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- /**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
- /**
- *
- * About Marlin
- *
- * This firmware is a mashup between Sprinter and grbl.
- * - https://github.com/kliment/Sprinter
- * - https://github.com/simen/grbl/tree
- *
- * It has preliminary support for Matthew Roberts advance algorithm
- * - http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
- */
-
- #include "Marlin.h"
-
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
- #include "vector_3.h"
- #if ENABLED(AUTO_BED_LEVELING_GRID)
- #include "qr_solve.h"
- #endif
- #endif // AUTO_BED_LEVELING_FEATURE
-
- #if ENABLED(MESH_BED_LEVELING)
- #include "mesh_bed_leveling.h"
- #endif
-
- #if ENABLED(BEZIER_CURVE_SUPPORT)
- #include "planner_bezier.h"
- #endif
-
- #include "ultralcd.h"
- #include "planner.h"
- #include "stepper.h"
- #include "endstops.h"
- #include "temperature.h"
- #include "cardreader.h"
- #include "configuration_store.h"
- #include "language.h"
- #include "pins_arduino.h"
- #include "math.h"
- #include "nozzle.h"
- #include "duration_t.h"
-
- #if ENABLED(USE_WATCHDOG)
- #include "watchdog.h"
- #endif
-
- #if ENABLED(BLINKM)
- #include "blinkm.h"
- #include "Wire.h"
- #endif
-
- #if HAS_SERVOS
- #include "servo.h"
- #endif
-
- #if HAS_DIGIPOTSS
- #include <SPI.h>
- #endif
-
- #if ENABLED(DAC_STEPPER_CURRENT)
- #include "stepper_dac.h"
- #endif
-
- #if ENABLED(EXPERIMENTAL_I2CBUS)
- #include "twibus.h"
- #endif
-
- /**
- * Look here for descriptions of G-codes:
- * - http://linuxcnc.org/handbook/gcode/g-code.html
- * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
- *
- * Help us document these G-codes online:
- * - https://github.com/MarlinFirmware/Marlin/wiki/G-Code-in-Marlin
- * - http://reprap.org/wiki/G-code
- *
- * -----------------
- * Implemented Codes
- * -----------------
- *
- * "G" Codes
- *
- * G0 -> G1
- * G1 - Coordinated Movement X Y Z E
- * G2 - CW ARC
- * G3 - CCW ARC
- * G4 - Dwell S<seconds> or P<milliseconds>
- * G5 - Cubic B-spline with XYZE destination and IJPQ offsets
- * G10 - Retract filament according to settings of M207
- * G11 - Retract recover filament according to settings of M208
- * G12 - Clean tool
- * G20 - Set input units to inches
- * G21 - Set input units to millimeters
- * G28 - Home one or more axes
- * G29 - Detailed Z probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
- * G30 - Single Z probe, probes bed at current XY location.
- * G31 - Dock sled (Z_PROBE_SLED only)
- * G32 - Undock sled (Z_PROBE_SLED only)
- * G90 - Use Absolute Coordinates
- * G91 - Use Relative Coordinates
- * G92 - Set current position to coordinates given
- *
- * "M" Codes
- *
- * M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
- * M1 - Same as M0
- * M17 - Enable/Power all stepper motors
- * M18 - Disable all stepper motors; same as M84
- * M20 - List SD card
- * M21 - Init SD card
- * M22 - Release SD card
- * M23 - Select SD file (M23 filename.g)
- * M24 - Start/resume SD print
- * M25 - Pause SD print
- * M26 - Set SD position in bytes (M26 S12345)
- * M27 - Report SD print status
- * M28 - Start SD write (M28 filename.g)
- * M29 - Stop SD write
- * M30 - Delete file from SD (M30 filename.g)
- * M31 - Output time since last M109 or SD card start to serial
- * M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
- * syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
- * Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
- * The '#' is necessary when calling from within sd files, as it stops buffer prereading
- * M33 - Get the longname version of a path
- * M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
- * M48 - Measure Z_Probe repeatability. M48 [P # of points] [X position] [Y position] [V_erboseness #] [E_ngage Probe] [L # of legs of travel]
- * M75 - Start the print job timer
- * M76 - Pause the print job timer
- * M77 - Stop the print job timer
- * M78 - Show statistical information about the print jobs
- * M80 - Turn on Power Supply
- * M81 - Turn off Power Supply
- * M82 - Set E codes absolute (default)
- * M83 - Set E codes relative while in Absolute Coordinates (G90) mode
- * M84 - Disable steppers until next move,
- * or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
- * M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
- * M92 - Set planner.axis_steps_per_mm - same syntax as G92
- * M104 - Set extruder target temp
- * M105 - Read current temp
- * M106 - Fan on
- * M107 - Fan off
- * M108 - Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
- * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
- * Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
- * IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
- * M110 - Set the current line number
- * M111 - Set debug flags with S<mask>. See flag bits defined in enum.h.
- * M112 - Emergency stop
- * M113 - Get or set the timeout interval for Host Keepalive "busy" messages
- * M114 - Output current position to serial port
- * M115 - Capabilities string
- * M117 - Display a message on the controller screen
- * M119 - Output Endstop status to serial port
- * M120 - Enable endstop detection
- * M121 - Disable endstop detection
- * M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
- * M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
- * M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
- * M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
- * M140 - Set bed target temp
- * M145 - Set the heatup state H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
- * M149 - Set temperature units
- * M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
- * M163 - Set a single proportion for a mixing extruder. Requires MIXING_EXTRUDER.
- * M164 - Save the mix as a virtual extruder. Requires MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS.
- * M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. Requires MIXING_EXTRUDER.
- * M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
- * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
- * M200 - Set filament diameter, D<diameter>, setting E axis units to cubic. (Use S0 to revert to linear units.)
- * M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
- * M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
- * M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
- * M204 - Set default acceleration: P for Printing moves, R for Retract only (no X, Y, Z) moves and T for Travel (non printing) moves (ex. M204 P800 T3000 R9000) in units/sec^2
- * M205 - Set advanced settings. Current units apply:
- S<print> T<travel> minimum speeds
- B<minimum segment time>
- X<max xy jerk>, Z<max Z jerk>, E<max E jerk>
- * M206 - Set additional homing offset
- * M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>
- * M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>
- * M209 - Turn Automatic Retract Detection on/off: S<bool> (For slicers that don't support G10/11).
- Every normal extrude-only move will be classified as retract depending on the direction.
- * M218 - Set a tool offset: T<index> X<offset> Y<offset>
- * M220 - Set Feedrate Percentage: S<percent> ("FR" on your LCD)
- * M221 - Set Flow Percentage: S<percent>
- * M226 - Wait until the specified pin reaches the state required: P<pin number> S<pin state>
- * M240 - Trigger a camera to take a photograph
- * M250 - Set LCD contrast C<contrast value> (value 0..63)
- * M280 - Set servo position absolute. P: servo index, S: angle or microseconds
- * M300 - Play beep sound S<frequency Hz> P<duration ms>
- * M301 - Set PID parameters P I and D
- * M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
- * M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
- * M304 - Set bed PID parameters P I and D
- * M380 - Activate solenoid on active extruder
- * M381 - Disable all solenoids
- * M400 - Finish all moves
- * M401 - Lower Z probe if present
- * M402 - Raise Z probe if present
- * M404 - Display or set the Nominal Filament Width: [ N<diameter> ]
- * M405 - Enable Filament Sensor extrusion control. Optional delay between sensor and extruder: D<cm>
- * M406 - Disable Filament Sensor extrusion control
- * M407 - Display measured filament diameter in millimeters
- * M410 - Quickstop. Abort all the planned moves
- * M420 - Enable/Disable Mesh Leveling (with current values) S1=enable S0=disable
- * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units>
- * M428 - Set the home_offset logically based on the current_position
- * M500 - Store parameters in EEPROM
- * M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
- * M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
- * M503 - Print the current settings (from memory not from EEPROM). Use S0 to leave off headings.
- * M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
- * M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
- * M665 - Set delta configurations: L<diagonal rod> R<delta radius> S<segments/s>
- * M666 - Set delta endstop adjustment
- * M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
- * M851 - Set Z probe's Z offset in current units. (Negative values apply to probes that extend below the nozzle.)
- * M907 - Set digital trimpot motor current using axis codes.
- * M908 - Control digital trimpot directly.
- * M909 - DAC_STEPPER_CURRENT: Print digipot/DAC current value
- * M910 - DAC_STEPPER_CURRENT: Commit digipot/DAC value to external EEPROM via I2C
- * M350 - Set microstepping mode.
- * M351 - Toggle MS1 MS2 pins directly.
- *
- * ************ SCARA Specific - This can change to suit future G-code regulations
- * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
- * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
- * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
- * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
- * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
- * M365 - SCARA calibration: Scaling factor, X, Y, Z axis
- * ************* SCARA End ***************
- *
- * ************ Custom codes - This can change to suit future G-code regulations
- * M100 - Watch Free Memory (For Debugging Only)
- * M928 - Start SD logging (M928 filename.g) - ended by M29
- * M999 - Restart after being stopped by error
- *
- * "T" Codes
- *
- * T0-T3 - Select a tool by index (usually an extruder) [ F<units/min> ]
- *
- */
-
- #if ENABLED(M100_FREE_MEMORY_WATCHER)
- void gcode_M100();
- #endif
-
- #if ENABLED(SDSUPPORT)
- CardReader card;
- #endif
-
- #if ENABLED(EXPERIMENTAL_I2CBUS)
- TWIBus i2c;
- #endif
-
- bool Running = true;
-
- uint8_t marlin_debug_flags = DEBUG_NONE;
-
- float current_position[NUM_AXIS] = { 0.0 };
- static float destination[NUM_AXIS] = { 0.0 };
- bool axis_known_position[3] = { false };
- bool axis_homed[3] = { false };
-
- static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
-
- static char command_queue[BUFSIZE][MAX_CMD_SIZE];
- static char* current_command, *current_command_args;
- static uint8_t cmd_queue_index_r = 0,
- cmd_queue_index_w = 0,
- commands_in_queue = 0;
-
- #if ENABLED(INCH_MODE_SUPPORT)
- float linear_unit_factor = 1.0;
- float volumetric_unit_factor = 1.0;
- #endif
- #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
- TempUnit input_temp_units = TEMPUNIT_C;
- #endif
-
- /**
- * Feed rates are often configured with mm/m
- * but the planner and stepper like mm/s units.
- */
- const float homing_feedrate_mm_m[] = {
- #if ENABLED(DELTA)
- HOMING_FEEDRATE_Z, HOMING_FEEDRATE_Z,
- #else
- HOMING_FEEDRATE_XY, HOMING_FEEDRATE_XY,
- #endif
- HOMING_FEEDRATE_Z, 0
- };
- static float feedrate_mm_m = 1500.0, saved_feedrate_mm_m;
- int feedrate_percentage = 100, saved_feedrate_percentage;
-
- bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
- int extruder_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
- bool volumetric_enabled = false;
- float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA);
- float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
-
- // The distance that XYZ has been offset by G92. Reset by G28.
- float position_shift[3] = { 0 };
-
- // This offset is added to the configured home position.
- // Set by M206, M428, or menu item. Saved to EEPROM.
- float home_offset[3] = { 0 };
-
- // Software Endstops. Default to configured limits.
- float sw_endstop_min[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
- float sw_endstop_max[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
-
- #if FAN_COUNT > 0
- int fanSpeeds[FAN_COUNT] = { 0 };
- #endif
-
- // The active extruder (tool). Set with T<extruder> command.
- uint8_t active_extruder = 0;
-
- // Relative Mode. Enable with G91, disable with G90.
- static bool relative_mode = false;
-
- volatile bool wait_for_heatup = true;
-
- const char errormagic[] PROGMEM = "Error:";
- const char echomagic[] PROGMEM = "echo:";
- const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
-
- static int serial_count = 0;
-
- // GCode parameter pointer used by code_seen(), code_value_float(), etc.
- static char* seen_pointer;
-
- // Next Immediate GCode Command pointer. NULL if none.
- const char* queued_commands_P = NULL;
-
- const int sensitive_pins[] = SENSITIVE_PINS; ///< Sensitive pin list for M42
-
- // Inactivity shutdown
- millis_t previous_cmd_ms = 0;
- static millis_t max_inactive_time = 0;
- static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
-
- // Print Job Timer
- #if ENABLED(PRINTCOUNTER)
- PrintCounter print_job_timer = PrintCounter();
- #else
- Stopwatch print_job_timer = Stopwatch();
- #endif
-
- // Buzzer
- #if HAS_BUZZER
- #if ENABLED(SPEAKER)
- Speaker buzzer;
- #else
- Buzzer buzzer;
- #endif
- #endif
-
- static uint8_t target_extruder;
-
- #if HAS_BED_PROBE
- float zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER;
- #endif
-
- #define PLANNER_XY_FEEDRATE() (min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]))
-
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
- int xy_probe_feedrate_mm_m = XY_PROBE_SPEED;
- bool bed_leveling_in_progress = false;
- #define XY_PROBE_FEEDRATE_MM_M xy_probe_feedrate_mm_m
- #elif defined(XY_PROBE_SPEED)
- #define XY_PROBE_FEEDRATE_MM_M XY_PROBE_SPEED
- #else
- #define XY_PROBE_FEEDRATE_MM_M MMS_TO_MMM(PLANNER_XY_FEEDRATE())
- #endif
-
- #if ENABLED(Z_DUAL_ENDSTOPS) && DISABLED(DELTA)
- float z_endstop_adj = 0;
- #endif
-
- // Extruder offsets
- #if HOTENDS > 1
- float hotend_offset[][HOTENDS] = {
- HOTEND_OFFSET_X,
- HOTEND_OFFSET_Y
- #ifdef HOTEND_OFFSET_Z
- , HOTEND_OFFSET_Z
- #endif
- };
- #endif
-
- #if HAS_Z_SERVO_ENDSTOP
- const int z_servo_angle[2] = Z_SERVO_ANGLES;
- #endif
-
- #if ENABLED(BARICUDA)
- int baricuda_valve_pressure = 0;
- int baricuda_e_to_p_pressure = 0;
- #endif
-
- #if ENABLED(FWRETRACT)
-
- bool autoretract_enabled = false;
- bool retracted[EXTRUDERS] = { false };
- bool retracted_swap[EXTRUDERS] = { false };
-
- float retract_length = RETRACT_LENGTH;
- float retract_length_swap = RETRACT_LENGTH_SWAP;
- float retract_feedrate_mm_s = RETRACT_FEEDRATE;
- float retract_zlift = RETRACT_ZLIFT;
- float retract_recover_length = RETRACT_RECOVER_LENGTH;
- float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
- float retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE;
-
- #endif // FWRETRACT
-
- #if ENABLED(ULTIPANEL) && HAS_POWER_SWITCH
- bool powersupply =
- #if ENABLED(PS_DEFAULT_OFF)
- false
- #else
- true
- #endif
- ;
- #endif
-
- #if ENABLED(DELTA)
-
- #define TOWER_1 X_AXIS
- #define TOWER_2 Y_AXIS
- #define TOWER_3 Z_AXIS
-
- float delta[3] = { 0 };
- float cartesian_position[3] = { 0 };
- #define SIN_60 0.8660254037844386
- #define COS_60 0.5
- float endstop_adj[3] = { 0 };
- // these are the default values, can be overriden with M665
- float delta_radius = DELTA_RADIUS;
- float delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
- float delta_tower1_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1);
- float delta_tower2_x = SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
- float delta_tower2_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2);
- float delta_tower3_x = 0; // back middle tower
- float delta_tower3_y = (delta_radius + DELTA_RADIUS_TRIM_TOWER_3);
- float delta_diagonal_rod = DELTA_DIAGONAL_ROD;
- float delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1;
- float delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2;
- float delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3;
- float delta_diagonal_rod_2_tower_1 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_1);
- float delta_diagonal_rod_2_tower_2 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_2);
- float delta_diagonal_rod_2_tower_3 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_3);
- float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
- float delta_clip_start_height = Z_MAX_POS;
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
- int delta_grid_spacing[2] = { 0, 0 };
- float bed_level[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
- #endif
- float delta_safe_distance_from_top();
- #else
- static bool home_all_axis = true;
- #endif
-
- #if ENABLED(SCARA)
- float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
- static float delta[3] = { 0 };
- float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
- #endif
-
- #if ENABLED(FILAMENT_WIDTH_SENSOR)
- //Variables for Filament Sensor input
- float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
- bool filament_sensor = false; //M405 turns on filament_sensor control, M406 turns it off
- float filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter
- int8_t measurement_delay[MAX_MEASUREMENT_DELAY + 1]; //ring buffer to delay measurement store extruder factor after subtracting 100
- int filwidth_delay_index1 = 0; //index into ring buffer
- int filwidth_delay_index2 = -1; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
- int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
- #endif
-
- #if ENABLED(FILAMENT_RUNOUT_SENSOR)
- static bool filament_ran_out = false;
- #endif
-
- #if ENABLED(FILAMENT_CHANGE_FEATURE)
- FilamentChangeMenuResponse filament_change_menu_response;
- #endif
-
- #if ENABLED(MIXING_EXTRUDER)
- float mixing_factor[MIXING_STEPPERS];
- #if MIXING_VIRTUAL_TOOLS > 1
- float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
- #endif
- #endif
-
- static bool send_ok[BUFSIZE];
-
- #if HAS_SERVOS
- Servo servo[NUM_SERVOS];
- #define MOVE_SERVO(I, P) servo[I].move(P)
- #if HAS_Z_SERVO_ENDSTOP
- #define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0])
- #define STOW_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[1])
- #endif
- #endif
-
- #ifdef CHDK
- millis_t chdkHigh = 0;
- boolean chdkActive = false;
- #endif
-
- #if ENABLED(PID_ADD_EXTRUSION_RATE)
- int lpq_len = 20;
- #endif
-
- #if ENABLED(HOST_KEEPALIVE_FEATURE)
- static MarlinBusyState busy_state = NOT_BUSY;
- static millis_t next_busy_signal_ms = 0;
- uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
- #define KEEPALIVE_STATE(n) do{ busy_state = n; }while(0)
- #else
- #define host_keepalive() ;
- #define KEEPALIVE_STATE(n) ;
- #endif // HOST_KEEPALIVE_FEATURE
-
- /**
- * ***************************************************************************
- * ******************************** FUNCTIONS ********************************
- * ***************************************************************************
- */
-
- void stop();
-
- void get_available_commands();
- void process_next_command();
- void prepare_move_to_destination();
- void set_current_from_steppers_for_axis(AxisEnum axis);
-
- #if ENABLED(ARC_SUPPORT)
- void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
- #endif
-
- #if ENABLED(BEZIER_CURVE_SUPPORT)
- void plan_cubic_move(const float offset[4]);
- #endif
-
- void serial_echopair_P(const char* s_P, char v) { serialprintPGM(s_P); SERIAL_CHAR(v); }
- void serial_echopair_P(const char* s_P, int v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
- void serial_echopair_P(const char* s_P, long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
- void serial_echopair_P(const char* s_P, float v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
- void serial_echopair_P(const char* s_P, double v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
- void serial_echopair_P(const char* s_P, unsigned long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
-
- void tool_change(const uint8_t tmp_extruder, const float fr_mm_m=0.0, bool no_move=false);
- static void report_current_position();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- void print_xyz(const char* prefix, const char* suffix, const float x, const float y, const float z) {
- serialprintPGM(prefix);
- SERIAL_ECHOPAIR("(", x);
- SERIAL_ECHOPAIR(", ", y);
- SERIAL_ECHOPAIR(", ", z);
- SERIAL_ECHOPGM(")");
-
- if (suffix) serialprintPGM(suffix);
- else SERIAL_EOL;
- }
-
- void print_xyz(const char* prefix, const char* suffix, const float xyz[]) {
- print_xyz(prefix, suffix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
- }
-
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
- void print_xyz(const char* prefix, const char* suffix, const vector_3 &xyz) {
- print_xyz(prefix, suffix, xyz.x, xyz.y, xyz.z);
- }
- #endif
-
- #define DEBUG_POS(SUFFIX,VAR) do { \
- print_xyz(PSTR(STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); } while(0)
- #endif
-
- /**
- * sync_plan_position
- * Set planner / stepper positions to the cartesian current_position.
- * The stepper code translates these coordinates into step units.
- * Allows translation between steps and millimeters for cartesian & core robots
- */
- inline void sync_plan_position() {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
- #endif
- planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- }
- inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
-
- #if ENABLED(DELTA) || ENABLED(SCARA)
- inline void sync_plan_position_delta() {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_delta", current_position);
- #endif
- inverse_kinematics(current_position);
- planner.set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
- }
- #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_delta()
- #else
- #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
- #endif
-
- #if ENABLED(SDSUPPORT)
- #include "SdFatUtil.h"
- int freeMemory() { return SdFatUtil::FreeRam(); }
- #else
- extern "C" {
- extern unsigned int __bss_end;
- extern unsigned int __heap_start;
- extern void* __brkval;
-
- int freeMemory() {
- int free_memory;
- if ((int)__brkval == 0)
- free_memory = ((int)&free_memory) - ((int)&__bss_end);
- else
- free_memory = ((int)&free_memory) - ((int)__brkval);
- return free_memory;
- }
- }
- #endif //!SDSUPPORT
-
- #if ENABLED(DIGIPOT_I2C)
- extern void digipot_i2c_set_current(int channel, float current);
- extern void digipot_i2c_init();
- #endif
-
- /**
- * Inject the next "immediate" command, when possible.
- * Return true if any immediate commands remain to inject.
- */
- static bool drain_queued_commands_P() {
- if (queued_commands_P != NULL) {
- size_t i = 0;
- char c, cmd[30];
- strncpy_P(cmd, queued_commands_P, sizeof(cmd) - 1);
- cmd[sizeof(cmd) - 1] = '\0';
- while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
- cmd[i] = '\0';
- if (enqueue_and_echo_command(cmd)) { // success?
- if (c) // newline char?
- queued_commands_P += i + 1; // advance to the next command
- else
- queued_commands_P = NULL; // nul char? no more commands
- }
- }
- return (queued_commands_P != NULL); // return whether any more remain
- }
-
- /**
- * Record one or many commands to run from program memory.
- * Aborts the current queue, if any.
- * Note: drain_queued_commands_P() must be called repeatedly to drain the commands afterwards
- */
- void enqueue_and_echo_commands_P(const char* pgcode) {
- queued_commands_P = pgcode;
- drain_queued_commands_P(); // first command executed asap (when possible)
- }
-
- void clear_command_queue() {
- cmd_queue_index_r = cmd_queue_index_w;
- commands_in_queue = 0;
- }
-
- /**
- * Once a new command is in the ring buffer, call this to commit it
- */
- inline void _commit_command(bool say_ok) {
- send_ok[cmd_queue_index_w] = say_ok;
- cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE;
- commands_in_queue++;
- }
-
- /**
- * Copy a command directly into the main command buffer, from RAM.
- * Returns true if successfully adds the command
- */
- inline bool _enqueuecommand(const char* cmd, bool say_ok=false) {
- if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
- strcpy(command_queue[cmd_queue_index_w], cmd);
- _commit_command(say_ok);
- return true;
- }
-
- void enqueue_and_echo_command_now(const char* cmd) {
- while (!enqueue_and_echo_command(cmd)) idle();
- }
-
- /**
- * Enqueue with Serial Echo
- */
- bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
- if (_enqueuecommand(cmd, say_ok)) {
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_Enqueueing);
- SERIAL_ECHO(cmd);
- SERIAL_ECHOLNPGM("\"");
- return true;
- }
- return false;
- }
-
- void setup_killpin() {
- #if HAS_KILL
- SET_INPUT(KILL_PIN);
- WRITE(KILL_PIN, HIGH);
- #endif
- }
-
- #if ENABLED(FILAMENT_RUNOUT_SENSOR)
-
- void setup_filrunoutpin() {
- pinMode(FIL_RUNOUT_PIN, INPUT);
- #if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
- WRITE(FIL_RUNOUT_PIN, HIGH);
- #endif
- }
-
- #endif
-
- // Set home pin
- void setup_homepin(void) {
- #if HAS_HOME
- SET_INPUT(HOME_PIN);
- WRITE(HOME_PIN, HIGH);
- #endif
- }
-
-
- void setup_photpin() {
- #if HAS_PHOTOGRAPH
- OUT_WRITE(PHOTOGRAPH_PIN, LOW);
- #endif
- }
-
- void setup_powerhold() {
- #if HAS_SUICIDE
- OUT_WRITE(SUICIDE_PIN, HIGH);
- #endif
- #if HAS_POWER_SWITCH
- #if ENABLED(PS_DEFAULT_OFF)
- OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
- #else
- OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
- #endif
- #endif
- }
-
- void suicide() {
- #if HAS_SUICIDE
- OUT_WRITE(SUICIDE_PIN, LOW);
- #endif
- }
-
- void servo_init() {
- #if NUM_SERVOS >= 1 && HAS_SERVO_0
- servo[0].attach(SERVO0_PIN);
- servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
- #endif
- #if NUM_SERVOS >= 2 && HAS_SERVO_1
- servo[1].attach(SERVO1_PIN);
- servo[1].detach();
- #endif
- #if NUM_SERVOS >= 3 && HAS_SERVO_2
- servo[2].attach(SERVO2_PIN);
- servo[2].detach();
- #endif
- #if NUM_SERVOS >= 4 && HAS_SERVO_3
- servo[3].attach(SERVO3_PIN);
- servo[3].detach();
- #endif
-
- #if HAS_Z_SERVO_ENDSTOP
- /**
- * Set position of Z Servo Endstop
- *
- * The servo might be deployed and positioned too low to stow
- * when starting up the machine or rebooting the board.
- * There's no way to know where the nozzle is positioned until
- * homing has been done - no homing with z-probe without init!
- *
- */
- STOW_Z_SERVO();
- #endif
-
- #if HAS_BED_PROBE
- endstops.enable_z_probe(false);
- #endif
- }
-
- /**
- * Stepper Reset (RigidBoard, et.al.)
- */
- #if HAS_STEPPER_RESET
- void disableStepperDrivers() {
- pinMode(STEPPER_RESET_PIN, OUTPUT);
- digitalWrite(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
- }
- void enableStepperDrivers() { pinMode(STEPPER_RESET_PIN, INPUT); } // set to input, which allows it to be pulled high by pullups
- #endif
-
- /**
- * Marlin entry-point: Set up before the program loop
- * - Set up the kill pin, filament runout, power hold
- * - Start the serial port
- * - Print startup messages and diagnostics
- * - Get EEPROM or default settings
- * - Initialize managers for:
- * • temperature
- * • planner
- * • watchdog
- * • stepper
- * • photo pin
- * • servos
- * • LCD controller
- * • Digipot I2C
- * • Z probe sled
- * • status LEDs
- */
- void setup() {
-
- #ifdef DISABLE_JTAG
- // Disable JTAG on AT90USB chips to free up pins for IO
- MCUCR = 0x80;
- MCUCR = 0x80;
- #endif
-
- #if ENABLED(FILAMENT_RUNOUT_SENSOR)
- setup_filrunoutpin();
- #endif
-
- setup_killpin();
-
- setup_powerhold();
-
- #if HAS_STEPPER_RESET
- disableStepperDrivers();
- #endif
-
- MYSERIAL.begin(BAUDRATE);
- SERIAL_PROTOCOLLNPGM("start");
- SERIAL_ECHO_START;
-
- // Check startup - does nothing if bootloader sets MCUSR to 0
- byte mcu = MCUSR;
- if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
- if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
- if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
- if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
- if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
- MCUSR = 0;
-
- SERIAL_ECHOPGM(MSG_MARLIN);
- SERIAL_ECHOLNPGM(" " SHORT_BUILD_VERSION);
-
- #ifdef STRING_DISTRIBUTION_DATE
- #ifdef STRING_CONFIG_H_AUTHOR
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
- SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
- SERIAL_ECHOPGM(MSG_AUTHOR);
- SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
- SERIAL_ECHOPGM("Compiled: ");
- SERIAL_ECHOLNPGM(__DATE__);
- #endif // STRING_CONFIG_H_AUTHOR
- #endif // STRING_DISTRIBUTION_DATE
-
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_FREE_MEMORY);
- SERIAL_ECHO(freeMemory());
- SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
- SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
-
- // Send "ok" after commands by default
- for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
-
- // Load data from EEPROM if available (or use defaults)
- // This also updates variables in the planner, elsewhere
- Config_RetrieveSettings();
-
- // Initialize current position based on home_offset
- memcpy(current_position, home_offset, sizeof(home_offset));
-
- // Vital to init stepper/planner equivalent for current_position
- SYNC_PLAN_POSITION_KINEMATIC();
-
- thermalManager.init(); // Initialize temperature loop
-
- #if ENABLED(USE_WATCHDOG)
- watchdog_init();
- #endif
-
- stepper.init(); // Initialize stepper, this enables interrupts!
- setup_photpin();
- servo_init();
-
- #if HAS_CONTROLLERFAN
- SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
- #endif
-
- #if HAS_STEPPER_RESET
- enableStepperDrivers();
- #endif
-
- #if ENABLED(DIGIPOT_I2C)
- digipot_i2c_init();
- #endif
-
- #if ENABLED(DAC_STEPPER_CURRENT)
- dac_init();
- #endif
-
- #if ENABLED(Z_PROBE_SLED)
- pinMode(SLED_PIN, OUTPUT);
- digitalWrite(SLED_PIN, LOW); // turn it off
- #endif // Z_PROBE_SLED
-
- setup_homepin();
-
- #ifdef STAT_LED_RED
- pinMode(STAT_LED_RED, OUTPUT);
- digitalWrite(STAT_LED_RED, LOW); // turn it off
- #endif
-
- #ifdef STAT_LED_BLUE
- pinMode(STAT_LED_BLUE, OUTPUT);
- digitalWrite(STAT_LED_BLUE, LOW); // turn it off
- #endif
-
- lcd_init();
- #if ENABLED(SHOW_BOOTSCREEN)
- #if ENABLED(DOGLCD)
- safe_delay(BOOTSCREEN_TIMEOUT);
- #elif ENABLED(ULTRA_LCD)
- bootscreen();
- lcd_init();
- #endif
- #endif
-
- #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
- // Initialize mixing to 100% color 1
- for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
- mixing_factor[i] = (i == 0) ? 1 : 0;
- for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
- for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
- mixing_virtual_tool_mix[t][i] = mixing_factor[i];
- #endif
- }
-
- /**
- * The main Marlin program loop
- *
- * - Save or log commands to SD
- * - Process available commands (if not saving)
- * - Call heater manager
- * - Call inactivity manager
- * - Call endstop manager
- * - Call LCD update
- */
- void loop() {
- if (commands_in_queue < BUFSIZE) get_available_commands();
-
- #if ENABLED(SDSUPPORT)
- card.checkautostart(false);
- #endif
-
- if (commands_in_queue) {
-
- #if ENABLED(SDSUPPORT)
-
- if (card.saving) {
- char* command = command_queue[cmd_queue_index_r];
- if (strstr_P(command, PSTR("M29"))) {
- // M29 closes the file
- card.closefile();
- SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
- ok_to_send();
- }
- else {
- // Write the string from the read buffer to SD
- card.write_command(command);
- if (card.logging)
- process_next_command(); // The card is saving because it's logging
- else
- ok_to_send();
- }
- }
- else
- process_next_command();
-
- #else
-
- process_next_command();
-
- #endif // SDSUPPORT
-
- // The queue may be reset by a command handler or by code invoked by idle() within a handler
- if (commands_in_queue) {
- --commands_in_queue;
- cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
- }
- }
- endstops.report_state();
- idle();
- }
-
- void gcode_line_error(const char* err, bool doFlush = true) {
- SERIAL_ERROR_START;
- serialprintPGM(err);
- SERIAL_ERRORLN(gcode_LastN);
- //Serial.println(gcode_N);
- if (doFlush) FlushSerialRequestResend();
- serial_count = 0;
- }
-
- inline void get_serial_commands() {
- static char serial_line_buffer[MAX_CMD_SIZE];
- static boolean serial_comment_mode = false;
-
- // If the command buffer is empty for too long,
- // send "wait" to indicate Marlin is still waiting.
