcode_M405();
  8711. break;
  8712. case 406: // M406: Turn off filament sensor for control
  8713. gcode_M406();
  8714. break;
  8715. case 407: // M407: Display measured filament diameter
  8716. gcode_M407();
  8717. break;
  8718. #endif // FILAMENT_WIDTH_SENSOR
  8719. #if HAS_LEVELING
  8720. case 420: // M420: Enable/Disable Bed Leveling
  8721. gcode_M420();
  8722. break;
  8723. #endif
  8724. #if ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(AUTO_BED_LEVELING_BILINEAR)
  8725. case 421: // M421: Set a Mesh Bed Leveling Z coordinate
  8726. gcode_M421();
  8727. break;
  8728. #endif
  8729. #if HAS_M206_COMMAND
  8730. case 428: // M428: Apply current_position to home_offset
  8731. gcode_M428();
  8732. break;
  8733. #endif
  8734. case 500: // M500: Store settings in EEPROM
  8735. gcode_M500();
  8736. break;
  8737. case 501: // M501: Read settings from EEPROM
  8738. gcode_M501();
  8739. break;
  8740. case 502: // M502: Revert to default settings
  8741. gcode_M502();
  8742. break;
  8743. case 503: // M503: print settings currently in memory
  8744. gcode_M503();
  8745. break;
  8746. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  8747. case 540: // M540: Set abort on endstop hit for SD printing
  8748. gcode_M540();
  8749. break;
  8750. #endif
  8751. #if HAS_BED_PROBE
  8752. case 851: // M851: Set Z Probe Z Offset
  8753. gcode_M851();
  8754. break;
  8755. #endif // HAS_BED_PROBE
  8756. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  8757. case 600: // M600: Pause for filament change
  8758. gcode_M600();
  8759. break;
  8760. #endif // FILAMENT_CHANGE_FEATURE
  8761. #if ENABLED(DUAL_X_CARRIAGE)
  8762. case 605: // M605: Set Dual X Carriage movement mode
  8763. gcode_M605();
  8764. break;
  8765. #endif // DUAL_X_CARRIAGE
  8766. #if ENABLED(LIN_ADVANCE)
  8767. case 900: // M900: Set advance K factor.
  8768. gcode_M900();
  8769. break;
  8770. #endif
  8771. #if ENABLED(HAVE_TMC2130)
  8772. case 906: // M906: Set motor current in milliamps using axis codes X, Y, Z, E
  8773. gcode_M906();
  8774. break;
  8775. #endif
  8776. case 907: // M907: Set digital trimpot motor current using axis codes.
  8777. gcode_M907();
  8778. break;
  8779. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  8780. case 908: // M908: Control digital trimpot directly.
  8781. gcode_M908();
  8782. break;
  8783. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  8784. case 909: // M909: Print digipot/DAC current value
  8785. gcode_M909();
  8786. break;
  8787. case 910: // M910: Commit digipot/DAC value to external EEPROM
  8788. gcode_M910();
  8789. break;
  8790. #endif
  8791. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  8792. #if ENABLED(HAVE_TMC2130)
  8793. case 911: // M911: Report TMC2130 prewarn triggered flags
  8794. gcode_M911();
  8795. break;
  8796. case 912: // M911: Clear TMC2130 prewarn triggered flags
  8797. gcode_M912();
  8798. break;
  8799. #if ENABLED(HYBRID_THRESHOLD)
  8800. case 913: // M913: Set HYBRID_THRESHOLD speed.
  8801. gcode_M913();
  8802. break;
  8803. #endif
  8804. #if ENABLED(SENSORLESS_HOMING)
  8805. case 914: // M914: Set SENSORLESS_HOMING sensitivity.
  8806. gcode_M914();
  8807. break;
  8808. #endif
  8809. #endif
  8810. #if HAS_MICROSTEPS
  8811. case 350: // M350: Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  8812. gcode_M350();
  8813. break;
  8814. case 351: // M351: Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  8815. gcode_M351();
  8816. break;
  8817. #endif // HAS_MICROSTEPS
  8818. case 355: // M355 Turn case lights on/off
  8819. gcode_M355();
  8820. break;
  8821. case 999: // M999: Restart after being Stopped
  8822. gcode_M999();
  8823. break;
  8824. }
  8825. break;
  8826. case 'T':
  8827. gcode_T(codenum);
  8828. break;
  8829. default: code_is_good = false;
  8830. }
  8831. KEEPALIVE_STATE(NOT_BUSY);
  8832. ExitUnknownCommand:
  8833. // Still unknown command? Throw an error
  8834. if (!code_is_good) unknown_command_error();
  8835. ok_to_send();
  8836. }
  8837. /**
  8838. * Send a "Resend: nnn" message to the host to
  8839. * indicate that a command needs to be re-sent.
  8840. */
  8841. void FlushSerialRequestResend() {
  8842. //char command_queue[cmd_queue_index_r][100]="Resend:";
  8843. MYSERIAL.flush();
  8844. SERIAL_PROTOCOLPGM(MSG_RESEND);
  8845. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  8846. ok_to_send();
  8847. }
  8848. /**
  8849. * Send an "ok" message to the host, indicating
  8850. * that a command was successfully processed.
  8851. *
  8852. * If ADVANCED_OK is enabled also include:
  8853. * N<int> Line number of the command, if any
  8854. * P<int> Planner space remaining
  8855. * B<int> Block queue space remaining
  8856. */
  8857. void ok_to_send() {
  8858. refresh_cmd_timeout();
  8859. if (!send_ok[cmd_queue_index_r]) return;
  8860. SERIAL_PROTOCOLPGM(MSG_OK);
  8861. #if ENABLED(ADVANCED_OK)
  8862. char* p = command_queue[cmd_queue_index_r];
  8863. if (*p == 'N') {
  8864. SERIAL_PROTOCOL(' ');
  8865. SERIAL_ECHO(*p++);
  8866. while (NUMERIC_SIGNED(*p))
  8867. SERIAL_ECHO(*p++);
  8868. }
  8869. SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
  8870. SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
  8871. #endif
  8872. SERIAL_EOL;
  8873. }
  8874. #if HAS_SOFTWARE_ENDSTOPS
  8875. /**
  8876. * Constrain the given coordinates to the software endstops.
  8877. */
  8878. void clamp_to_software_endstops(float target[XYZ]) {
  8879. if (!soft_endstops_enabled) return;
  8880. #if ENABLED(MIN_SOFTWARE_ENDSTOPS)
  8881. NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
  8882. NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
  8883. NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
  8884. #endif
  8885. #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
  8886. NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
  8887. NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
  8888. NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
  8889. #endif
  8890. }
  8891. #endif
  8892. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  8893. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  8894. #define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A]
  8895. #define ABL_BG_FACTOR(A) bilinear_grid_factor_virt[A]
  8896. #define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X
  8897. #define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y
  8898. #define ABL_BG_GRID(X,Y) z_values_virt[X][Y]
  8899. #else
  8900. #define ABL_BG_SPACING(A) bilinear_grid_spacing[A]
  8901. #define ABL_BG_FACTOR(A) bilinear_grid_factor[A]
  8902. #define ABL_BG_POINTS_X GRID_MAX_POINTS_X
  8903. #define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y
  8904. #define ABL_BG_GRID(X,Y) z_values[X][Y]
  8905. #endif
  8906. // Get the Z adjustment for non-linear bed leveling
  8907. float bilinear_z_offset(const float logical[XYZ]) {
  8908. static float z1, d2, z3, d4, L, D, ratio_x, ratio_y,
  8909. last_x = -999.999, last_y = -999.999;
  8910. // Whole units for the grid line indices. Constrained within bounds.
  8911. static int8_t gridx, gridy, nextx, nexty,
  8912. last_gridx = -99, last_gridy = -99;
  8913. // XY relative to the probed area
  8914. const float x = RAW_X_POSITION(logical[X_AXIS]) - bilinear_start[X_AXIS],
  8915. y = RAW_Y_POSITION(logical[Y_AXIS]) - bilinear_start[Y_AXIS];
  8916. if (last_x != x) {
  8917. last_x = x;
  8918. ratio_x = x * ABL_BG_FACTOR(X_AXIS);
  8919. const float gx = constrain(floor(ratio_x), 0, ABL_BG_POINTS_X - 1);
  8920. ratio_x -= gx; // Subtract whole to get the ratio within the grid box
  8921. NOLESS(ratio_x, 0); // Never < 0.0. (> 1.0 is ok when nextx==gridx.)
  8922. gridx = gx;
  8923. nextx = min(gridx + 1, ABL_BG_POINTS_X - 1);
  8924. }
  8925. if (last_y != y || last_gridx != gridx) {
  8926. if (last_y != y) {
  8927. last_y = y;
  8928. ratio_y = y * ABL_BG_FACTOR(Y_AXIS);
  8929. const float gy = constrain(floor(ratio_y), 0, ABL_BG_POINTS_Y - 1);
  8930. ratio_y -= gy;
  8931. NOLESS(ratio_y, 0);
  8932. gridy = gy;
  8933. nexty = min(gridy + 1, ABL_BG_POINTS_Y - 1);
  8934. }
  8935. if (last_gridx != gridx || last_gridy != gridy) {
  8936. last_gridx = gridx;
  8937. last_gridy = gridy;
  8938. // Z at the box corners
  8939. z1 = ABL_BG_GRID(gridx, gridy); // left-front
  8940. d2 = ABL_BG_GRID(gridx, nexty) - z1; // left-back (delta)
  8941. z3 = ABL_BG_GRID(nextx, gridy); // right-front
  8942. d4 = ABL_BG_GRID(nextx, nexty) - z3; // right-back (delta)
  8943. }
  8944. // Bilinear interpolate. Needed since y or gridx has changed.