- #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
- static millis_t last_command_time = 0;
- millis_t ms = millis();
- if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
- SERIAL_ECHOLNPGM(MSG_WAIT);
- last_command_time = ms;
- }
- #endif
-
- /**
- * Loop while serial characters are incoming and the queue is not full
- */
- while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) {
-
- char serial_char = MYSERIAL.read();
-
- /**
- * If the character ends the line
- */
- if (serial_char == '\n' || serial_char == '\r') {
-
- serial_comment_mode = false; // end of line == end of comment
-
- if (!serial_count) continue; // skip empty lines
-
- serial_line_buffer[serial_count] = 0; // terminate string
- serial_count = 0; //reset buffer
-
- char* command = serial_line_buffer;
-
- while (*command == ' ') command++; // skip any leading spaces
- char* npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
- char* apos = strchr(command, '*');
-
- if (npos) {
-
- boolean M110 = strstr_P(command, PSTR("M110")) != NULL;
-
- if (M110) {
- char* n2pos = strchr(command + 4, 'N');
- if (n2pos) npos = n2pos;
- }
-
- gcode_N = strtol(npos + 1, NULL, 10);
-
- if (gcode_N != gcode_LastN + 1 && !M110) {
- gcode_line_error(PSTR(MSG_ERR_LINE_NO));
- return;
- }
-
- if (apos) {
- byte checksum = 0, count = 0;
- while (command[count] != '*') checksum ^= command[count++];
-
- if (strtol(apos + 1, NULL, 10) != checksum) {
- gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
- return;
- }
- // if no errors, continue parsing
- }
- else {
- gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
- return;
- }
-
- gcode_LastN = gcode_N;
- // if no errors, continue parsing
- }
- else if (apos) { // No '*' without 'N'
- gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false);
- return;
- }
-
- // Movement commands alert when stopped
- if (IsStopped()) {
- char* gpos = strchr(command, 'G');
- if (gpos) {
- int codenum = strtol(gpos + 1, NULL, 10);
- switch (codenum) {
- case 0:
- case 1:
- case 2:
- case 3:
- SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
- LCD_MESSAGEPGM(MSG_STOPPED);
- break;
- }
- }
- }
-
- #if DISABLED(EMERGENCY_PARSER)
- // If command was e-stop process now
- if (strcmp(command, "M108") == 0) wait_for_heatup = false;
- if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
- if (strcmp(command, "M410") == 0) { quickstop_stepper(); }
- #endif
-
- #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
- last_command_time = ms;
- #endif
-
- // Add the command to the queue
- _enqueuecommand(serial_line_buffer, true);
- }
- else if (serial_count >= MAX_CMD_SIZE - 1) {
- // Keep fetching, but ignore normal characters beyond the max length
- // The command will be injected when EOL is reached
- }
- else if (serial_char == '\\') { // Handle escapes
- if (MYSERIAL.available() > 0) {
- // if we have one more character, copy it over
- serial_char = MYSERIAL.read();
- if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
- }
- // otherwise do nothing
- }
- else { // it's not a newline, carriage return or escape char
- if (serial_char == ';') serial_comment_mode = true;
- if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
- }
-
- } // queue has space, serial has data
- }
-
- #if ENABLED(SDSUPPORT)
-
- inline void get_sdcard_commands() {
- static bool stop_buffering = false,
- sd_comment_mode = false;
-
- if (!card.sdprinting) return;
-
- /**
- * '#' stops reading from SD to the buffer prematurely, so procedural
- * macro calls are possible. If it occurs, stop_buffering is triggered
- * and the buffer is run dry; this character _can_ occur in serial com
- * due to checksums, however, no checksums are used in SD printing.
- */
-
- if (commands_in_queue == 0) stop_buffering = false;
-
- uint16_t sd_count = 0;
- bool card_eof = card.eof();
- while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
- int16_t n = card.get();
- char sd_char = (char)n;
- card_eof = card.eof();
- if (card_eof || n == -1
- || sd_char == '\n' || sd_char == '\r'
- || ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
- ) {
- if (card_eof) {
- SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
- card.printingHasFinished();
- card.checkautostart(true);
- }
- else if (n == -1) {
- SERIAL_ERROR_START;
- SERIAL_ECHOLNPGM(MSG_SD_ERR_READ);
- }
- if (sd_char == '#') stop_buffering = true;
-
- sd_comment_mode = false; //for new command
-
- if (!sd_count) continue; //skip empty lines
-
- command_queue[cmd_queue_index_w][sd_count] = '\0'; //terminate string
- sd_count = 0; //clear buffer
-
- _commit_command(false);
- }
- else if (sd_count >= MAX_CMD_SIZE - 1) {
- /**
- * Keep fetching, but ignore normal characters beyond the max length
- * The command will be injected when EOL is reached
- */
- }
- else {
- if (sd_char == ';') sd_comment_mode = true;
- if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
- }
- }
- }
-
- #endif // SDSUPPORT
-
- /**
- * Add to the circular command queue the next command from:
- * - The command-injection queue (queued_commands_P)
- * - The active serial input (usually USB)
- * - The SD card file being actively printed
- */
- void get_available_commands() {
-
- // if any immediate commands remain, don't get other commands yet
- if (drain_queued_commands_P()) return;
-
- get_serial_commands();
-
- #if ENABLED(SDSUPPORT)
- get_sdcard_commands();
- #endif
- }
-
- inline bool code_has_value() {
- int i = 1;
- char c = seen_pointer[i];
- while (c == ' ') c = seen_pointer[++i];
- if (c == '-' || c == '+') c = seen_pointer[++i];
- if (c == '.') c = seen_pointer[++i];
- return NUMERIC(c);
- }
-
- inline float code_value_float() {
- float ret;
- char* e = strchr(seen_pointer, 'E');
- if (e) {
- *e = 0;
- ret = strtod(seen_pointer + 1, NULL);
- *e = 'E';
- }
- else
- ret = strtod(seen_pointer + 1, NULL);
- return ret;
- }
-
- inline unsigned long code_value_ulong() { return strtoul(seen_pointer + 1, NULL, 10); }
-
- inline long code_value_long() { return strtol(seen_pointer + 1, NULL, 10); }
-
- inline int code_value_int() { return (int)strtol(seen_pointer + 1, NULL, 10); }
-
- inline uint16_t code_value_ushort() { return (uint16_t)strtoul(seen_pointer + 1, NULL, 10); }
-
- inline uint8_t code_value_byte() { return (uint8_t)(constrain(strtol(seen_pointer + 1, NULL, 10), 0, 255)); }
-
- inline bool code_value_bool() { return code_value_byte() > 0; }
-
- #if ENABLED(INCH_MODE_SUPPORT)
- inline void set_input_linear_units(LinearUnit units) {
- switch (units) {
- case LINEARUNIT_INCH:
- linear_unit_factor = 25.4;
- break;
- case LINEARUNIT_MM:
- default:
- linear_unit_factor = 1.0;
- break;
- }
- volumetric_unit_factor = pow(linear_unit_factor, 3.0);
- }
-
- inline float axis_unit_factor(int axis) {
- return (axis == E_AXIS && volumetric_enabled ? volumetric_unit_factor : linear_unit_factor);
- }
-
- inline float code_value_linear_units() { return code_value_float() * linear_unit_factor; }
- inline float code_value_axis_units(int axis) { return code_value_float() * axis_unit_factor(axis); }
- inline float code_value_per_axis_unit(int axis) { return code_value_float() / axis_unit_factor(axis); }
-
- #else
-
- inline float code_value_linear_units() { return code_value_float(); }
- inline float code_value_axis_units(int axis) { UNUSED(axis); return code_value_float(); }
- inline float code_value_per_axis_unit(int axis) { UNUSED(axis); return code_value_float(); }
-
- #endif
-
- #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
- inline void set_input_temp_units(TempUnit units) { input_temp_units = units; }
-
- float code_value_temp_abs() {
- switch (input_temp_units) {
- case TEMPUNIT_C:
- return code_value_float();
- case TEMPUNIT_F:
- return (code_value_float() - 32) * 0.5555555556;
- case TEMPUNIT_K:
- return code_value_float() - 272.15;
- default:
- return code_value_float();
- }
- }
-
- float code_value_temp_diff() {
- switch (input_temp_units) {
- case TEMPUNIT_C:
- case TEMPUNIT_K:
- return code_value_float();
- case TEMPUNIT_F:
- return code_value_float() * 0.5555555556;
- default:
- return code_value_float();
- }
- }
- #else
- float code_value_temp_abs() { return code_value_float(); }
- float code_value_temp_diff() { return code_value_float(); }
- #endif
-
- FORCE_INLINE millis_t code_value_millis() { return code_value_ulong(); }
- inline millis_t code_value_millis_from_seconds() { return code_value_float() * 1000; }
-
- bool code_seen(char code) {
- seen_pointer = strchr(current_command_args, code);
- return (seen_pointer != NULL); // Return TRUE if the code-letter was found
- }
-
- /**
- * Set target_extruder from the T parameter or the active_extruder
- *
- * Returns TRUE if the target is invalid
- */
- bool get_target_extruder_from_command(int code) {
- if (code_seen('T')) {
- if (code_value_byte() >= EXTRUDERS) {
- SERIAL_ECHO_START;
- SERIAL_CHAR('M');
- SERIAL_ECHO(code);
- SERIAL_ECHOPAIR(" " MSG_INVALID_EXTRUDER " ", code_value_byte());
- SERIAL_EOL;
- return true;
- }
- target_extruder = code_value_byte();
- }
- else
- target_extruder = active_extruder;
-
- return false;
- }
-
- #define DEFINE_PGM_READ_ANY(type, reader) \
- static inline type pgm_read_any(const type *p) \
- { return pgm_read_##reader##_near(p); }
-
- DEFINE_PGM_READ_ANY(float, float);
- DEFINE_PGM_READ_ANY(signed char, byte);
-
- #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
- static const PROGMEM type array##_P[3] = \
- { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
- static inline type array(int axis) \
- { return pgm_read_any(&array##_P[axis]); }
-
- XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
- XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
- XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
- XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
- XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM);
- XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
-
- #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
- bool extruder_duplication_enabled = false; // Used in Dual X mode 2
- #endif
-
- #if ENABLED(DUAL_X_CARRIAGE)
-
- #define DXC_FULL_CONTROL_MODE 0
- #define DXC_AUTO_PARK_MODE 1
- #define DXC_DUPLICATION_MODE 2
-
- static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
-
- static float x_home_pos(int extruder) {
- if (extruder == 0)
- return LOGICAL_X_POSITION(base_home_pos(X_AXIS));
- else
- /**
- * In dual carriage mode the extruder offset provides an override of the
- * second X-carriage offset when homed - otherwise X2_HOME_POS is used.
- * This allow soft recalibration of the second extruder offset position
- * without firmware reflash (through the M218 command).
- */
- return (hotend_offset[X_AXIS][1] > 0) ? hotend_offset[X_AXIS][1] : X2_HOME_POS;
- }
-
- static int x_home_dir(int extruder) {
- return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
- }
-
- static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
- static bool active_extruder_parked = false; // used in mode 1 & 2
- static float raised_parked_position[NUM_AXIS]; // used in mode 1
- static millis_t delayed_move_time = 0; // used in mode 1
- static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
- static float duplicate_extruder_temp_offset = 0; // used in mode 2
-
- #endif //DUAL_X_CARRIAGE
-
- /**
- * Software endstops can be used to monitor the open end of
- * an axis that has a hardware endstop on the other end. Or
- * they can prevent axes from moving past endstops and grinding.
- *
- * To keep doing their job as the coordinate system changes,
- * the software endstop positions must be refreshed to remain
- * at the same positions relative to the machine.
- */
- static void update_software_endstops(AxisEnum axis) {
- float offs = LOGICAL_POSITION(0, axis);
-
- #if ENABLED(DUAL_X_CARRIAGE)
- if (axis == X_AXIS) {
- float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
- if (active_extruder != 0) {
- sw_endstop_min[X_AXIS] = X2_MIN_POS + offs;
- sw_endstop_max[X_AXIS] = dual_max_x + offs;
- return;
- }
- else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
- sw_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
- sw_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
- return;
- }
- }
- else
- #endif
- {
- sw_endstop_min[axis] = base_min_pos(axis) + offs;
- sw_endstop_max[axis] = base_max_pos(axis) + offs;
- }
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("For ", axis_codes[axis]);
- SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
- SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
- SERIAL_ECHOPAIR("\n sw_endstop_min = ", sw_endstop_min[axis]);
- SERIAL_ECHOPAIR("\n sw_endstop_max = ", sw_endstop_max[axis]);
- SERIAL_EOL;
- }
- #endif
-
- #if ENABLED(DELTA)
- if (axis == Z_AXIS) {
- delta_clip_start_height = sw_endstop_max[axis] - delta_safe_distance_from_top();
- }
- #endif
-
- }
-
- /**
- * Change the home offset for an axis, update the current
- * position and the software endstops to retain the same
- * relative distance to the new home.
- *
- * Since this changes the current_position, code should
- * call sync_plan_position soon after this.
- */
- static void set_home_offset(AxisEnum axis, float v) {
- current_position[axis] += v - home_offset[axis];
- home_offset[axis] = v;
- update_software_endstops(axis);
- }
-
- static void set_axis_is_at_home(AxisEnum axis) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis);
- SERIAL_ECHOLNPGM(")");
- }
- #endif
-
- position_shift[axis] = 0;
-
- #if ENABLED(DUAL_X_CARRIAGE)
- if (axis == X_AXIS && (active_extruder != 0 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
- if (active_extruder != 0)
- current_position[X_AXIS] = x_home_pos(active_extruder);
- else
- current_position[X_AXIS] = LOGICAL_X_POSITION(base_home_pos(X_AXIS));
- update_software_endstops(X_AXIS);
- return;
- }
- #endif
-
- #if ENABLED(SCARA)
-
- if (axis == X_AXIS || axis == Y_AXIS) {
-
- float homeposition[3];
- LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos(i), i);
-
- // SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
- // SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
-
- /**
- * Works out real Homeposition angles using inverse kinematics,
- * and calculates homing offset using forward kinematics
- */
- inverse_kinematics(homeposition);
- forward_kinematics_SCARA(delta);
-
- // SERIAL_ECHOPAIR("Delta X=", delta[X_AXIS]);
- // SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);
-
- current_position[axis] = LOGICAL_POSITION(delta[axis], axis);
-
- /**
- * SCARA home positions are based on configuration since the actual
- * limits are determined by the inverse kinematic transform.
- */
- sw_endstop_min[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
- sw_endstop_max[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
- }
- else
- #endif
- {
- current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis);
- update_software_endstops(axis);
-
- #if HAS_BED_PROBE && Z_HOME_DIR < 0 && DISABLED(Z_MIN_PROBE_ENDSTOP)
- if (axis == Z_AXIS) {
- current_position[Z_AXIS] -= zprobe_zoffset;
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("> zprobe_zoffset = ", zprobe_zoffset);
- SERIAL_EOL;
- }
- #endif
- }
- #endif
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
- SERIAL_ECHOPAIR("] = ", home_offset[axis]);
- SERIAL_EOL;
- DEBUG_POS("", current_position);
- }
- #endif
- }
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis);
- SERIAL_ECHOLNPGM(")");
- }
- #endif
- }
-
- /**
- * Some planner shorthand inline functions
- */
- inline float get_homing_bump_feedrate(AxisEnum axis) {
- const int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
- int hbd = homing_bump_divisor[axis];
- if (hbd < 1) {
- hbd = 10;
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
- }
- return homing_feedrate_mm_m[axis] / hbd;
- }
- //
- // line_to_current_position
- // Move the planner to the current position from wherever it last moved
- // (or from wherever it has been told it is located).
- //
- inline void line_to_current_position() {
- planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
- }
-
- inline void line_to_z(float zPosition) {
- planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
- }
-
- inline void line_to_axis_pos(AxisEnum axis, float where, float fr_mm_m = 0.0) {
- float old_feedrate_mm_m = feedrate_mm_m;
- current_position[axis] = where;
- feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : homing_feedrate_mm_m[axis];
- planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
- stepper.synchronize();
- feedrate_mm_m = old_feedrate_mm_m;
- }
-
- //
- // line_to_destination
- // Move the planner, not necessarily synced with current_position
- //
- inline void line_to_destination(float fr_mm_m) {
- planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], MMM_TO_MMS(fr_mm_m), active_extruder);
- }
- inline void line_to_destination() { line_to_destination(feedrate_mm_m); }
-
- inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
- inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
-
- #if ENABLED(DELTA)
- /**
- * Calculate delta, start a line, and set current_position to destination
- */
- void prepare_move_to_destination_raw() {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_move_to_destination_raw", destination);
- #endif
- refresh_cmd_timeout();
- inverse_kinematics(destination);
- planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], MMM_TO_MMS_SCALED(feedrate_mm_m), active_extruder);
- set_current_to_destination();
- }
- #endif
-
- /**
- * Plan a move to (X, Y, Z) and set the current_position
- * The final current_position may not be the one that was requested
- */
- void do_blocking_move_to(float x, float y, float z, float fr_mm_m /*=0.0*/) {
- float old_feedrate_mm_m = feedrate_mm_m;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, x, y, z);
- #endif
-
- #if ENABLED(DELTA)
-
- feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : XY_PROBE_FEEDRATE_MM_M;
-
- set_destination_to_current(); // sync destination at the start
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_to_current", destination);
- #endif
-
- // when in the danger zone
- if (current_position[Z_AXIS] > delta_clip_start_height) {
- if (z > delta_clip_start_height) { // staying in the danger zone
- destination[X_AXIS] = x; // move directly (uninterpolated)
- destination[Y_AXIS] = y;
- destination[Z_AXIS] = z;
- prepare_move_to_destination_raw(); // set_current_to_destination
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
- #endif
- return;
- }
- else {
- destination[Z_AXIS] = delta_clip_start_height;
- prepare_move_to_destination_raw(); // set_current_to_destination
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
- #endif
- }
- }
-
- if (z > current_position[Z_AXIS]) { // raising?
- destination[Z_AXIS] = z;
- prepare_move_to_destination_raw(); // set_current_to_destination
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
- #endif
- }
-
- destination[X_AXIS] = x;
- destination[Y_AXIS] = y;
- prepare_move_to_destination(); // set_current_to_destination
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
- #endif
-
- if (z < current_position[Z_AXIS]) { // lowering?
- destination[Z_AXIS] = z;
- prepare_move_to_destination_raw(); // set_current_to_destination
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
- #endif
- }
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
- #endif
-
- #else
-
- // If Z needs to raise, do it before moving XY
- if (current_position[Z_AXIS] < z) {
- feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : homing_feedrate_mm_m[Z_AXIS];
- current_position[Z_AXIS] = z;
- line_to_current_position();
- }
-
- feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : XY_PROBE_FEEDRATE_MM_M;
- current_position[X_AXIS] = x;
- current_position[Y_AXIS] = y;
- line_to_current_position();
-
- // If Z needs to lower, do it after moving XY
- if (current_position[Z_AXIS] > z) {
- feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : homing_feedrate_mm_m[Z_AXIS];
- current_position[Z_AXIS] = z;
- line_to_current_position();
- }
-
- #endif
-
- stepper.synchronize();
-
- feedrate_mm_m = old_feedrate_mm_m;
- }
- void do_blocking_move_to_x(float x, float fr_mm_m/*=0.0*/) {
- do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_m);
- }
- void do_blocking_move_to_z(float z, float fr_mm_m/*=0.0*/) {
- do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, fr_mm_m);
- }
- void do_blocking_move_to_xy(float x, float y, float fr_mm_m/*=0.0*/) {
- do_blocking_move_to(x, y, current_position[Z_AXIS], fr_mm_m);
- }
-
- //
- // Prepare to do endstop or probe moves
- // with custom feedrates.
- //
- // - Save current feedrates
- // - Reset the rate multiplier
- // - Reset the command timeout
- // - Enable the endstops (for endstop moves)
- //
- static void setup_for_endstop_or_probe_move() {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("setup_for_endstop_or_probe_move", current_position);
- #endif
- saved_feedrate_mm_m = feedrate_mm_m;
- saved_feedrate_percentage = feedrate_percentage;
- feedrate_percentage = 100;
- refresh_cmd_timeout();
- }
-
- static void clean_up_after_endstop_or_probe_move() {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("clean_up_after_endstop_or_probe_move", current_position);
- #endif
- feedrate_mm_m = saved_feedrate_mm_m;
- feedrate_percentage = saved_feedrate_percentage;
- refresh_cmd_timeout();
- }
-
- #if HAS_BED_PROBE
- /**
- * Raise Z to a minimum height to make room for a probe to move
- */
- inline void do_probe_raise(float z_raise) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
- SERIAL_ECHOLNPGM(")");
- }
- #endif
- float z_dest = LOGICAL_Z_POSITION(z_raise);
-
- if (zprobe_zoffset < 0)
- z_dest -= zprobe_zoffset;
-
- if (z_dest > current_position[Z_AXIS])
- do_blocking_move_to_z(z_dest);
- }
-
- #endif //HAS_BED_PROBE
-
- #if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
- static bool axis_unhomed_error(const bool x, const bool y, const bool z) {
- const bool xx = x && !axis_homed[X_AXIS],
- yy = y && !axis_homed[Y_AXIS],
- zz = z && !axis_homed[Z_AXIS];
- if (xx || yy || zz) {
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_HOME " ");
- if (xx) SERIAL_ECHOPGM(MSG_X);
- if (yy) SERIAL_ECHOPGM(MSG_Y);
- if (zz) SERIAL_ECHOPGM(MSG_Z);
- SERIAL_ECHOLNPGM(" " MSG_FIRST);
-
- #if ENABLED(ULTRA_LCD)
- char message[3 * (LCD_WIDTH) + 1] = ""; // worst case is kana.utf with up to 3*LCD_WIDTH+1
- strcat_P(message, PSTR(MSG_HOME " "));
- if (xx) strcat_P(message, PSTR(MSG_X));
- if (yy) strcat_P(message, PSTR(MSG_Y));
- if (zz) strcat_P(message, PSTR(MSG_Z));
- strcat_P(message, PSTR(" " MSG_FIRST));
- lcd_setstatus(message);
- #endif
- return true;
- }
- return false;
- }
- #endif
-
- #if ENABLED(Z_PROBE_SLED)
-
- #ifndef SLED_DOCKING_OFFSET
- #define SLED_DOCKING_OFFSET 0
- #endif
-
- /**
- * Method to dock/undock a sled designed by Charles Bell.
- *
- * stow[in] If false, move to MAX_X and engage the solenoid
- * If true, move to MAX_X and release the solenoid
- */
- static void dock_sled(bool stow) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("dock_sled(", stow);
- SERIAL_ECHOLNPGM(")");
- }
- #endif
-
- // Dock sled a bit closer to ensure proper capturing
- do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
- digitalWrite(SLED_PIN, !stow); // switch solenoid
-
- }
-
- #endif // Z_PROBE_SLED
- #if ENABLED(Z_PROBE_ALLEN_KEY)
- void run_deploy_moves_script() {
- #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)
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
- #define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
- #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
- #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
- #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
- #endif
- 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, Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE);
- #endif
- #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)
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
- #define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
- #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
- #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
- #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
- #endif
- 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, Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE);
- #endif
- #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)
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
- #define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
- #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
- #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
- #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
- #endif
- 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, Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE);
- #endif
- #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)
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
- #define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
- #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
- #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
- #define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
- #endif
- 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, Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE);
- #endif
- #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)
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
- #define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
- #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
- #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
- #define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
- #endif
- 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, Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE);
- #endif
- }
- void run_stow_moves_script() {
- #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)
- #ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
- #define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
- #define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
- #define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
- #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
- #endif
- 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, Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE);
- #endif
- #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)
- #ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
- #define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
- #define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
- #define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
- #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
- #endif
- 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, Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE);
- #endif
- #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)
- #ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
- #define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
- #define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
- #define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
- #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
- #endif
- 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, Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE);
- #endif
- #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)
- #ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
- #define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
- #define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
- #define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
- #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
- #endif
- 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, Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE);
- #endif
- #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)
- #ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
- #define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
- #define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
- #define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
- #define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
- #endif
- 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, Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE);
- #endif
- }
- #endif
-
- #if HAS_BED_PROBE
-
- // TRIGGERED_WHEN_STOWED_TEST can easily be extended to servo probes, ... if needed.
- #if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST)
- #if ENABLED(Z_MIN_PROBE_ENDSTOP)
- #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
- #else
- #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
- #endif
- #endif
-
- #define DEPLOY_PROBE() set_probe_deployed( true )
- #define STOW_PROBE() set_probe_deployed( false )
-
- // returns false for ok and true for failure
- static bool set_probe_deployed(bool deploy) {
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- DEBUG_POS("set_probe_deployed", current_position);
- SERIAL_ECHOPAIR("deploy: ", deploy);
- SERIAL_EOL;
- }
- #endif
-
- if (endstops.z_probe_enabled == deploy) return false;
-
- // Make room for probe
- do_probe_raise(_Z_RAISE_PROBE_DEPLOY_STOW);
-
- #if ENABLED(Z_PROBE_SLED)
- if (axis_unhomed_error(true, false, false)) { stop(); return true; }
- #elif ENABLED(Z_PROBE_ALLEN_KEY)
- if (axis_unhomed_error(true, true, true )) { stop(); return true; }
- #endif
-
- float oldXpos = current_position[X_AXIS]; // save x position
- float oldYpos = current_position[Y_AXIS]; // save y position
-
- #ifdef _TRIGGERED_WHEN_STOWED_TEST
- // If endstop is already false, the Z probe is deployed
- if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
- // Would a goto be less ugly?
- //while (!_TRIGGERED_WHEN_STOWED_TEST) { idle(); // would offer the opportunity
- // for a triggered when stowed manual probe.
- #endif
-
- #if ENABLED(Z_PROBE_SLED)
- dock_sled(!deploy);
- #elif HAS_Z_SERVO_ENDSTOP
- servo[Z_ENDSTOP_SERVO_NR].move(z_servo_angle[((deploy) ? 0 : 1)]);
- #elif ENABLED(Z_PROBE_ALLEN_KEY)
- if (!deploy) run_stow_moves_script();
- else run_deploy_moves_script();
- #else
- // Nothing to be done. Just enable_z_probe below...
- #endif
-
- #ifdef _TRIGGERED_WHEN_STOWED_TEST
- }; // opened before the probe specific actions
-
- if (_TRIGGERED_WHEN_STOWED_TEST == deploy) {
- if (IsRunning()) {
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM("Z-Probe failed");
- LCD_ALERTMESSAGEPGM("Err: ZPROBE");
- }
- stop();
- return true;
- }
- #endif
-
- do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
- endstops.enable_z_probe( deploy );
- return false;
- }
-
- // Do a single Z probe and return with current_position[Z_AXIS]
- // at the height where the probe triggered.
- static float run_z_probe() {
-
- // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
- refresh_cmd_timeout();
-
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
- planner.bed_level_matrix.set_to_identity();
- #endif
-
- do_blocking_move_to_z(-(Z_MAX_LENGTH + 10), Z_PROBE_SPEED_FAST);
- endstops.hit_on_purpose();
- set_current_from_steppers_for_axis(Z_AXIS);
- SYNC_PLAN_POSITION_KINEMATIC();
-
- // move up the retract distance
- do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), Z_PROBE_SPEED_FAST);
-
- // move back down slowly to find bed
- do_blocking_move_to_z(current_position[Z_AXIS] - home_bump_mm(Z_AXIS) * 2, Z_PROBE_SPEED_SLOW);
- endstops.hit_on_purpose();
- set_current_from_steppers_for_axis(Z_AXIS);
- SYNC_PLAN_POSITION_KINEMATIC();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe", current_position);
- #endif
-
- return current_position[Z_AXIS];
- }
-
- //
- // - Move to the given XY
- // - Deploy the probe, if not already deployed
- // - Probe the bed, get the Z position
- // - Depending on the 'stow' flag
- // - Stow the probe, or
- // - Raise to the BETWEEN height
- // - Return the probed Z position
- //
- static float probe_pt(float x, float y, bool stow = true, int verbose_level = 1) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR(">>> probe_pt(", x);
- SERIAL_ECHOPAIR(", ", y);
- SERIAL_ECHOPAIR(", ", stow ? "stow" : "no stow");
- SERIAL_ECHOLNPGM(")");
- DEBUG_POS("", current_position);
- }
- #endif
-
- float old_feedrate_mm_m = feedrate_mm_m;
-
- // Ensure a minimum height before moving the probe
- do_probe_raise(Z_RAISE_BETWEEN_PROBINGS);
-
- // Move to the XY where we shall probe
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("> do_blocking_move_to_xy(", x - (X_PROBE_OFFSET_FROM_EXTRUDER));
- SERIAL_ECHOPAIR(", ", y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
- SERIAL_ECHOLNPGM(")");
- }
- #endif
- feedrate_mm_m = XY_PROBE_FEEDRATE_MM_M;
- do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
- #endif
- if (DEPLOY_PROBE()) return NAN;
-
- float measured_z = run_z_probe();
-
- if (stow) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
- #endif
- if (STOW_PROBE()) return NAN;
- }
- else {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> do_probe_raise");
- #endif
- do_probe_raise(Z_RAISE_BETWEEN_PROBINGS);
- }
-
- if (verbose_level > 2) {
- SERIAL_PROTOCOLPGM("Bed X: ");
- SERIAL_PROTOCOL_F(x, 3);
- SERIAL_PROTOCOLPGM(" Y: ");
- SERIAL_PROTOCOL_F(y, 3);
- SERIAL_PROTOCOLPGM(" Z: ");
- SERIAL_PROTOCOL_F(measured_z, 3);
- SERIAL_EOL;
- }
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
- #endif
-
- feedrate_mm_m = old_feedrate_mm_m;
-
- return measured_z;
- }
-
- #endif // HAS_BED_PROBE
-
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
-
- #if ENABLED(AUTO_BED_LEVELING_GRID)
-
- #if DISABLED(DELTA)
-
- static void set_bed_level_equation_lsq(double* plane_equation_coefficients) {
-
- //planner.bed_level_matrix.debug("bed level before");
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- planner.bed_level_matrix.set_to_identity();
- if (DEBUGGING(LEVELING)) {
- vector_3 uncorrected_position = planner.adjusted_position();
- DEBUG_POS(">>> set_bed_level_equation_lsq", uncorrected_position);
- DEBUG_POS(">>> set_bed_level_equation_lsq", current_position);
- }
- #endif
-
- vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
- planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
-
- vector_3 corrected_position = planner.adjusted_position();
- current_position[X_AXIS] = corrected_position.x;
- current_position[Y_AXIS] = corrected_position.y;
- current_position[Z_AXIS] = corrected_position.z;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("<<< set_bed_level_equation_lsq", corrected_position);
- #endif
-
- SYNC_PLAN_POSITION_KINEMATIC();
- }
-
- #endif // !DELTA
-
- #else // !AUTO_BED_LEVELING_GRID
-
- static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
-
- planner.bed_level_matrix.set_to_identity();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- vector_3 uncorrected_position = planner.adjusted_position();
- DEBUG_POS("set_bed_level_equation_3pts", uncorrected_position);
- }
- #endif
-
- vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
- vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
- vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
- vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal();
-
- if (planeNormal.z < 0) {
- planeNormal.x = -planeNormal.x;
- planeNormal.y = -planeNormal.y;
- planeNormal.z = -planeNormal.z;
- }
-
- planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
- vector_3 corrected_position = planner.adjusted_position();
-
- current_position[X_AXIS] = corrected_position.x;
- current_position[Y_AXIS] = corrected_position.y;
- current_position[Z_AXIS] = corrected_position.z;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("set_bed_level_equation_3pts", corrected_position);
- #endif
-
- SYNC_PLAN_POSITION_KINEMATIC();
- }
-
- #endif // !AUTO_BED_LEVELING_GRID
-
- #if ENABLED(DELTA)
-
- /**
- * All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
- */
- static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
- if (bed_level[x][y] != 0.0) {
- return; // Don't overwrite good values.
- }
- float a = 2 * bed_level[x + xdir][y] - bed_level[x + xdir * 2][y]; // Left to right.
- float b = 2 * bed_level[x][y + ydir] - bed_level[x][y + ydir * 2]; // Front to back.
- float c = 2 * bed_level[x + xdir][y + ydir] - bed_level[x + xdir * 2][y + ydir * 2]; // Diagonal.