  8945. L = z1 + d2 * ratio_y; // Linear interp. LF -> LB
  8946. const float R = z3 + d4 * ratio_y; // Linear interp. RF -> RB
  8947. D = R - L;
  8948. }
  8949. const float offset = L + ratio_x * D; // the offset almost always changes
  8950. /*
  8951. static float last_offset = 0;
  8952. if (fabs(last_offset - offset) > 0.2) {
  8953. SERIAL_ECHOPGM("Sudden Shift at ");
  8954. SERIAL_ECHOPAIR("x=", x);
  8955. SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[X_AXIS]);
  8956. SERIAL_ECHOLNPAIR(" -> gridx=", gridx);
  8957. SERIAL_ECHOPAIR(" y=", y);
  8958. SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[Y_AXIS]);
  8959. SERIAL_ECHOLNPAIR(" -> gridy=", gridy);
  8960. SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
  8961. SERIAL_ECHOLNPAIR(" ratio_y=", ratio_y);
  8962. SERIAL_ECHOPAIR(" z1=", z1);
  8963. SERIAL_ECHOPAIR(" z2=", z2);
  8964. SERIAL_ECHOPAIR(" z3=", z3);
  8965. SERIAL_ECHOLNPAIR(" z4=", z4);
  8966. SERIAL_ECHOPAIR(" L=", L);
  8967. SERIAL_ECHOPAIR(" R=", R);
  8968. SERIAL_ECHOLNPAIR(" offset=", offset);
  8969. }
  8970. last_offset = offset;
  8971. //*/
  8972. return offset;
  8973. }
  8974. #endif // AUTO_BED_LEVELING_BILINEAR
  8975. #if ENABLED(DELTA)
  8976. /**
  8977. * Recalculate factors used for delta kinematics whenever
  8978. * settings have been changed (e.g., by M665).
  8979. */
  8980. void recalc_delta_settings(float radius, float diagonal_rod) {
  8981. const float trt[ABC] = DELTA_RADIUS_TRIM_TOWER,
  8982. drt[ABC] = DELTA_DIAGONAL_ROD_TRIM_TOWER;
  8983. delta_tower[A_AXIS][X_AXIS] = cos(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]); // front left tower
  8984. delta_tower[A_AXIS][Y_AXIS] = sin(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]);
  8985. delta_tower[B_AXIS][X_AXIS] = cos(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]); // front right tower
  8986. delta_tower[B_AXIS][Y_AXIS] = sin(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]);
  8987. delta_tower[C_AXIS][X_AXIS] = 0.0; // back middle tower
  8988. delta_tower[C_AXIS][Y_AXIS] = (radius + trt[C_AXIS]);
  8989. delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + drt[A_AXIS]);
  8990. delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + drt[B_AXIS]);
  8991. delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + drt[C_AXIS]);
  8992. }
  8993. #if ENABLED(DELTA_FAST_SQRT)
  8994. /**
  8995. * Fast inverse sqrt from Quake III Arena
  8996. * See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
  8997. */
  8998. float Q_rsqrt(float number) {
  8999. long i;
  9000. float x2, y;
  9001. const float threehalfs = 1.5f;
  9002. x2 = number * 0.5f;
  9003. y = number;
  9004. i = * ( long * ) &y; // evil floating point bit level hacking
  9005. i = 0x5F3759DF - ( i >> 1 ); // what the f***?
  9006. y = * ( float * ) &i;
  9007. y = y * ( threehalfs - ( x2 * y * y ) ); // 1st iteration
  9008. // y = y * ( threehalfs - ( x2 * y * y ) ); // 2nd iteration, this can be removed
  9009. return y;
  9010. }
  9011. #define _SQRT(n) (1.0f / Q_rsqrt(n))
  9012. #else
  9013. #define _SQRT(n) sqrt(n)
  9014. #endif
  9015. /**
  9016. * Delta Inverse Kinematics
  9017. *
  9018. * Calculate the tower positions for a given logical
  9019. * position, storing the result in the delta[] array.
  9020. *
  9021. * This is an expensive calculation, requiring 3 square
  9022. * roots per segmented linear move, and strains the limits
  9023. * of a Mega2560 with a Graphical Display.
  9024. *
  9025. * Suggested optimizations include:
  9026. *
  9027. * - Disable the home_offset (M206) and/or position_shift (G92)
  9028. * features to remove up to 12 float additions.
  9029. *
  9030. * - Use a fast-inverse-sqrt function and add the reciprocal.
  9031. * (see above)
  9032. */
  9033. // Macro to obtain the Z position of an individual tower
  9034. #define DELTA_Z(T) raw[Z_AXIS] + _SQRT( \
  9035. delta_diagonal_rod_2_tower[T] - HYPOT2( \
  9036. delta_tower[T][X_AXIS] - raw[X_AXIS], \
  9037. delta_tower[T][Y_AXIS] - raw[Y_AXIS] \
  9038. ) \
  9039. )
  9040. #define DELTA_RAW_IK() do { \
  9041. delta[A_AXIS] = DELTA_Z(A_AXIS); \
  9042. delta[B_AXIS] = DELTA_Z(B_AXIS); \
  9043. delta[C_AXIS] = DELTA_Z(C_AXIS); \
  9044. } while(0)
  9045. #define DELTA_LOGICAL_IK() do { \
  9046. const float raw[XYZ] = { \
  9047. RAW_X_POSITION(logical[X_AXIS]), \
  9048. RAW_Y_POSITION(logical[Y_AXIS]), \
  9049. RAW_Z_POSITION(logical[Z_AXIS]) \
  9050. }; \
  9051. DELTA_RAW_IK(); \
  9052. } while(0)
  9053. #define DELTA_DEBUG() do { \
  9054. SERIAL_ECHOPAIR("cartesian X:", raw[X_AXIS]); \
  9055. SERIAL_ECHOPAIR(" Y:", raw[Y_AXIS]); \
  9056. SERIAL_ECHOLNPAIR(" Z:", raw[Z_AXIS]); \
  9057. SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]); \
  9058. SERIAL_ECHOPAIR(" B:", delta[B_AXIS]); \
  9059. SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); \
  9060. } while(0)
  9061. void inverse_kinematics(const float logical[XYZ]) {
  9062. DELTA_LOGICAL_IK();
  9063. // DELTA_DEBUG();
  9064. }
  9065. /**
  9066. * Calculate the highest Z position where the
  9067. * effector has the full range of XY motion.
  9068. */
  9069. float delta_safe_distance_from_top() {
  9070. float cartesian[XYZ] = {
  9071. LOGICAL_X_POSITION(0),
  9072. LOGICAL_Y_POSITION(0),
  9073. LOGICAL_Z_POSITION(0)
  9074. };
  9075. inverse_kinematics(cartesian);
  9076. float distance = delta[A_AXIS];
  9077. cartesian[Y_AXIS] = LOGICAL_Y_POSITION(DELTA_PRINTABLE_RADIUS);
  9078. inverse_kinematics(cartesian);
  9079. return abs(distance - delta[A_AXIS]);
  9080. }
  9081. /**
  9082. * Delta Forward Kinematics
  9083. *
  9084. * See the Wikipedia article "Trilateration"
  9085. * https://en.wikipedia.org/wiki/Trilateration
  9086. *
  9087. * Establish a new coordinate system in the plane of the
  9088. * three carriage points. This system has its origin at
  9089. * tower1, with tower2 on the X axis. Tower3 is in the X-Y
  9090. * plane with a Z component of zero.
  9091. * We will define unit vectors in this coordinate system
  9092. * in our original coordinate system. Then when we calculate
  9093. * the Xnew, Ynew and Znew values, we can translate back into
  9094. * the original system by moving along those unit vectors
  9095. * by the corresponding values.
  9096. *
  9097. * Variable names matched to Marlin, c-version, and avoid the
  9098. * use of any vector library.
  9099. *
  9100. * by Andreas Hardtung 2016-06-07
  9101. * based on a Java function from "Delta Robot Kinematics V3"
  9102. * by Steve Graves
  9103. *
  9104. * The result is stored in the cartes[] array.
  9105. */
  9106. void forward_kinematics_DELTA(float z1, float z2, float z3) {
  9107. // Create a vector in old coordinates along x axis of new coordinate
  9108. float p12[3] = { delta_tower[B_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[B_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z2 - z1 };
  9109. // Get the Magnitude of vector.
  9110. float d = sqrt( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) );
  9111. // Create unit vector by dividing by magnitude.
  9112. float ex[3] = { p12[0] / d, p12[1] / d, p12[2] / d };
  9113. // Get the vector from the origin of the new system to the third point.
  9114. float p13[3] = { delta_tower[C_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[C_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z3 - z1 };
  9115. // Use the dot product to find the component of this vector on the X axis.
  9116. float i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2];
  9117. // Create a vector along the x axis that represents the x component of p13.
  9118. float iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i };
  9119. // Subtract the X component from the original vector leaving only Y. We use the
  9120. // variable that will be the unit vector after we scale it.