- float median = c; // Median is robust (ignores outliers).
- if (a < b) {
- if (b < c) median = b;
- if (c < a) median = a;
- }
- else { // b <= a
- if (c < b) median = b;
- if (a < c) median = a;
- }
- bed_level[x][y] = median;
- }
-
- /**
- * Fill in the unprobed points (corners of circular print surface)
- * using linear extrapolation, away from the center.
- */
- static void extrapolate_unprobed_bed_level() {
- int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
- for (int y = 0; y <= half; y++) {
- for (int x = 0; x <= half; x++) {
- if (x + y < 3) continue;
- extrapolate_one_point(half - x, half - y, x > 1 ? +1 : 0, y > 1 ? +1 : 0);
- extrapolate_one_point(half + x, half - y, x > 1 ? -1 : 0, y > 1 ? +1 : 0);
- extrapolate_one_point(half - x, half + y, x > 1 ? +1 : 0, y > 1 ? -1 : 0);
- extrapolate_one_point(half + x, half + y, x > 1 ? -1 : 0, y > 1 ? -1 : 0);
- }
- }
- }
-
- /**
- * Print calibration results for plotting or manual frame adjustment.
- */
- static void print_bed_level() {
- for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
- for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
- SERIAL_PROTOCOL_F(bed_level[x][y], 2);
- SERIAL_PROTOCOLCHAR(' ');
- }
- SERIAL_EOL;
- }
- }
-
- /**
- * Reset calibration results to zero.
- */
- void reset_bed_level() {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
- #endif
- for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
- for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
- bed_level[x][y] = 0.0;
- }
- }
- }
-
- #endif // DELTA
-
- #endif // AUTO_BED_LEVELING_FEATURE
-
- /**
- * Home an individual axis
- */
-
- #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
-
- static void homeaxis(AxisEnum axis) {
- #define HOMEAXIS_DO(LETTER) \
- ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
-
- if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0)) return;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR(">>> homeaxis(", axis);
- SERIAL_ECHOLNPGM(")");
- }
- #endif
-
- int axis_home_dir =
- #if ENABLED(DUAL_X_CARRIAGE)
- (axis == X_AXIS) ? x_home_dir(active_extruder) :
- #endif
- home_dir(axis);
-
- // Homing Z towards the bed? Deploy the Z probe or endstop.
- #if HAS_BED_PROBE && DISABLED(Z_MIN_PROBE_ENDSTOP)
- if (axis == Z_AXIS && axis_home_dir < 0) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
- #endif
- if (DEPLOY_PROBE()) return;
- }
- #endif
-
- // Set the axis position as setup for the move
- current_position[axis] = 0;
- sync_plan_position();
-
- // Set a flag for Z motor locking
- #if ENABLED(Z_DUAL_ENDSTOPS)
- if (axis == Z_AXIS) stepper.set_homing_flag(true);
- #endif
-
- // Move towards the endstop until an endstop is triggered
- line_to_axis_pos(axis, 1.5 * max_length(axis) * axis_home_dir);
-
- // Set the axis position as setup for the move
- current_position[axis] = 0;
- sync_plan_position();
-
- // Move away from the endstop by the axis HOME_BUMP_MM
- line_to_axis_pos(axis, -home_bump_mm(axis) * axis_home_dir);
-
- // Move slowly towards the endstop until triggered
- line_to_axis_pos(axis, 2 * home_bump_mm(axis) * axis_home_dir, get_homing_bump_feedrate(axis));
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("> TRIGGER ENDSTOP", current_position);
- #endif
-
- #if ENABLED(Z_DUAL_ENDSTOPS)
- if (axis == Z_AXIS) {
- float adj = fabs(z_endstop_adj);
- bool lockZ1;
- if (axis_home_dir > 0) {
- adj = -adj;
- lockZ1 = (z_endstop_adj > 0);
- }
- else
- lockZ1 = (z_endstop_adj < 0);
-
- if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
- sync_plan_position();
-
- // Move to the adjusted endstop height
- line_to_axis_pos(axis, adj);
-
- if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
- stepper.set_homing_flag(false);
- } // Z_AXIS
- #endif
-
- #if ENABLED(DELTA)
- // retrace by the amount specified in endstop_adj
- if (endstop_adj[axis] * axis_home_dir < 0) {
- sync_plan_position();
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis]);
- DEBUG_POS("", current_position);
- }
- #endif
- line_to_axis_pos(axis, endstop_adj[axis]);
- }
- #endif
-
- // Set the axis position to its home position (plus home offsets)
- set_axis_is_at_home(axis);
-
- SYNC_PLAN_POSITION_KINEMATIC();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
- #endif
-
- destination[axis] = current_position[axis];
- endstops.hit_on_purpose(); // clear endstop hit flags
- axis_known_position[axis] = true;
- axis_homed[axis] = true;
-
- // Put away the Z probe
- #if HAS_BED_PROBE && DISABLED(Z_MIN_PROBE_ENDSTOP)
- if (axis == Z_AXIS && axis_home_dir < 0) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
- #endif
- if (STOW_PROBE()) return;
- }
- #endif
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("<<< homeaxis(", axis);
- SERIAL_ECHOLNPGM(")");
- }
- #endif
- }
-
- #if ENABLED(FWRETRACT)
-
- void retract(bool retracting, bool swapping = false) {
-
- if (retracting == retracted[active_extruder]) return;
-
- float old_feedrate_mm_m = feedrate_mm_m;
-
- set_destination_to_current();
-
- if (retracting) {
-
- feedrate_mm_m = MMS_TO_MMM(retract_feedrate_mm_s);
- current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
- sync_plan_position_e();
- prepare_move_to_destination();
-
- if (retract_zlift > 0.01) {
- current_position[Z_AXIS] -= retract_zlift;
- SYNC_PLAN_POSITION_KINEMATIC();
- prepare_move_to_destination();
- }
- }
- else {
-
- if (retract_zlift > 0.01) {
- current_position[Z_AXIS] += retract_zlift;
- SYNC_PLAN_POSITION_KINEMATIC();
- }
-
- feedrate_mm_m = MMM_TO_MMS(retract_recover_feedrate_mm_s);
- float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
- current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
- sync_plan_position_e();
- prepare_move_to_destination();
- }
-
- feedrate_mm_m = old_feedrate_mm_m;
- retracted[active_extruder] = retracting;
-
- } // retract()
-
- #endif // FWRETRACT
-
- #if ENABLED(MIXING_EXTRUDER)
-
- void normalize_mix() {
- float mix_total = 0.0;
- for (int i = 0; i < MIXING_STEPPERS; i++) {
- float v = mixing_factor[i];
- if (v < 0) v = mixing_factor[i] = 0;
- mix_total += v;
- }
- // Scale all values if they don't add up to ~1.0
- if (mix_total < 0.9999 || mix_total > 1.0001) {
- SERIAL_PROTOCOLLNPGM("Warning: Mix factors must add up to 1.0. Scaling.");
- float mix_scale = 1.0 / mix_total;
- for (int i = 0; i < MIXING_STEPPERS; i++)
- mixing_factor[i] *= mix_scale;
- }
- }
-
- #if ENABLED(DIRECT_MIXING_IN_G1)
- // Get mixing parameters from the GCode
- // Factors that are left out are set to 0
- // The total "must" be 1.0 (but it will be normalized)
- void gcode_get_mix() {
- const char* mixing_codes = "ABCDHI";
- for (int i = 0; i < MIXING_STEPPERS; i++)
- mixing_factor[i] = code_seen(mixing_codes[i]) ? code_value_float() : 0;
-
- normalize_mix();
- }
- #endif
-
- #endif
-
- /**
- * ***************************************************************************
- * ***************************** G-CODE HANDLING *****************************
- * ***************************************************************************
- */
-
- /**
- * Set XYZE destination and feedrate from the current GCode command
- *
- * - Set destination from included axis codes
- * - Set to current for missing axis codes
- * - Set the feedrate, if included
- */
- void gcode_get_destination() {
- LOOP_XYZE(i) {
- if (code_seen(axis_codes[i]))
- destination[i] = code_value_axis_units(i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
- else
- destination[i] = current_position[i];
- }
-
- if (code_seen('F') && code_value_linear_units() > 0.0)
- feedrate_mm_m = code_value_linear_units();
-
- #if ENABLED(PRINTCOUNTER)
- if (!DEBUGGING(DRYRUN))
- print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
- #endif
-
- // Get ABCDHI mixing factors
- #if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1)
- gcode_get_mix();
- #endif
- }
-
- void unknown_command_error() {
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
- SERIAL_ECHO(current_command);
- SERIAL_ECHOLNPGM("\"");
- }
-
- #if ENABLED(HOST_KEEPALIVE_FEATURE)
-
- /**
- * Output a "busy" message at regular intervals
- * while the machine is not accepting commands.
- */
- void host_keepalive() {
- millis_t ms = millis();
- if (host_keepalive_interval && busy_state != NOT_BUSY) {
- if (PENDING(ms, next_busy_signal_ms)) return;
- switch (busy_state) {
- case IN_HANDLER:
- case IN_PROCESS:
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_BUSY_PROCESSING);
- break;
- case PAUSED_FOR_USER:
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_USER);
- break;
- case PAUSED_FOR_INPUT:
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_INPUT);
- break;
- default:
- break;
- }
- }
- next_busy_signal_ms = ms + host_keepalive_interval * 1000UL;
- }
-
- #endif //HOST_KEEPALIVE_FEATURE
-
- /**
- * G0, G1: Coordinated movement of X Y Z E axes
- */
- inline void gcode_G0_G1() {
- if (IsRunning()) {
- gcode_get_destination(); // For X Y Z E F
-
- #if ENABLED(FWRETRACT)
-
- if (autoretract_enabled && !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
- float echange = destination[E_AXIS] - current_position[E_AXIS];
- // Is this move an attempt to retract or recover?
- if ((echange < -MIN_RETRACT && !retracted[active_extruder]) || (echange > MIN_RETRACT && retracted[active_extruder])) {
- current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations
- sync_plan_position_e(); // AND from the planner
- retract(!retracted[active_extruder]);
- return;
- }
- }
-
- #endif //FWRETRACT
-
- prepare_move_to_destination();
- }
- }
-
- /**
- * G2: Clockwise Arc
- * G3: Counterclockwise Arc
- */
- #if ENABLED(ARC_SUPPORT)
- inline void gcode_G2_G3(bool clockwise) {
- if (IsRunning()) {
-
- #if ENABLED(SF_ARC_FIX)
- bool relative_mode_backup = relative_mode;
- relative_mode = true;
- #endif
-
- gcode_get_destination();
-
- #if ENABLED(SF_ARC_FIX)
- relative_mode = relative_mode_backup;
- #endif
-
- // Center of arc as offset from current_position
- float arc_offset[2] = {
- code_seen('I') ? code_value_axis_units(X_AXIS) : 0,
- code_seen('J') ? code_value_axis_units(Y_AXIS) : 0
- };
-
- // Send an arc to the planner
- plan_arc(destination, arc_offset, clockwise);
-
- refresh_cmd_timeout();
- }
- }
- #endif
-
- /**
- * G4: Dwell S<seconds> or P<milliseconds>
- */
- inline void gcode_G4() {
- millis_t dwell_ms = 0;
-
- if (code_seen('P')) dwell_ms = code_value_millis(); // milliseconds to wait
- if (code_seen('S')) dwell_ms = code_value_millis_from_seconds(); // seconds to wait
-
- stepper.synchronize();
- refresh_cmd_timeout();
- dwell_ms += previous_cmd_ms; // keep track of when we started waiting
-
- if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
-
- while (PENDING(millis(), dwell_ms)) idle();
- }
-
- #if ENABLED(BEZIER_CURVE_SUPPORT)
-
- /**
- * Parameters interpreted according to:
- * http://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G5-Cubic-Spline
- * However I, J omission is not supported at this point; all
- * parameters can be omitted and default to zero.
- */
-
- /**
- * G5: Cubic B-spline
- */
- inline void gcode_G5() {
- if (IsRunning()) {
-
- gcode_get_destination();
-
- float offset[] = {
- code_seen('I') ? code_value_axis_units(X_AXIS) : 0.0,
- code_seen('J') ? code_value_axis_units(Y_AXIS) : 0.0,
- code_seen('P') ? code_value_axis_units(X_AXIS) : 0.0,
- code_seen('Q') ? code_value_axis_units(Y_AXIS) : 0.0
- };
-
- plan_cubic_move(offset);
- }
- }
-
- #endif // BEZIER_CURVE_SUPPORT
-
- #if ENABLED(FWRETRACT)
-
- /**
- * G10 - Retract filament according to settings of M207
- * G11 - Recover filament according to settings of M208
- */
- inline void gcode_G10_G11(bool doRetract=false) {
- #if EXTRUDERS > 1
- if (doRetract) {
- retracted_swap[active_extruder] = (code_seen('S') && code_value_bool()); // checks for swap retract argument
- }
- #endif
- retract(doRetract
- #if EXTRUDERS > 1
- , retracted_swap[active_extruder]
- #endif
- );
- }
-
- #endif //FWRETRACT
-
- #if ENABLED(NOZZLE_CLEAN_FEATURE)
- /**
- * G12: Clean the nozzle
- */
- inline void gcode_G12() {
- // Don't allow nozzle cleaning without homing first
- if (axis_unhomed_error(true, true, true)) { return; }
-
- uint8_t const pattern = code_seen('P') ? code_value_ushort() : 0;
- uint8_t const strokes = code_seen('S') ? code_value_ushort() : NOZZLE_CLEAN_STROKES;
- uint8_t const objects = code_seen('T') ? code_value_ushort() : 3;
-
- Nozzle::clean(pattern, strokes, objects);
- }
- #endif
-
- #if ENABLED(INCH_MODE_SUPPORT)
- /**
- * G20: Set input mode to inches
- */
- inline void gcode_G20() {
- set_input_linear_units(LINEARUNIT_INCH);
- }
-
- /**
- * G21: Set input mode to millimeters
- */
- inline void gcode_G21() {
- set_input_linear_units(LINEARUNIT_MM);
- }
- #endif
-
- #if ENABLED(NOZZLE_PARK_FEATURE)
- /**
- * G27: Park the nozzle
- */
- inline void gcode_G27() {
- // Don't allow nozzle parking without homing first
- if (axis_unhomed_error(true, true, true)) { return; }
- uint8_t const z_action = code_seen('P') ? code_value_ushort() : 0;
- Nozzle::park(z_action);
- }
- #endif // NOZZLE_PARK_FEATURE
-
- #if ENABLED(QUICK_HOME)
-
- static void quick_home_xy() {
-
- // Pretend the current position is 0,0
- current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
- sync_plan_position();
-
- int x_axis_home_dir =
- #if ENABLED(DUAL_X_CARRIAGE)
- x_home_dir(active_extruder)
- #else
- home_dir(X_AXIS)
- #endif
- ;
-
- float mlx = max_length(X_AXIS),
- mly = max_length(Y_AXIS),
- mlratio = mlx > mly ? mly / mlx : mlx / mly,
- fr_mm_m = min(homing_feedrate_mm_m[X_AXIS], homing_feedrate_mm_m[Y_AXIS]) * sqrt(sq(mlratio) + 1.0);
-
- do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_m);
- endstops.hit_on_purpose(); // clear endstop hit flags
- current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
-
- }
-
- #endif // QUICK_HOME
-
- /**
- * G28: Home all axes according to settings
- *
- * Parameters
- *
- * None Home to all axes with no parameters.
- * With QUICK_HOME enabled XY will home together, then Z.
- *
- * Cartesian parameters
- *
- * X Home to the X endstop
- * Y Home to the Y endstop
- * Z Home to the Z endstop
- *
- */
- inline void gcode_G28() {
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(">>> gcode_G28");
- #endif
-
- // Wait for planner moves to finish!
- stepper.synchronize();
-
- // For auto bed leveling, clear the level matrix
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
- planner.bed_level_matrix.set_to_identity();
- #if ENABLED(DELTA)
- reset_bed_level();
- #endif
- #endif
-
- // Always home with tool 0 active
- #if HOTENDS > 1
- uint8_t old_tool_index = active_extruder;
- tool_change(0, 0, true);
- #endif
-
- #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
- extruder_duplication_enabled = false;
- #endif
-
- /**
- * For mesh bed leveling deactivate the mesh calculations, will be turned
- * on again when homing all axis
- */
- #if ENABLED(MESH_BED_LEVELING)
- float pre_home_z = MESH_HOME_SEARCH_Z;
- if (mbl.active()) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL was active");
- #endif
- // Save known Z position if already homed
- if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) {
- pre_home_z = current_position[Z_AXIS];
- pre_home_z += mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS));
- }
- mbl.set_active(false);
- current_position[Z_AXIS] = pre_home_z;
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("Set Z to pre_home_z", current_position);
- #endif
- }
- #endif
-
- setup_for_endstop_or_probe_move();
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
- #endif
- endstops.enable(true); // Enable endstops for next homing move
-
-
- #if ENABLED(DELTA)
- /**
- * A delta can only safely home all axes at the same time
- */
-
- // Pretend the current position is 0,0,0
- // This is like quick_home_xy() but for 3 towers.
- current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 0.0;
- sync_plan_position();
-
- // Move all carriages up together until the first endstop is hit.
- current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 3.0 * (Z_MAX_LENGTH);
- feedrate_mm_m = 1.732 * homing_feedrate_mm_m[X_AXIS];
- line_to_current_position();
- stepper.synchronize();
- endstops.hit_on_purpose(); // clear endstop hit flags
- current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 0.0;
-
- // take care of back off and rehome. Now one carriage is at the top.
- HOMEAXIS(X);
- HOMEAXIS(Y);
- HOMEAXIS(Z);
-
- SYNC_PLAN_POSITION_KINEMATIC();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("(DELTA)", current_position);
- #endif
-
- #else // NOT DELTA
-
- bool homeX = code_seen('X'), homeY = code_seen('Y'), homeZ = code_seen('Z');
-
- home_all_axis = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
-
- set_destination_to_current();
-
- #if Z_HOME_DIR > 0 // If homing away from BED do Z first
-
- if (home_all_axis || homeZ) {
- HOMEAXIS(Z);
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("> HOMEAXIS(Z)", current_position);
- #endif
- }
-
- #else
-
- if (home_all_axis || homeX || homeY) {
- // Raise Z before homing any other axes and z is not already high enough (never lower z)
- destination[Z_AXIS] = LOGICAL_Z_POSITION(MIN_Z_HEIGHT_FOR_HOMING);
- if (destination[Z_AXIS] > current_position[Z_AXIS]) {
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
- SERIAL_EOL;
- }
- #endif
-
- do_blocking_move_to_z(destination[Z_AXIS]);
- }
- }
-
- #endif
-
- #if ENABLED(QUICK_HOME)
-
- if (home_all_axis || (homeX && homeY)) quick_home_xy();
-
- #endif
-
- #if ENABLED(HOME_Y_BEFORE_X)
-
- // Home Y
- if (home_all_axis || homeY) {
- HOMEAXIS(Y);
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
- #endif
- }
-
- #endif
-
- // Home X
- if (home_all_axis || homeX) {
- #if ENABLED(DUAL_X_CARRIAGE)
- int tmp_extruder = active_extruder;
- active_extruder = !active_extruder;
- HOMEAXIS(X);
- inactive_extruder_x_pos = RAW_X_POSITION(current_position[X_AXIS]);
- active_extruder = tmp_extruder;
- HOMEAXIS(X);
- // reset state used by the different modes
- memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
- delayed_move_time = 0;
- active_extruder_parked = true;
- #else
- HOMEAXIS(X);
- #endif
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
- #endif
- }
-
- #if DISABLED(HOME_Y_BEFORE_X)
- // Home Y
- if (home_all_axis || homeY) {
- HOMEAXIS(Y);
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
- #endif
- }
- #endif
-
- // Home Z last if homing towards the bed
- #if Z_HOME_DIR < 0
-
- if (home_all_axis || homeZ) {
-
- #if ENABLED(Z_SAFE_HOMING)
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPGM("> Z_SAFE_HOMING >>>");
- }
- #endif
-
- if (home_all_axis) {
-
- /**
- * At this point we already have Z at MIN_Z_HEIGHT_FOR_HOMING height
- * No need to move Z any more as this height should already be safe
- * enough to reach Z_SAFE_HOMING XY positions.
- * Just make sure the planner is in sync.
- */
- SYNC_PLAN_POSITION_KINEMATIC();
-
- /**
- * Move the Z probe (or just the nozzle) to the safe homing point
- */
- destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - (X_PROBE_OFFSET_FROM_EXTRUDER));
- destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - (Y_PROBE_OFFSET_FROM_EXTRUDER));
- destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- DEBUG_POS("> Z_SAFE_HOMING > home_all_axis", current_position);
- DEBUG_POS("> Z_SAFE_HOMING > home_all_axis", destination);
- }
- #endif
-
- // Move in the XY plane
- do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
- }
-
- // Let's see if X and Y are homed
- if (axis_unhomed_error(true, true, false)) return;
-
- /**
- * Make sure the Z probe is within the physical limits
- * NOTE: This doesn't necessarily ensure the Z probe is also
- * within the bed!
- */
- float cpx = RAW_CURRENT_POSITION(X_AXIS), cpy = RAW_CURRENT_POSITION(Y_AXIS);
- if ( cpx >= X_MIN_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
- && cpx <= X_MAX_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
- && cpy >= Y_MIN_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)
- && cpy <= Y_MAX_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)) {
-
- // Home the Z axis
- HOMEAXIS(Z);
- }
- else {
- LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
- }
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
- }
- #endif
-
- #else // !Z_SAFE_HOMING
-
- HOMEAXIS(Z);
-
- #endif // !Z_SAFE_HOMING
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all_axis || homeZ) > final", current_position);
- #endif
-
- } // home_all_axis || homeZ
-
- #endif // Z_HOME_DIR < 0
-
- SYNC_PLAN_POSITION_KINEMATIC();
-
- #endif // !DELTA (gcode_G28)
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.not_homing()");
- #endif
- endstops.not_homing();
- endstops.hit_on_purpose(); // clear endstop hit flags
-
- // Enable mesh leveling again
- #if ENABLED(MESH_BED_LEVELING)
- if (mbl.has_mesh()) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL has mesh");
- #endif
- if (home_all_axis || (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && homeZ)) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL Z homing");
- #endif
- current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
- #if Z_HOME_DIR > 0
- + Z_MAX_POS
- #endif
- ;
- SYNC_PLAN_POSITION_KINEMATIC();
- mbl.set_active(true);
- #if ENABLED(MESH_G28_REST_ORIGIN)
- current_position[Z_AXIS] = 0.0;
- set_destination_to_current();
- feedrate_mm_m = homing_feedrate_mm_m[Z_AXIS];
- line_to_destination();
- stepper.synchronize();
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Rest Origin", current_position);
- #endif
- #else
- current_position[Z_AXIS] = MESH_HOME_SEARCH_Z -
- mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS))
- #if Z_HOME_DIR > 0
- + Z_MAX_POS
- #endif
- ;
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("MBL adjusted MESH_HOME_SEARCH_Z", current_position);
- #endif
- #endif
- }
- else if ((axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) && (homeX || homeY)) {
- current_position[Z_AXIS] = pre_home_z;
- SYNC_PLAN_POSITION_KINEMATIC();
- mbl.set_active(true);
- current_position[Z_AXIS] = pre_home_z -
- mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS));
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Home X or Y", current_position);
- #endif
- }
- }
- #endif
-
- #if ENABLED(DELTA)
- // move to a height where we can use the full xy-area
- do_blocking_move_to_z(delta_clip_start_height);
- #endif
-
- clean_up_after_endstop_or_probe_move();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28");
- #endif
-
- // Restore the active tool after homing
- #if HOTENDS > 1
- tool_change(old_tool_index, 0, true);
- #endif
-
- report_current_position();
- }
-
- #if HAS_PROBING_PROCEDURE
-
- void out_of_range_error(const char* p_edge) {
- SERIAL_PROTOCOLPGM("?Probe ");
- serialprintPGM(p_edge);
- SERIAL_PROTOCOLLNPGM(" position out of range.");
- }
-
- #endif
-
- #if ENABLED(MESH_BED_LEVELING)
- inline void _mbl_goto_xy(float x, float y) {
- float old_feedrate_mm_m = feedrate_mm_m;
- feedrate_mm_m = homing_feedrate_mm_m[X_AXIS];
-
- current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
- #if Z_RAISE_BETWEEN_PROBINGS > MIN_Z_HEIGHT_FOR_HOMING
- + Z_RAISE_BETWEEN_PROBINGS
- #elif MIN_Z_HEIGHT_FOR_HOMING > 0
- + MIN_Z_HEIGHT_FOR_HOMING
- #endif
- ;
- line_to_current_position();
-
- current_position[X_AXIS] = LOGICAL_X_POSITION(x);
- current_position[Y_AXIS] = LOGICAL_Y_POSITION(y);
- line_to_current_position();
-
- #if Z_RAISE_BETWEEN_PROBINGS > 0 || MIN_Z_HEIGHT_FOR_HOMING > 0
- current_position[Z_AXIS] = LOGICAL_Z_POSITION(MESH_HOME_SEARCH_Z);
- line_to_current_position();
- #endif
-
- feedrate_mm_m = old_feedrate_mm_m;
- stepper.synchronize();
- }
-
- /**
- * G29: Mesh-based Z probe, probes a grid and produces a
- * mesh to compensate for variable bed height
- *
- * Parameters With MESH_BED_LEVELING:
- *
- * S0 Produce a mesh report
- * S1 Start probing mesh points
- * S2 Probe the next mesh point
- * S3 Xn Yn Zn.nn Manually modify a single point
- * S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.
- * S5 Reset and disable mesh
- *
- * The S0 report the points as below
- *
- * +----> X-axis 1-n
- * |
- * |
- * v Y-axis 1-n
- *
- */
- inline void gcode_G29() {
-
- static int probe_point = -1;
- MeshLevelingState state = code_seen('S') ? (MeshLevelingState)code_value_byte() : MeshReport;
- if (state < 0 || state > 5) {
- SERIAL_PROTOCOLLNPGM("S out of range (0-5).");
- return;
- }
-
- int8_t px, py;
-
- switch (state) {
- case MeshReport:
- if (mbl.has_mesh()) {
- SERIAL_PROTOCOLPAIR("State: ", mbl.active() ? "On" : "Off");
- SERIAL_PROTOCOLPAIR("\nNum X,Y: ", MESH_NUM_X_POINTS);
- SERIAL_PROTOCOLCHAR(','); SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
- SERIAL_PROTOCOLPAIR("\nZ search height: ", MESH_HOME_SEARCH_Z);
- SERIAL_PROTOCOLPGM("\nZ offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
- SERIAL_PROTOCOLLNPGM("\nMeasured points:");
- for (py = 0; py < MESH_NUM_Y_POINTS; py++) {
- for (px = 0; px < MESH_NUM_X_POINTS; px++) {
- SERIAL_PROTOCOLPGM(" ");
- SERIAL_PROTOCOL_F(mbl.z_values[py][px], 5);
- }
- SERIAL_EOL;
- }
- }
- else
- SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
- break;
-
- case MeshStart:
- mbl.reset();
- probe_point = 0;
- enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
- break;
-
- case MeshNext:
- if (probe_point < 0) {
- SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
- return;
- }
- // For each G29 S2...
- if (probe_point == 0) {
- // For the initial G29 S2 make Z a positive value (e.g., 4.0)
- current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
- #if Z_HOME_DIR > 0
- + Z_MAX_POS
- #endif
- ;
- SYNC_PLAN_POSITION_KINEMATIC();
- }
- else {
- // For G29 S2 after adjusting Z.
- mbl.set_zigzag_z(probe_point - 1, current_position[Z_AXIS]);
- }
- // If there's another point to sample, move there with optional lift.
- if (probe_point < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) {
- mbl.zigzag(probe_point, px, py);
- _mbl_goto_xy(mbl.get_probe_x(px), mbl.get_probe_y(py));
- probe_point++;
- }
- else {
- // One last "return to the bed" (as originally coded) at completion
- current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
- #if Z_RAISE_BETWEEN_PROBINGS > MIN_Z_HEIGHT_FOR_HOMING
- + Z_RAISE_BETWEEN_PROBINGS
- #elif MIN_Z_HEIGHT_FOR_HOMING > 0
- + MIN_Z_HEIGHT_FOR_HOMING
- #endif
- ;
- line_to_current_position();
- stepper.synchronize();
-
- // After recording the last point, activate the mbl and home
- SERIAL_PROTOCOLLNPGM("Mesh probing done.");
- probe_point = -1;
- mbl.set_has_mesh(true);
- enqueue_and_echo_commands_P(PSTR("G28"));
- }
- break;
-
- case MeshSet:
- if (code_seen('X')) {
- px = code_value_int() - 1;
- if (px < 0 || px >= MESH_NUM_X_POINTS) {
- SERIAL_PROTOCOLLNPGM("X out of range (1-" STRINGIFY(MESH_NUM_X_POINTS) ").");
- return;
- }
- }
- else {
- SERIAL_PROTOCOLLNPGM("X not entered.");
- return;
- }
- if (code_seen('Y')) {
- py = code_value_int() - 1;
- if (py < 0 || py >= MESH_NUM_Y_POINTS) {
- SERIAL_PROTOCOLLNPGM("Y out of range (1-" STRINGIFY(MESH_NUM_Y_POINTS) ").");
- return;
- }
- }
- else {
- SERIAL_PROTOCOLLNPGM("Y not entered.");
- return;
- }
- if (code_seen('Z')) {
- mbl.z_values[py][px] = code_value_axis_units(Z_AXIS);
- }
- else {
- SERIAL_PROTOCOLLNPGM("Z not entered.");
- return;
- }
- break;
-
- case MeshSetZOffset:
- if (code_seen('Z')) {
- mbl.z_offset = code_value_axis_units(Z_AXIS);
- }
- else {
- SERIAL_PROTOCOLLNPGM("Z not entered.");
- return;
- }
- break;
-
- case MeshReset:
- if (mbl.active()) {
- current_position[Z_AXIS] +=
- mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS)) - MESH_HOME_SEARCH_Z;
- mbl.reset();
- SYNC_PLAN_POSITION_KINEMATIC();
- }
- else
- mbl.reset();
-
- } // switch(state)
-
- report_current_position();
- }
-
- #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
-
- /**
- * G29: Detailed Z probe, probes the bed at 3 or more points.
- * Will fail if the printer has not been homed with G28.
- *
- * Enhanced G29 Auto Bed Leveling Probe Routine
- *
- * Parameters With AUTO_BED_LEVELING_GRID:
- *
- * P Set the size of the grid that will be probed (P x P points).
- * Not supported by non-linear delta printer bed leveling.
- * Example: "G29 P4"
- *
- * S Set the XY travel speed between probe points (in units/min)
- *
- * D Dry-Run mode. Just evaluate the bed Topology - Don't apply
- * or clean the rotation Matrix. Useful to check the topology
- * after a first run of G29.
- *
- * V Set the verbose level (0-4). Example: "G29 V3"
- *
- * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
- * This is useful for manual bed leveling and finding flaws in the bed (to
- * assist with part placement).
- * Not supported by non-linear delta printer bed leveling.
- *
- * F Set the Front limit of the probing grid
- * B Set the Back limit of the probing grid
- * L Set the Left limit of the probing grid
- * R Set the Right limit of the probing grid
- *
- * Global Parameters:
- *
- * E/e By default G29 will engage the Z probe, test the bed, then disengage.
- * Include "E" to engage/disengage the Z probe for each sample.
- * There's no extra effect if you have a fixed Z probe.
- * Usage: "G29 E" or "G29 e"
- *
- */
- inline void gcode_G29() {
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPGM(">>> gcode_G29");
- DEBUG_POS("", current_position);
- }
- #endif
-
- // Don't allow auto-leveling without homing first
- if (axis_unhomed_error(true, true, true)) return;
-
- int verbose_level = code_seen('V') ? code_value_int() : 1;
- if (verbose_level < 0 || verbose_level > 4) {
- SERIAL_ECHOLNPGM("?(V)erbose Level is implausible (0-4).");
- return;
- }
-
- bool dryrun = code_seen('D');
- bool stow_probe_after_each = code_seen('E');
-
- #if ENABLED(AUTO_BED_LEVELING_GRID)
-
- #if DISABLED(DELTA)
- bool do_topography_map = verbose_level > 2 || code_seen('T');
- #endif
-
- if (verbose_level > 0) {
- SERIAL_PROTOCOLLNPGM("G29 Auto Bed Leveling");
- if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode");
- }
-
- int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;
-
- #if DISABLED(DELTA)
- if (code_seen('P')) auto_bed_leveling_grid_points = code_value_int();
- if (auto_bed_leveling_grid_points < 2) {
- SERIAL_PROTOCOLLNPGM("?Number of probed (P)oints is implausible (2 minimum).");
- return;
- }
- #endif
-
- xy_probe_feedrate_mm_m = code_seen('S') ? (int)code_value_linear_units() : XY_PROBE_SPEED;
-
- int left_probe_bed_position = code_seen('L') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(LEFT_PROBE_BED_POSITION),
- right_probe_bed_position = code_seen('R') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(RIGHT_PROBE_BED_POSITION),
- front_probe_bed_position = code_seen('F') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(FRONT_PROBE_BED_POSITION),
- back_probe_bed_position = code_seen('B') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(BACK_PROBE_BED_POSITION);
-
- bool left_out_l = left_probe_bed_position < LOGICAL_X_POSITION(MIN_PROBE_X),
- left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE),
- right_out_r = right_probe_bed_position > LOGICAL_X_POSITION(MAX_PROBE_X),
- right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
- front_out_f = front_probe_bed_position < LOGICAL_Y_POSITION(MIN_PROBE_Y),
- front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE),
- back_out_b = back_probe_bed_position > LOGICAL_Y_POSITION(MAX_PROBE_Y),
- back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
-
- if (left_out || right_out || front_out || back_out) {
- if (left_out) {
- out_of_range_error(PSTR("(L)eft"));
- left_probe_bed_position = left_out_l ? LOGICAL_X_POSITION(MIN_PROBE_X) : right_probe_bed_position - (MIN_PROBE_EDGE);
- }
- if (right_out) {
- out_of_range_error(PSTR("(R)ight"));
- right_probe_bed_position = right_out_r ? LOGICAL_Y_POSITION(MAX_PROBE_X) : left_probe_bed_position + MIN_PROBE_EDGE;
- }
- if (front_out) {
- out_of_range_error(PSTR("(F)ront"));
- front_probe_bed_position = front_out_f ? LOGICAL_Y_POSITION(MIN_PROBE_Y) : back_probe_bed_position - (MIN_PROBE_EDGE);
- }
- if (back_out) {
- out_of_range_error(PSTR("(B)ack"));
- back_probe_bed_position = back_out_b ? LOGICAL_Y_POSITION(MAX_PROBE_Y) : front_probe_bed_position + MIN_PROBE_EDGE;
- }
- return;
- }
-
- #endif // AUTO_BED_LEVELING_GRID
-
- if (!dryrun) {
-
- #if ENABLED(DEBUG_LEVELING_FEATURE) && DISABLED(DELTA)
- if (DEBUGGING(LEVELING)) {
- vector_3 corrected_position = planner.adjusted_position();
- DEBUG_POS("BEFORE matrix.set_to_identity", corrected_position);
- DEBUG_POS("BEFORE matrix.set_to_identity", current_position);
- }
- #endif
-
- // make sure the bed_level_rotation_matrix is identity or the planner will get it wrong
- planner.bed_level_matrix.set_to_identity();
-
- #if ENABLED(DELTA)
- reset_bed_level();
- #else //!DELTA
-
- //vector_3 corrected_position = planner.adjusted_position();
- //corrected_position.debug("position before G29");
- vector_3 uncorrected_position = planner.adjusted_position();
- //uncorrected_position.debug("position during G29");
- current_position[X_AXIS] = uncorrected_position.x;
- current_position[Y_AXIS] = uncorrected_position.y;
- current_position[Z_AXIS] = uncorrected_position.z;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("AFTER matrix.set_to_identity", uncorrected_position);
- #endif
-
- SYNC_PLAN_POSITION_KINEMATIC();
-
- #endif // !DELTA
- }
-
- stepper.synchronize();
-
- setup_for_endstop_or_probe_move();
-
- // Deploy the probe. Probe will raise if needed.
- if (DEPLOY_PROBE()) return;
-
- bed_leveling_in_progress = true;
-
- #if ENABLED(AUTO_BED_LEVELING_GRID)
-
- // probe at the points of a lattice grid
- const int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1),
- yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
-
- #if ENABLED(DELTA)
- delta_grid_spacing[0] = xGridSpacing;
- delta_grid_spacing[1] = yGridSpacing;
- float zoffset = zprobe_zoffset;
- if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS);
- #else // !DELTA
- /**
- * solve the plane equation ax + by + d = z
- * A is the matrix with rows [x y 1] for all the probed points
- * B is the vector of the Z positions
- * the normal vector to the plane is formed by the coefficients of the
- * plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
- * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
- */
-
- int abl2 = sq(auto_bed_leveling_grid_points);
-
- double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
- eqnBVector[abl2], // "B" vector of Z points
- mean = 0.0;
- int8_t indexIntoAB[auto_bed_leveling_grid_points][auto_bed_leveling_grid_points];
- #endif // !DELTA
-
- int probePointCounter = 0;
- bool zig = (auto_bed_leveling_grid_points & 1) ? true : false; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
-
- for (int yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) {
- double yProbe = front_probe_bed_position + yGridSpacing * yCount;
- int xStart, xStop, xInc;
-
- if (zig) {
- xStart = 0;
- xStop = auto_bed_leveling_grid_points;
- xInc = 1;
- }
- else {
- xStart = auto_bed_leveling_grid_points - 1;
- xStop = -1;
- xInc = -1;
- }
-
- zig = !zig;
-
- for (int xCount = xStart; xCount != xStop; xCount += xInc) {
- double xProbe = left_probe_bed_position + xGridSpacing * xCount;
-
- #if ENABLED(DELTA)
- // Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
- float distance_from_center = HYPOT(xProbe, yProbe);
- if (distance_from_center > DELTA_PROBEABLE_RADIUS) continue;
- #endif //DELTA
-
- float measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
-
- #if DISABLED(DELTA)
- mean += measured_z;
-
- eqnBVector[probePointCounter] = measured_z;
- eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
- eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
- eqnAMatrix[probePointCounter + 2 * abl2] = 1;
- indexIntoAB[xCount][yCount] = probePointCounter;
- #else
- bed_level[xCount][yCount] = measured_z + zoffset;
- #endif
-
- probePointCounter++;
-
- idle();
-
- } //xProbe
- } //yProbe
-
- #else // !AUTO_BED_LEVELING_GRID
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
- #endif
-
- // Probe at 3 arbitrary points
- float z_at_pt_1 = probe_pt( LOGICAL_X_POSITION(ABL_PROBE_PT_1_X),
- LOGICAL_Y_POSITION(ABL_PROBE_PT_1_Y),
- stow_probe_after_each, verbose_level),
- z_at_pt_2 = probe_pt( LOGICAL_X_POSITION(ABL_PROBE_PT_2_X),
- LOGICAL_Y_POSITION(ABL_PROBE_PT_2_Y),
- stow_probe_after_each, verbose_level),
- z_at_pt_3 = probe_pt( LOGICAL_X_POSITION(ABL_PROBE_PT_3_X),
- LOGICAL_Y_POSITION(ABL_PROBE_PT_3_Y),
- stow_probe_after_each, verbose_level);
-
- if (!dryrun) set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
-
- #endif // !AUTO_BED_LEVELING_GRID
-
- // Raise to _Z_RAISE_PROBE_DEPLOY_STOW. Stow the probe.
- if (STOW_PROBE()) return;
-
- // Restore state after probing
- clean_up_after_endstop_or_probe_move();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
- #endif
-
- // Calculate leveling, print reports, correct the position
- #if ENABLED(AUTO_BED_LEVELING_GRID)
- #if ENABLED(DELTA)
-
- if (!dryrun) extrapolate_unprobed_bed_level();
- print_bed_level();
-
- #else // !DELTA
-
- // solve lsq problem
- double plane_equation_coefficients[3];
- qr_solve(plane_equation_coefficients, abl2, 3, eqnAMatrix, eqnBVector);
-
- mean /= abl2;
-
- if (verbose_level) {
- SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
- SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
- SERIAL_PROTOCOLPGM(" b: ");
- SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
- SERIAL_PROTOCOLPGM(" d: ");
- SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
- SERIAL_EOL;
- if (verbose_level > 2) {
- SERIAL_PROTOCOLPGM("Mean of sampled points: ");
- SERIAL_PROTOCOL_F(mean, 8);
- SERIAL_EOL;
- }
- }
-
- if (!dryrun) set_bed_level_equation_lsq(plane_equation_coefficients);
-
- // Show the Topography map if enabled
- if (do_topography_map) {
-
- SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n"
- " +--- BACK --+\n"
- " | |\n"
- " L | (+) | R\n"
- " E | | I\n"
- " F | (-) N (+) | G\n"
- " T | | H\n"
- " | (-) | T\n"
- " | |\n"
- " O-- FRONT --+\n"
- " (0,0)");
-
- float min_diff = 999;
-
- for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
- for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
- int ind = indexIntoAB[xx][yy];
- float diff = eqnBVector[ind] - mean;
-
- float x_tmp = eqnAMatrix[ind + 0 * abl2],
- y_tmp = eqnAMatrix[ind + 1 * abl2],
- z_tmp = 0;
-
- apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
-
- NOMORE(min_diff, eqnBVector[ind] - z_tmp);
-
- if (diff >= 0.0)
- SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
- else
- SERIAL_PROTOCOLCHAR(' ');
- SERIAL_PROTOCOL_F(diff, 5);
- } // xx
- SERIAL_EOL;
- } // yy
- SERIAL_EOL;
- if (verbose_level > 3) {
- SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:");
-
- for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
- for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
- int ind = indexIntoAB[xx][yy];
- float x_tmp = eqnAMatrix[ind + 0 * abl2],
- y_tmp = eqnAMatrix[ind + 1 * abl2],
- z_tmp = 0;
-
- apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
-
- float diff = eqnBVector[ind] - z_tmp - min_diff;
- if (diff >= 0.0)
- SERIAL_PROTOCOLPGM(" +");
- // Include + for column alignment
- else
- SERIAL_PROTOCOLCHAR(' ');
- SERIAL_PROTOCOL_F(diff, 5);
- } // xx
- SERIAL_EOL;
- } // yy
- SERIAL_EOL;
- }
- } //do_topography_map
- #endif //!DELTA
- #endif // AUTO_BED_LEVELING_GRID
-
- #if DISABLED(DELTA)
- if (verbose_level > 0)
- planner.bed_level_matrix.debug("\n\nBed Level Correction Matrix:");
-
- if (!dryrun) {
- /**
- * Correct the Z height difference from Z probe position and nozzle tip position.
- * The Z height on homing is measured by Z probe, but the Z probe is quite far
- * from the nozzle. When the bed is uneven, this height must be corrected.
- */
- float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
- y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
- z_tmp = current_position[Z_AXIS],
- stepper_z = stepper.get_axis_position_mm(Z_AXIS); //get the real Z (since planner.adjusted_position is now correcting the plane)
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > stepper_z = ", stepper_z);
- SERIAL_ECHOPAIR(" ... z_tmp = ", z_tmp);
- SERIAL_EOL;
- }
- #endif
-
- // Apply the correction sending the Z probe offset
- apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("> AFTER apply_rotation_xyz > z_tmp = ", z_tmp);
- SERIAL_EOL;
- }
- #endif
-
- // Adjust the current Z and send it to the planner.
- current_position[Z_AXIS] += z_tmp - stepper_z;
- SYNC_PLAN_POSITION_KINEMATIC();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("> corrected Z in G29", current_position);
- #endif
- }
- #endif // !DELTA
-
- #ifdef Z_PROBE_END_SCRIPT
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPGM("Z Probe End Script: ");
- SERIAL_ECHOLNPGM(Z_PROBE_END_SCRIPT);
- }
- #endif
- enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
- stepper.synchronize();
- #endif
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29");
- #endif
-
- bed_leveling_in_progress = false;
-
- report_current_position();
-
- KEEPALIVE_STATE(IN_HANDLER);
- }
-
- #endif //AUTO_BED_LEVELING_FEATURE
-
- #if HAS_BED_PROBE
-
- /**
- * G30: Do a single Z probe at the current XY
- */
- inline void gcode_G30() {
-
- setup_for_endstop_or_probe_move();
-
- // TODO: clear the leveling matrix or the planner will be set incorrectly
- float measured_z = probe_pt(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
- current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
- true, 1);
-
- SERIAL_PROTOCOLPGM("Bed X: ");
- SERIAL_PROTOCOL(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
- SERIAL_PROTOCOLPGM(" Y: ");
- SERIAL_PROTOCOL(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
- SERIAL_PROTOCOLPGM(" Z: ");
- SERIAL_PROTOCOL(measured_z + 0.0001);
- SERIAL_EOL;
-
- clean_up_after_endstop_or_probe_move();
-
- report_current_position();
- }
-
- #if ENABLED(Z_PROBE_SLED)
-
- /**
- * G31: Deploy the Z probe
- */
- inline void gcode_G31() { DEPLOY_PROBE(); }
-
- /**
- * G32: Stow the Z probe
- */
- inline void gcode_G32() { STOW_PROBE(); }
-
- #endif // Z_PROBE_SLED
-
- #endif // HAS_BED_PROBE
-
- /**
- * G92: Set current position to given X Y Z E
- */
- inline void gcode_G92() {
- bool didE = code_seen('E');
-
- if (!didE) stepper.synchronize();
-
- bool didXYZ = false;
- LOOP_XYZE(i) {
- if (code_seen(axis_codes[i])) {
- float p = current_position[i],
- v = code_value_axis_units(i);
-
- current_position[i] = v;
-
- if (i != E_AXIS) {
- position_shift[i] += v - p; // Offset the coordinate space
- update_software_endstops((AxisEnum)i);
- didXYZ = true;
- }
- }
- }
- if (didXYZ)
- SYNC_PLAN_POSITION_KINEMATIC();
- else if (didE)
- sync_plan_position_e();
- }
-
- #if ENABLED(ULTIPANEL)
-
- /**
- * M0: Unconditional stop - Wait for user button press on LCD
- * M1: Conditional stop - Wait for user button press on LCD
- */
- inline void gcode_M0_M1() {
- char* args = current_command_args;
-
- millis_t codenum = 0;
- bool hasP = false, hasS = false;
- if (code_seen('P')) {
- codenum = code_value_millis(); // milliseconds to wait
- hasP = codenum > 0;
- }
- if (code_seen('S')) {
- codenum = code_value_millis_from_seconds(); // seconds to wait
- hasS = codenum > 0;
- }
-
- if (!hasP && !hasS && *args != '\0')
- lcd_setstatus(args, true);
- else {
- LCD_MESSAGEPGM(MSG_USERWAIT);
- #if ENABLED(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
- dontExpireStatus();
- #endif
- }
-
- lcd_ignore_click();
- stepper.synchronize();
- refresh_cmd_timeout();
- if (codenum > 0) {
- codenum += previous_cmd_ms; // wait until this time for a click
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- while (PENDING(millis(), codenum) && !lcd_clicked()) idle();
- KEEPALIVE_STATE(IN_HANDLER);
- lcd_ignore_click(false);
- }
- else {
- if (!lcd_detected()) return;
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- while (!lcd_clicked()) idle();
- KEEPALIVE_STATE(IN_HANDLER);
- }
- if (IS_SD_PRINTING)
- LCD_MESSAGEPGM(MSG_RESUMING);
- else
- LCD_MESSAGEPGM(WELCOME_MSG);
- }
-
- #endif // ULTIPANEL
-
- /**
- * M17: Enable power on all stepper motors
- */
- inline void gcode_M17() {
- LCD_MESSAGEPGM(MSG_NO_MOVE);
- enable_all_steppers();
- }
-
- #if ENABLED(SDSUPPORT)
-
- /**
- * M20: List SD card to serial output
- */
- inline void gcode_M20() {
- SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
- card.ls();
- SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
- }
-
- /**
- * M21: Init SD Card
- */
- inline void gcode_M21() {
- card.initsd();
- }
-
- /**
- * M22: Release SD Card
- */
- inline void gcode_M22() {
- card.release();
- }
-
- /**
- * M23: Open a file
- */
- inline void gcode_M23() {
- card.openFile(current_command_args, true);
- }
-
- /**
- * M24: Start SD Print
- */
- inline void gcode_M24() {
- card.startFileprint();
- print_job_timer.start();
- }
-
- /**
- * M25: Pause SD Print
- */
- inline void gcode_M25() {
- card.pauseSDPrint();
- }
-
- /**
- * M26: Set SD Card file index
- */
- inline void gcode_M26() {
- if (card.cardOK && code_seen('S'))
- card.setIndex(code_value_long());
- }
-
- /**
- * M27: Get SD Card status
- */
- inline void gcode_M27() {
- card.getStatus();
- }
-
- /**
- * M28: Start SD Write
- */
- inline void gcode_M28() {
- card.openFile(current_command_args, false);
- }
-
- /**
- * M29: Stop SD Write
- * Processed in write to file routine above
- */
- inline void gcode_M29() {
- // card.saving = false;
- }
-
- /**
- * M30 <filename>: Delete SD Card file
- */
- inline void gcode_M30() {
- if (card.cardOK) {
- card.closefile();
- card.removeFile(current_command_args);
- }
- }
-
- #endif //SDSUPPORT
-
- /**
- * M31: Get the time since the start of SD Print (or last M109)
- */
- inline void gcode_M31() {
- char buffer[21];
- duration_t elapsed = print_job_timer.duration();
- elapsed.toString(buffer);
-
- lcd_setstatus(buffer);
-
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM("Print time: ");
- SERIAL_ECHOLN(buffer);
-
- thermalManager.autotempShutdown();
- }
-
- #if ENABLED(SDSUPPORT)
-
- /**
- * M32: Select file and start SD Print
- */
- inline void gcode_M32() {
- if (card.sdprinting)
- stepper.synchronize();
-
- char* namestartpos = strchr(current_command_args, '!'); // Find ! to indicate filename string start.
- if (!namestartpos)
- namestartpos = current_command_args; // Default name position, 4 letters after the M
- else
- namestartpos++; //to skip the '!'
-
- bool call_procedure = code_seen('P') && (seen_pointer < namestartpos);
-
- if (card.cardOK) {
- card.openFile(namestartpos, true, call_procedure);
-
- if (code_seen('S') && seen_pointer < namestartpos) // "S" (must occur _before_ the filename!)
- card.setIndex(code_value_long());
-
- card.startFileprint();
-
- // Procedure calls count as normal print time.
- if (!call_procedure) print_job_timer.start();
- }
- }
-
- #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
-
- /**
- * M33: Get the long full path of a file or folder
- *
- * Parameters:
- * <dospath> Case-insensitive DOS-style path to a file or folder
- *
- * Example:
- * M33 miscel~1/armchair/armcha~1.gco
- *
- * Output:
- * /Miscellaneous/Armchair/Armchair.gcode
- */
- inline void gcode_M33() {
- card.printLongPath(current_command_args);
- }
-
- #endif
-
- /**
- * M928: Start SD Write
- */
- inline void gcode_M928() {
- card.openLogFile(current_command_args);
- }
-
- #endif // SDSUPPORT
-
- /**
- * M42: Change pin status via GCode
- *
- * P<pin> Pin number (LED if omitted)
- * S<byte> Pin status from 0 - 255
- */
- inline void gcode_M42() {
- if (!code_seen('S')) return;
-
- int pin_status = code_value_int();
- if (pin_status < 0 || pin_status > 255) return;
-
- int pin_number = code_seen('P') ? code_value_int() : LED_PIN;
- if (pin_number < 0) return;
-
- for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
- if (pin_number == sensitive_pins[i]) return;
-
- pinMode(pin_number, OUTPUT);
- digitalWrite(pin_number, pin_status);
- analogWrite(pin_number, pin_status);
-
- #if FAN_COUNT > 0
- switch (pin_number) {
- #if HAS_FAN0
- case FAN_PIN: fanSpeeds[0] = pin_status; break;
- #endif
- #if HAS_FAN1
- case FAN1_PIN: fanSpeeds[1] = pin_status; break;
- #endif
- #if HAS_FAN2
- case FAN2_PIN: fanSpeeds[2] = pin_status; break;
- #endif
- }
- #endif
- }
-
- #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
-
- /**
- * M48: Z probe repeatability measurement function.
- *
- * Usage:
- * M48 <P#> <X#> <Y#> <V#> <E> <L#>
- * P = Number of sampled points (4-50, default 10)
- * X = Sample X position
- * Y = Sample Y position
- * V = Verbose level (0-4, default=1)
- * E = Engage Z probe for each reading
- * L = Number of legs of movement before probe
- * S = Schizoid (Or Star if you prefer)
- *
- * This function assumes the bed has been homed. Specifically, that a G28 command
- * as been issued prior to invoking the M48 Z probe repeatability measurement function.
- * Any information generated by a prior G29 Bed leveling command will be lost and need to be
- * regenerated.
- */
- inline void gcode_M48() {
-
- if (axis_unhomed_error(true, true, true)) return;
-
- int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
- if (verbose_level < 0 || verbose_level > 4) {
- SERIAL_PROTOCOLLNPGM("?Verbose Level not plausible (0-4).");
- return;
- }
-
- if (verbose_level > 0)
- SERIAL_PROTOCOLLNPGM("M48 Z-Probe Repeatability test");
-
- int8_t n_samples = code_seen('P') ? code_value_byte() : 10;
- if (n_samples < 4 || n_samples > 50) {
- SERIAL_PROTOCOLLNPGM("?Sample size not plausible (4-50).");
- return;
- }
-
- float X_current = current_position[X_AXIS],
- Y_current = current_position[Y_AXIS];
-
- bool stow_probe_after_each = code_seen('E');
-
- float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : X_current + X_PROBE_OFFSET_FROM_EXTRUDER;
- #if DISABLED(DELTA)
- if (X_probe_location < LOGICAL_X_POSITION(MIN_PROBE_X) || X_probe_location > LOGICAL_X_POSITION(MAX_PROBE_X)) {
- out_of_range_error(PSTR("X"));
- return;
- }
- #endif
-
- float Y_probe_location = code_seen('Y') ? code_value_axis_units(Y_AXIS) : Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER;
- #if DISABLED(DELTA)
- if (Y_probe_location < LOGICAL_Y_POSITION(MIN_PROBE_Y) || Y_probe_location > LOGICAL_Y_POSITION(MAX_PROBE_Y)) {
- out_of_range_error(PSTR("Y"));
- return;
- }
- #else
- if (HYPOT(RAW_X_POSITION(X_probe_location), RAW_Y_POSITION(Y_probe_location)) > DELTA_PROBEABLE_RADIUS) {
- SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius.");
- return;
- }
- #endif
-
- bool seen_L = code_seen('L');
- uint8_t n_legs = seen_L ? code_value_byte() : 0;
- if (n_legs > 15) {
- SERIAL_PROTOCOLLNPGM("?Number of legs in movement not plausible (0-15).");
- return;
- }
- if (n_legs == 1) n_legs = 2;
-
- bool schizoid_flag = code_seen('S');
- if (schizoid_flag && !seen_L) n_legs = 7;
-
- /**
- * Now get everything to the specified probe point So we can safely do a
- * probe to get us close to the bed. If the Z-Axis is far from the bed,
- * we don't want to use that as a starting point for each probe.
- */
- if (verbose_level > 2)
- SERIAL_PROTOCOLLNPGM("Positioning the probe...");
-
- #if ENABLED(DELTA)
- // we don't do bed level correction in M48 because we want the raw data when we probe
- reset_bed_level();
- #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
- // we don't do bed level correction in M48 because we want the raw data when we probe
- planner.bed_level_matrix.set_to_identity();
- #endif
-
- setup_for_endstop_or_probe_move();
-
- // Move to the first point, deploy, and probe
- probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
-
- randomSeed(millis());
-
- double mean = 0, sigma = 0, sample_set[n_samples];
- for (uint8_t n = 0; n < n_samples; n++) {
- if (n_legs) {
- int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
- float angle = random(0.0, 360.0),
- radius = random(
- #if ENABLED(DELTA)
- DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3
- #else
- 5, X_MAX_LENGTH / 8
- #endif
- );
-
- if (verbose_level > 3) {
- SERIAL_ECHOPAIR("Starting radius: ", radius);
- SERIAL_ECHOPAIR(" angle: ", angle);
- SERIAL_ECHOPGM(" Direction: ");
- if (dir > 0) SERIAL_ECHOPGM("Counter-");
- SERIAL_ECHOLNPGM("Clockwise");
- }
-
- for (uint8_t l = 0; l < n_legs - 1; l++) {
- double delta_angle;
-
- if (schizoid_flag)
- // The points of a 5 point star are 72 degrees apart. We need to
- // skip a point and go to the next one on the star.
- delta_angle = dir * 2.0 * 72.0;
-
- else
- // If we do this line, we are just trying to move further
- // around the circle.
- delta_angle = dir * (float) random(25, 45);
-
- angle += delta_angle;
-
- while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
- angle -= 360.0; // Arduino documentation says the trig functions should not be given values
- while (angle < 0.0) // outside of this range. It looks like they behave correctly with
- angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
-
- X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
- Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
-
- #if DISABLED(DELTA)
- X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
- Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
- #else
- // If we have gone out too far, we can do a simple fix and scale the numbers
- // back in closer to the origin.
- while (HYPOT(X_current, Y_current) > DELTA_PROBEABLE_RADIUS) {
- X_current /= 1.25;
- Y_current /= 1.25;
- if (verbose_level > 3) {
- SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
- SERIAL_ECHOPAIR(", ", Y_current);
- SERIAL_EOL;
- }
- }
- #endif
- if (verbose_level > 3) {
- SERIAL_PROTOCOLPGM("Going to:");
- SERIAL_ECHOPAIR(" X", X_current);
- SERIAL_ECHOPAIR(" Y", Y_current);
- SERIAL_ECHOPAIR(" Z", current_position[Z_AXIS]);
- SERIAL_EOL;
- }
- do_blocking_move_to_xy(X_current, Y_current);
- } // n_legs loop
- } // n_legs
-
- // Probe a single point
- sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
-
- /**
- * Get the current mean for the data points we have so far
- */
- double sum = 0.0;
- for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
- mean = sum / (n + 1);
-
- /**
- * Now, use that mean to calculate the standard deviation for the
- * data points we have so far
- */
- sum = 0.0;
- for (uint8_t j = 0; j <= n; j++)
- sum += sq(sample_set[j] - mean);
-
- sigma = sqrt(sum / (n + 1));
- if (verbose_level > 0) {
- if (verbose_level > 1) {
- SERIAL_PROTOCOL(n + 1);
- SERIAL_PROTOCOLPGM(" of ");
- SERIAL_PROTOCOL((int)n_samples);
- SERIAL_PROTOCOLPGM(" z: ");
- SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
- if (verbose_level > 2) {
- SERIAL_PROTOCOLPGM(" mean: ");
- SERIAL_PROTOCOL_F(mean, 6);
- SERIAL_PROTOCOLPGM(" sigma: ");
- SERIAL_PROTOCOL_F(sigma, 6);
- }
- }
- SERIAL_EOL;
- }
-
- } // End of probe loop
-
- if (STOW_PROBE()) return;
-
- if (verbose_level > 0) {
- SERIAL_PROTOCOLPGM("Mean: ");
- SERIAL_PROTOCOL_F(mean, 6);
- SERIAL_EOL;
- }
-
- SERIAL_PROTOCOLPGM("Standard Deviation: ");
- SERIAL_PROTOCOL_F(sigma, 6);
- SERIAL_EOL; SERIAL_EOL;
-
- clean_up_after_endstop_or_probe_move();
-
- report_current_position();
- }
-
- #endif // Z_MIN_PROBE_REPEATABILITY_TEST
-
- /**
- * M75: Start print timer
- */
- inline void gcode_M75() { print_job_timer.start(); }
-
- /**
- * M76: Pause print timer
- */
- inline void gcode_M76() { print_job_timer.pause(); }
-
- /**
- * M77: Stop print timer
- */
- inline void gcode_M77() { print_job_timer.stop(); }
-
- #if ENABLED(PRINTCOUNTER)
- /**
- * M78: Show print statistics
- */
- inline void gcode_M78() {
- // "M78 S78" will reset the statistics
- if (code_seen('S') && code_value_int() == 78)
- print_job_timer.initStats();
- else print_job_timer.showStats();
- }
- #endif
-
- /**
- * M104: Set hot end temperature
- */
- inline void gcode_M104() {
- if (get_target_extruder_from_command(104)) return;
- if (DEBUGGING(DRYRUN)) return;
-
- #if ENABLED(SINGLENOZZLE)
- if (target_extruder != active_extruder) return;
- #endif
-
- if (code_seen('S')) {
- thermalManager.setTargetHotend(code_value_temp_abs(), target_extruder);
- #if ENABLED(DUAL_X_CARRIAGE)
- if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
- thermalManager.setTargetHotend(code_value_temp_abs() == 0.0 ? 0.0 : code_value_temp_abs() + duplicate_extruder_temp_offset, 1);
- #endif
-
- #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
- /**
- * Stop the timer at the end of print, starting is managed by
- * 'heat and wait' M109.
- * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
- * stand by mode, for instance in a dual extruder setup, without affecting
- * the running print timer.
- */
- if (code_value_temp_abs() <= (EXTRUDE_MINTEMP)/2) {
- print_job_timer.stop();
- LCD_MESSAGEPGM(WELCOME_MSG);
- }
- #endif
-
- if (code_value_temp_abs() > thermalManager.degHotend(target_extruder)) LCD_MESSAGEPGM(MSG_HEATING);
- }
- }
-
- #if HAS_TEMP_HOTEND || HAS_TEMP_BED
-
- void print_heaterstates() {
- #if HAS_TEMP_HOTEND
- SERIAL_PROTOCOLPGM(" T:");
- SERIAL_PROTOCOL_F(thermalManager.degHotend(target_extruder), 1);
- SERIAL_PROTOCOLPGM(" /");
- SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(target_extruder), 1);
- #endif
- #if HAS_TEMP_BED
- SERIAL_PROTOCOLPGM(" B:");
- SERIAL_PROTOCOL_F(thermalManager.degBed(), 1);
- SERIAL_PROTOCOLPGM(" /");
- SERIAL_PROTOCOL_F(thermalManager.degTargetBed(), 1);
- #endif
- #if HOTENDS > 1
- HOTEND_LOOP() {
- SERIAL_PROTOCOLPGM(" T");
- SERIAL_PROTOCOL(e);
- SERIAL_PROTOCOLCHAR(':');
- SERIAL_PROTOCOL_F(thermalManager.degHotend(e), 1);
- SERIAL_PROTOCOLPGM(" /");
- SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(e), 1);
- }
- #endif
- #if HAS_TEMP_BED
- SERIAL_PROTOCOLPGM(" B@:");
- #ifdef BED_WATTS
- SERIAL_PROTOCOL(((BED_WATTS) * thermalManager.getHeaterPower(-1)) / 127);
- SERIAL_PROTOCOLCHAR('W');
- #else
- SERIAL_PROTOCOL(thermalManager.getHeaterPower(-1));
- #endif
- #endif
- SERIAL_PROTOCOLPGM(" @:");
- #ifdef EXTRUDER_WATTS
- SERIAL_PROTOCOL(((EXTRUDER_WATTS) * thermalManager.getHeaterPower(target_extruder)) / 127);
- SERIAL_PROTOCOLCHAR('W');
- #else
- SERIAL_PROTOCOL(thermalManager.getHeaterPower(target_extruder));
- #endif
- #if HOTENDS > 1
- HOTEND_LOOP() {
- SERIAL_PROTOCOLPGM(" @");
- SERIAL_PROTOCOL(e);
- SERIAL_PROTOCOLCHAR(':');
- #ifdef EXTRUDER_WATTS
- SERIAL_PROTOCOL(((EXTRUDER_WATTS) * thermalManager.getHeaterPower(e)) / 127);
- SERIAL_PROTOCOLCHAR('W');
- #else
- SERIAL_PROTOCOL(thermalManager.getHeaterPower(e));
- #endif
- }
- #endif
- #if ENABLED(SHOW_TEMP_ADC_VALUES)
- #if HAS_TEMP_BED
- SERIAL_PROTOCOLPGM(" ADC B:");
- SERIAL_PROTOCOL_F(thermalManager.degBed(), 1);
- SERIAL_PROTOCOLPGM("C->");
- SERIAL_PROTOCOL_F(thermalManager.rawBedTemp() / OVERSAMPLENR, 0);
- #endif
- HOTEND_LOOP() {
- SERIAL_PROTOCOLPGM(" T");
- SERIAL_PROTOCOL(e);
- SERIAL_PROTOCOLCHAR(':');
- SERIAL_PROTOCOL_F(thermalManager.degHotend(e), 1);
- SERIAL_PROTOCOLPGM("C->");
- SERIAL_PROTOCOL_F(thermalManager.rawHotendTemp(e) / OVERSAMPLENR, 0);
- }
- #endif
- }
- #endif
-
- /**
- * M105: Read hot end and bed temperature
- */
- inline void gcode_M105() {
- if (get_target_extruder_from_command(105)) return;
-
- #if HAS_TEMP_HOTEND || HAS_TEMP_BED
- SERIAL_PROTOCOLPGM(MSG_OK);
- print_heaterstates();
- #else // !HAS_TEMP_HOTEND && !HAS_TEMP_BED
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
- #endif
-
- SERIAL_EOL;
- }
-
- #if FAN_COUNT > 0
-
- /**
- * M106: Set Fan Speed
- *
- * S<int> Speed between 0-255
- * P<index> Fan index, if more than one fan
- */
- inline void gcode_M106() {
- uint16_t s = code_seen('S') ? code_value_ushort() : 255,
- p = code_seen('P') ? code_value_ushort() : 0;
- NOMORE(s, 255);
- if (p < FAN_COUNT) fanSpeeds[p] = s;
- }
-
- /**
- * M107: Fan Off
- */
- inline void gcode_M107() {
- uint16_t p = code_seen('P') ? code_value_ushort() : 0;
- if (p < FAN_COUNT) fanSpeeds[p] = 0;
- }
-
- #endif // FAN_COUNT > 0
-
- #if DISABLED(EMERGENCY_PARSER)
-
- /**
- * M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
- */
- inline void gcode_M108() { wait_for_heatup = false; }
-
-
- /**
- * M112: Emergency Stop
- */
- inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
-
-
- /**
- * M410: Quickstop - Abort all planned moves
- *
- * This will stop the carriages mid-move, so most likely they
- * will be out of sync with the stepper position after this.