  9121. float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] };
  9122. // The magnitude of Y component
  9123. float j = sqrt( sq(ey[0]) + sq(ey[1]) + sq(ey[2]) );
  9124. // Convert to a unit vector
  9125. ey[0] /= j; ey[1] /= j; ey[2] /= j;
  9126. // The cross product of the unit x and y is the unit z
  9127. // float[] ez = vectorCrossProd(ex, ey);
  9128. float ez[3] = {
  9129. ex[1] * ey[2] - ex[2] * ey[1],
  9130. ex[2] * ey[0] - ex[0] * ey[2],
  9131. ex[0] * ey[1] - ex[1] * ey[0]
  9132. };
  9133. // We now have the d, i and j values defined in Wikipedia.
  9134. // Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
  9135. float Xnew = (delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[B_AXIS] + sq(d)) / (d * 2),
  9136. Ynew = ((delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[C_AXIS] + HYPOT2(i, j)) / 2 - i * Xnew) / j,
  9137. Znew = sqrt(delta_diagonal_rod_2_tower[A_AXIS] - HYPOT2(Xnew, Ynew));
  9138. // Start from the origin of the old coordinates and add vectors in the
  9139. // old coords that represent the Xnew, Ynew and Znew to find the point
  9140. // in the old system.
  9141. cartes[X_AXIS] = delta_tower[A_AXIS][X_AXIS] + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew;
  9142. cartes[Y_AXIS] = delta_tower[A_AXIS][Y_AXIS] + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew;
  9143. cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
  9144. }
  9145. void forward_kinematics_DELTA(float point[ABC]) {
  9146. forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
  9147. }
  9148. #endif // DELTA
  9149. /**
  9150. * Get the stepper positions in the cartes[] array.
  9151. * Forward kinematics are applied for DELTA and SCARA.
  9152. *
  9153. * The result is in the current coordinate space with
  9154. * leveling applied. The coordinates need to be run through
  9155. * unapply_leveling to obtain the "ideal" coordinates
  9156. * suitable for current_position, etc.
  9157. */
  9158. void get_cartesian_from_steppers() {
  9159. #if ENABLED(DELTA)
  9160. forward_kinematics_DELTA(
  9161. stepper.get_axis_position_mm(A_AXIS),
  9162. stepper.get_axis_position_mm(B_AXIS),
  9163. stepper.get_axis_position_mm(C_AXIS)
  9164. );
  9165. cartes[X_AXIS] += LOGICAL_X_POSITION(0);
  9166. cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
  9167. cartes[Z_AXIS] += LOGICAL_Z_POSITION(0);
  9168. #elif IS_SCARA
  9169. forward_kinematics_SCARA(
  9170. stepper.get_axis_position_degrees(A_AXIS),
  9171. stepper.get_axis_position_degrees(B_AXIS)
  9172. );
  9173. cartes[X_AXIS] += LOGICAL_X_POSITION(0);
  9174. cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
  9175. cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
  9176. #else
  9177. cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
  9178. cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
  9179. cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
  9180. #endif
  9181. }
  9182. /**
  9183. * Set the current_position for an axis based on
  9184. * the stepper positions, removing any leveling that
  9185. * may have been applied.
  9186. */
  9187. void set_current_from_steppers_for_axis(const AxisEnum axis) {
  9188. get_cartesian_from_steppers();
  9189. #if PLANNER_LEVELING
  9190. planner.unapply_leveling(cartes);
  9191. #endif
  9192. if (axis == ALL_AXES)
  9193. COPY(current_position, cartes);
  9194. else
  9195. current_position[axis] = cartes[axis];
  9196. }
  9197. #if ENABLED(MESH_BED_LEVELING)
  9198. /**
  9199. * Prepare a mesh-leveled linear move in a Cartesian setup,
  9200. * splitting the move where it crosses mesh borders.
  9201. */
  9202. void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xFF, uint8_t y_splits = 0xFF) {
  9203. int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X)),
  9204. cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y)),
  9205. cx2 = mbl.cell_index_x(RAW_X_POSITION(destination[X_AXIS])),
  9206. cy2 = mbl.cell_index_y(RAW_Y_POSITION(destination[Y_AXIS]));
  9207. NOMORE(cx1, GRID_MAX_POINTS_X - 2);
  9208. NOMORE(cy1, GRID_MAX_POINTS_Y - 2);
  9209. NOMORE(cx2, GRID_MAX_POINTS_X - 2);
  9210. NOMORE(cy2, GRID_MAX_POINTS_Y - 2);
  9211. if (cx1 == cx2 && cy1 == cy2) {
  9212. // Start and end on same mesh square
  9213. line_to_destination(fr_mm_s);
  9214. set_current_to_destination();
  9215. return;
  9216. }
  9217. #define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
  9218. float normalized_dist, end[XYZE];
  9219. // Split at the left/front border of the right/top square
  9220. const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
  9221. if (cx2 != cx1 && TEST(x_splits, gcx)) {
  9222. COPY(end, destination);
  9223. destination[X_AXIS] = LOGICAL_X_POSITION(mbl.index_to_xpos[gcx]);
  9224. normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
  9225. destination[Y_AXIS] = MBL_SEGMENT_END(Y);
  9226. CBI(x_splits, gcx);
  9227. }
  9228. else if (cy2 != cy1 && TEST(y_splits, gcy)) {
  9229. COPY(end, destination);
  9230. destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.index_to_ypos[gcy]);
  9231. normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
  9232. destination[X_AXIS] = MBL_SEGMENT_END(X);
  9233. CBI(y_splits, gcy);
  9234. }
  9235. else {
  9236. // Already split on a border
  9237. line_to_destination(fr_mm_s);
  9238. set_current_to_destination();
  9239. return;
  9240. }
  9241. destination[Z_AXIS] = MBL_SEGMENT_END(Z);
  9242. destination[E_AXIS] = MBL_SEGMENT_END(E);
  9243. // Do the split and look for more borders
  9244. mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
  9245. // Restore destination from stack
  9246. COPY(destination, end);
  9247. mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
  9248. }
  9249. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) && !IS_KINEMATIC
  9250. #define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) * ABL_BG_FACTOR(A##_AXIS))
  9251. /**
  9252. * Prepare a bilinear-leveled linear move on Cartesian,
  9253. * splitting the move where it crosses grid borders.
  9254. */
  9255. void bilinear_line_to_destination(float fr_mm_s, uint16_t x_splits = 0xFFFF, uint16_t y_splits = 0xFFFF) {
  9256. int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
  9257. cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
  9258. cx2 = CELL_INDEX(X, destination[X_AXIS]),
  9259. cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
  9260. cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2);
  9261. cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2);
  9262. cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2);
  9263. cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2);
  9264. if (cx1 == cx2 && cy1 == cy2) {
  9265. // Start and end on same mesh square
  9266. line_to_destination(fr_mm_s);
  9267. set_current_to_destination();
  9268. return;
  9269. }
  9270. #define LINE_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
  9271. float normalized_dist, end[XYZE];
  9272. // Split at the left/front border of the right/top square
  9273. const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
  9274. if (cx2 != cx1 && TEST(x_splits, gcx)) {
  9275. COPY(end, destination);
  9276. destination[X_AXIS] = LOGICAL_X_POSITION(bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx);
  9277. normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
  9278. destination[Y_AXIS] = LINE_SEGMENT_END(Y);
  9279. CBI(x_splits, gcx);
  9280. }
  9281. else if (cy2 != cy1 && TEST(y_splits, gcy)) {
  9282. COPY(end, destination);
  9283. destination[Y_AXIS] = LOGICAL_Y_POSITION(bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy);
  9284. normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
  9285. destination[X_AXIS] = LINE_SEGMENT_END(X);
  9286. CBI(y_splits, gcy);
  9287. }
  9288. else {
  9289. // Already split on a border
  9290. line_to_destination(fr_mm_s);
  9291. set_current_to_destination();
  9292. return;
  9293. }
  9294. destination[Z_AXIS] = LINE_SEGMENT_END(Z);
  9295. destination[E_AXIS] = LINE_SEGMENT_END(E);
  9296. // Do the split and look for more borders
  9297. bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
  9298. // Restore destination from stack
  9299. COPY(destination, end);
  9300. bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
  9301. }
  9302. #endif // AUTO_BED_LEVELING_BILINEAR
  9303. #if IS_KINEMATIC
  9304. /**
  9305. * Prepare a linear move in a DELTA or SCARA setup.
  9306. *
  9307. * This calls planner.buffer_line several times, adding
  9308. * small incremental moves for DELTA or SCARA.
  9309. */
  9310. inline bool prepare_kinematic_move_to(float ltarget[XYZE]) {
  9311. // Get the top feedrate of the move in the XY plane
  9312. float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
  9313. // If the move is only in Z/E don't split up the move
  9314. if (ltarget[X_AXIS] == current_position[X_AXIS] && ltarget[Y_AXIS] == current_position[Y_AXIS]) {
  9315. planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
  9316. return false;
  9317. }
  9318. // Get the cartesian distances moved in XYZE
  9319. float difference[XYZE];
  9320. LOOP_XYZE(i) difference[i] = ltarget[i] - current_position[i];
  9321. // Get the linear distance in XYZ
  9322. float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
  9323. // If the move is very short, check the E move distance
  9324. if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = abs(difference[E_AXIS]);
  9325. // No E move either? Game over.
  9326. if (UNEAR_ZERO(cartesian_mm)) return true;
  9327. // Minimum number of seconds to move the given distance
  9328. float seconds = cartesian_mm / _feedrate_mm_s;
  9329. // The number of segments-per-second times the duration
  9330. // gives the number of segments
  9331. uint16_t segments = delta_segments_per_second * seconds;
  9332. // For SCARA minimum segment size is 0.25mm
  9333. #if IS_SCARA
  9334. NOMORE(segments, cartesian_mm * 4);
  9335. #endif
  9336. // At least one segment is required
  9337. NOLESS(segments, 1);
  9338. // The approximate length of each segment
  9339. const float inv_segments = 1.0 / float(segments),
  9340. segment_distance[XYZE] = {
  9341. difference[X_AXIS] * inv_segments,
  9342. difference[Y_AXIS] * inv_segments,
  9343. difference[Z_AXIS] * inv_segments,
  9344. difference[E_AXIS] * inv_segments
  9345. };
  9346. // SERIAL_ECHOPAIR("mm=", cartesian_mm);
  9347. // SERIAL_ECHOPAIR(" seconds=", seconds);
  9348. // SERIAL_ECHOLNPAIR(" segments=", segments);
  9349. #if IS_SCARA
  9350. // SCARA needs to scale the feed rate from mm/s to degrees/s
  9351. const float inv_segment_length = min(10.0, float(segments) / cartesian_mm), // 1/mm/segs
  9352. feed_factor = inv_segment_length * _feedrate_mm_s;
  9353. float oldA = stepper.get_axis_position_degrees(A_AXIS),
  9354. oldB = stepper.get_axis_position_degrees(B_AXIS);
  9355. #endif
  9356. // Get the logical current position as starting point
  9357. float logical[XYZE];
  9358. COPY(logical, current_position);
  9359. // Drop one segment so the last move is to the exact target.
  9360. // If there's only 1 segment, loops will be skipped entirely.
  9361. --segments;
  9362. // Calculate and execute the segments
  9363. for (uint16_t s = segments + 1; --s;) {
  9364. LOOP_XYZE(i) logical[i] += segment_distance[i];
  9365. #if ENABLED(DELTA)
  9366. DELTA_LOGICAL_IK(); // Delta can inline its kinematics
  9367. #else
  9368. inverse_kinematics(logical);
  9369. #endif
  9370. ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
  9371. #if IS_SCARA
  9372. // For SCARA scale the feed rate from mm/s to degrees/s
  9373. // Use ratio between the length of the move and the larger angle change
  9374. const float adiff = abs(delta[A_AXIS] - oldA),
  9375. bdiff = abs(delta[B_AXIS] - oldB);
  9376. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
  9377. oldA = delta[A_AXIS];
  9378. oldB = delta[B_AXIS];
  9379. #else
  9380. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
  9381. #endif
  9382. }
  9383. // Since segment_distance is only approximate,
  9384. // the final move must be to the exact destination.
  9385. #if IS_SCARA
  9386. // For SCARA scale the feed rate from mm/s to degrees/s
  9387. // With segments > 1 length is 1 segment, otherwise total length
  9388. inverse_kinematics(ltarget);
  9389. ADJUST_DELTA(logical);
  9390. const float adiff = abs(delta[A_AXIS] - oldA),
  9391. bdiff = abs(delta[B_AXIS] - oldB);
  9392. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
  9393. #else
  9394. planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
  9395. #endif
  9396. return false;
  9397. }
  9398. #else // !IS_KINEMATIC
  9399. /**
  9400. * Prepare a linear move in a Cartesian setup.
  9401. * If Mesh Bed Leveling is enabled, perform a mesh move.
  9402. *
  9403. * Returns true if the caller didn't update current_position.
  9404. */
  9405. inline bool prepare_move_to_destination_cartesian() {
  9406. // Do not use feedrate_percentage for E or Z only moves
  9407. if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
  9408. line_to_destination();
  9409. }
  9410. else {
  9411. #if ENABLED(MESH_BED_LEVELING)
  9412. if (mbl.active()) {
  9413. mesh_line_to_destination(MMS_SCALED(feedrate_mm_s));
  9414. return true;
  9415. }
  9416. else
  9417. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  9418. if (ubl.state.active) {
  9419. ubl_line_to_destination(MMS_SCALED(feedrate_mm_s), active_extruder);
  9420. return true;
  9421. }
  9422. else
  9423. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  9424. if (planner.abl_enabled) {
  9425. bilinear_line_to_destination(MMS_SCALED(feedrate_mm_s));
  9426. return true;
  9427. }
  9428. else
  9429. #endif
  9430. line_to_destination(MMS_SCALED(feedrate_mm_s));
  9431. }
  9432. return false;
  9433. }
  9434. #endif // !IS_KINEMATIC
  9435. #if ENABLED(DUAL_X_CARRIAGE)
  9436. /**
  9437. * Prepare a linear move in a dual X axis setup
  9438. */
  9439. inline bool prepare_move_to_destination_dualx() {
  9440. if (active_extruder_parked) {
  9441. switch (dual_x_carriage_mode) {
  9442. case DXC_FULL_CONTROL_MODE:
  9443. break;
  9444. case DXC_AUTO_PARK_MODE:
  9445. if (current_position[E_AXIS] == destination[E_AXIS]) {
  9446. // This is a travel move (with no extrusion)
  9447. // Skip it, but keep track of the current position
  9448. // (so it can be used as the start of the next non-travel move)
  9449. if (delayed_move_time != 0xFFFFFFFFUL) {
  9450. set_current_to_destination();
  9451. NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
  9452. delayed_move_time = millis();
  9453. return true;
  9454. }
  9455. }
  9456. // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
  9457. for (uint8_t i = 0; i < 3; i++)
  9458. planner.buffer_line(
  9459. i == 0 ? raised_parked_position[X_AXIS] : current_position[X_AXIS],
  9460. i == 0 ? raised_parked_position[Y_AXIS] : current_position[Y_AXIS],
  9461. i == 2 ? current_position[Z_AXIS] : raised_parked_position[Z_AXIS],
  9462. current_position[E_AXIS],
  9463. i == 1 ? PLANNER_XY_FEEDRATE() : planner.max_feedrate_mm_s[Z_AXIS],
  9464. active_extruder
  9465. );
  9466. delayed_move_time = 0;
  9467. active_extruder_parked = false;
  9468. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9469. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Clear active_extruder_parked");
  9470. #endif
  9471. break;
  9472. case DXC_DUPLICATION_MODE:
  9473. if (active_extruder == 0) {
  9474. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9475. if (DEBUGGING(LEVELING)) {
  9476. SERIAL_ECHOPAIR("Set planner X", LOGICAL_X_POSITION(inactive_extruder_x_pos));
  9477. SERIAL_ECHOLNPAIR(" ... Line to X", current_position[X_AXIS] + duplicate_extruder_x_offset);
  9478. }
  9479. #endif
  9480. // move duplicate extruder into correct duplication position.
  9481. planner.set_position_mm(
  9482. LOGICAL_X_POSITION(inactive_extruder_x_pos),
  9483. current_position[Y_AXIS],
  9484. current_position[Z_AXIS],
  9485. current_position[E_AXIS]
  9486. );
  9487. planner.buffer_line(
  9488. current_position[X_AXIS] + duplicate_extruder_x_offset,
  9489. current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
  9490. planner.max_feedrate_mm_s[X_AXIS], 1
  9491. );
  9492. SYNC_PLAN_POSITION_KINEMATIC();
  9493. stepper.synchronize();
  9494. extruder_duplication_enabled = true;
  9495. active_extruder_parked = false;
  9496. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9497. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Set extruder_duplication_enabled\nClear active_extruder_parked");
  9498. #endif
  9499. }
  9500. else {
  9501. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9502. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Active extruder not 0");
  9503. #endif
  9504. }
  9505. break;
  9506. }
  9507. }
  9508. return false;
  9509. }
  9510. #endif // DUAL_X_CARRIAGE
  9511. /**
  9512. * Prepare a single move and get ready for the next one
  9513. *
  9514. * This may result in several calls to planner.buffer_line to
  9515. * do smaller moves for DELTA, SCARA, mesh moves, etc.
  9516. */
  9517. void prepare_move_to_destination() {
  9518. clamp_to_software_endstops(destination);
  9519. refresh_cmd_timeout();
  9520. #if ENABLED(PREVENT_COLD_EXTRUSION)
  9521. if (!DEBUGGING(DRYRUN)) {
  9522. if (destination[E_AXIS] != current_position[E_AXIS]) {
  9523. if (thermalManager.tooColdToExtrude(active_extruder)) {
  9524. current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
  9525. SERIAL_ECHO_START;
  9526. SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
  9527. }
  9528. #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
  9529. if (labs(destination[E_AXIS] - current_position[E_AXIS]) > EXTRUDE_MAXLENGTH) {
  9530. current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
  9531. SERIAL_ECHO_START;
  9532. SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
  9533. }
  9534. #endif
  9535. }
  9536. }
  9537. #endif
  9538. #if IS_KINEMATIC
  9539. if (prepare_kinematic_move_to(destination)) return;
  9540. #else
  9541. #if ENABLED(DUAL_X_CARRIAGE)
  9542. if (prepare_move_to_destination_dualx()) return;
  9543. #endif
  9544. if (prepare_move_to_destination_cartesian()) return;
  9545. #endif
  9546. set_current_to_destination();
  9547. }
  9548. #if ENABLED(ARC_SUPPORT)
  9549. /**
  9550. * Plan an arc in 2 dimensions
  9551. *
  9552. * The arc is approximated by generating many small linear segments.