- */
- inline void gcode_M410() { quickstop_stepper(); }
-
- #endif
-
- #ifndef MIN_COOLING_SLOPE_DEG
- #define MIN_COOLING_SLOPE_DEG 1.50
- #endif
- #ifndef MIN_COOLING_SLOPE_TIME
- #define MIN_COOLING_SLOPE_TIME 60
- #endif
-
- /**
- * M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
- * Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
- */
- inline void gcode_M109() {
-
- if (get_target_extruder_from_command(109)) return;
- if (DEBUGGING(DRYRUN)) return;
-
- #if ENABLED(SINGLENOZZLE)
- if (target_extruder != active_extruder) return;
- #endif
-
- bool no_wait_for_cooling = code_seen('S');
- if (no_wait_for_cooling || code_seen('R')) {
- thermalManager.setTargetHotend(code_value_temp_abs(), target_extruder);
- #if ENABLED(DUAL_X_CARRIAGE)
- if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
- thermalManager.setTargetHotend(code_value_temp_abs() == 0.0 ? 0.0 : code_value_temp_abs() + duplicate_extruder_temp_offset, 1);
- #endif
-
- #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
- /**
- * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
- * stand by mode, for instance in a dual extruder setup, without affecting
- * the running print timer.
- */
- if (code_value_temp_abs() <= (EXTRUDE_MINTEMP)/2) {
- print_job_timer.stop();
- LCD_MESSAGEPGM(WELCOME_MSG);
- }
- /**
- * We do not check if the timer is already running because this check will
- * be done for us inside the Stopwatch::start() method thus a running timer
- * will not restart.
- */
- else print_job_timer.start();
- #endif
-
- if (thermalManager.isHeatingHotend(target_extruder)) LCD_MESSAGEPGM(MSG_HEATING);
- }
-
- #if ENABLED(AUTOTEMP)
- planner.autotemp_M109();
- #endif
-
- #if TEMP_RESIDENCY_TIME > 0
- millis_t residency_start_ms = 0;
- // Loop until the temperature has stabilized
- #define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL))
- #else
- // Loop until the temperature is very close target
- #define TEMP_CONDITIONS (wants_to_cool ? thermalManager.isCoolingHotend(target_extruder) : thermalManager.isHeatingHotend(target_extruder))
- #endif //TEMP_RESIDENCY_TIME > 0
-
- float theTarget = -1.0, old_temp = 9999.0;
- bool wants_to_cool = false;
- wait_for_heatup = true;
- millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
-
- KEEPALIVE_STATE(NOT_BUSY);
-
- do {
- // Target temperature might be changed during the loop
- if (theTarget != thermalManager.degTargetHotend(target_extruder)) {
- wants_to_cool = thermalManager.isCoolingHotend(target_extruder);
- theTarget = thermalManager.degTargetHotend(target_extruder);
-
- // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
- if (no_wait_for_cooling && wants_to_cool) break;
- }
-
- now = millis();
- if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting
- next_temp_ms = now + 1000UL;
- print_heaterstates();
- #if TEMP_RESIDENCY_TIME > 0
- SERIAL_PROTOCOLPGM(" W:");
- if (residency_start_ms) {
- long rem = (((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
- SERIAL_PROTOCOLLN(rem);
- }
- else {
- SERIAL_PROTOCOLLNPGM("?");
- }
- #else
- SERIAL_EOL;
- #endif
- }
-
- idle();
- refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
-
- float temp = thermalManager.degHotend(target_extruder);
-
- #if TEMP_RESIDENCY_TIME > 0
-
- float temp_diff = fabs(theTarget - temp);
-
- if (!residency_start_ms) {
- // Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
- if (temp_diff < TEMP_WINDOW) residency_start_ms = now;
- }
- else if (temp_diff > TEMP_HYSTERESIS) {
- // Restart the timer whenever the temperature falls outside the hysteresis.
- residency_start_ms = now;
- }
-
- #endif //TEMP_RESIDENCY_TIME > 0
-
- // Prevent a wait-forever situation if R is misused i.e. M109 R0
- if (wants_to_cool) {
- // break after MIN_COOLING_SLOPE_TIME seconds
- // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG
- if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
- if (old_temp - temp < MIN_COOLING_SLOPE_DEG) break;
- next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME;
- old_temp = temp;
- }
- }
-
- } while (wait_for_heatup && TEMP_CONDITIONS);
-
- LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
- KEEPALIVE_STATE(IN_HANDLER);
- }
-
- #if HAS_TEMP_BED
-
- #ifndef MIN_COOLING_SLOPE_DEG_BED
- #define MIN_COOLING_SLOPE_DEG_BED 1.50
- #endif
- #ifndef MIN_COOLING_SLOPE_TIME_BED
- #define MIN_COOLING_SLOPE_TIME_BED 60
- #endif
-
- /**
- * M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
- * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
- */
- inline void gcode_M190() {
- if (DEBUGGING(DRYRUN)) return;
-
- LCD_MESSAGEPGM(MSG_BED_HEATING);
- bool no_wait_for_cooling = code_seen('S');
- if (no_wait_for_cooling || code_seen('R')) {
- thermalManager.setTargetBed(code_value_temp_abs());
- #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
- if (code_value_temp_abs() > BED_MINTEMP) {
- /**
- * We start the timer when 'heating and waiting' command arrives, LCD
- * functions never wait. Cooling down managed by extruders.
- *
- * We do not check if the timer is already running because this check will
- * be done for us inside the Stopwatch::start() method thus a running timer
- * will not restart.
- */
- print_job_timer.start();
- }
- #endif
- }
-
- #if TEMP_BED_RESIDENCY_TIME > 0
- millis_t residency_start_ms = 0;
- // Loop until the temperature has stabilized
- #define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL))
- #else
- // Loop until the temperature is very close target
- #define TEMP_BED_CONDITIONS (wants_to_cool ? thermalManager.isCoolingBed() : thermalManager.isHeatingBed())
- #endif //TEMP_BED_RESIDENCY_TIME > 0
-
- float theTarget = -1.0, old_temp = 9999.0;
- bool wants_to_cool = false;
- wait_for_heatup = true;
- millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
-
- KEEPALIVE_STATE(NOT_BUSY);
-
- target_extruder = active_extruder; // for print_heaterstates
-
- do {
- // Target temperature might be changed during the loop
- if (theTarget != thermalManager.degTargetBed()) {
- wants_to_cool = thermalManager.isCoolingBed();
- theTarget = thermalManager.degTargetBed();
-
- // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
- if (no_wait_for_cooling && wants_to_cool) break;
- }
-
- now = millis();
- if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up.
- next_temp_ms = now + 1000UL;
- print_heaterstates();
- #if TEMP_BED_RESIDENCY_TIME > 0
- SERIAL_PROTOCOLPGM(" W:");
- if (residency_start_ms) {
- long rem = (((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
- SERIAL_PROTOCOLLN(rem);
- }
- else {
- SERIAL_PROTOCOLLNPGM("?");
- }
- #else
- SERIAL_EOL;
- #endif
- }
-
- idle();
- refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
-
- float temp = thermalManager.degBed();
-
- #if TEMP_BED_RESIDENCY_TIME > 0
-
- float temp_diff = fabs(theTarget - temp);
-
- if (!residency_start_ms) {
- // Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
- if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = now;
- }
- else if (temp_diff > TEMP_BED_HYSTERESIS) {
- // Restart the timer whenever the temperature falls outside the hysteresis.
- residency_start_ms = now;
- }
-
- #endif //TEMP_BED_RESIDENCY_TIME > 0
-
- // Prevent a wait-forever situation if R is misused i.e. M190 R0
- if (wants_to_cool) {
- // break after MIN_COOLING_SLOPE_TIME_BED seconds
- // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED
- if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
- if (old_temp - temp < MIN_COOLING_SLOPE_DEG_BED) break;
- next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME_BED;
- old_temp = temp;
- }
- }
-
- } while (wait_for_heatup && TEMP_BED_CONDITIONS);
-
- LCD_MESSAGEPGM(MSG_BED_DONE);
- KEEPALIVE_STATE(IN_HANDLER);
- }
-
- #endif // HAS_TEMP_BED
-
- /**
- * M110: Set Current Line Number
- */
- inline void gcode_M110() {
- if (code_seen('N')) gcode_N = code_value_long();
- }
-
- /**
- * M111: Set the debug level
- */
- inline void gcode_M111() {
- marlin_debug_flags = code_seen('S') ? code_value_byte() : (uint8_t) DEBUG_NONE;
-
- const static char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO;
- const static char str_debug_2[] PROGMEM = MSG_DEBUG_INFO;
- const static char str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS;
- const static char str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN;
- const static char str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION;
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- const static char str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING;
- #endif
-
- const static char* const debug_strings[] PROGMEM = {
- str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16,
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- str_debug_32
- #endif
- };
-
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_DEBUG_PREFIX);
- if (marlin_debug_flags) {
- uint8_t comma = 0;
- for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
- if (TEST(marlin_debug_flags, i)) {
- if (comma++) SERIAL_CHAR(',');
- serialprintPGM((char*)pgm_read_word(&(debug_strings[i])));
- }
- }
- }
- else {
- SERIAL_ECHOPGM(MSG_DEBUG_OFF);
- }
- SERIAL_EOL;
- }
-
- #if ENABLED(HOST_KEEPALIVE_FEATURE)
-
- /**
- * M113: Get or set Host Keepalive interval (0 to disable)
- *
- * S<seconds> Optional. Set the keepalive interval.
- */
- inline void gcode_M113() {
- if (code_seen('S')) {
- host_keepalive_interval = code_value_byte();
- NOMORE(host_keepalive_interval, 60);
- }
- else {
- SERIAL_ECHO_START;
- SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
- SERIAL_EOL;
- }
- }
-
- #endif
-
- #if ENABLED(BARICUDA)
-
- #if HAS_HEATER_1
- /**
- * M126: Heater 1 valve open
- */
- inline void gcode_M126() { baricuda_valve_pressure = code_seen('S') ? code_value_byte() : 255; }
- /**
- * M127: Heater 1 valve close
- */
- inline void gcode_M127() { baricuda_valve_pressure = 0; }
- #endif
-
- #if HAS_HEATER_2
- /**
- * M128: Heater 2 valve open
- */
- inline void gcode_M128() { baricuda_e_to_p_pressure = code_seen('S') ? code_value_byte() : 255; }
- /**
- * M129: Heater 2 valve close
- */
- inline void gcode_M129() { baricuda_e_to_p_pressure = 0; }
- #endif
-
- #endif //BARICUDA
-
- /**
- * M140: Set bed temperature
- */
- inline void gcode_M140() {
- if (DEBUGGING(DRYRUN)) return;
- if (code_seen('S')) thermalManager.setTargetBed(code_value_temp_abs());
- }
-
- #if ENABLED(ULTIPANEL)
-
- /**
- * M145: Set the heatup state for a material in the LCD menu
- * S<material> (0=PLA, 1=ABS)
- * H<hotend temp>
- * B<bed temp>
- * F<fan speed>
- */
- inline void gcode_M145() {
- int8_t material = code_seen('S') ? (int8_t)code_value_int() : 0;
- if (material < 0 || material > 1) {
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
- }
- else {
- int v;
- switch (material) {
- case 0:
- if (code_seen('H')) {
- v = code_value_int();
- preheatHotendTemp1 = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
- }
- if (code_seen('F')) {
- v = code_value_int();
- preheatFanSpeed1 = constrain(v, 0, 255);
- }
- #if TEMP_SENSOR_BED != 0
- if (code_seen('B')) {
- v = code_value_int();
- preheatBedTemp1 = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
- }
- #endif
- break;
- case 1:
- if (code_seen('H')) {
- v = code_value_int();
- preheatHotendTemp2 = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
- }
- if (code_seen('F')) {
- v = code_value_int();
- preheatFanSpeed2 = constrain(v, 0, 255);
- }
- #if TEMP_SENSOR_BED != 0
- if (code_seen('B')) {
- v = code_value_int();
- preheatBedTemp2 = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
- }
- #endif
- break;
- }
- }
- }
-
- #endif
-
- #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
- /**
- * M149: Set temperature units
- */
- inline void gcode_M149() {
- if (code_seen('C')) {
- set_input_temp_units(TEMPUNIT_C);
- } else if (code_seen('K')) {
- set_input_temp_units(TEMPUNIT_K);
- } else if (code_seen('F')) {
- set_input_temp_units(TEMPUNIT_F);
- }
- }
- #endif
-
- #if HAS_POWER_SWITCH
-
- /**
- * M80: Turn on Power Supply
- */
- inline void gcode_M80() {
- OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND
-
- /**
- * If you have a switch on suicide pin, this is useful
- * if you want to start another print with suicide feature after
- * a print without suicide...
- */
- #if HAS_SUICIDE
- OUT_WRITE(SUICIDE_PIN, HIGH);
- #endif
-
- #if ENABLED(ULTIPANEL)
- powersupply = true;
- LCD_MESSAGEPGM(WELCOME_MSG);
- lcd_update();
- #endif
- }
-
- #endif // HAS_POWER_SWITCH
-
- /**
- * M81: Turn off Power, including Power Supply, if there is one.
- *
- * This code should ALWAYS be available for EMERGENCY SHUTDOWN!
- */
- inline void gcode_M81() {
- thermalManager.disable_all_heaters();
- stepper.finish_and_disable();
- #if FAN_COUNT > 0
- #if FAN_COUNT > 1
- for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
- #else
- fanSpeeds[0] = 0;
- #endif
- #endif
- delay(1000); // Wait 1 second before switching off
- #if HAS_SUICIDE
- stepper.synchronize();
- suicide();
- #elif HAS_POWER_SWITCH
- OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
- #endif
- #if ENABLED(ULTIPANEL)
- #if HAS_POWER_SWITCH
- powersupply = false;
- #endif
- LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
- lcd_update();
- #endif
- }
-
-
- /**
- * M82: Set E codes absolute (default)
- */
- inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
-
- /**
- * M83: Set E codes relative while in Absolute Coordinates (G90) mode
- */
- inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; }
-
- /**
- * M18, M84: Disable all stepper motors
- */
- inline void gcode_M18_M84() {
- if (code_seen('S')) {
- stepper_inactive_time = code_value_millis_from_seconds();
- }
- else {
- bool all_axis = !((code_seen('X')) || (code_seen('Y')) || (code_seen('Z')) || (code_seen('E')));
- if (all_axis) {
- stepper.finish_and_disable();
- }
- else {
- stepper.synchronize();
- if (code_seen('X')) disable_x();
- if (code_seen('Y')) disable_y();
- if (code_seen('Z')) disable_z();
- #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
- if (code_seen('E')) {
- disable_e0();
- disable_e1();
- disable_e2();
- disable_e3();
- }
- #endif
- }
- }
- }
-
- /**
- * M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
- */
- inline void gcode_M85() {
- if (code_seen('S')) max_inactive_time = code_value_millis_from_seconds();
- }
-
- /**
- * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
- * (Follows the same syntax as G92)
- */
- inline void gcode_M92() {
- LOOP_XYZE(i) {
- if (code_seen(axis_codes[i])) {
- if (i == E_AXIS) {
- float value = code_value_per_axis_unit(i);
- if (value < 20.0) {
- float factor = planner.axis_steps_per_mm[i] / value; // increase e constants if M92 E14 is given for netfab.
- planner.max_e_jerk *= factor;
- planner.max_feedrate_mm_s[i] *= factor;
- planner.max_acceleration_steps_per_s2[i] *= factor;
- }
- planner.axis_steps_per_mm[i] = value;
- }
- else {
- planner.axis_steps_per_mm[i] = code_value_per_axis_unit(i);
- }
- }
- }
- planner.refresh_positioning();
- }
-
- /**
- * Output the current position to serial
- */
- static void report_current_position() {
- SERIAL_PROTOCOLPGM("X:");
- SERIAL_PROTOCOL(current_position[X_AXIS]);
- SERIAL_PROTOCOLPGM(" Y:");
- SERIAL_PROTOCOL(current_position[Y_AXIS]);
- SERIAL_PROTOCOLPGM(" Z:");
- SERIAL_PROTOCOL(current_position[Z_AXIS]);
- SERIAL_PROTOCOLPGM(" E:");
- SERIAL_PROTOCOL(current_position[E_AXIS]);
-
- stepper.report_positions();
-
- #if ENABLED(SCARA)
- SERIAL_PROTOCOLPGM("SCARA Theta:");
- SERIAL_PROTOCOL(delta[X_AXIS]);
- SERIAL_PROTOCOLPGM(" Psi+Theta:");
- SERIAL_PROTOCOL(delta[Y_AXIS]);
- SERIAL_EOL;
-
- SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
- SERIAL_PROTOCOL(delta[X_AXIS]);
- SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
- SERIAL_PROTOCOL(delta[Y_AXIS] - delta[X_AXIS] - 90);
- SERIAL_EOL;
-
- SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
- SERIAL_PROTOCOL(delta[X_AXIS] / 90 * planner.axis_steps_per_mm[X_AXIS]);
- SERIAL_PROTOCOLPGM(" Psi+Theta:");
- SERIAL_PROTOCOL((delta[Y_AXIS] - delta[X_AXIS]) / 90 * planner.axis_steps_per_mm[Y_AXIS]);
- SERIAL_EOL; SERIAL_EOL;
- #endif
- }
-
- /**
- * M114: Output current position to serial port
- */
- inline void gcode_M114() { report_current_position(); }
-
- /**
- * M115: Capabilities string
- */
- inline void gcode_M115() {
- SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
- }
-
- /**
- * M117: Set LCD Status Message
- */
- inline void gcode_M117() {
- lcd_setstatus(current_command_args);
- }
-
- /**
- * M119: Output endstop states to serial output
- */
- inline void gcode_M119() { endstops.M119(); }
-
- /**
- * M120: Enable endstops and set non-homing endstop state to "enabled"
- */
- inline void gcode_M120() { endstops.enable_globally(true); }
-
- /**
- * M121: Disable endstops and set non-homing endstop state to "disabled"
- */
- inline void gcode_M121() { endstops.enable_globally(false); }
-
- #if ENABLED(BLINKM)
-
- /**
- * M150: Set Status LED Color - Use R-U-B for R-G-B
- */
- inline void gcode_M150() {
- SendColors(
- code_seen('R') ? code_value_byte() : 0,
- code_seen('U') ? code_value_byte() : 0,
- code_seen('B') ? code_value_byte() : 0
- );
- }
-
- #endif // BLINKM
-
- #if ENABLED(EXPERIMENTAL_I2CBUS)
-
- /**
- * M155: Send data to a I2C slave device
- *
- * This is a PoC, the formating and arguments for the GCODE will
- * change to be more compatible, the current proposal is:
- *
- * M155 A<slave device address base 10> ; Sets the I2C slave address the data will be sent to
- *
- * M155 B<byte-1 value in base 10>
- * M155 B<byte-2 value in base 10>
- * M155 B<byte-3 value in base 10>
- *
- * M155 S1 ; Send the buffered data and reset the buffer
- * M155 R1 ; Reset the buffer without sending data
- *
- */
- inline void gcode_M155() {
- // Set the target address
- if (code_seen('A'))
- i2c.address(code_value_byte());
-
- // Add a new byte to the buffer
- else if (code_seen('B'))
- i2c.addbyte(code_value_int());
-
- // Flush the buffer to the bus
- else if (code_seen('S')) i2c.send();
-
- // Reset and rewind the buffer
- else if (code_seen('R')) i2c.reset();
- }
-
- /**
- * M156: Request X bytes from I2C slave device
- *
- * Usage: M156 A<slave device address base 10> B<number of bytes>
- */
- inline void gcode_M156() {
- uint8_t addr = code_seen('A') ? code_value_byte() : 0;
- int bytes = code_seen('B') ? code_value_int() : 1;
-
- if (addr && bytes > 0 && bytes <= 32) {
- i2c.address(addr);
- i2c.reqbytes(bytes);
- }
- else {
- SERIAL_ERROR_START;
- SERIAL_ERRORLN("Bad i2c request");
- }
- }
-
- #endif //EXPERIMENTAL_I2CBUS
-
- /**
- * M200: Set filament diameter and set E axis units to cubic units
- *
- * T<extruder> - Optional extruder number. Current extruder if omitted.
- * D<linear> - Diameter of the filament. Use "D0" to switch back to linear units on the E axis.
- */
- inline void gcode_M200() {
-
- if (get_target_extruder_from_command(200)) return;
-
- if (code_seen('D')) {
- // setting any extruder filament size disables volumetric on the assumption that
- // slicers either generate in extruder values as cubic mm or as as filament feeds
- // for all extruders
- volumetric_enabled = (code_value_linear_units() != 0.0);
- if (volumetric_enabled) {
- filament_size[target_extruder] = code_value_linear_units();
- // make sure all extruders have some sane value for the filament size
- for (uint8_t i = 0; i < COUNT(filament_size); i++)
- if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
- }
- }
- else {
- //reserved for setting filament diameter via UFID or filament measuring device
- return;
- }
- calculate_volumetric_multipliers();
- }
-
- /**
- * M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
- */
- inline void gcode_M201() {
- LOOP_XYZE(i) {
- if (code_seen(axis_codes[i])) {
- planner.max_acceleration_mm_per_s2[i] = code_value_axis_units(i);
- }
- }
- // 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)
- planner.reset_acceleration_rates();
- }
-
- #if 0 // Not used for Sprinter/grbl gen6
- inline void gcode_M202() {
- LOOP_XYZE(i) {
- if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value_axis_units(i) * planner.axis_steps_per_mm[i];
- }
- }
- #endif
-
-
- /**
- * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
- */
- inline void gcode_M203() {
- LOOP_XYZE(i)
- if (code_seen(axis_codes[i]))
- planner.max_feedrate_mm_s[i] = code_value_axis_units(i);
- }
-
- /**
- * M204: Set Accelerations in units/sec^2 (M204 P1200 R3000 T3000)
- *
- * P = Printing moves
- * R = Retract only (no X, Y, Z) moves
- * T = Travel (non printing) moves
- *
- * Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
- */
- inline void gcode_M204() {
- if (code_seen('S')) { // Kept for legacy compatibility. Should NOT BE USED for new developments.
- planner.travel_acceleration = planner.acceleration = code_value_linear_units();
- SERIAL_ECHOPAIR("Setting Print and Travel Acceleration: ", planner.acceleration);
- SERIAL_EOL;
- }
- if (code_seen('P')) {
- planner.acceleration = code_value_linear_units();
- SERIAL_ECHOPAIR("Setting Print Acceleration: ", planner.acceleration);
- SERIAL_EOL;
- }
- if (code_seen('R')) {
- planner.retract_acceleration = code_value_linear_units();
- SERIAL_ECHOPAIR("Setting Retract Acceleration: ", planner.retract_acceleration);
- SERIAL_EOL;
- }
- if (code_seen('T')) {
- planner.travel_acceleration = code_value_linear_units();
- SERIAL_ECHOPAIR("Setting Travel Acceleration: ", planner.travel_acceleration);
- SERIAL_EOL;
- }
- }
-
- /**
- * M205: Set Advanced Settings
- *
- * S = Min Feed Rate (units/s)
- * T = Min Travel Feed Rate (units/s)
- * B = Min Segment Time (µs)
- * X = Max XY Jerk (units/sec^2)
- * Z = Max Z Jerk (units/sec^2)
- * E = Max E Jerk (units/sec^2)
- */
- inline void gcode_M205() {
- if (code_seen('S')) planner.min_feedrate_mm_s = code_value_linear_units();
- if (code_seen('T')) planner.min_travel_feedrate_mm_s = code_value_linear_units();
- if (code_seen('B')) planner.min_segment_time = code_value_millis();
- if (code_seen('X')) planner.max_xy_jerk = code_value_linear_units();
- if (code_seen('Z')) planner.max_z_jerk = code_value_axis_units(Z_AXIS);
- if (code_seen('E')) planner.max_e_jerk = code_value_axis_units(E_AXIS);
- }
-
- /**
- * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
- */
- inline void gcode_M206() {
- LOOP_XYZ(i)
- if (code_seen(axis_codes[i]))
- set_home_offset((AxisEnum)i, code_value_axis_units(i));
-
- #if ENABLED(SCARA)
- if (code_seen('T')) set_home_offset(X_AXIS, code_value_axis_units(X_AXIS)); // Theta
- if (code_seen('P')) set_home_offset(Y_AXIS, code_value_axis_units(Y_AXIS)); // Psi
- #endif
-
- SYNC_PLAN_POSITION_KINEMATIC();
- report_current_position();
- }
-
- #if ENABLED(DELTA)
- /**
- * M665: Set delta configurations
- *
- * L = diagonal rod
- * R = delta radius
- * S = segments per second
- * A = Alpha (Tower 1) diagonal rod trim
- * B = Beta (Tower 2) diagonal rod trim
- * C = Gamma (Tower 3) diagonal rod trim
- */
- inline void gcode_M665() {
- if (code_seen('L')) delta_diagonal_rod = code_value_linear_units();
- if (code_seen('R')) delta_radius = code_value_linear_units();
- if (code_seen('S')) delta_segments_per_second = code_value_float();
- if (code_seen('A')) delta_diagonal_rod_trim_tower_1 = code_value_linear_units();
- if (code_seen('B')) delta_diagonal_rod_trim_tower_2 = code_value_linear_units();
- if (code_seen('C')) delta_diagonal_rod_trim_tower_3 = code_value_linear_units();
- recalc_delta_settings(delta_radius, delta_diagonal_rod);
- }
- /**
- * M666: Set delta endstop adjustment
- */
- inline void gcode_M666() {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPGM(">>> gcode_M666");
- }
- #endif
- LOOP_XYZ(i) {
- if (code_seen(axis_codes[i])) {
- endstop_adj[i] = code_value_axis_units(i);
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPGM("endstop_adj[");
- SERIAL_ECHO(axis_codes[i]);
- SERIAL_ECHOPAIR("] = ", endstop_adj[i]);
- SERIAL_EOL;
- }
- #endif
- }
- }
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPGM("<<< gcode_M666");
- }
- #endif
- }
-
- #elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
-
- /**
- * M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
- */
- inline void gcode_M666() {
- if (code_seen('Z')) z_endstop_adj = code_value_axis_units(Z_AXIS);
- SERIAL_ECHOPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj);
- SERIAL_EOL;
- }
-
- #endif // !DELTA && Z_DUAL_ENDSTOPS
-
- #if ENABLED(FWRETRACT)
-
- /**
- * M207: Set firmware retraction values
- *
- * S[+units] retract_length
- * W[+units] retract_length_swap (multi-extruder)
- * F[units/min] retract_feedrate_mm_s
- * Z[units] retract_zlift
- */
- inline void gcode_M207() {
- if (code_seen('S')) retract_length = code_value_axis_units(E_AXIS);
- if (code_seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
- if (code_seen('Z')) retract_zlift = code_value_axis_units(Z_AXIS);
- #if EXTRUDERS > 1
- if (code_seen('W')) retract_length_swap = code_value_axis_units(E_AXIS);
- #endif
- }
-
- /**
- * M208: Set firmware un-retraction values
- *
- * S[+units] retract_recover_length (in addition to M207 S*)
- * W[+units] retract_recover_length_swap (multi-extruder)
- * F[units/min] retract_recover_feedrate_mm_s
- */
- inline void gcode_M208() {
- if (code_seen('S')) retract_recover_length = code_value_axis_units(E_AXIS);
- if (code_seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
- #if EXTRUDERS > 1
- if (code_seen('W')) retract_recover_length_swap = code_value_axis_units(E_AXIS);
- #endif
- }
-
- /**
- * M209: Enable automatic retract (M209 S1)
- * detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
- */
- inline void gcode_M209() {
- if (code_seen('S')) {
- int t = code_value_int();
- switch (t) {
- case 0:
- autoretract_enabled = false;
- break;
- case 1:
- autoretract_enabled = true;
- break;
- default:
- unknown_command_error();
- return;
- }
- for (int i = 0; i < EXTRUDERS; i++) retracted[i] = false;
- }
- }
-
- #endif // FWRETRACT
-
- #if HOTENDS > 1
-
- /**
- * M218 - set hotend offset (in linear units)
- *
- * T<tool>
- * X<xoffset>
- * Y<yoffset>
- * Z<zoffset> - Available with DUAL_X_CARRIAGE and SWITCHING_EXTRUDER
- */
- inline void gcode_M218() {
- if (get_target_extruder_from_command(218)) return;
-
- if (code_seen('X')) hotend_offset[X_AXIS][target_extruder] = code_value_axis_units(X_AXIS);
- if (code_seen('Y')) hotend_offset[Y_AXIS][target_extruder] = code_value_axis_units(Y_AXIS);
-
- #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
- if (code_seen('Z')) hotend_offset[Z_AXIS][target_extruder] = code_value_axis_units(Z_AXIS);
- #endif
-
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
- HOTEND_LOOP() {
- SERIAL_CHAR(' ');
- SERIAL_ECHO(hotend_offset[X_AXIS][e]);
- SERIAL_CHAR(',');
- SERIAL_ECHO(hotend_offset[Y_AXIS][e]);
- #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
- SERIAL_CHAR(',');
- SERIAL_ECHO(hotend_offset[Z_AXIS][e]);
- #endif
- }
- SERIAL_EOL;
- }
-
- #endif // HOTENDS > 1
-
- /**
- * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
- */
- inline void gcode_M220() {
- if (code_seen('S')) feedrate_percentage = code_value_int();
- }
-
- /**
- * M221: Set extrusion percentage (M221 T0 S95)
- */
- inline void gcode_M221() {
- if (get_target_extruder_from_command(221)) return;
- if (code_seen('S'))
- extruder_multiplier[target_extruder] = code_value_int();
- }
-
- /**
- * M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
- */
- inline void gcode_M226() {
- if (code_seen('P')) {
- int pin_number = code_value_int();
-
- int pin_state = code_seen('S') ? code_value_int() : -1; // required pin state - default is inverted
-
- if (pin_state >= -1 && pin_state <= 1) {
-
- for (uint8_t i = 0; i < COUNT(sensitive_pins); i++) {
- if (sensitive_pins[i] == pin_number) {
- pin_number = -1;
- break;
- }
- }
-
- if (pin_number > -1) {
- int target = LOW;
-
- stepper.synchronize();
-
- pinMode(pin_number, INPUT);
-
- switch (pin_state) {
- case 1:
- target = HIGH;
- break;
-
- case 0:
- target = LOW;
- break;
-
- case -1:
- target = !digitalRead(pin_number);
- break;
- }
-
- while (digitalRead(pin_number) != target) idle();
-
- } // pin_number > -1
- } // pin_state -1 0 1
- } // code_seen('P')
- }
-
- #if HAS_SERVOS
-
- /**
- * M280: Get or set servo position. P<index> [S<angle>]
- */
- inline void gcode_M280() {
- if (!code_seen('P')) return;
- int servo_index = code_value_int();
- if (servo_index >= 0 && servo_index < NUM_SERVOS) {
- if (code_seen('S'))
- MOVE_SERVO(servo_index, code_value_int());
- else {
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(" Servo ");
- SERIAL_ECHO(servo_index);
- SERIAL_ECHOPGM(": ");
- SERIAL_ECHOLN(servo[servo_index].read());
- }
- }
- else {
- SERIAL_ERROR_START;
- SERIAL_ERROR("Servo ");
- SERIAL_ERROR(servo_index);
- SERIAL_ERRORLN(" out of range");
- }
- }
-
- #endif // HAS_SERVOS
-
- #if HAS_BUZZER
-
- /**
- * M300: Play beep sound S<frequency Hz> P<duration ms>
- */
- inline void gcode_M300() {
- uint16_t const frequency = code_seen('S') ? code_value_ushort() : 260;
- uint16_t duration = code_seen('P') ? code_value_ushort() : 1000;
-
- // Limits the tone duration to 0-5 seconds.