  9553. * The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
  9554. * Arcs should only be made relatively large (over 5mm), as larger arcs with
  9555. * larger segments will tend to be more efficient. Your slicer should have
  9556. * options for G2/G3 arc generation. In future these options may be GCode tunable.
  9557. */
  9558. void plan_arc(
  9559. float logical[XYZE], // Destination position
  9560. float *offset, // Center of rotation relative to current_position
  9561. uint8_t clockwise // Clockwise?
  9562. ) {
  9563. float r_X = -offset[X_AXIS], // Radius vector from center to current location
  9564. r_Y = -offset[Y_AXIS];
  9565. const float radius = HYPOT(r_X, r_Y),
  9566. center_X = current_position[X_AXIS] - r_X,
  9567. center_Y = current_position[Y_AXIS] - r_Y,
  9568. rt_X = logical[X_AXIS] - center_X,
  9569. rt_Y = logical[Y_AXIS] - center_Y,
  9570. linear_travel = logical[Z_AXIS] - current_position[Z_AXIS],
  9571. extruder_travel = logical[E_AXIS] - current_position[E_AXIS];
  9572. // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
  9573. float angular_travel = atan2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y);
  9574. if (angular_travel < 0) angular_travel += RADIANS(360);
  9575. if (clockwise) angular_travel -= RADIANS(360);
  9576. // Make a circle if the angular rotation is 0
  9577. if (angular_travel == 0 && current_position[X_AXIS] == logical[X_AXIS] && current_position[Y_AXIS] == logical[Y_AXIS])
  9578. angular_travel += RADIANS(360);
  9579. float mm_of_travel = HYPOT(angular_travel * radius, fabs(linear_travel));
  9580. if (mm_of_travel < 0.001) return;
  9581. uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT));
  9582. if (segments == 0) segments = 1;
  9583. /**
  9584. * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
  9585. * and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
  9586. * r_T = [cos(phi) -sin(phi);
  9587. * sin(phi) cos(phi)] * r ;
  9588. *
  9589. * For arc generation, the center of the circle is the axis of rotation and the radius vector is
  9590. * defined from the circle center to the initial position. Each line segment is formed by successive
  9591. * vector rotations. This requires only two cos() and sin() computations to form the rotation
  9592. * matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
  9593. * all double numbers are single precision on the Arduino. (True double precision will not have
  9594. * round off issues for CNC applications.) Single precision error can accumulate to be greater than
  9595. * tool precision in some cases. Therefore, arc path correction is implemented.
  9596. *
  9597. * Small angle approximation may be used to reduce computation overhead further. This approximation
  9598. * holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
  9599. * theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
  9600. * to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
  9601. * numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
  9602. * issue for CNC machines with the single precision Arduino calculations.
  9603. *
  9604. * This approximation also allows plan_arc to immediately insert a line segment into the planner
  9605. * without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
  9606. * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
  9607. * This is important when there are successive arc motions.
  9608. */
  9609. // Vector rotation matrix values
  9610. float arc_target[XYZE];
  9611. const float theta_per_segment = angular_travel / segments,
  9612. linear_per_segment = linear_travel / segments,
  9613. extruder_per_segment = extruder_travel / segments,
  9614. sin_T = theta_per_segment,
  9615. cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
  9616. // Initialize the linear axis
  9617. arc_target[Z_AXIS] = current_position[Z_AXIS];
  9618. // Initialize the extruder axis
  9619. arc_target[E_AXIS] = current_position[E_AXIS];
  9620. const float fr_mm_s = MMS_SCALED(feedrate_mm_s);
  9621. millis_t next_idle_ms = millis() + 200UL;
  9622. int8_t count = 0;
  9623. for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
  9624. thermalManager.manage_heater();
  9625. if (ELAPSED(millis(), next_idle_ms)) {
  9626. next_idle_ms = millis() + 200UL;
  9627. idle();
  9628. }
  9629. if (++count < N_ARC_CORRECTION) {
  9630. // Apply vector rotation matrix to previous r_X / 1
  9631. const float r_new_Y = r_X * sin_T + r_Y * cos_T;
  9632. r_X = r_X * cos_T - r_Y * sin_T;
  9633. r_Y = r_new_Y;
  9634. }
  9635. else {
  9636. // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
  9637. // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
  9638. // To reduce stuttering, the sin and cos could be computed at different times.
  9639. // For now, compute both at the same time.
  9640. const float cos_Ti = cos(i * theta_per_segment),
  9641. sin_Ti = sin(i * theta_per_segment);
  9642. r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti;
  9643. r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti;
  9644. count = 0;
  9645. }
  9646. // Update arc_target location
  9647. arc_target[X_AXIS] = center_X + r_X;
  9648. arc_target[Y_AXIS] = center_Y + r_Y;
  9649. arc_target[Z_AXIS] += linear_per_segment;
  9650. arc_target[E_AXIS] += extruder_per_segment;
  9651. clamp_to_software_endstops(arc_target);
  9652. planner.buffer_line_kinematic(arc_target, fr_mm_s, active_extruder);
  9653. }
  9654. // Ensure last segment arrives at target location.
  9655. planner.buffer_line_kinematic(logical, fr_mm_s, active_extruder);
  9656. // As far as the parser is concerned, the position is now == target. In reality the
  9657. // motion control system might still be processing the action and the real tool position
  9658. // in any intermediate location.
  9659. set_current_to_destination();
  9660. }
  9661. #endif
  9662. #if ENABLED(BEZIER_CURVE_SUPPORT)
  9663. void plan_cubic_move(const float offset[4]) {
  9664. cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
  9665. // As far as the parser is concerned, the position is now == destination. In reality the
  9666. // motion control system might still be processing the action and the real tool position
  9667. // in any intermediate location.
  9668. set_current_to_destination();
  9669. }
  9670. #endif // BEZIER_CURVE_SUPPORT
  9671. #if USE_CONTROLLER_FAN
  9672. void controllerFan() {
  9673. static millis_t lastMotorOn = 0, // Last time a motor was turned on
  9674. nextMotorCheck = 0; // Last time the state was checked
  9675. const millis_t ms = millis();
  9676. if (ELAPSED(ms, nextMotorCheck)) {
  9677. nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s
  9678. if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || thermalManager.soft_pwm_bed > 0
  9679. || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
  9680. #if E_STEPPERS > 1
  9681. || E1_ENABLE_READ == E_ENABLE_ON
  9682. #if HAS_X2_ENABLE
  9683. || X2_ENABLE_READ == X_ENABLE_ON
  9684. #endif
  9685. #if E_STEPPERS > 2
  9686. || E2_ENABLE_READ == E_ENABLE_ON
  9687. #if E_STEPPERS > 3
  9688. || E3_ENABLE_READ == E_ENABLE_ON
  9689. #if E_STEPPERS > 4
  9690. || E4_ENABLE_READ == E_ENABLE_ON
  9691. #endif // E_STEPPERS > 4
  9692. #endif // E_STEPPERS > 3
  9693. #endif // E_STEPPERS > 2
  9694. #endif // E_STEPPERS > 1
  9695. ) {
  9696. lastMotorOn = ms; //... set time to NOW so the fan will turn on
  9697. }
  9698. // Fan off if no steppers have been enabled for CONTROLLERFAN_SECS seconds
  9699. uint8_t speed = (!lastMotorOn || ELAPSED(ms, lastMotorOn + (CONTROLLERFAN_SECS) * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
  9700. // allows digital or PWM fan output to be used (see M42 handling)
  9701. WRITE(CONTROLLER_FAN_PIN, speed);
  9702. analogWrite(CONTROLLER_FAN_PIN, speed);
  9703. }
  9704. }
  9705. #endif // USE_CONTROLLER_FAN
  9706. #if ENABLED(MORGAN_SCARA)
  9707. /**
  9708. * Morgan SCARA Forward Kinematics. Results in cartes[].
  9709. * Maths and first version by QHARLEY.
  9710. * Integrated into Marlin and slightly restructured by Joachim Cerny.
  9711. */
  9712. void forward_kinematics_SCARA(const float &a, const float &b) {
  9713. float a_sin = sin(RADIANS(a)) * L1,
  9714. a_cos = cos(RADIANS(a)) * L1,
  9715. b_sin = sin(RADIANS(b)) * L2,
  9716. b_cos = cos(RADIANS(b)) * L2;
  9717. cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta
  9718. cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
  9719. /*
  9720. SERIAL_ECHOPAIR("SCARA FK Angle a=", a);
  9721. SERIAL_ECHOPAIR(" b=", b);
  9722. SERIAL_ECHOPAIR(" a_sin=", a_sin);
  9723. SERIAL_ECHOPAIR(" a_cos=", a_cos);
  9724. SERIAL_ECHOPAIR(" b_sin=", b_sin);
  9725. SERIAL_ECHOLNPAIR(" b_cos=", b_cos);
  9726. SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]);
  9727. SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]);
  9728. //*/
  9729. }
  9730. /**
  9731. * Morgan SCARA Inverse Kinematics. Results in delta[].