- NOMORE(duration, 5000);
-
- buzzer.tone(duration, frequency);
- }
-
- #endif // HAS_BUZZER
-
- #if ENABLED(PIDTEMP)
-
- /**
- * M301: Set PID parameters P I D (and optionally C, L)
- *
- * P[float] Kp term
- * I[float] Ki term (unscaled)
- * D[float] Kd term (unscaled)
- *
- * With PID_ADD_EXTRUSION_RATE:
- *
- * C[float] Kc term
- * L[float] LPQ length
- */
- inline void gcode_M301() {
-
- // multi-extruder PID patch: M301 updates or prints a single extruder's PID values
- // default behaviour (omitting E parameter) is to update for extruder 0 only
- int e = code_seen('E') ? code_value_int() : 0; // extruder being updated
-
- if (e < HOTENDS) { // catch bad input value
- if (code_seen('P')) PID_PARAM(Kp, e) = code_value_float();
- if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value_float());
- if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value_float());
- #if ENABLED(PID_ADD_EXTRUSION_RATE)
- if (code_seen('C')) PID_PARAM(Kc, e) = code_value_float();
- if (code_seen('L')) lpq_len = code_value_float();
- NOMORE(lpq_len, LPQ_MAX_LEN);
- #endif
-
- thermalManager.updatePID();
- SERIAL_ECHO_START;
- #if ENABLED(PID_PARAMS_PER_HOTEND)
- SERIAL_ECHOPGM(" e:"); // specify extruder in serial output
- SERIAL_ECHO(e);
- #endif // PID_PARAMS_PER_HOTEND
- SERIAL_ECHOPGM(" p:");
- SERIAL_ECHO(PID_PARAM(Kp, e));
- SERIAL_ECHOPGM(" i:");
- SERIAL_ECHO(unscalePID_i(PID_PARAM(Ki, e)));
- SERIAL_ECHOPGM(" d:");
- SERIAL_ECHO(unscalePID_d(PID_PARAM(Kd, e)));
- #if ENABLED(PID_ADD_EXTRUSION_RATE)
- SERIAL_ECHOPGM(" c:");
- //Kc does not have scaling applied above, or in resetting defaults
- SERIAL_ECHO(PID_PARAM(Kc, e));
- #endif
- SERIAL_EOL;
- }
- else {
- SERIAL_ERROR_START;
- SERIAL_ERRORLN(MSG_INVALID_EXTRUDER);
- }
- }
-
- #endif // PIDTEMP
-
- #if ENABLED(PIDTEMPBED)
-
- inline void gcode_M304() {
- if (code_seen('P')) thermalManager.bedKp = code_value_float();
- if (code_seen('I')) thermalManager.bedKi = scalePID_i(code_value_float());
- if (code_seen('D')) thermalManager.bedKd = scalePID_d(code_value_float());
-
- thermalManager.updatePID();
-
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(" p:");
- SERIAL_ECHO(thermalManager.bedKp);
- SERIAL_ECHOPGM(" i:");
- SERIAL_ECHO(unscalePID_i(thermalManager.bedKi));
- SERIAL_ECHOPGM(" d:");
- SERIAL_ECHOLN(unscalePID_d(thermalManager.bedKd));
- }
-
- #endif // PIDTEMPBED
-
- #if defined(CHDK) || HAS_PHOTOGRAPH
-
- /**
- * M240: Trigger a camera by emulating a Canon RC-1
- * See http://www.doc-diy.net/photo/rc-1_hacked/
- */
- inline void gcode_M240() {
- #ifdef CHDK
-
- OUT_WRITE(CHDK, HIGH);
- chdkHigh = millis();
- chdkActive = true;
-
- #elif HAS_PHOTOGRAPH
-
- const uint8_t NUM_PULSES = 16;
- const float PULSE_LENGTH = 0.01524;
- for (int i = 0; i < NUM_PULSES; i++) {
- WRITE(PHOTOGRAPH_PIN, HIGH);
- _delay_ms(PULSE_LENGTH);
- WRITE(PHOTOGRAPH_PIN, LOW);
- _delay_ms(PULSE_LENGTH);
- }
- delay(7.33);
- for (int i = 0; i < NUM_PULSES; i++) {
- WRITE(PHOTOGRAPH_PIN, HIGH);
- _delay_ms(PULSE_LENGTH);
- WRITE(PHOTOGRAPH_PIN, LOW);
- _delay_ms(PULSE_LENGTH);
- }
-
- #endif // !CHDK && HAS_PHOTOGRAPH
- }
-
- #endif // CHDK || PHOTOGRAPH_PIN
-
- #if HAS_LCD_CONTRAST
-
- /**
- * M250: Read and optionally set the LCD contrast
- */
- inline void gcode_M250() {
- if (code_seen('C')) set_lcd_contrast(code_value_int());
- SERIAL_PROTOCOLPGM("lcd contrast value: ");
- SERIAL_PROTOCOL(lcd_contrast);
- SERIAL_EOL;
- }
-
- #endif // HAS_LCD_CONTRAST
-
- #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
-
- /**
- * M302: Allow cold extrudes, or set the minimum extrude temperature
- *
- * S<temperature> sets the minimum extrude temperature
- * P<bool> enables (1) or disables (0) cold extrusion
- *
- * Examples:
- *
- * M302 ; report current cold extrusion state
- * M302 P0 ; enable cold extrusion checking
- * M302 P1 ; disables cold extrusion checking
- * M302 S0 ; always allow extrusion (disables checking)
- * M302 S170 ; only allow extrusion above 170
- * M302 S170 P1 ; set min extrude temp to 170 but leave disabled
- */
- inline void gcode_M302() {
- bool seen_S = code_seen('S');
- if (seen_S) {
- thermalManager.extrude_min_temp = code_value_temp_abs();
- thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0);
- }
-
- if (code_seen('P'))
- thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0) || code_value_bool();
- else if (!seen_S) {
- // Report current state
- SERIAL_ECHO_START;
- SERIAL_ECHOPAIR("Cold extrudes are ", (thermalManager.allow_cold_extrude ? "en" : "dis"));
- SERIAL_ECHOPAIR("abled (min temp ", int(thermalManager.extrude_min_temp + 0.5));
- SERIAL_ECHOLNPGM("C)");
- }
- }
-
- #endif // PREVENT_DANGEROUS_EXTRUDE
-
- /**
- * M303: PID relay autotune
- *
- * S<temperature> sets the target temperature. (default 150C)
- * E<extruder> (-1 for the bed) (default 0)
- * C<cycles>
- * U<bool> with a non-zero value will apply the result to current settings
- */
- inline void gcode_M303() {
- #if HAS_PID_HEATING
- int e = code_seen('E') ? code_value_int() : 0;
- int c = code_seen('C') ? code_value_int() : 5;
- bool u = code_seen('U') && code_value_bool();
-
- float temp = code_seen('S') ? code_value_temp_abs() : (e < 0 ? 70.0 : 150.0);
-
- if (e >= 0 && e < HOTENDS)
- target_extruder = e;
-
- KEEPALIVE_STATE(NOT_BUSY); // don't send "busy: processing" messages during autotune output
-
- thermalManager.PID_autotune(temp, e, c, u);
-
- KEEPALIVE_STATE(IN_HANDLER);
- #else
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
- #endif
- }
-
- #if ENABLED(SCARA)
- bool SCARA_move_to_cal(uint8_t delta_x, uint8_t delta_y) {
- //SoftEndsEnabled = false; // Ignore soft endstops during calibration
- //SERIAL_ECHOLNPGM(" Soft endstops disabled");
- if (IsRunning()) {
- //gcode_get_destination(); // For X Y Z E F
- delta[X_AXIS] = delta_x;
- delta[Y_AXIS] = delta_y;
- forward_kinematics_SCARA(delta);
- destination[X_AXIS] = delta[X_AXIS] / axis_scaling[X_AXIS];
- destination[Y_AXIS] = delta[Y_AXIS] / axis_scaling[Y_AXIS];
- prepare_move_to_destination();
- //ok_to_send();
- return true;
- }
- return false;
- }
-
- /**
- * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
- */
- inline bool gcode_M360() {
- SERIAL_ECHOLNPGM(" Cal: Theta 0");
- return SCARA_move_to_cal(0, 120);
- }
-
- /**
- * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
- */
- inline bool gcode_M361() {
- SERIAL_ECHOLNPGM(" Cal: Theta 90");
- return SCARA_move_to_cal(90, 130);
- }
-
- /**
- * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
- */
- inline bool gcode_M362() {
- SERIAL_ECHOLNPGM(" Cal: Psi 0");
- return SCARA_move_to_cal(60, 180);
- }
-
- /**
- * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
- */
- inline bool gcode_M363() {
- SERIAL_ECHOLNPGM(" Cal: Psi 90");
- return SCARA_move_to_cal(50, 90);
- }
-
- /**
- * M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
- */
- inline bool gcode_M364() {
- SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
- return SCARA_move_to_cal(45, 135);
- }
-
- /**
- * M365: SCARA calibration: Scaling factor, X, Y, Z axis
- */
- inline void gcode_M365() {
- LOOP_XYZ(i)
- if (code_seen(axis_codes[i]))
- axis_scaling[i] = code_value_float();
- }
-
- #endif // SCARA
-
- #if ENABLED(EXT_SOLENOID)
-
- void enable_solenoid(uint8_t num) {
- switch (num) {
- case 0:
- OUT_WRITE(SOL0_PIN, HIGH);
- break;
- #if HAS_SOLENOID_1
- case 1:
- OUT_WRITE(SOL1_PIN, HIGH);
- break;
- #endif
- #if HAS_SOLENOID_2
- case 2:
- OUT_WRITE(SOL2_PIN, HIGH);
- break;
- #endif
- #if HAS_SOLENOID_3
- case 3:
- OUT_WRITE(SOL3_PIN, HIGH);
- break;
- #endif
- default:
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
- break;
- }
- }
-
- void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
-
- void disable_all_solenoids() {
- OUT_WRITE(SOL0_PIN, LOW);
- OUT_WRITE(SOL1_PIN, LOW);
- OUT_WRITE(SOL2_PIN, LOW);
- OUT_WRITE(SOL3_PIN, LOW);
- }
-
- /**
- * M380: Enable solenoid on the active extruder
- */
- inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
-
- /**
- * M381: Disable all solenoids
- */
- inline void gcode_M381() { disable_all_solenoids(); }
-
- #endif // EXT_SOLENOID
-
- /**
- * M400: Finish all moves
- */
- inline void gcode_M400() { stepper.synchronize(); }
-
- #if HAS_BED_PROBE
-
- /**
- * M401: Engage Z Servo endstop if available
- */
- inline void gcode_M401() { DEPLOY_PROBE(); }
-
- /**
- * M402: Retract Z Servo endstop if enabled
- */
- inline void gcode_M402() { STOW_PROBE(); }
-
- #endif // HAS_BED_PROBE
-
- #if ENABLED(FILAMENT_WIDTH_SENSOR)
-
- /**
- * M404: Display or set (in current units) the nominal filament width (3mm, 1.75mm ) W<3.0>
- */
- inline void gcode_M404() {
- if (code_seen('W')) {
- filament_width_nominal = code_value_linear_units();
- }
- else {
- SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
- SERIAL_PROTOCOLLN(filament_width_nominal);
- }
- }
-
- /**
- * M405: Turn on filament sensor for control
- */
- inline void gcode_M405() {
- // This is technically a linear measurement, but since it's quantized to centimeters and is a different unit than
- // everything else, it uses code_value_int() instead of code_value_linear_units().
- if (code_seen('D')) meas_delay_cm = code_value_int();
- NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY);
-
- if (filwidth_delay_index2 == -1) { // Initialize the ring buffer if not done since startup
- int temp_ratio = thermalManager.widthFil_to_size_ratio();
-
- for (uint8_t i = 0; i < COUNT(measurement_delay); ++i)
- measurement_delay[i] = temp_ratio - 100; // Subtract 100 to scale within a signed byte
-
- filwidth_delay_index1 = filwidth_delay_index2 = 0;
- }
-
- filament_sensor = true;
-
- //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
- //SERIAL_PROTOCOL(filament_width_meas);
- //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
- //SERIAL_PROTOCOL(extruder_multiplier[active_extruder]);
- }
-
- /**
- * M406: Turn off filament sensor for control
- */
- inline void gcode_M406() { filament_sensor = false; }
-
- /**
- * M407: Get measured filament diameter on serial output
- */
- inline void gcode_M407() {
- SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
- SERIAL_PROTOCOLLN(filament_width_meas);
- }
-
- #endif // FILAMENT_WIDTH_SENSOR
-
- void quickstop_stepper() {
- stepper.quick_stop();
- #if DISABLED(SCARA)
- stepper.synchronize();
- LOOP_XYZ(i) set_current_from_steppers_for_axis((AxisEnum)i);
- SYNC_PLAN_POSITION_KINEMATIC();
- #endif
- }
-
- #if ENABLED(MESH_BED_LEVELING)
-
- /**
- * M420: Enable/Disable Mesh Bed Leveling
- */
- inline void gcode_M420() { if (code_seen('S') && code_has_value()) mbl.set_has_mesh(code_value_bool()); }
-
- /**
- * M421: Set a single Mesh Bed Leveling Z coordinate
- * Use either 'M421 X<linear> Y<linear> Z<linear>' or 'M421 I<xindex> J<yindex> Z<linear>'
- */
- inline void gcode_M421() {
- int8_t px = 0, py = 0;
- float z = 0;
- bool hasX, hasY, hasZ, hasI, hasJ;
- if ((hasX = code_seen('X'))) px = mbl.probe_index_x(code_value_axis_units(X_AXIS));
- if ((hasY = code_seen('Y'))) py = mbl.probe_index_y(code_value_axis_units(Y_AXIS));
- if ((hasI = code_seen('I'))) px = code_value_axis_units(X_AXIS);
- if ((hasJ = code_seen('J'))) py = code_value_axis_units(Y_AXIS);
- if ((hasZ = code_seen('Z'))) z = code_value_axis_units(Z_AXIS);
-
- if (hasX && hasY && hasZ) {
-
- if (px >= 0 && py >= 0)
- mbl.set_z(px, py, z);
- else {
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
- }
- }
- else if (hasI && hasJ && hasZ) {
- if (px >= 0 && px < MESH_NUM_X_POINTS && py >= 0 && py < MESH_NUM_Y_POINTS)
- mbl.set_z(px, py, z);
- else {
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
- }
- }
- else {
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
- }
- }
-
- #endif
-
- /**
- * M428: Set home_offset based on the distance between the
- * current_position and the nearest "reference point."
- * If an axis is past center its endstop position
- * is the reference-point. Otherwise it uses 0. This allows
- * the Z offset to be set near the bed when using a max endstop.
- *
- * M428 can't be used more than 2cm away from 0 or an endstop.
- *
- * Use M206 to set these values directly.
- */
- inline void gcode_M428() {
- bool err = false;
- LOOP_XYZ(i) {
- if (axis_homed[i]) {
- float base = (current_position[i] > (sw_endstop_min[i] + sw_endstop_max[i]) * 0.5) ? base_home_pos(i) : 0,
- diff = current_position[i] - LOGICAL_POSITION(base, i);
- if (diff > -20 && diff < 20) {
- set_home_offset((AxisEnum)i, home_offset[i] - diff);
- }
- else {
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
- LCD_ALERTMESSAGEPGM("Err: Too far!");
- #if HAS_BUZZER
- buzzer.tone(200, 40);
- #endif
- err = true;
- break;
- }
- }
- }
-
- if (!err) {
- SYNC_PLAN_POSITION_KINEMATIC();
- report_current_position();
- LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
- #if HAS_BUZZER
- buzzer.tone(200, 659);
- buzzer.tone(200, 698);
- #endif
- }
- }
-
- /**
- * M500: Store settings in EEPROM
- */
- inline void gcode_M500() {
- Config_StoreSettings();
- }
-
- /**
- * M501: Read settings from EEPROM
- */
- inline void gcode_M501() {
- Config_RetrieveSettings();
- }
-
- /**
- * M502: Revert to default settings
- */
- inline void gcode_M502() {
- Config_ResetDefault();
- }
-
- /**
- * M503: print settings currently in memory
- */
- inline void gcode_M503() {
- Config_PrintSettings(code_seen('S') && !code_value_bool());
- }
-
- #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
-
- /**
- * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
- */
- inline void gcode_M540() {
- if (code_seen('S')) stepper.abort_on_endstop_hit = code_value_bool();
- }
-
- #endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
-
- #if HAS_BED_PROBE
-
- inline void gcode_M851() {
-
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
- SERIAL_CHAR(' ');
-
- if (code_seen('Z')) {
- float value = code_value_axis_units(Z_AXIS);
- if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
- zprobe_zoffset = value;
- SERIAL_ECHO(zprobe_zoffset);
- }
- else {
- SERIAL_ECHOPGM(MSG_Z_MIN);
- SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
- SERIAL_CHAR(' ');
- SERIAL_ECHOPGM(MSG_Z_MAX);
- SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
- }
- }
- else {
- SERIAL_ECHOPAIR(": ", zprobe_zoffset);
- }
-
- SERIAL_EOL;
- }
-
- #endif // HAS_BED_PROBE
-
- #if ENABLED(FILAMENT_CHANGE_FEATURE)
-
- /**
- * M600: Pause for filament change
- *
- * E[distance] - Retract the filament this far (negative value)
- * Z[distance] - Move the Z axis by this distance
- * X[position] - Move to this X position, with Y
- * Y[position] - Move to this Y position, with X
- * L[distance] - Retract distance for removal (manual reload)
- *
- * Default values are used for omitted arguments.
- *
- */
- inline void gcode_M600() {
-
- if (thermalManager.tooColdToExtrude(active_extruder)) {
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
- return;
- }
-
- // Show initial message and wait for synchronize steppers
- lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INIT);
- stepper.synchronize();
-
- float lastpos[NUM_AXIS];
-
- // Save current position of all axes
- LOOP_XYZE(i)
- lastpos[i] = destination[i] = current_position[i];
-
- // Define runplan for move axes
- #if ENABLED(DELTA)
- #define RUNPLAN(RATE_MM_S) inverse_kinematics(destination); \
- planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder);
- #else
- #define RUNPLAN(RATE_MM_S) line_to_destination(MMS_TO_MMM(RATE_MM_S));
- #endif
-
- KEEPALIVE_STATE(IN_HANDLER);
-
- // Initial retract before move to filament change position
- if (code_seen('E')) destination[E_AXIS] += code_value_axis_units(E_AXIS);
- #if defined(FILAMENT_CHANGE_RETRACT_LENGTH) && FILAMENT_CHANGE_RETRACT_LENGTH > 0
- else destination[E_AXIS] -= FILAMENT_CHANGE_RETRACT_LENGTH;
- #endif
-
- RUNPLAN(FILAMENT_CHANGE_RETRACT_FEEDRATE);
-
- // Lift Z axis
- float z_lift = code_seen('Z') ? code_value_axis_units(Z_AXIS) :
- #if defined(FILAMENT_CHANGE_Z_ADD) && FILAMENT_CHANGE_Z_ADD > 0
- FILAMENT_CHANGE_Z_ADD
- #else
- 0
- #endif
- ;
-
- if (z_lift > 0) {
- destination[Z_AXIS] += z_lift;
- NOMORE(destination[Z_AXIS], Z_MAX_POS);
- RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
- }
-
- // Move XY axes to filament exchange position
- if (code_seen('X')) destination[X_AXIS] = code_value_axis_units(X_AXIS);
- #ifdef FILAMENT_CHANGE_X_POS
- else destination[X_AXIS] = FILAMENT_CHANGE_X_POS;
- #endif
-
- if (code_seen('Y')) destination[Y_AXIS] = code_value_axis_units(Y_AXIS);
- #ifdef FILAMENT_CHANGE_Y_POS
- else destination[Y_AXIS] = FILAMENT_CHANGE_Y_POS;
- #endif
-
- RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
-
- stepper.synchronize();
- lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_UNLOAD);
-
- // Unload filament
- if (code_seen('L')) destination[E_AXIS] += code_value_axis_units(E_AXIS);
- #if defined(FILAMENT_CHANGE_UNLOAD_LENGTH) && FILAMENT_CHANGE_UNLOAD_LENGTH > 0
- else destination[E_AXIS] -= FILAMENT_CHANGE_UNLOAD_LENGTH;
- #endif
-
- RUNPLAN(FILAMENT_CHANGE_UNLOAD_FEEDRATE);
-
- // Synchronize steppers and then disable extruders steppers for manual filament changing
- stepper.synchronize();
- disable_e0();
- disable_e1();
- disable_e2();
- disable_e3();
- delay(100);
-
- #if HAS_BUZZER
- millis_t next_tick = 0;
- #endif
-
- // Wait for filament insert by user and press button
- lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INSERT);
-
- while (!lcd_clicked()) {
- #if HAS_BUZZER
- millis_t ms = millis();
- if (ms >= next_tick) {
- buzzer.tone(300, 2000);
- next_tick = ms + 2500; // Beep every 2.5s while waiting
- }
- #endif
- idle(true);
- }
- delay(100);
- while (lcd_clicked()) idle(true);
- delay(100);
-
- // Show load message
- lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_LOAD);
-
- // Load filament
- if (code_seen('L')) destination[E_AXIS] -= code_value_axis_units(E_AXIS);
- #if defined(FILAMENT_CHANGE_LOAD_LENGTH) && FILAMENT_CHANGE_LOAD_LENGTH > 0
- else destination[E_AXIS] += FILAMENT_CHANGE_LOAD_LENGTH;
- #endif
-
- RUNPLAN(FILAMENT_CHANGE_LOAD_FEEDRATE);
- stepper.synchronize();
-
- #if defined(FILAMENT_CHANGE_EXTRUDE_LENGTH) && FILAMENT_CHANGE_EXTRUDE_LENGTH > 0
- do {
- // Extrude filament to get into hotend
- lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_EXTRUDE);
- destination[E_AXIS] += FILAMENT_CHANGE_EXTRUDE_LENGTH;
- RUNPLAN(FILAMENT_CHANGE_EXTRUDE_FEEDRATE);
- stepper.synchronize();
- // Ask user if more filament should be extruded
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_OPTION);
- while (filament_change_menu_response == FILAMENT_CHANGE_RESPONSE_WAIT_FOR) idle(true);
- KEEPALIVE_STATE(IN_HANDLER);
- } while (filament_change_menu_response != FILAMENT_CHANGE_RESPONSE_RESUME_PRINT);
- #endif
-
- lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_RESUME);
-
- KEEPALIVE_STATE(IN_HANDLER);
-
- // Set extruder to saved position
- current_position[E_AXIS] = lastpos[E_AXIS];
- destination[E_AXIS] = lastpos[E_AXIS];
- planner.set_e_position_mm(current_position[E_AXIS]);
-
- #if ENABLED(DELTA)
- // Move XYZ to starting position, then E
- inverse_kinematics(lastpos);
- planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
- planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
- #else
- // Move XY to starting position, then Z, then E
- destination[X_AXIS] = lastpos[X_AXIS];
- destination[Y_AXIS] = lastpos[Y_AXIS];
- RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
- destination[Z_AXIS] = lastpos[Z_AXIS];
- RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
- #endif
- stepper.synchronize();
-
- #if ENABLED(FILAMENT_RUNOUT_SENSOR)
- filament_ran_out = false;
- #endif
-
- // Show status screen
- lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_STATUS);
- }
-
- #endif // FILAMENT_CHANGE_FEATURE
-
- #if ENABLED(DUAL_X_CARRIAGE)
-
- /**
- * M605: Set dual x-carriage movement mode
- *
- * M605 S0: Full control mode. The slicer has full control over x-carriage movement
- * M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
- * M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
- * units x-offset and an optional differential hotend temperature of
- * mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
- * the first with a spacing of 100mm in the x direction and 2 degrees hotter.
- *
- * Note: the X axis should be homed after changing dual x-carriage mode.
- */
- inline void gcode_M605() {
- stepper.synchronize();
- if (code_seen('S')) dual_x_carriage_mode = code_value_byte();
- switch (dual_x_carriage_mode) {
- case DXC_DUPLICATION_MODE:
- if (code_seen('X')) duplicate_extruder_x_offset = max(code_value_axis_units(X_AXIS), X2_MIN_POS - x_home_pos(0));
- if (code_seen('R')) duplicate_extruder_temp_offset = code_value_temp_diff();
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
- SERIAL_CHAR(' ');
- SERIAL_ECHO(hotend_offset[X_AXIS][0]);
- SERIAL_CHAR(',');
- SERIAL_ECHO(hotend_offset[Y_AXIS][0]);
- SERIAL_CHAR(' ');
- SERIAL_ECHO(duplicate_extruder_x_offset);
- SERIAL_CHAR(',');
- SERIAL_ECHOLN(hotend_offset[Y_AXIS][1]);
- break;
- case DXC_FULL_CONTROL_MODE:
- case DXC_AUTO_PARK_MODE:
- break;
- default:
- dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
- break;
- }
- active_extruder_parked = false;
- extruder_duplication_enabled = false;
- delayed_move_time = 0;
- }
-
- #elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
-
- inline void gcode_M605() {
- stepper.synchronize();
- extruder_duplication_enabled = code_seen('S') && code_value_int() == 2;
- SERIAL_ECHO_START;
- SERIAL_ECHOPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
- SERIAL_EOL;
- }
-
- #endif // M605
-
- #if ENABLED(LIN_ADVANCE)
- /**
- * M905: Set advance factor
- */
- inline void gcode_M905() {
- stepper.synchronize();
- stepper.advance_M905(code_seen('K') ? code_value_float() : -1.0);
- }
- #endif
-
- /**
- * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
- */
- inline void gcode_M907() {
- #if HAS_DIGIPOTSS
- LOOP_XYZE(i)
- if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
- if (code_seen('B')) stepper.digipot_current(4, code_value_int());
- if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int());
- #endif
- #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
- if (code_seen('X')) stepper.digipot_current(0, code_value_int());
- #endif
- #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
- if (code_seen('Z')) stepper.digipot_current(1, code_value_int());
- #endif
- #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
- if (code_seen('E')) stepper.digipot_current(2, code_value_int());
- #endif
- #if ENABLED(DIGIPOT_I2C)
- // this one uses actual amps in floating point
- LOOP_XYZE(i) if (code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value_float());
- // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
- for (int i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (code_seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, code_value_float());
- #endif
- #if ENABLED(DAC_STEPPER_CURRENT)
- if (code_seen('S')) {
- float dac_percent = code_value_float();
- for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
- }
- LOOP_XYZE(i) if (code_seen(axis_codes[i])) dac_current_percent(i, code_value_float());
- #endif
- }
-
- #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
-
- /**
- * M908: Control digital trimpot directly (M908 P<pin> S<current>)
- */
- inline void gcode_M908() {
- #if HAS_DIGIPOTSS
- stepper.digitalPotWrite(
- code_seen('P') ? code_value_int() : 0,
- code_seen('S') ? code_value_int() : 0
- );
- #endif
- #ifdef DAC_STEPPER_CURRENT
- dac_current_raw(
- code_seen('P') ? code_value_byte() : -1,
- code_seen('S') ? code_value_ushort() : 0
- );
- #endif
- }
-
- #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
-
- inline void gcode_M909() { dac_print_values(); }
-
- inline void gcode_M910() { dac_commit_eeprom(); }
-
- #endif
-
- #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
-
- #if HAS_MICROSTEPS
-
- // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
- inline void gcode_M350() {
- if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.microstep_mode(i, code_value_byte());
- LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_mode(i, code_value_byte());
- if (code_seen('B')) stepper.microstep_mode(4, code_value_byte());
- stepper.microstep_readings();
- }
-
- /**
- * M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
- * S# determines MS1 or MS2, X# sets the pin high/low.
- */
- inline void gcode_M351() {
- if (code_seen('S')) switch (code_value_byte()) {
- case 1:
- LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, code_value_byte(), -1);
- if (code_seen('B')) stepper.microstep_ms(4, code_value_byte(), -1);
- break;
- case 2:
- LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, -1, code_value_byte());
- if (code_seen('B')) stepper.microstep_ms(4, -1, code_value_byte());
- break;
- }
- stepper.microstep_readings();
- }
-
- #endif // HAS_MICROSTEPS
-
- #if ENABLED(MIXING_EXTRUDER)
-
- /**
- * M163: Set a single mix factor for a mixing extruder
- * This is called "weight" by some systems.
- *
- * S[index] The channel index to set
- * P[float] The mix value
- *
- */
- inline void gcode_M163() {
- int mix_index = code_seen('S') ? code_value_int() : 0;
- float mix_value = code_seen('P') ? code_value_float() : 0.0;
- if (mix_index < MIXING_STEPPERS) mixing_factor[mix_index] = mix_value;
- }
-
- #if MIXING_VIRTUAL_TOOLS > 1
-
- /**
- * M164: Store the current mix factors as a virtual tool.
- *
- * S[index] The virtual tool to store
- *
- */
- inline void gcode_M164() {
- int tool_index = code_seen('S') ? code_value_int() : 0;
- if (tool_index < MIXING_VIRTUAL_TOOLS) {
- normalize_mix();
- for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
- mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i];
- }
- }
-
- #endif
-
- #if ENABLED(DIRECT_MIXING_IN_G1)
- /**
- * M165: Set multiple mix factors for a mixing extruder.
- * Factors that are left out will be set to 0.
- * All factors together must add up to 1.0.
- *
- * A[factor] Mix factor for extruder stepper 1
- * B[factor] Mix factor for extruder stepper 2
- * C[factor] Mix factor for extruder stepper 3
- * D[factor] Mix factor for extruder stepper 4
- * H[factor] Mix factor for extruder stepper 5
- * I[factor] Mix factor for extruder stepper 6
- *
- */
- inline void gcode_M165() { gcode_get_mix(); }
- #endif
-
- #endif // MIXING_EXTRUDER
-
- /**
- * M999: Restart after being stopped
- *
- * Default behaviour is to flush the serial buffer and request
- * a resend to the host starting on the last N line received.
- *
- * Sending "M999 S1" will resume printing without flushing the
- * existing command buffer.
- *
- */
- inline void gcode_M999() {
- Running = true;
- lcd_reset_alert_level();
-
- if (code_seen('S') && code_value_bool()) return;
-
- // gcode_LastN = Stopped_gcode_LastN;
- FlushSerialRequestResend();
- }
-
- #if ENABLED(SWITCHING_EXTRUDER)
- inline void move_extruder_servo(uint8_t e) {
- const int angles[2] = SWITCHING_EXTRUDER_SERVO_ANGLES;
- MOVE_SERVO(SWITCHING_EXTRUDER_SERVO_NR, angles[e]);
- }
- #endif
-
- inline void invalid_extruder_error(const uint8_t &e) {
- SERIAL_ECHO_START;
- SERIAL_CHAR('T');
- SERIAL_PROTOCOL_F(e, DEC);
- SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
- }
-
- void tool_change(const uint8_t tmp_extruder, const float fr_mm_m/*=0.0*/, bool no_move/*=false*/) {
- #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
-
- if (tmp_extruder >= MIXING_VIRTUAL_TOOLS) {
- invalid_extruder_error(tmp_extruder);
- return;
- }
-
- // T0-Tnnn: Switch virtual tool by changing the mix
- for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
- mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
-
- #else //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
-
- #if HOTENDS > 1
-
- if (tmp_extruder >= EXTRUDERS) {
- invalid_extruder_error(tmp_extruder);
- return;
- }
-
- float old_feedrate_mm_m = feedrate_mm_m;
-
- feedrate_mm_m = fr_mm_m > 0.0 ? (old_feedrate_mm_m = fr_mm_m) : XY_PROBE_FEEDRATE_MM_M;
-
- if (tmp_extruder != active_extruder) {
- if (!no_move && axis_unhomed_error(true, true, true)) {
- SERIAL_ECHOLNPGM("No move on toolchange");
- no_move = true;
- }
-
- // Save current position to destination, for use later
- set_destination_to_current();
-
- #if ENABLED(DUAL_X_CARRIAGE)
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPGM("Dual X Carriage Mode ");
- switch (dual_x_carriage_mode) {
- case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
- case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
- case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
- }
- }
- #endif
-
- if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() &&
- (delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder))
- ) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("Raise to ", current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT); SERIAL_EOL;
- SERIAL_ECHOPAIR("MoveX to ", x_home_pos(active_extruder)); SERIAL_EOL;
- SERIAL_ECHOPAIR("Lower to ", current_position[Z_AXIS]); SERIAL_EOL;
- }
- #endif
- // Park old head: 1) raise 2) move to park position 3) lower
- for (uint8_t i = 0; i < 3; i++)
- planner.buffer_line(
- i == 0 ? current_position[X_AXIS] : x_home_pos(active_extruder),
- current_position[Y_AXIS],
- current_position[Z_AXIS] + (i == 2 ? 0 : TOOLCHANGE_PARK_ZLIFT),
- current_position[E_AXIS],
- planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
- active_extruder
- );
- stepper.synchronize();
- }
-
- // apply Y & Z extruder offset (x offset is already used in determining home pos)
- current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
- current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
- active_extruder = tmp_extruder;
-
- // This function resets the max/min values - the current position may be overwritten below.
- set_axis_is_at_home(X_AXIS);
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
- #endif
-
- switch (dual_x_carriage_mode) {
- case DXC_FULL_CONTROL_MODE:
- current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
- inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
- break;
- case DXC_DUPLICATION_MODE:
- active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
- if (active_extruder_parked)
- current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
- else
- current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
- inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
- extruder_duplication_enabled = false;
- break;
- default:
- // record raised toolhead position for use by unpark
- memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
- raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
- active_extruder_parked = true;
- delayed_move_time = 0;
- break;
- }
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
- SERIAL_EOL;
- DEBUG_POS("New extruder (parked)", current_position);
- }
- #endif
-
- // No extra case for AUTO_BED_LEVELING_FEATURE in DUAL_X_CARRIAGE. Does that mean they don't work together?
- #else // !DUAL_X_CARRIAGE
-
- #if ENABLED(SWITCHING_EXTRUDER)
- // <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
- float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
- z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
-
- // Always raise by some amount
- planner.buffer_line(
- current_position[X_AXIS],
- current_position[Y_AXIS],
- current_position[Z_AXIS] + z_raise,
- current_position[E_AXIS],
- planner.max_feedrate_mm_s[Z_AXIS],
- active_extruder
- );
- stepper.synchronize();
-
- move_extruder_servo(active_extruder);
- delay(500);
-
- // Move back down, if needed
- if (z_raise != z_diff) {
- planner.buffer_line(
- current_position[X_AXIS],
- current_position[Y_AXIS],
- current_position[Z_AXIS] + z_diff,
- current_position[E_AXIS],
- planner.max_feedrate_mm_s[Z_AXIS],
- active_extruder
- );
- stepper.synchronize();
- }
- #endif
-
- /**
- * Set current_position to the position of the new nozzle.
- * Offsets are based on linear distance, so we need to get
- * the resulting position in coordinate space.
- *
- * - With grid or 3-point leveling, offset XYZ by a tilted vector
- * - With mesh leveling, update Z for the new position
- * - Otherwise, just use the raw linear distance
- *
- * Software endstops are altered here too. Consider a case where:
- * E0 at X=0 ... E1 at X=10
- * When we switch to E1 now X=10, but E1 can't move left.
- * To express this we apply the change in XY to the software endstops.
- * E1 can move farther right than E0, so the right limit is extended.
- *
- * Note that we don't adjust the Z software endstops. Why not?
- * Consider a case where Z=0 (here) and switching to E1 makes Z=1
- * because the bed is 1mm lower at the new position. As long as
- * the first nozzle is out of the way, the carriage should be
- * allowed to move 1mm lower. This technically "breaks" the
- * Z software endstop. But this is technically correct (and
- * there is no viable alternative).
- */
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
- // Offset extruder, make sure to apply the bed level rotation matrix
- vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
- hotend_offset[Y_AXIS][tmp_extruder],
- 0),
- act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
- hotend_offset[Y_AXIS][active_extruder],
- 0),
- offset_vec = tmp_offset_vec - act_offset_vec;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- tmp_offset_vec.debug("tmp_offset_vec");
- act_offset_vec.debug("act_offset_vec");
- offset_vec.debug("offset_vec (BEFORE)");
- }
- #endif
-
- offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) offset_vec.debug("offset_vec (AFTER)");
- #endif
-
- // Adjustments to the current position
- float xydiff[2] = { offset_vec.x, offset_vec.y };
- current_position[Z_AXIS] += offset_vec.z;
-
- #else // !AUTO_BED_LEVELING_FEATURE
-
- float xydiff[2] = {
- hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
- hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
- };
-
- #if ENABLED(MESH_BED_LEVELING)
-
- if (mbl.active()) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before MBL: ", current_position[Z_AXIS]);
- #endif
- float xpos = RAW_CURRENT_POSITION(X_AXIS),
- ypos = RAW_CURRENT_POSITION(Y_AXIS);
- current_position[Z_AXIS] += mbl.get_z(xpos + xydiff[X_AXIS], ypos + xydiff[Y_AXIS]) - mbl.get_z(xpos, ypos);
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR(" after: ", current_position[Z_AXIS]);
- SERIAL_EOL;
- }
- #endif
- }
-
- #endif // MESH_BED_LEVELING
-
- #endif // !AUTO_BED_LEVELING_FEATURE
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
- SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
- SERIAL_ECHOLNPGM(" }");
- }
- #endif
-
- // The newly-selected extruder XY is actually at...
- current_position[X_AXIS] += xydiff[X_AXIS];
- current_position[Y_AXIS] += xydiff[Y_AXIS];
- for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
- position_shift[i] += xydiff[i];
- update_software_endstops((AxisEnum)i);
- }
-
- // Set the new active extruder
- active_extruder = tmp_extruder;
-
- #endif // !DUAL_X_CARRIAGE
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
- #endif
-
- // Tell the planner the new "current position"
- SYNC_PLAN_POSITION_KINEMATIC();
-
- // Move to the "old position" (move the extruder into place)
- if (!no_move && IsRunning()) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
- #endif
- prepare_move_to_destination();
- }
-
- } // (tmp_extruder != active_extruder)
-
- stepper.synchronize();
-
- #if ENABLED(EXT_SOLENOID)
- disable_all_solenoids();
- enable_solenoid_on_active_extruder();
- #endif // EXT_SOLENOID
-
- feedrate_mm_m = old_feedrate_mm_m;
-
- #else // HOTENDS <= 1
-
- // Set the new active extruder
- active_extruder = tmp_extruder;
-
- UNUSED(fr_mm_m);
- UNUSED(no_move);
-
- #endif // HOTENDS <= 1
-
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_ACTIVE_EXTRUDER);
- SERIAL_PROTOCOLLN((int)active_extruder);
-
- #endif //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
- }
-
- /**
- * T0-T3: Switch tool, usually switching extruders
- *
- * F[units/min] Set the movement feedrate
- * S1 Don't move the tool in XY after change
- */
- inline void gcode_T(uint8_t tmp_extruder) {
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR(">>> gcode_T(", tmp_extruder);
- SERIAL_ECHOLNPGM(")");
- DEBUG_POS("BEFORE", current_position);
- }
- #endif
-
- #if HOTENDS == 1 || (ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1)
-
- tool_change(tmp_extruder);
-
- #elif HOTENDS > 1
-
- tool_change(
- tmp_extruder,
- code_seen('F') ? code_value_axis_units(X_AXIS) : 0.0,
- (tmp_extruder == active_extruder) || (code_seen('S') && code_value_bool())
- );
-
- #endif
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- DEBUG_POS("AFTER", current_position);
- SERIAL_ECHOLNPGM("<<< gcode_T");
- }
- #endif
- }
-
- /**
- * Process a single command and dispatch it to its handler
- * This is called from the main loop()
- */
- void process_next_command() {
- current_command = command_queue[cmd_queue_index_r];
-
- if (DEBUGGING(ECHO)) {
- SERIAL_ECHO_START;
- SERIAL_ECHOLN(current_command);
- }
-
- // Sanitize the current command:
- // - Skip leading spaces
- // - Bypass N[-0-9][0-9]*[ ]*
- // - Overwrite * with nul to mark the end
- while (*current_command == ' ') ++current_command;
- if (*current_command == 'N' && NUMERIC_SIGNED(current_command[1])) {
- current_command += 2; // skip N[-0-9]
- while (NUMERIC(*current_command)) ++current_command; // skip [0-9]*
- while (*current_command == ' ') ++current_command; // skip [ ]*
- }
- char* starpos = strchr(current_command, '*'); // * should always be the last parameter
- if (starpos) while (*starpos == ' ' || *starpos == '*') *starpos-- = '\0'; // nullify '*' and ' '
-
- char *cmd_ptr = current_command;
-
- // Get the command code, which must be G, M, or T
- char command_code = *cmd_ptr++;
-
- // Skip spaces to get the numeric part
- while (*cmd_ptr == ' ') cmd_ptr++;
-
- uint16_t codenum = 0; // define ahead of goto
-
- // Bail early if there's no code
- bool code_is_good = NUMERIC(*cmd_ptr);
- if (!code_is_good) goto ExitUnknownCommand;
-
- // Get and skip the code number
- do {
- codenum = (codenum * 10) + (*cmd_ptr - '0');
- cmd_ptr++;
- } while (NUMERIC(*cmd_ptr));
-
- // Skip all spaces to get to the first argument, or nul
- while (*cmd_ptr == ' ') cmd_ptr++;
-
- // The command's arguments (if any) start here, for sure!
- current_command_args = cmd_ptr;
-
- KEEPALIVE_STATE(IN_HANDLER);
-
- // Handle a known G, M, or T
- switch (command_code) {
- case 'G': switch (codenum) {
-
- // G0, G1
- case 0:
- case 1:
- gcode_G0_G1();
- break;
-
- // G2, G3
- #if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
- case 2: // G2 - CW ARC
- case 3: // G3 - CCW ARC
- gcode_G2_G3(codenum == 2);
- break;
- #endif
-
- // G4 Dwell
- case 4:
- gcode_G4();
- break;
-
- #if ENABLED(BEZIER_CURVE_SUPPORT)
- // G5
- case 5: // G5 - Cubic B_spline
- gcode_G5();
- break;
- #endif // BEZIER_CURVE_SUPPORT
-
- #if ENABLED(FWRETRACT)
- case 10: // G10: retract
- case 11: // G11: retract_recover
- gcode_G10_G11(codenum == 10);
- break;
- #endif // FWRETRACT
-
- #if ENABLED(NOZZLE_CLEAN_FEATURE)
- case 12:
- gcode_G12(); // G12: Nozzle Clean
- break;
- #endif // NOZZLE_CLEAN_FEATURE
-
- #if ENABLED(INCH_MODE_SUPPORT)
- case 20: //G20: Inch Mode
- gcode_G20();
- break;
-
- case 21: //G21: MM Mode
- gcode_G21();
- break;
- #endif // INCH_MODE_SUPPORT
-
- #if ENABLED(NOZZLE_PARK_FEATURE)
- case 27: // G27: Nozzle Park
- gcode_G27();
- break;
- #endif // NOZZLE_PARK_FEATURE
-
- case 28: // G28: Home all axes, one at a time
- gcode_G28();
- break;
-
- #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
- case 29: // G29 Detailed Z probe, probes the bed at 3 or more points.
- gcode_G29();
- break;
- #endif // AUTO_BED_LEVELING_FEATURE
-
- #if HAS_BED_PROBE
-
- case 30: // G30 Single Z probe
- gcode_G30();
- break;
-
- #if ENABLED(Z_PROBE_SLED)
-
- case 31: // G31: dock the sled
- gcode_G31();
- break;
-
- case 32: // G32: undock the sled
- gcode_G32();
- break;
-
- #endif // Z_PROBE_SLED
- #endif // HAS_BED_PROBE
-
- case 90: // G90
- relative_mode = false;
- break;
- case 91: // G91
- relative_mode = true;
- break;
-
- case 92: // G92
- gcode_G92();
- break;
- }
- break;
-
- case 'M': switch (codenum) {
- #if ENABLED(ULTIPANEL)
- case 0: // M0 - Unconditional stop - Wait for user button press on LCD
- case 1: // M1 - Conditional stop - Wait for user button press on LCD
- gcode_M0_M1();
- break;
- #endif // ULTIPANEL
-
- case 17:
- gcode_M17();
- break;
-
- #if ENABLED(SDSUPPORT)
- case 20: // M20 - list SD card
- gcode_M20(); break;
- case 21: // M21 - init SD card
- gcode_M21(); break;
- case 22: //M22 - release SD card
- gcode_M22(); break;
- case 23: //M23 - Select file
- gcode_M23(); break;
- case 24: //M24 - Start SD print
- gcode_M24(); break;
- case 25: //M25 - Pause SD print
- gcode_M25(); break;
- case 26: //M26 - Set SD index
- gcode_M26(); break;
- case 27: //M27 - Get SD status
- gcode_M27(); break;
- case 28: //M28 - Start SD write
- gcode_M28(); break;
- case 29: //M29 - Stop SD write
- gcode_M29(); break;
- case 30: //M30 <filename> Delete File
- gcode_M30(); break;
- case 32: //M32 - Select file and start SD print
- gcode_M32(); break;
-
- #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
- case 33: //M33 - Get the long full path to a file or folder
- gcode_M33(); break;
- #endif // LONG_FILENAME_HOST_SUPPORT
-
- case 928: //M928 - Start SD write
- gcode_M928(); break;
- #endif //SDSUPPORT
-
- case 31: //M31 take time since the start of the SD print or an M109 command
- gcode_M31();
- break;
-
- case 42: //M42 -Change pin status via gcode
- gcode_M42();
- break;
-
- #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
- case 48: // M48 Z probe repeatability
- gcode_M48();
- break;
- #endif // Z_MIN_PROBE_REPEATABILITY_TEST
-
- case 75: // Start print timer
- gcode_M75();
- break;
-
- case 76: // Pause print timer
- gcode_M76();
- break;
-
- case 77: // Stop print timer
- gcode_M77();
- break;
-
- #if ENABLED(PRINTCOUNTER)
- case 78: // Show print statistics
- gcode_M78();
- break;
- #endif
-
- #if ENABLED(M100_FREE_MEMORY_WATCHER)
- case 100:
- gcode_M100();
- break;
- #endif
-
- case 104: // M104
- gcode_M104();
- break;
-
- case 110: // M110: Set Current Line Number
- gcode_M110();
- break;
-
- case 111: // M111: Set debug level
- gcode_M111();
- break;
-
- #if DISABLED(EMERGENCY_PARSER)
-
- case 108: // M108: Cancel Waiting
- gcode_M108();
- break;
-
- case 112: // M112: Emergency Stop
- gcode_M112();
- break;
-
- case 410: // M410 quickstop - Abort all the planned moves.
- gcode_M410();
- break;
-
- #endif
-
- #if ENABLED(HOST_KEEPALIVE_FEATURE)
- case 113: // M113: Set Host Keepalive interval
- gcode_M113();
- break;
- #endif
-
- case 140: // M140: Set bed temp
- gcode_M140();
- break;
-
- case 105: // M105: Read current temperature
- gcode_M105();
- KEEPALIVE_STATE(NOT_BUSY);
- return; // "ok" already printed
-
- case 109: // M109: Wait for temperature
- gcode_M109();
- break;
-
- #if HAS_TEMP_BED
- case 190: // M190: Wait for bed heater to reach target
- gcode_M190();
- break;
- #endif // HAS_TEMP_BED
-
- #if FAN_COUNT > 0
- case 106: // M106: Fan On
- gcode_M106();
- break;
- case 107: // M107: Fan Off
- gcode_M107();
- break;
- #endif // FAN_COUNT > 0
-
- #if ENABLED(BARICUDA)
- // PWM for HEATER_1_PIN
- #if HAS_HEATER_1
- case 126: // M126: valve open
- gcode_M126();
- break;
- case 127: // M127: valve closed
- gcode_M127();
- break;
- #endif // HAS_HEATER_1
-
- // PWM for HEATER_2_PIN
- #if HAS_HEATER_2
- case 128: // M128: valve open
- gcode_M128();
- break;
- case 129: // M129: valve closed
- gcode_M129();
- break;
- #endif // HAS_HEATER_2
- #endif // BARICUDA
-
- #if HAS_POWER_SWITCH
-
- case 80: // M80: Turn on Power Supply
- gcode_M80();
- break;
-
- #endif // HAS_POWER_SWITCH
-
- case 81: // M81: Turn off Power, including Power Supply, if possible
- gcode_M81();
- break;
-
- case 82:
- gcode_M82();
- break;
- case 83:
- gcode_M83();
- break;
- case 18: // (for compatibility)
- case 84: // M84
- gcode_M18_M84();
- break;
- case 85: // M85
- gcode_M85();
- break;
- case 92: // M92: Set the steps-per-unit for one or more axes
- gcode_M92();
- break;
- case 115: // M115: Report capabilities
- gcode_M115();
- break;
- case 117: // M117: Set LCD message text, if possible
- gcode_M117();
- break;
- case 114: // M114: Report current position
- gcode_M114();
- break;
- case 120: // M120: Enable endstops
- gcode_M120();
- break;
- case 121: // M121: Disable endstops
- gcode_M121();
- break;
- case 119: // M119: Report endstop states
- gcode_M119();
- break;
-
- #if ENABLED(ULTIPANEL)
-
- case 145: // M145: Set material heatup parameters
- gcode_M145();
- break;
-
- #endif
-
- #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
- case 149:
- gcode_M149();
- break;
- #endif
-
- #if ENABLED(BLINKM)
-
- case 150: // M150
- gcode_M150();
- break;
-
- #endif //BLINKM
-
- #if ENABLED(EXPERIMENTAL_I2CBUS)
-
- case 155:
- gcode_M155();
- break;
-
- case 156:
- gcode_M156();
- break;
-
- #endif //EXPERIMENTAL_I2CBUS
-
- #if ENABLED(MIXING_EXTRUDER)
- case 163: // M163 S<int> P<float> set weight for a mixing extruder
- gcode_M163();
- break;
- #if MIXING_VIRTUAL_TOOLS > 1
- case 164: // M164 S<int> save current mix as a virtual extruder
- gcode_M164();
- break;
- #endif
- #if ENABLED(DIRECT_MIXING_IN_G1)
- case 165: // M165 [ABCDHI]<float> set multiple mix weights
- gcode_M165();
- break;
- #endif
- #endif
-
- case 200: // M200 D<diameter> Set filament diameter and set E axis units to cubic. (Use S0 to revert to linear units.)
- gcode_M200();
- break;
- case 201: // M201
- gcode_M201();
- break;
- #if 0 // Not used for Sprinter/grbl gen6
- case 202: // M202
- gcode_M202();
- break;
- #endif
- case 203: // M203 max feedrate units/sec
- gcode_M203();
- break;
- case 204: // M204 acclereration S normal moves T filmanent only moves
- gcode_M204();
- break;
- case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
- gcode_M205();
- break;
- case 206: // M206 additional homing offset
- gcode_M206();
- break;
-
- #if ENABLED(DELTA)
- case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
- gcode_M665();
- break;
- #endif
-
- #if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS)
- case 666: // M666 set delta / dual endstop adjustment
- gcode_M666();
- break;
- #endif
-
- #if ENABLED(FWRETRACT)
- case 207: // M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>
- gcode_M207();
- break;
- case 208: // M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>
- gcode_M208();
- break;
- case 209: // M209 - Turn Automatic Retract Detection on/off: S<bool> (For slicers that don't support G10/11). Every normal extrude-only move will be classified as retract depending on the direction.
- gcode_M209();
- break;
- #endif // FWRETRACT
-
- #if HOTENDS > 1
- case 218: // M218 - Set a tool offset: T<index> X<offset> Y<offset>
- gcode_M218();
- break;
- #endif
-
- case 220: // M220 - Set Feedrate Percentage: S<percent> ("FR" on your LCD)
- gcode_M220();
- break;
-
- case 221: // M221 - Set Flow Percentage: S<percent>
- gcode_M221();
- break;
-
- case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
- gcode_M226();
- break;
-
- #if HAS_SERVOS
- case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
- gcode_M280();
- break;
- #endif // HAS_SERVOS
-
- #if HAS_BUZZER
- case 300: // M300 - Play beep tone
- gcode_M300();
- break;
- #endif // HAS_BUZZER
-
- #if ENABLED(PIDTEMP)
- case 301: // M301
- gcode_M301();
- break;
- #endif // PIDTEMP
-
- #if ENABLED(PIDTEMPBED)
- case 304: // M304
- gcode_M304();
- break;
- #endif // PIDTEMPBED
-
- #if defined(CHDK) || HAS_PHOTOGRAPH
- case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
- gcode_M240();
- break;
- #endif // CHDK || PHOTOGRAPH_PIN
-
- #if HAS_LCD_CONTRAST
- case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
- gcode_M250();
- break;
- #endif // HAS_LCD_CONTRAST
-
- #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
- case 302: // allow cold extrudes, or set the minimum extrude temperature
- gcode_M302();
- break;
- #endif // PREVENT_DANGEROUS_EXTRUDE
-
- case 303: // M303 PID autotune
- gcode_M303();
- break;
-
- #if ENABLED(SCARA)
- case 360: // M360 SCARA Theta pos1
- if (gcode_M360()) return;
- break;
- case 361: // M361 SCARA Theta pos2
- if (gcode_M361()) return;
- break;
- case 362: // M362 SCARA Psi pos1
- if (gcode_M362()) return;
- break;
- case 363: // M363 SCARA Psi pos2
- if (gcode_M363()) return;
- break;
- case 364: // M364 SCARA Psi pos3 (90 deg to Theta)
- if (gcode_M364()) return;
- break;
- case 365: // M365 Set SCARA scaling for X Y Z
- gcode_M365();
- break;
- #endif // SCARA
-
- case 400: // M400 finish all moves
- gcode_M400();
- break;
-
- #if HAS_BED_PROBE
- case 401:
- gcode_M401();
- break;
- case 402:
- gcode_M402();
- break;
- #endif // HAS_BED_PROBE
-
- #if ENABLED(FILAMENT_WIDTH_SENSOR)
- case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
- gcode_M404();
- break;
- case 405: //M405 Turn on filament sensor for control
- gcode_M405();
- break;
- case 406: //M406 Turn off filament sensor for control
- gcode_M406();
- break;
- case 407: //M407 Display measured filament diameter
- gcode_M407();
- break;
- #endif // ENABLED(FILAMENT_WIDTH_SENSOR)
-
- #if ENABLED(MESH_BED_LEVELING)
- case 420: // M420 Enable/Disable Mesh Bed Leveling
- gcode_M420();
- break;
- case 421: // M421 Set a Mesh Bed Leveling Z coordinate
- gcode_M421();
- break;
- #endif
-
- case 428: // M428 Apply current_position to home_offset
- gcode_M428();
- break;
-
- case 500: // M500 Store settings in EEPROM
- gcode_M500();
- break;
- case 501: // M501 Read settings from EEPROM
- gcode_M501();
- break;
- case 502: // M502 Revert to default settings
- gcode_M502();
- break;
- case 503: // M503 print settings currently in memory
- gcode_M503();
- break;
-
- #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
- case 540:
- gcode_M540();
- break;
- #endif
-
- #if HAS_BED_PROBE
- case 851:
- gcode_M851();
- break;
- #endif // HAS_BED_PROBE
-
- #if ENABLED(FILAMENT_CHANGE_FEATURE)
- case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
- gcode_M600();
- break;
- #endif // FILAMENT_CHANGE_FEATURE
-
- #if ENABLED(DUAL_X_CARRIAGE)
- case 605:
- gcode_M605();
- break;
- #endif // DUAL_X_CARRIAGE
-
- #if ENABLED(LIN_ADVANCE)
- case 905: // M905 Set advance factor.
- gcode_M905();
- break;
- #endif
-
- case 907: // M907 Set digital trimpot motor current using axis codes.
- gcode_M907();
- break;
-
- #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
-
- case 908: // M908 Control digital trimpot directly.
- gcode_M908();
- break;
-
- #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
-
- case 909: // M909 Print digipot/DAC current value
- gcode_M909();
- break;
-
- case 910: // M910 Commit digipot/DAC value to external EEPROM
- gcode_M910();
- break;
-
- #endif
-
- #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
-
- #if HAS_MICROSTEPS
-
- case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
- gcode_M350();
- break;
-
- case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
- gcode_M351();
- break;
-
- #endif // HAS_MICROSTEPS
-
- case 999: // M999: Restart after being Stopped
- gcode_M999();
- break;
- }
- break;
-
- case 'T':
- gcode_T(codenum);
- break;
-
- default: code_is_good = false;
- }
-
- KEEPALIVE_STATE(NOT_BUSY);
-
- ExitUnknownCommand:
-
- // Still unknown command? Throw an error
- if (!code_is_good) unknown_command_error();
-
- ok_to_send();
- }
-
- void FlushSerialRequestResend() {
- //char command_queue[cmd_queue_index_r][100]="Resend:";
- MYSERIAL.flush();
- SERIAL_PROTOCOLPGM(MSG_RESEND);
- SERIAL_PROTOCOLLN(gcode_LastN + 1);
- ok_to_send();
- }
-
- void ok_to_send() {
- refresh_cmd_timeout();
- if (!send_ok[cmd_queue_index_r]) return;
- SERIAL_PROTOCOLPGM(MSG_OK);
- #if ENABLED(ADVANCED_OK)
- char* p = command_queue[cmd_queue_index_r];
- if (*p == 'N') {
- SERIAL_PROTOCOL(' ');
- SERIAL_ECHO(*p++);
- while (NUMERIC_SIGNED(*p))
- SERIAL_ECHO(*p++);
- }
- SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
- SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
- #endif
- SERIAL_EOL;
- }
-
- void clamp_to_software_endstops(float target[3]) {
- if (min_software_endstops) {
- NOLESS(target[X_AXIS], sw_endstop_min[X_AXIS]);
- NOLESS(target[Y_AXIS], sw_endstop_min[Y_AXIS]);
- NOLESS(target[Z_AXIS], sw_endstop_min[Z_AXIS]);
- }
- if (max_software_endstops) {
- NOMORE(target[X_AXIS], sw_endstop_max[X_AXIS]);
- NOMORE(target[Y_AXIS], sw_endstop_max[Y_AXIS]);
- NOMORE(target[Z_AXIS], sw_endstop_max[Z_AXIS]);
- }
- }
-
- #if ENABLED(DELTA)
-
- void recalc_delta_settings(float radius, float diagonal_rod) {
- delta_tower1_x = -SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
- delta_tower1_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1);
- delta_tower2_x = SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
- delta_tower2_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2);
- delta_tower3_x = 0.0; // back middle tower
- delta_tower3_y = (radius + DELTA_RADIUS_TRIM_TOWER_3);
- delta_diagonal_rod_2_tower_1 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_1);
- delta_diagonal_rod_2_tower_2 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_2);
- delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3);
- }
-
- void inverse_kinematics(const float in_cartesian[3]) {
-
- const float cartesian[3] = {
- RAW_X_POSITION(in_cartesian[X_AXIS]),
- RAW_Y_POSITION(in_cartesian[Y_AXIS]),
- RAW_Z_POSITION(in_cartesian[Z_AXIS])
- };
-
- delta[TOWER_1] = sqrt(delta_diagonal_rod_2_tower_1
- - sq(delta_tower1_x - cartesian[X_AXIS])
- - sq(delta_tower1_y - cartesian[Y_AXIS])
- ) + cartesian[Z_AXIS];
- delta[TOWER_2] = sqrt(delta_diagonal_rod_2_tower_2
- - sq(delta_tower2_x - cartesian[X_AXIS])
- - sq(delta_tower2_y - cartesian[Y_AXIS])
- ) + cartesian[Z_AXIS];
- delta[TOWER_3] = sqrt(delta_diagonal_rod_2_tower_3
- - sq(delta_tower3_x - cartesian[X_AXIS])
- - sq(delta_tower3_y - cartesian[Y_AXIS])
- ) + cartesian[Z_AXIS];
- /**
- SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
- SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
- SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
-
- SERIAL_ECHOPGM("delta a="); SERIAL_ECHO(delta[TOWER_1]);
- SERIAL_ECHOPGM(" b="); SERIAL_ECHO(delta[TOWER_2]);
- SERIAL_ECHOPGM(" c="); SERIAL_ECHOLN(delta[TOWER_3]);
- */
- }
-
- float delta_safe_distance_from_top() {
- float cartesian[3] = {
- LOGICAL_X_POSITION(0),
- LOGICAL_Y_POSITION(0),
- LOGICAL_Z_POSITION(0)
- };
- inverse_kinematics(cartesian);
- float distance = delta[TOWER_3];
- cartesian[Y_AXIS] = LOGICAL_Y_POSITION(DELTA_PRINTABLE_RADIUS);
- inverse_kinematics(cartesian);
- return abs(distance - delta[TOWER_3]);
- }
-
- void forward_kinematics_DELTA(float z1, float z2, float z3) {
- //As discussed in Wikipedia "Trilateration"
- //we are establishing a new coordinate
- //system in the plane of the three carriage points.
- //This system will have the origin at tower1 and
- //tower2 is on the x axis. tower3 is in the X-Y
- //plane with a Z component of zero. We will define unit
- //vectors in this coordinate system in our original
- //coordinate system. Then when we calculate the
- //Xnew, Ynew and Znew values, we can translate back into
- //the original system by moving along those unit vectors
- //by the corresponding values.
- // https://en.wikipedia.org/wiki/Trilateration
-
- // Variable names matched to Marlin, c-version
- // and avoiding a vector library
- // by Andreas Hardtung 2016-06-7
- // based on a Java function from
- // "Delta Robot Kinematics by Steve Graves" V3
-
- // Result is in cartesian_position[].
-
- //Create a vector in old coordinates along x axis of new coordinate
- float p12[3] = { delta_tower2_x - delta_tower1_x, delta_tower2_y - delta_tower1_y, z2 - z1 };
-
- //Get the Magnitude of vector.
- float d = sqrt( p12[0]*p12[0] + p12[1]*p12[1] + p12[2]*p12[2] );
-
- //Create unit vector by dividing by magnitude.
- float ex[3] = { p12[0]/d, p12[1]/d, p12[2]/d };
-
- //Now find vector from the origin of the new system to the third point.