  9732. *
  9733. * See http://forums.reprap.org/read.php?185,283327
  9734. *
  9735. * Maths and first version by QHARLEY.
  9736. * Integrated into Marlin and slightly restructured by Joachim Cerny.
  9737. */
  9738. void inverse_kinematics(const float logical[XYZ]) {
  9739. static float C2, S2, SK1, SK2, THETA, PSI;
  9740. float sx = RAW_X_POSITION(logical[X_AXIS]) - SCARA_OFFSET_X, // Translate SCARA to standard X Y
  9741. sy = RAW_Y_POSITION(logical[Y_AXIS]) - SCARA_OFFSET_Y; // With scaling factor.
  9742. if (L1 == L2)
  9743. C2 = HYPOT2(sx, sy) / L1_2_2 - 1;
  9744. else
  9745. C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2);
  9746. S2 = sqrt(sq(C2) - 1);
  9747. // Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
  9748. SK1 = L1 + L2 * C2;
  9749. // Rotated Arm2 gives the distance from Arm1 to Arm2
  9750. SK2 = L2 * S2;
  9751. // Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
  9752. THETA = atan2(SK1, SK2) - atan2(sx, sy);
  9753. // Angle of Arm2
  9754. PSI = atan2(S2, C2);
  9755. delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
  9756. delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
  9757. delta[C_AXIS] = logical[Z_AXIS];
  9758. /*
  9759. DEBUG_POS("SCARA IK", logical);
  9760. DEBUG_POS("SCARA IK", delta);
  9761. SERIAL_ECHOPAIR(" SCARA (x,y) ", sx);
  9762. SERIAL_ECHOPAIR(",", sy);
  9763. SERIAL_ECHOPAIR(" C2=", C2);
  9764. SERIAL_ECHOPAIR(" S2=", S2);
  9765. SERIAL_ECHOPAIR(" Theta=", THETA);
  9766. SERIAL_ECHOLNPAIR(" Phi=", PHI);
  9767. //*/
  9768. }
  9769. #endif // MORGAN_SCARA
  9770. #if ENABLED(TEMP_STAT_LEDS)
  9771. static bool red_led = false;
  9772. static millis_t next_status_led_update_ms = 0;
  9773. void handle_status_leds(void) {
  9774. if (ELAPSED(millis(), next_status_led_update_ms)) {
  9775. next_status_led_update_ms += 500; // Update every 0.5s
  9776. float max_temp = 0.0;
  9777. #if HAS_TEMP_BED
  9778. max_temp = MAX3(max_temp, thermalManager.degTargetBed(), thermalManager.degBed());
  9779. #endif
  9780. HOTEND_LOOP() {
  9781. max_temp = MAX3(max_temp, thermalManager.degHotend(e), thermalManager.degTargetHotend(e));
  9782. }
  9783. bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
  9784. if (new_led != red_led) {
  9785. red_led = new_led;
  9786. #if PIN_EXISTS(STAT_LED_RED)
  9787. WRITE(STAT_LED_RED_PIN, new_led ? HIGH : LOW);
  9788. #if PIN_EXISTS(STAT_LED_BLUE)
  9789. WRITE(STAT_LED_BLUE_PIN, new_led ? LOW : HIGH);
  9790. #endif
  9791. #else
  9792. WRITE(STAT_LED_BLUE_PIN, new_led ? HIGH : LOW);
  9793. #endif
  9794. }
  9795. }
  9796. }
  9797. #endif
  9798. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  9799. void handle_filament_runout() {
  9800. if (!filament_ran_out) {
  9801. filament_ran_out = true;
  9802. enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
  9803. stepper.synchronize();
  9804. }
  9805. }
  9806. #endif // FILAMENT_RUNOUT_SENSOR
  9807. #if ENABLED(FAST_PWM_FAN)
  9808. void setPwmFrequency(uint8_t pin, int val) {
  9809. val &= 0x07;
  9810. switch (digitalPinToTimer(pin)) {
  9811. #ifdef TCCR0A
  9812. case TIMER0A:
  9813. case TIMER0B:
  9814. //_SET_CS(0, val);
  9815. break;
  9816. #endif
  9817. #ifdef TCCR1A
  9818. case TIMER1A:
  9819. case TIMER1B:
  9820. //_SET_CS(1, val);
  9821. break;
  9822. #endif
  9823. #ifdef TCCR2
  9824. case TIMER2:
  9825. case TIMER2:
  9826. _SET_CS(2, val);
  9827. break;
  9828. #endif
  9829. #ifdef TCCR2A
  9830. case TIMER2A:
  9831. case TIMER2B:
  9832. _SET_CS(2, val);
  9833. break;
  9834. #endif
  9835. #ifdef TCCR3A
  9836. case TIMER3A:
  9837. case TIMER3B:
  9838. case TIMER3C:
  9839. _SET_CS(3, val);
  9840. break;
  9841. #endif
  9842. #ifdef TCCR4A
  9843. case TIMER4A:
  9844. case TIMER4B:
  9845. case TIMER4C:
  9846. _SET_CS(4, val);
  9847. break;
  9848. #endif
  9849. #ifdef TCCR5A
  9850. case TIMER5A:
  9851. case TIMER5B:
  9852. case TIMER5C:
  9853. _SET_CS(5, val);
  9854. break;
  9855. #endif
  9856. }
  9857. }
  9858. #endif // FAST_PWM_FAN
  9859. float calculate_volumetric_multiplier(float diameter) {
  9860. if (!volumetric_enabled || diameter == 0) return 1.0;
  9861. return 1.0 / (M_PI * sq(diameter * 0.5));
  9862. }
  9863. void calculate_volumetric_multipliers() {
  9864. for (uint8_t i = 0; i < COUNT(filament_size); i++)
  9865. volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
  9866. }
  9867. void enable_all_steppers() {
  9868. enable_X();
  9869. enable_Y();
  9870. enable_Z();
  9871. enable_E0();
  9872. enable_E1();
  9873. enable_E2();
  9874. enable_E3();
  9875. enable_E4();
  9876. }
  9877. void disable_e_steppers() {
  9878. disable_E0();
  9879. disable_E1();
  9880. disable_E2();
  9881. disable_E3();
  9882. disable_E4();
  9883. }
  9884. void disable_all_steppers() {
  9885. disable_X();
  9886. disable_Y();
  9887. disable_Z();
  9888. disable_e_steppers();
  9889. }
  9890. #if ENABLED(HAVE_TMC2130)
  9891. void automatic_current_control(TMC2130Stepper &st, String axisID) {
  9892. // Check otpw even if we don't use automatic control. Allows for flag inspection.
  9893. const bool is_otpw = st.checkOT();
  9894. // Report if a warning was triggered
  9895. static bool previous_otpw = false;
  9896. if (is_otpw && !previous_otpw) {
  9897. char timestamp[10];
  9898. duration_t elapsed = print_job_timer.duration();
  9899. const bool has_days = (elapsed.value > 60*60*24L);
  9900. (void)elapsed.toDigital(timestamp, has_days);
  9901. SERIAL_ECHO(timestamp);
  9902. SERIAL_ECHO(": ");
  9903. SERIAL_ECHO(axisID);
  9904. SERIAL_ECHOLNPGM(" driver overtemperature warning!");
  9905. }
  9906. previous_otpw = is_otpw;
  9907. #if CURRENT_STEP > 0 && ENABLED(AUTOMATIC_CURRENT_CONTROL)
  9908. // Return if user has not enabled current control start with M906 S1.
  9909. if (!auto_current_control) return;
  9910. /**
  9911. * Decrease current if is_otpw is true.
  9912. * Bail out if driver is disabled.
  9913. * Increase current if OTPW has not been triggered yet.
  9914. */
  9915. uint16_t current = st.getCurrent();
  9916. if (is_otpw) {
  9917. st.setCurrent(current - CURRENT_STEP, R_SENSE, HOLD_MULTIPLIER);
  9918. #if ENABLED(REPORT_CURRENT_CHANGE)
  9919. SERIAL_ECHO(axisID);
  9920. SERIAL_ECHOPAIR(" current decreased to ", st.getCurrent());
  9921. #endif
  9922. }
  9923. else if (!st.isEnabled())
  9924. return;
  9925. else if (!is_otpw && !st.getOTPW()) {
  9926. current += CURRENT_STEP;
  9927. if (current <= AUTO_ADJUST_MAX) {
  9928. st.setCurrent(current, R_SENSE, HOLD_MULTIPLIER);
  9929. #if ENABLED(REPORT_CURRENT_CHANGE)
  9930. SERIAL_ECHO(axisID);
  9931. SERIAL_ECHOPAIR(" current increased to ", st.getCurrent());
  9932. #endif
  9933. }
  9934. }
  9935. SERIAL_EOL;
  9936. #endif
  9937. }
  9938. void checkOverTemp() {
  9939. static millis_t next_cOT = 0;
  9940. if (ELAPSED(millis(), next_cOT)) {
  9941. next_cOT = millis() + 5000;
  9942. #if ENABLED(X_IS_TMC2130)
  9943. automatic_current_control(stepperX, "X");
  9944. #endif
  9945. #if ENABLED(Y_IS_TMC2130)
  9946. automatic_current_control(stepperY, "Y");
  9947. #endif
  9948. #if ENABLED(Z_IS_TMC2130)
  9949. automatic_current_control(stepperZ, "Z");
  9950. #endif
  9951. #if ENABLED(X2_IS_TMC2130)
  9952. automatic_current_control(stepperX2, "X2");
  9953. #endif
  9954. #if ENABLED(Y2_IS_TMC2130)
  9955. automatic_current_control(stepperY2, "Y2");
  9956. #endif
  9957. #if ENABLED(Z2_IS_TMC2130)
  9958. automatic_current_control(stepperZ2, "Z2");
  9959. #endif
  9960. #if ENABLED(E0_IS_TMC2130)
  9961. automatic_current_control(stepperE0, "E0");
  9962. #endif
  9963. #if ENABLED(E1_IS_TMC2130)
  9964. automatic_current_control(stepperE1, "E1");
  9965. #endif
  9966. #if ENABLED(E2_IS_TMC2130)
  9967. automatic_current_control(stepperE2, "E2");
  9968. #endif
  9969. #if ENABLED(E3_IS_TMC2130)
  9970. automatic_current_control(stepperE3, "E3");
  9971. #endif
  9972. #if ENABLED(E4_IS_TMC2130)
  9973. automatic_current_control(stepperE4, "E4");
  9974. #endif
  9975. #if ENABLED(E4_IS_TMC2130)
  9976. automatic_current_control(stepperE4);
  9977. #endif
  9978. }
  9979. }
  9980. #endif // HAVE_TMC2130
  9981. /**
  9982. * Manage several activities:
  9983. * - Check for Filament Runout
  9984. * - Keep the command buffer full
  9985. * - Check for maximum inactive time between commands
  9986. * - Check for maximum inactive time between stepper commands
  9987. * - Check if pin CHDK needs to go LOW
  9988. * - Check for KILL button held down
  9989. * - Check for HOME button held down
  9990. * - Check if cooling fan needs to be switched on
  9991. * - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
  9992. */
  9993. void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
  9994. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  9995. if ((IS_SD_PRINTING || print_job_timer.isRunning()) && (READ(FIL_RUNOUT_PIN) == FIL_RUNOUT_INVERTING))
  9996. handle_filament_runout();
  9997. #endif
  9998. if (commands_in_queue < BUFSIZE) get_available_commands();
  9999. const millis_t ms = millis();
  10000. if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) {
  10001. SERIAL_ERROR_START;
  10002. SERIAL_ECHOLNPAIR(MSG_KILL_INACTIVE_TIME, current_command);
  10003. kill(PSTR(MSG_KILLED));
  10004. }
  10005. // Prevent steppers timing-out in the middle of M600
  10006. #if ENABLED(FILAMENT_CHANGE_FEATURE) && ENABLED(FILAMENT_CHANGE_NO_STEPPER_TIMEOUT)
  10007. #define M600_TEST !busy_doing_M600
  10008. #else
  10009. #define M600_TEST true
  10010. #endif
  10011. if (M600_TEST && stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
  10012. && !ignore_stepper_queue && !planner.blocks_queued()) {
  10013. #if ENABLED(DISABLE_INACTIVE_X)
  10014. disable_X();
  10015. #endif
  10016. #if ENABLED(DISABLE_INACTIVE_Y)
  10017. disable_Y();
  10018. #endif
  10019. #if ENABLED(DISABLE_INACTIVE_Z)
  10020. disable_Z();
  10021. #endif
  10022. #if ENABLED(DISABLE_INACTIVE_E)
  10023. disable_e_steppers();
  10024. #endif
  10025. }
  10026. #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
  10027. if (chdkActive && ELAPSED(ms, chdkHigh + CHDK_DELAY)) {
  10028. chdkActive = false;
  10029. WRITE(CHDK, LOW);
  10030. }
  10031. #endif
  10032. #if HAS_KILL
  10033. // Check if the kill button was pressed and wait just in case it was an accidental
  10034. // key kill key press
  10035. // -------------------------------------------------------------------------------
  10036. static int killCount = 0; // make the inactivity button a bit less responsive
  10037. const int KILL_DELAY = 750;
  10038. if (!READ(KILL_PIN))
  10039. killCount++;
  10040. else if (killCount > 0)
  10041. killCount--;
  10042. // Exceeded threshold and we can confirm that it was not accidental
  10043. // KILL the machine
  10044. // ----------------------------------------------------------------
  10045. if (killCount >= KILL_DELAY) {
  10046. SERIAL_ERROR_START;
  10047. SERIAL_ERRORLNPGM(MSG_KILL_BUTTON);
  10048. kill(PSTR(MSG_KILLED));
  10049. }
  10050. #endif
  10051. #if HAS_HOME
  10052. // Check to see if we have to home, use poor man's debouncer
  10053. // ---------------------------------------------------------
  10054. static int homeDebounceCount = 0; // poor man's debouncing count
  10055. const int HOME_DEBOUNCE_DELAY = 2500;
  10056. if (!IS_SD_PRINTING && !READ(HOME_PIN)) {
  10057. if (!homeDebounceCount) {
  10058. enqueue_and_echo_commands_P(PSTR("G28"));
  10059. LCD_MESSAGEPGM(MSG_AUTO_HOME);
  10060. }
  10061. if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
  10062. homeDebounceCount++;
  10063. else
  10064. homeDebounceCount = 0;
  10065. }
  10066. #endif
  10067. #if USE_CONTROLLER_FAN
  10068. controllerFan(); // Check if fan should be turned on to cool stepper drivers down
  10069. #endif
  10070. #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
  10071. if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
  10072. && thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
  10073. bool oldstatus;
  10074. #if ENABLED(SWITCHING_EXTRUDER)
  10075. oldstatus = E0_ENABLE_READ;
  10076. enable_E0();
  10077. #else // !SWITCHING_EXTRUDER
  10078. switch (active_extruder) {
  10079. case 0: oldstatus = E0_ENABLE_READ; enable_E0(); break;
  10080. #if E_STEPPERS > 1
  10081. case 1: oldstatus = E1_ENABLE_READ; enable_E1(); break;
  10082. #if E_STEPPERS > 2
  10083. case 2: oldstatus = E2_ENABLE_READ; enable_E2(); break;
  10084. #if E_STEPPERS > 3
  10085. case 3: oldstatus = E3_ENABLE_READ; enable_E3(); break;
  10086. #if E_STEPPERS > 4
  10087. case 4: oldstatus = E4_ENABLE_READ; enable_E4(); break;
  10088. #endif // E_STEPPERS > 4
  10089. #endif // E_STEPPERS > 3
  10090. #endif // E_STEPPERS > 2
  10091. #endif // E_STEPPERS > 1
  10092. }
  10093. #endif // !SWITCHING_EXTRUDER
  10094. previous_cmd_ms = ms; // refresh_cmd_timeout()
  10095. const float olde = current_position[E_AXIS];
  10096. current_position[E_AXIS] += EXTRUDER_RUNOUT_EXTRUDE;
  10097. planner.buffer_line_kinematic(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
  10098. current_position[E_AXIS] = olde;
  10099. planner.set_e_position_mm(olde);
  10100. stepper.synchronize();
  10101. #if ENABLED(SWITCHING_EXTRUDER)
  10102. E0_ENABLE_WRITE(oldstatus);
  10103. #else
  10104. switch (active_extruder) {
  10105. case 0: E0_ENABLE_WRITE(oldstatus); break;
  10106. #if E_STEPPERS > 1
  10107. case 1: E1_ENABLE_WRITE(oldstatus); break;
  10108. #if E_STEPPERS > 2
  10109. case 2: E2_ENABLE_WRITE(oldstatus); break;
  10110. #if E_STEPPERS > 3
  10111. case 3: E3_ENABLE_WRITE(oldstatus); break;
  10112. #if E_STEPPERS > 4
  10113. case 4: E4_ENABLE_WRITE(oldstatus); break;
  10114. #endif // E_STEPPERS > 4
  10115. #endif // E_STEPPERS > 3
  10116. #endif // E_STEPPERS > 2
  10117. #endif // E_STEPPERS > 1
  10118. }
  10119. #endif // !SWITCHING_EXTRUDER
  10120. }
  10121. #endif // EXTRUDER_RUNOUT_PREVENT
  10122. #if ENABLED(DUAL_X_CARRIAGE)
  10123. // handle delayed move timeout
  10124. if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
  10125. // travel moves have been received so enact them
  10126. delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
  10127. set_destination_to_current();
  10128. prepare_move_to_destination();
  10129. }
  10130. #endif
  10131. #if ENABLED(TEMP_STAT_LEDS)
  10132. handle_status_leds();
  10133. #endif
  10134. #if ENABLED(HAVE_TMC2130)
  10135. checkOverTemp();
  10136. #endif
  10137. planner.check_axes_activity();
  10138. }
  10139. /**
  10140. * Standard idle routine keeps the machine alive
  10141. */
  10142. void idle(
  10143. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  10144. bool no_stepper_sleep/*=false*/
  10145. #endif
  10146. ) {
  10147. lcd_update();
  10148. host_keepalive();
  10149. #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
  10150. auto_report_temperatures();
  10151. #endif
  10152. manage_inactivity(
  10153. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  10154. no_stepper_sleep
  10155. #endif
  10156. );
  10157. thermalManager.manage_heater();
  10158. #if ENABLED(PRINTCOUNTER)
  10159. print_job_timer.tick();
  10160. #endif
  10161. #if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
  10162. buzzer.tick();
  10163. #endif
  10164. }
  10165. /**
  10166. * Kill all activity and lock the machine.