- float p13[3] = { delta_tower3_x - delta_tower1_x, delta_tower3_y - delta_tower1_y, z3 - z1 };
-
- //Now use dot product to find the component of this vector on the X axis.
- float i = ex[0]*p13[0] + ex[1]*p13[1] + ex[2]*p13[2];
-
- //Now create a vector along the x axis that represents the x component of p13.
- float iex[3] = { ex[0]*i, ex[1]*i, ex[2]*i };
-
- //Now subtract the X component away from the original vector leaving only the Y component. We use the
- //variable that will be the unit vector after we scale it.
- float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2]};
-
- //The magnitude of Y component
- float j = sqrt(sq(ey[0]) + sq(ey[1]) + sq(ey[2]));
-
- //Now make vector a unit vector
- ey[0] /= j; ey[1] /= j; ey[2] /= j;
-
- //The cross product of the unit x and y is the unit z
- //float[] ez = vectorCrossProd(ex, ey);
- float ez[3] = { ex[1]*ey[2] - ex[2]*ey[1], ex[2]*ey[0] - ex[0]*ey[2], ex[0]*ey[1] - ex[1]*ey[0] };
-
- //Now we have the d, i and j values defined in Wikipedia.
- //We can plug them into the equations defined in
- //Wikipedia for Xnew, Ynew and Znew
- float Xnew = (delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_2 + d*d)/(d*2);
- float Ynew = ((delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_3 + i*i + j*j)/2 - i*Xnew) /j;
- float Znew = sqrt(delta_diagonal_rod_2_tower_1 - Xnew*Xnew - Ynew*Ynew);
-
- //Now we can start from the origin in the old coords and
- //add vectors in the old coords that represent the
- //Xnew, Ynew and Znew to find the point in the old system
- cartesian_position[X_AXIS] = delta_tower1_x + ex[0]*Xnew + ey[0]*Ynew - ez[0]*Znew;
- cartesian_position[Y_AXIS] = delta_tower1_y + ex[1]*Xnew + ey[1]*Ynew - ez[1]*Znew;
- cartesian_position[Z_AXIS] = z1 + ex[2]*Xnew + ey[2]*Ynew - ez[2]*Znew;
- };
-
- void forward_kinematics_DELTA(float point[3]) {
- forward_kinematics_DELTA(point[X_AXIS], point[Y_AXIS], point[Z_AXIS]);
- }
-
- void set_cartesian_from_steppers() {
- forward_kinematics_DELTA(stepper.get_axis_position_mm(X_AXIS),
- stepper.get_axis_position_mm(Y_AXIS),
- stepper.get_axis_position_mm(Z_AXIS));
- }
-
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
-
- // Adjust print surface height by linear interpolation over the bed_level array.
- void adjust_delta(float cartesian[3]) {
- if (delta_grid_spacing[0] == 0 || delta_grid_spacing[1] == 0) return; // G29 not done!
-
- int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
- float h1 = 0.001 - half, h2 = half - 0.001,
- grid_x = max(h1, min(h2, RAW_X_POSITION(cartesian[X_AXIS]) / delta_grid_spacing[0])),
- grid_y = max(h1, min(h2, RAW_Y_POSITION(cartesian[Y_AXIS]) / delta_grid_spacing[1]));
- int floor_x = floor(grid_x), floor_y = floor(grid_y);
- float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y,
- z1 = bed_level[floor_x + half][floor_y + half],
- z2 = bed_level[floor_x + half][floor_y + half + 1],
- z3 = bed_level[floor_x + half + 1][floor_y + half],
- z4 = bed_level[floor_x + half + 1][floor_y + half + 1],
- left = (1 - ratio_y) * z1 + ratio_y * z2,
- right = (1 - ratio_y) * z3 + ratio_y * z4,
- offset = (1 - ratio_x) * left + ratio_x * right;
-
- delta[X_AXIS] += offset;
- delta[Y_AXIS] += offset;
- delta[Z_AXIS] += offset;
-
- /**
- SERIAL_ECHOPGM("grid_x="); SERIAL_ECHO(grid_x);
- SERIAL_ECHOPGM(" grid_y="); SERIAL_ECHO(grid_y);
- SERIAL_ECHOPGM(" floor_x="); SERIAL_ECHO(floor_x);
- SERIAL_ECHOPGM(" floor_y="); SERIAL_ECHO(floor_y);
- SERIAL_ECHOPGM(" ratio_x="); SERIAL_ECHO(ratio_x);
- SERIAL_ECHOPGM(" ratio_y="); SERIAL_ECHO(ratio_y);
- SERIAL_ECHOPGM(" z1="); SERIAL_ECHO(z1);
- SERIAL_ECHOPGM(" z2="); SERIAL_ECHO(z2);
- SERIAL_ECHOPGM(" z3="); SERIAL_ECHO(z3);
- SERIAL_ECHOPGM(" z4="); SERIAL_ECHO(z4);
- SERIAL_ECHOPGM(" left="); SERIAL_ECHO(left);
- SERIAL_ECHOPGM(" right="); SERIAL_ECHO(right);
- SERIAL_ECHOPGM(" offset="); SERIAL_ECHOLN(offset);
- */
- }
- #endif // AUTO_BED_LEVELING_FEATURE
-
- #endif // DELTA
-
- void set_current_from_steppers_for_axis(AxisEnum axis) {
- #if ENABLED(DELTA)
- set_cartesian_from_steppers();
- current_position[axis] = LOGICAL_POSITION(cartesian_position[axis], axis);
- #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
- vector_3 pos = planner.adjusted_position();
- current_position[axis] = axis == X_AXIS ? pos.x : axis == Y_AXIS ? pos.y : pos.z;
- #else
- current_position[axis] = stepper.get_axis_position_mm(axis); // CORE handled transparently
- #endif
- }
-
- #if ENABLED(MESH_BED_LEVELING)
-
- // This function is used to split lines on mesh borders so each segment is only part of one mesh area
- void mesh_line_to_destination(float fr_mm_m, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
- int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X_AXIS)),
- cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y_AXIS)),
- cx2 = mbl.cell_index_x(RAW_X_POSITION(destination[X_AXIS])),
- cy2 = mbl.cell_index_y(RAW_Y_POSITION(destination[Y_AXIS]));
- NOMORE(cx1, MESH_NUM_X_POINTS - 2);
- NOMORE(cy1, MESH_NUM_Y_POINTS - 2);
- NOMORE(cx2, MESH_NUM_X_POINTS - 2);
- NOMORE(cy2, MESH_NUM_Y_POINTS - 2);
-
- if (cx1 == cx2 && cy1 == cy2) {
- // Start and end on same mesh square
- line_to_destination(fr_mm_m);
- set_current_to_destination();
- return;
- }
-
- #define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
-
- float normalized_dist, end[NUM_AXIS];
-
- // Split at the left/front border of the right/top square
- int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
- if (cx2 != cx1 && TEST(x_splits, gcx)) {
- memcpy(end, destination, sizeof(end));
- destination[X_AXIS] = LOGICAL_X_POSITION(mbl.get_probe_x(gcx));
- normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
- destination[Y_AXIS] = MBL_SEGMENT_END(Y);
- CBI(x_splits, gcx);
- }
- else if (cy2 != cy1 && TEST(y_splits, gcy)) {
- memcpy(end, destination, sizeof(end));
- destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.get_probe_y(gcy));
- normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
- destination[X_AXIS] = MBL_SEGMENT_END(X);
- CBI(y_splits, gcy);
- }
- else {
- // Already split on a border
- line_to_destination(fr_mm_m);
- set_current_to_destination();
- return;
- }
-
- destination[Z_AXIS] = MBL_SEGMENT_END(Z);
- destination[E_AXIS] = MBL_SEGMENT_END(E);
-
- // Do the split and look for more borders
- mesh_line_to_destination(fr_mm_m, x_splits, y_splits);
-
- // Restore destination from stack
- memcpy(destination, end, sizeof(end));
- mesh_line_to_destination(fr_mm_m, x_splits, y_splits);
- }
- #endif // MESH_BED_LEVELING
-
- #if ENABLED(DELTA) || ENABLED(SCARA)
-
- inline bool prepare_kinematic_move_to(float target[NUM_AXIS]) {
- float difference[NUM_AXIS];
- LOOP_XYZE(i) difference[i] = target[i] - current_position[i];
-
- float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
- if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
- if (cartesian_mm < 0.000001) return false;
- float _feedrate_mm_s = MMM_TO_MMS_SCALED(feedrate_mm_m);
- float seconds = cartesian_mm / _feedrate_mm_s;
- int steps = max(1, int(delta_segments_per_second * seconds));
- float inv_steps = 1.0/steps;
-
- // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
- // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
- // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
-
- for (int s = 1; s <= steps; s++) {
-
- float fraction = float(s) * inv_steps;
-
- LOOP_XYZE(i)
- target[i] = current_position[i] + difference[i] * fraction;
-
- inverse_kinematics(target);
-
- #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
- if (!bed_leveling_in_progress) adjust_delta(target);
- #endif
-
- //DEBUG_POS("prepare_kinematic_move_to", target);
- //DEBUG_POS("prepare_kinematic_move_to", delta);
-
- planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], _feedrate_mm_s, active_extruder);
- }
- return true;
- }
-
- #endif // DELTA || SCARA
-
- #if ENABLED(DUAL_X_CARRIAGE)
-
- inline bool prepare_move_to_destination_dualx() {
- if (active_extruder_parked) {
- if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
- // move duplicate extruder into correct duplication position.
- planner.set_position_mm(
- LOGICAL_X_POSITION(inactive_extruder_x_pos),
- current_position[Y_AXIS],
- current_position[Z_AXIS],
- current_position[E_AXIS]
- );
- planner.buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset,
- current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[X_AXIS], 1);
- SYNC_PLAN_POSITION_KINEMATIC();
- stepper.synchronize();
- extruder_duplication_enabled = true;
- active_extruder_parked = false;
- }
- else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) { // handle unparking of head
- if (current_position[E_AXIS] == destination[E_AXIS]) {
- // This is a travel move (with no extrusion)
- // Skip it, but keep track of the current position
- // (so it can be used as the start of the next non-travel move)
- if (delayed_move_time != 0xFFFFFFFFUL) {
- set_current_to_destination();
- NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
- delayed_move_time = millis();
- return false;
- }
- }
- delayed_move_time = 0;
- // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
- planner.buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
- planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], PLANNER_XY_FEEDRATE(), active_extruder);
- planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
- active_extruder_parked = false;
- }
- }
- return true;
- }
-
- #endif // DUAL_X_CARRIAGE
-
- #if DISABLED(DELTA) && DISABLED(SCARA)
-
- inline bool prepare_move_to_destination_cartesian() {
- // Do not use feedrate_percentage for E or Z only moves
- if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
- line_to_destination();
- }
- else {
- #if ENABLED(MESH_BED_LEVELING)
- if (mbl.active()) {
- mesh_line_to_destination(MMM_SCALED(feedrate_mm_m));
- return false;
- }
- else
- #endif
- line_to_destination(MMM_SCALED(feedrate_mm_m));
- }
- return true;
- }
-
- #endif // !DELTA && !SCARA
-
- #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
-
- inline void prevent_dangerous_extrude(float& curr_e, float& dest_e) {
- if (DEBUGGING(DRYRUN)) return;
- float de = dest_e - curr_e;
- if (de) {
- if (thermalManager.tooColdToExtrude(active_extruder)) {
- curr_e = dest_e; // Behave as if the move really took place, but ignore E part
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
- }
- #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
- if (labs(de) > EXTRUDE_MAXLENGTH) {
- curr_e = dest_e; // Behave as if the move really took place, but ignore E part
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
- }
- #endif
- }
- }
-
- #endif // PREVENT_DANGEROUS_EXTRUDE
-
- /**
- * Prepare a single move and get ready for the next one
- *
- * (This may call planner.buffer_line several times to put
- * smaller moves into the planner for DELTA or SCARA.)
- */
- void prepare_move_to_destination() {
- clamp_to_software_endstops(destination);
- refresh_cmd_timeout();
-
- #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
- prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]);
- #endif
-
- #if ENABLED(DELTA) || ENABLED(SCARA)
- if (!prepare_kinematic_move_to(destination)) return;
- #else
- #if ENABLED(DUAL_X_CARRIAGE)
- if (!prepare_move_to_destination_dualx()) return;
- #endif
- if (!prepare_move_to_destination_cartesian()) return;
- #endif
-
- set_current_to_destination();
- }
-
- #if ENABLED(ARC_SUPPORT)
- /**
- * Plan an arc in 2 dimensions
- *
- * The arc is approximated by generating many small linear segments.
- * The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
- * Arcs should only be made relatively large (over 5mm), as larger arcs with
- * larger segments will tend to be more efficient. Your slicer should have
- * options for G2/G3 arc generation. In future these options may be GCode tunable.
- */
- void plan_arc(
- float target[NUM_AXIS], // Destination position
- float* offset, // Center of rotation relative to current_position
- uint8_t clockwise // Clockwise?
- ) {
-
- float radius = HYPOT(offset[X_AXIS], offset[Y_AXIS]),
- center_X = current_position[X_AXIS] + offset[X_AXIS],
- center_Y = current_position[Y_AXIS] + offset[Y_AXIS],
- linear_travel = target[Z_AXIS] - current_position[Z_AXIS],
- extruder_travel = target[E_AXIS] - current_position[E_AXIS],
- r_X = -offset[X_AXIS], // Radius vector from center to current location
- r_Y = -offset[Y_AXIS],
- rt_X = target[X_AXIS] - center_X,
- rt_Y = target[Y_AXIS] - center_Y;
-
- // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
- float angular_travel = atan2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y);
- if (angular_travel < 0) angular_travel += RADIANS(360);
- if (clockwise) angular_travel -= RADIANS(360);
-
- // Make a circle if the angular rotation is 0
- if (angular_travel == 0 && current_position[X_AXIS] == target[X_AXIS] && current_position[Y_AXIS] == target[Y_AXIS])
- angular_travel += RADIANS(360);
-
- float mm_of_travel = HYPOT(angular_travel * radius, fabs(linear_travel));
- if (mm_of_travel < 0.001) return;
- uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT));
- if (segments == 0) segments = 1;
-
- float theta_per_segment = angular_travel / segments;
- float linear_per_segment = linear_travel / segments;
- float extruder_per_segment = extruder_travel / segments;
-
- /**
- * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
- * and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
- * r_T = [cos(phi) -sin(phi);
- * sin(phi) cos(phi] * r ;
- *
- * For arc generation, the center of the circle is the axis of rotation and the radius vector is
- * defined from the circle center to the initial position. Each line segment is formed by successive
- * vector rotations. This requires only two cos() and sin() computations to form the rotation
- * matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
- * all double numbers are single precision on the Arduino. (True double precision will not have
- * round off issues for CNC applications.) Single precision error can accumulate to be greater than
- * tool precision in some cases. Therefore, arc path correction is implemented.
- *
- * Small angle approximation may be used to reduce computation overhead further. This approximation
- * holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
- * theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
- * to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
- * numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
- * issue for CNC machines with the single precision Arduino calculations.
- *
- * This approximation also allows plan_arc to immediately insert a line segment into the planner
- * without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
- * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
- * This is important when there are successive arc motions.
- */
- // Vector rotation matrix values
- float cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
- float sin_T = theta_per_segment;
-
- float arc_target[NUM_AXIS];
- float sin_Ti, cos_Ti, r_new_Y;
- uint16_t i;
- int8_t count = 0;
-
- // Initialize the linear axis
- arc_target[Z_AXIS] = current_position[Z_AXIS];
-
- // Initialize the extruder axis
- arc_target[E_AXIS] = current_position[E_AXIS];
-
- float fr_mm_s = MMM_TO_MMS_SCALED(feedrate_mm_m);
-
- millis_t next_idle_ms = millis() + 200UL;
-
- for (i = 1; i < segments; i++) { // Iterate (segments-1) times
-
- thermalManager.manage_heater();
- millis_t now = millis();
- if (ELAPSED(now, next_idle_ms)) {
- next_idle_ms = now + 200UL;
- idle();
- }
-
- if (++count < N_ARC_CORRECTION) {
- // Apply vector rotation matrix to previous r_X / 1
- r_new_Y = r_X * sin_T + r_Y * cos_T;
- r_X = r_X * cos_T - r_Y * sin_T;
- r_Y = r_new_Y;
- }
- else {
- // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
- // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
- // To reduce stuttering, the sin and cos could be computed at different times.
- // For now, compute both at the same time.
- cos_Ti = cos(i * theta_per_segment);
- sin_Ti = sin(i * theta_per_segment);
- r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti;
- r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti;
- count = 0;
- }
-
- // Update arc_target location
- arc_target[X_AXIS] = center_X + r_X;
- arc_target[Y_AXIS] = center_Y + r_Y;
- arc_target[Z_AXIS] += linear_per_segment;
- arc_target[E_AXIS] += extruder_per_segment;
-
- clamp_to_software_endstops(arc_target);
-
- #if ENABLED(DELTA) || ENABLED(SCARA)
- inverse_kinematics(arc_target);
- #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
- adjust_delta(arc_target);
- #endif
- planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
- #else
- planner.buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
- #endif
- }
-
- // Ensure last segment arrives at target location.
- #if ENABLED(DELTA) || ENABLED(SCARA)
- inverse_kinematics(target);
- #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
- adjust_delta(target);
- #endif
- planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr_mm_s, active_extruder);
- #else
- planner.buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr_mm_s, active_extruder);
- #endif
-
- // As far as the parser is concerned, the position is now == target. In reality the
- // motion control system might still be processing the action and the real tool position
- // in any intermediate location.
- set_current_to_destination();
- }
- #endif
-
- #if ENABLED(BEZIER_CURVE_SUPPORT)
-
- void plan_cubic_move(const float offset[4]) {
- cubic_b_spline(current_position, destination, offset, MMM_TO_MMS_SCALED(feedrate_mm_m), active_extruder);
-
- // As far as the parser is concerned, the position is now == target. In reality the
- // motion control system might still be processing the action and the real tool position
- // in any intermediate location.
- set_current_to_destination();
- }
-
- #endif // BEZIER_CURVE_SUPPORT
-
- #if HAS_CONTROLLERFAN
-
- void controllerFan() {
- static millis_t lastMotorOn = 0; // Last time a motor was turned on
- static millis_t nextMotorCheck = 0; // Last time the state was checked
- millis_t ms = millis();
- if (ELAPSED(ms, nextMotorCheck)) {
- nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s
- if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || thermalManager.soft_pwm_bed > 0
- || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
- #if E_STEPPERS > 1
- || E1_ENABLE_READ == E_ENABLE_ON
- #if HAS_X2_ENABLE
- || X2_ENABLE_READ == X_ENABLE_ON
- #endif
- #if E_STEPPERS > 2
- || E2_ENABLE_READ == E_ENABLE_ON
- #if E_STEPPERS > 3
- || E3_ENABLE_READ == E_ENABLE_ON
- #endif
- #endif
- #endif
- ) {
- lastMotorOn = ms; //... set time to NOW so the fan will turn on
- }
-
- // Fan off if no steppers have been enabled for CONTROLLERFAN_SECS seconds
- uint8_t speed = (!lastMotorOn || ELAPSED(ms, lastMotorOn + (CONTROLLERFAN_SECS) * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
-
- // allows digital or PWM fan output to be used (see M42 handling)
- digitalWrite(CONTROLLERFAN_PIN, speed);
- analogWrite(CONTROLLERFAN_PIN, speed);
- }
- }
-
- #endif // HAS_CONTROLLERFAN
-
- #if ENABLED(SCARA)
-
- void forward_kinematics_SCARA(float f_scara[3]) {
- // Perform forward kinematics, and place results in delta[3]
- // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
-
- float x_sin, x_cos, y_sin, y_cos;
-
- //SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]);
- //SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]);
-
- x_sin = sin(f_scara[X_AXIS] / SCARA_RAD2DEG) * Linkage_1;
- x_cos = cos(f_scara[X_AXIS] / SCARA_RAD2DEG) * Linkage_1;
- y_sin = sin(f_scara[Y_AXIS] / SCARA_RAD2DEG) * Linkage_2;
- y_cos = cos(f_scara[Y_AXIS] / SCARA_RAD2DEG) * Linkage_2;
-
- //SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin);
- //SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos);
- //SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin);
- //SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos);
-
- delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta
- delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi
-
- //SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
- //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
- }
-
- void inverse_kinematics(const float cartesian[3]) {
- // Inverse kinematics.
- // Perform SCARA IK and place results in delta[3].
- // The maths and first version were done by QHARLEY.
- // Integrated, tweaked by Joachim Cerny in June 2014.
-
- float SCARA_pos[2];
- static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi;
-
- SCARA_pos[X_AXIS] = RAW_X_POSITION(cartesian[X_AXIS]) * axis_scaling[X_AXIS] - SCARA_offset_x; //Translate SCARA to standard X Y
- SCARA_pos[Y_AXIS] = RAW_Y_POSITION(cartesian[Y_AXIS]) * axis_scaling[Y_AXIS] - SCARA_offset_y; // With scaling factor.
-
- #if (Linkage_1 == Linkage_2)
- SCARA_C2 = ((sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS])) / (2 * (float)L1_2)) - 1;
- #else
- SCARA_C2 = (sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2) / 45000;
- #endif
-
- SCARA_S2 = sqrt(1 - sq(SCARA_C2));
-
- SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2;
- SCARA_K2 = Linkage_2 * SCARA_S2;
-
- SCARA_theta = (atan2(SCARA_pos[X_AXIS], SCARA_pos[Y_AXIS]) - atan2(SCARA_K1, SCARA_K2)) * -1;
- SCARA_psi = atan2(SCARA_S2, SCARA_C2);
-
- delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG; // Multiply by 180/Pi - theta is support arm angle
- delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG; // - equal to sub arm angle (inverted motor)
- delta[Z_AXIS] = RAW_Z_POSITION(cartesian[Z_AXIS]);
-
- /**
- SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
- SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
- SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
-
- SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]);
- SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]);
-
- SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
- SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
- SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
-
- SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2);
- SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2);
- SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta);
- SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi);
- SERIAL_EOL;
- */
- }
-
- #endif // SCARA
-
- #if ENABLED(TEMP_STAT_LEDS)
-
- static bool red_led = false;
- static millis_t next_status_led_update_ms = 0;
-
- void handle_status_leds(void) {
- float max_temp = 0.0;
- if (ELAPSED(millis(), next_status_led_update_ms)) {
- next_status_led_update_ms += 500; // Update every 0.5s
- HOTEND_LOOP() {
- max_temp = max(max(max_temp, thermalManager.degHotend(e)), thermalManager.degTargetHotend(e));
- }
- #if HAS_TEMP_BED
- max_temp = max(max(max_temp, thermalManager.degTargetBed()), thermalManager.degBed());
- #endif
- bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
- if (new_led != red_led) {
- red_led = new_led;
- digitalWrite(STAT_LED_RED, new_led ? HIGH : LOW);
- digitalWrite(STAT_LED_BLUE, new_led ? LOW : HIGH);
- }
- }
- }
-
- #endif
-
- void enable_all_steppers() {
- enable_x();
- enable_y();
- enable_z();
- enable_e0();
- enable_e1();
- enable_e2();
- enable_e3();
- }
-
- void disable_all_steppers() {
- disable_x();
- disable_y();
- disable_z();
- disable_e0();
- disable_e1();
- disable_e2();
- disable_e3();
- }
-
- /**
- * Standard idle routine keeps the machine alive
- */
- void idle(
- #if ENABLED(FILAMENT_CHANGE_FEATURE)
- bool no_stepper_sleep/*=false*/
- #endif
- ) {
- lcd_update();
- host_keepalive();
- manage_inactivity(
- #if ENABLED(FILAMENT_CHANGE_FEATURE)
- no_stepper_sleep
- #endif
- );
-
- thermalManager.manage_heater();
-
- #if ENABLED(PRINTCOUNTER)
- print_job_timer.tick();
- #endif
-
- #if HAS_BUZZER
- buzzer.tick();
- #endif
- }
-
- /**
- * Manage several activities:
- * - Check for Filament Runout
- * - Keep the command buffer full
- * - Check for maximum inactive time between commands
- * - Check for maximum inactive time between stepper commands
- * - Check if pin CHDK needs to go LOW
- * - Check for KILL button held down
- * - Check for HOME button held down
- * - Check if cooling fan needs to be switched on
- * - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
- */
- void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
-
- #if ENABLED(FILAMENT_RUNOUT_SENSOR)
- if ((IS_SD_PRINTING || print_job_timer.isRunning()) && !(READ(FIL_RUNOUT_PIN) ^ FIL_RUNOUT_INVERTING))
- handle_filament_runout();
- #endif
-
- if (commands_in_queue < BUFSIZE) get_available_commands();
-
- millis_t ms = millis();
-
- if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) kill(PSTR(MSG_KILLED));
-
- if (stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
- && !ignore_stepper_queue && !planner.blocks_queued()) {
- #if ENABLED(DISABLE_INACTIVE_X)
- disable_x();
- #endif
- #if ENABLED(DISABLE_INACTIVE_Y)
- disable_y();
- #endif
- #if ENABLED(DISABLE_INACTIVE_Z)
- disable_z();
- #endif
- #if ENABLED(DISABLE_INACTIVE_E)
- disable_e0();
- disable_e1();
- disable_e2();
- disable_e3();
- #endif
- }
-
- #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
- if (chdkActive && PENDING(ms, chdkHigh + CHDK_DELAY)) {
- chdkActive = false;
- WRITE(CHDK, LOW);
- }
- #endif
-
- #if HAS_KILL
-
- // Check if the kill button was pressed and wait just in case it was an accidental
- // key kill key press
- // -------------------------------------------------------------------------------
- static int killCount = 0; // make the inactivity button a bit less responsive
- const int KILL_DELAY = 750;
- if (!READ(KILL_PIN))
- killCount++;
- else if (killCount > 0)
- killCount--;
-
- // Exceeded threshold and we can confirm that it was not accidental
- // KILL the machine
- // ----------------------------------------------------------------
- if (killCount >= KILL_DELAY) kill(PSTR(MSG_KILLED));
- #endif
-
- #if HAS_HOME
- // Check to see if we have to home, use poor man's debouncer
- // ---------------------------------------------------------
- static int homeDebounceCount = 0; // poor man's debouncing count
- const int HOME_DEBOUNCE_DELAY = 2500;
- if (!READ(HOME_PIN)) {
- if (!homeDebounceCount) {
- enqueue_and_echo_commands_P(PSTR("G28"));
- LCD_MESSAGEPGM(MSG_AUTO_HOME);
- }
- if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
- homeDebounceCount++;
- else
- homeDebounceCount = 0;
- }
- #endif
-
- #if HAS_CONTROLLERFAN
- controllerFan(); // Check if fan should be turned on to cool stepper drivers down
- #endif
-
- #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
- if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
- && thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
- #if ENABLED(SWITCHING_EXTRUDER)
- bool oldstatus = E0_ENABLE_READ;
- enable_e0();
- #else // !SWITCHING_EXTRUDER
- bool oldstatus;
- switch (active_extruder) {
- case 0:
- oldstatus = E0_ENABLE_READ;
- enable_e0();
- break;
- #if E_STEPPERS > 1
- case 1:
- oldstatus = E1_ENABLE_READ;
- enable_e1();
- break;
- #if E_STEPPERS > 2
- case 2:
- oldstatus = E2_ENABLE_READ;
- enable_e2();
- break;
- #if E_STEPPERS > 3
- case 3:
- oldstatus = E3_ENABLE_READ;
- enable_e3();
- break;
- #endif
- #endif
- #endif
- }
- #endif // !SWITCHING_EXTRUDER
-
- float oldepos = current_position[E_AXIS], oldedes = destination[E_AXIS];
- planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
- destination[E_AXIS] + (EXTRUDER_RUNOUT_EXTRUDE) * (EXTRUDER_RUNOUT_ESTEPS) / planner.axis_steps_per_mm[E_AXIS],
- MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED) * (EXTRUDER_RUNOUT_ESTEPS) / planner.axis_steps_per_mm[E_AXIS], active_extruder);
- current_position[E_AXIS] = oldepos;
- destination[E_AXIS] = oldedes;
- planner.set_e_position_mm(oldepos);
- previous_cmd_ms = ms; // refresh_cmd_timeout()
- stepper.synchronize();
- #if ENABLED(SWITCHING_EXTRUDER)
- E0_ENABLE_WRITE(oldstatus);
- #else
- switch (active_extruder) {
- case 0:
- E0_ENABLE_WRITE(oldstatus);
- break;
- #if E_STEPPERS > 1
- case 1:
- E1_ENABLE_WRITE(oldstatus);
- break;
- #if E_STEPPERS > 2
- case 2:
- E2_ENABLE_WRITE(oldstatus);
- break;
- #if E_STEPPERS > 3
- case 3:
- E3_ENABLE_WRITE(oldstatus);
- break;
- #endif
- #endif
- #endif
- }
- #endif // !SWITCHING_EXTRUDER
- }
- #endif // EXTRUDER_RUNOUT_PREVENT
-
- #if ENABLED(DUAL_X_CARRIAGE)
- // handle delayed move timeout
- if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
- // travel moves have been received so enact them
- delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
- set_destination_to_current();
- prepare_move_to_destination();
- }
- #endif
-
- #if ENABLED(TEMP_STAT_LEDS)
- handle_status_leds();
- #endif
-
- planner.check_axes_activity();
- }
-
- void kill(const char* lcd_msg) {
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
-
- #if ENABLED(ULTRA_LCD)
- kill_screen(lcd_msg);
- #else
- UNUSED(lcd_msg);
- #endif
-
- for (int i = 5; i--;) delay(100); // Wait a short time
-
- cli(); // Stop interrupts
- thermalManager.disable_all_heaters();
- disable_all_steppers();
-
- #if HAS_POWER_SWITCH
- pinMode(PS_ON_PIN, INPUT);
- #endif
-
- suicide();
- while (1) {
- #if ENABLED(USE_WATCHDOG)
- watchdog_reset();
- #endif
- } // Wait for reset
- }
-
- #if ENABLED(FILAMENT_RUNOUT_SENSOR)
-
- void handle_filament_runout() {
- if (!filament_ran_out) {
- filament_ran_out = true;
- enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
- stepper.synchronize();
- }
- }
-
- #endif // FILAMENT_RUNOUT_SENSOR
-
- #if ENABLED(FAST_PWM_FAN)
-
- void setPwmFrequency(uint8_t pin, int val) {
- val &= 0x07;
- switch (digitalPinToTimer(pin)) {
- #if defined(TCCR0A)
- case TIMER0A:
- case TIMER0B:
- // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
- // TCCR0B |= val;
- break;
- #endif
- #if defined(TCCR1A)
- case TIMER1A:
- case TIMER1B:
- // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
- // TCCR1B |= val;
- break;
- #endif
- #if defined(TCCR2)
- case TIMER2:
- case TIMER2:
- TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
- TCCR2 |= val;
- break;
- #endif
- #if defined(TCCR2A)
- case TIMER2A:
- case TIMER2B:
- TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
- TCCR2B |= val;
- break;
- #endif
- #if defined(TCCR3A)
- case TIMER3A:
- case TIMER3B:
- case TIMER3C:
- TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
- TCCR3B |= val;
- break;
- #endif
- #if defined(TCCR4A)
- case TIMER4A:
- case TIMER4B:
- case TIMER4C:
- TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
- TCCR4B |= val;
- break;
- #endif
- #if defined(TCCR5A)
- case TIMER5A:
- case TIMER5B:
- case TIMER5C:
- TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
- TCCR5B |= val;
- break;
- #endif
- }
- }
- #endif // FAST_PWM_FAN
-
- void stop() {
- thermalManager.disable_all_heaters();
- if (IsRunning()) {
- Running = false;
- Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
- LCD_MESSAGEPGM(MSG_STOPPED);
- }
- }
-
- float calculate_volumetric_multiplier(float diameter) {
- if (!volumetric_enabled || diameter == 0) return 1.0;
- float d2 = diameter * 0.5;
- return 1.0 / (M_PI * d2 * d2);
- }
-
- void calculate_volumetric_multipliers() {
- for (uint8_t i = 0; i < COUNT(filament_size); i++)
- volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
- }
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