  10167. * After this the machine will need to be reset.
  10168. */
  10169. void kill(const char* lcd_msg) {
  10170. SERIAL_ERROR_START;
  10171. SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
  10172. thermalManager.disable_all_heaters();
  10173. disable_all_steppers();
  10174. #if ENABLED(ULTRA_LCD)
  10175. kill_screen(lcd_msg);
  10176. #else
  10177. UNUSED(lcd_msg);
  10178. #endif
  10179. _delay_ms(600); // Wait a short time (allows messages to get out before shutting down.
  10180. cli(); // Stop interrupts
  10181. _delay_ms(250); //Wait to ensure all interrupts routines stopped
  10182. thermalManager.disable_all_heaters(); //turn off heaters again
  10183. #if HAS_POWER_SWITCH
  10184. SET_INPUT(PS_ON_PIN);
  10185. #endif
  10186. suicide();
  10187. while (1) {
  10188. #if ENABLED(USE_WATCHDOG)
  10189. watchdog_reset();
  10190. #endif
  10191. } // Wait for reset
  10192. }
  10193. /**
  10194. * Turn off heaters and stop the print in progress
  10195. * After a stop the machine may be resumed with M999
  10196. */
  10197. void stop() {
  10198. thermalManager.disable_all_heaters();
  10199. if (IsRunning()) {
  10200. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  10201. SERIAL_ERROR_START;
  10202. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  10203. LCD_MESSAGEPGM(MSG_STOPPED);
  10204. safe_delay(350); // allow enough time for messages to get out before stopping
  10205. Running = false;
  10206. }
  10207. }
  10208. /**
  10209. * Marlin entry-point: Set up before the program loop
  10210. * - Set up the kill pin, filament runout, power hold
  10211. * - Start the serial port
  10212. * - Print startup messages and diagnostics
  10213. * - Get EEPROM or default settings
  10214. * - Initialize managers for:
  10215. * • temperature
  10216. * • planner
  10217. * • watchdog
  10218. * • stepper
  10219. * • photo pin
  10220. * • servos
  10221. * • LCD controller
  10222. * • Digipot I2C
  10223. * • Z probe sled
  10224. * • status LEDs
  10225. */
  10226. void setup() {
  10227. #ifdef DISABLE_JTAG
  10228. // Disable JTAG on AT90USB chips to free up pins for IO
  10229. MCUCR = 0x80;
  10230. MCUCR = 0x80;
  10231. #endif
  10232. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  10233. setup_filrunoutpin();
  10234. #endif
  10235. setup_killpin();
  10236. setup_powerhold();
  10237. #if HAS_STEPPER_RESET
  10238. disableStepperDrivers();
  10239. #endif
  10240. MYSERIAL.begin(BAUDRATE);
  10241. SERIAL_PROTOCOLLNPGM("start");
  10242. SERIAL_ECHO_START;
  10243. // Check startup - does nothing if bootloader sets MCUSR to 0
  10244. byte mcu = MCUSR;
  10245. if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
  10246. if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
  10247. if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
  10248. if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
  10249. if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
  10250. MCUSR = 0;
  10251. SERIAL_ECHOPGM(MSG_MARLIN);
  10252. SERIAL_CHAR(' ');
  10253. SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION);
  10254. SERIAL_EOL;
  10255. #if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
  10256. SERIAL_ECHO_START;
  10257. SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
  10258. SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
  10259. SERIAL_ECHOLNPGM(MSG_AUTHOR STRING_CONFIG_H_AUTHOR);
  10260. SERIAL_ECHOLNPGM("Compiled: " __DATE__);
  10261. #endif
  10262. SERIAL_ECHO_START;
  10263. SERIAL_ECHOPAIR(MSG_FREE_MEMORY, freeMemory());
  10264. SERIAL_ECHOLNPAIR(MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  10265. // Send "ok" after commands by default
  10266. for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
  10267. // Load data from EEPROM if available (or use defaults)
  10268. // This also updates variables in the planner, elsewhere
  10269. (void)settings.load();
  10270. #if HAS_M206_COMMAND
  10271. // Initialize current position based on home_offset
  10272. COPY(current_position, home_offset);
  10273. #else
  10274. ZERO(current_position);
  10275. #endif
  10276. // Vital to init stepper/planner equivalent for current_position
  10277. SYNC_PLAN_POSITION_KINEMATIC();
  10278. thermalManager.init(); // Initialize temperature loop
  10279. #if ENABLED(USE_WATCHDOG)
  10280. watchdog_init();
  10281. #endif
  10282. stepper.init(); // Initialize stepper, this enables interrupts!
  10283. servo_init();
  10284. #if HAS_PHOTOGRAPH
  10285. OUT_WRITE(PHOTOGRAPH_PIN, LOW);
  10286. #endif
  10287. #if HAS_CASE_LIGHT
  10288. update_case_light();
  10289. #endif
  10290. #if HAS_BED_PROBE
  10291. endstops.enable_z_probe(false);
  10292. #endif
  10293. #if USE_CONTROLLER_FAN
  10294. SET_OUTPUT(CONTROLLER_FAN_PIN); //Set pin used for driver cooling fan
  10295. #endif
  10296. #if HAS_STEPPER_RESET
  10297. enableStepperDrivers();
  10298. #endif
  10299. #if ENABLED(DIGIPOT_I2C)
  10300. digipot_i2c_init();
  10301. #endif
  10302. #if ENABLED(DAC_STEPPER_CURRENT)
  10303. dac_init();
  10304. #endif
  10305. #if (ENABLED(Z_PROBE_SLED) || ENABLED(SOLENOID_PROBE)) && HAS_SOLENOID_1
  10306. OUT_WRITE(SOL1_PIN, LOW); // turn it off
  10307. #endif
  10308. setup_homepin();
  10309. #if PIN_EXISTS(STAT_LED_RED)
  10310. OUT_WRITE(STAT_LED_RED_PIN, LOW); // turn it off
  10311. #endif
  10312. #if PIN_EXISTS(STAT_LED_BLUE)
  10313. OUT_WRITE(STAT_LED_BLUE_PIN, LOW); // turn it off
  10314. #endif
  10315. #if ENABLED(RGB_LED) || ENABLED(RGBW_LED)
  10316. SET_OUTPUT(RGB_LED_R_PIN);
  10317. SET_OUTPUT(RGB_LED_G_PIN);
  10318. SET_OUTPUT(RGB_LED_B_PIN);
  10319. #if ENABLED(RGBW_LED)
  10320. SET_OUTPUT(RGB_LED_W_PIN);
  10321. #endif
  10322. #endif
  10323. lcd_init();
  10324. #if ENABLED(SHOW_BOOTSCREEN)
  10325. #if ENABLED(DOGLCD)
  10326. safe_delay(BOOTSCREEN_TIMEOUT);
  10327. #elif ENABLED(ULTRA_LCD)
  10328. bootscreen();
  10329. #if DISABLED(SDSUPPORT)
  10330. lcd_init();
  10331. #endif
  10332. #endif
  10333. #endif
  10334. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  10335. // Initialize mixing to 100% color 1
  10336. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  10337. mixing_factor[i] = (i == 0) ? 1.0 : 0.0;
  10338. for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
  10339. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  10340. mixing_virtual_tool_mix[t][i] = mixing_factor[i];
  10341. #endif
  10342. #if ENABLED(BLTOUCH)
  10343. // Make sure any BLTouch error condition is cleared
  10344. bltouch_command(BLTOUCH_RESET);
  10345. set_bltouch_deployed(true);
  10346. set_bltouch_deployed(false);
  10347. #endif
  10348. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  10349. i2c.onReceive(i2c_on_receive);
  10350. i2c.onRequest(i2c_on_request);
  10351. #endif
  10352. #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
  10353. setup_endstop_interrupts();
  10354. #endif
  10355. }
  10356. /**
  10357. * The main Marlin program loop
  10358. *
  10359. * - Save or log commands to SD
  10360. * - Process available commands (if not saving)
  10361. * - Call heater manager
  10362. * - Call inactivity manager
  10363. * - Call endstop manager
  10364. * - Call LCD update
  10365. */
  10366. void loop() {
  10367. if (commands_in_queue < BUFSIZE) get_available_commands();
  10368. #if ENABLED(SDSUPPORT)
  10369. card.checkautostart(false);
  10370. #endif
  10371. if (commands_in_queue) {
  10372. #if ENABLED(SDSUPPORT)
  10373. if (card.saving) {
  10374. char* command = command_queue[cmd_queue_index_r];
  10375. if (strstr_P(command, PSTR("M29"))) {
  10376. // M29 closes the file
  10377. card.closefile();
  10378. SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
  10379. ok_to_send();
  10380. }
  10381. else {
  10382. // Write the string from the read buffer to SD
  10383. card.write_command(command);
  10384. if (card.logging)
  10385. process_next_command(); // The card is saving because it's logging
  10386. else
  10387. ok_to_send();
  10388. }
  10389. }
  10390. else
  10391. process_next_command();
  10392. #else
  10393. process_next_command();
  10394. #endif // SDSUPPORT
  10395. // The queue may be reset by a command handler or by code invoked by idle() within a handler
  10396. if (commands_in_queue) {
  10397. --commands_in_queue;
  10398. cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
  10399. }
  10400. }
  10401. endstops.report_state();
  10402. idle();
  10403. }