My Marlin configs for Fabrikator Mini and CTC i3 Pro B
Du kan inte välja fler än 25 ämnen Ämnen måste starta med en bokstav eller siffra, kan innehålla bindestreck ('-') och vara max 35 tecken långa.

Marlin_main.cpp 305KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. /**
  23. * About Marlin
  24. *
  25. * This firmware is a mashup between Sprinter and grbl.
  26. * - https://github.com/kliment/Sprinter
  27. * - https://github.com/simen/grbl/tree
  28. *
  29. * It has preliminary support for Matthew Roberts advance algorithm
  30. * - http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  31. */
  32. #include "Marlin.h"
  33. #include "ultralcd.h"
  34. #include "planner.h"
  35. #include "stepper.h"
  36. #include "endstops.h"
  37. #include "temperature.h"
  38. #include "cardreader.h"
  39. #include "configuration_store.h"
  40. #include "language.h"
  41. #include "pins_arduino.h"
  42. #include "math.h"
  43. #include "nozzle.h"
  44. #include "duration_t.h"
  45. #include "types.h"
  46. #if HAS_ABL
  47. #include "vector_3.h"
  48. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  49. #include "qr_solve.h"
  50. #endif
  51. #elif ENABLED(MESH_BED_LEVELING)
  52. #include "mesh_bed_leveling.h"
  53. #endif
  54. #if ENABLED(BEZIER_CURVE_SUPPORT)
  55. #include "planner_bezier.h"
  56. #endif
  57. #if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
  58. #include "buzzer.h"
  59. #endif
  60. #if ENABLED(USE_WATCHDOG)
  61. #include "watchdog.h"
  62. #endif
  63. #if ENABLED(BLINKM)
  64. #include "blinkm.h"
  65. #include "Wire.h"
  66. #endif
  67. #if HAS_SERVOS
  68. #include "servo.h"
  69. #endif
  70. #if HAS_DIGIPOTSS
  71. #include <SPI.h>
  72. #endif
  73. #if ENABLED(DAC_STEPPER_CURRENT)
  74. #include "stepper_dac.h"
  75. #endif
  76. #if ENABLED(EXPERIMENTAL_I2CBUS)
  77. #include "twibus.h"
  78. #endif
  79. /**
  80. * Look here for descriptions of G-codes:
  81. * - http://linuxcnc.org/handbook/gcode/g-code.html
  82. * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  83. *
  84. * Help us document these G-codes online:
  85. * - https://github.com/MarlinFirmware/Marlin/wiki/G-Code-in-Marlin
  86. * - http://reprap.org/wiki/G-code
  87. *
  88. * -----------------
  89. * Implemented Codes
  90. * -----------------
  91. *
  92. * "G" Codes
  93. *
  94. * G0 -> G1
  95. * G1 - Coordinated Movement X Y Z E
  96. * G2 - CW ARC
  97. * G3 - CCW ARC
  98. * G4 - Dwell S<seconds> or P<milliseconds>
  99. * G5 - Cubic B-spline with XYZE destination and IJPQ offsets
  100. * G10 - Retract filament according to settings of M207
  101. * G11 - Retract recover filament according to settings of M208
  102. * G12 - Clean tool
  103. * G20 - Set input units to inches
  104. * G21 - Set input units to millimeters
  105. * G28 - Home one or more axes
  106. * G29 - Detailed Z probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  107. * G30 - Single Z probe, probes bed at current XY location.
  108. * G31 - Dock sled (Z_PROBE_SLED only)
  109. * G32 - Undock sled (Z_PROBE_SLED only)
  110. * G38 - Probe target - similar to G28 except it uses the Z_MIN endstop for all three axes
  111. * G90 - Use Absolute Coordinates
  112. * G91 - Use Relative Coordinates
  113. * G92 - Set current position to coordinates given
  114. *
  115. * "M" Codes
  116. *
  117. * M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
  118. * M1 - Same as M0
  119. * M17 - Enable/Power all stepper motors
  120. * M18 - Disable all stepper motors; same as M84
  121. * M20 - List SD card. (Requires SDSUPPORT)
  122. * M21 - Init SD card. (Requires SDSUPPORT)
  123. * M22 - Release SD card. (Requires SDSUPPORT)
  124. * M23 - Select SD file: "M23 /path/file.gco". (Requires SDSUPPORT)
  125. * M24 - Start/resume SD print. (Requires SDSUPPORT)
  126. * M25 - Pause SD print. (Requires SDSUPPORT)
  127. * M26 - Set SD position in bytes: "M26 S12345". (Requires SDSUPPORT)
  128. * M27 - Report SD print status. (Requires SDSUPPORT)
  129. * M28 - Start SD write: "M28 /path/file.gco". (Requires SDSUPPORT)
  130. * M29 - Stop SD write. (Requires SDSUPPORT)
  131. * M30 - Delete file from SD: "M30 /path/file.gco"
  132. * M31 - Report time since last M109 or SD card start to serial.
  133. * M32 - Select file and start SD print: "M32 [S<bytepos>] !/path/file.gco#". (Requires SDSUPPORT)
  134. * Use P to run other files as sub-programs: "M32 P !filename#"
  135. * The '#' is necessary when calling from within sd files, as it stops buffer prereading
  136. * M33 - Get the longname version of a path. (Requires LONG_FILENAME_HOST_SUPPORT)
  137. * M42 - Change pin status via gcode: M42 P<pin> S<value>. LED pin assumed if P is omitted.
  138. * M43 - Monitor pins & report changes - report active pins
  139. * M48 - Measure Z Probe repeatability: M48 P<points> X<pos> Y<pos> V<level> E<engage> L<legs>. (Requires Z_MIN_PROBE_REPEATABILITY_TEST)
  140. * M75 - Start the print job timer.
  141. * M76 - Pause the print job timer.
  142. * M77 - Stop the print job timer.
  143. * M78 - Show statistical information about the print jobs. (Requires PRINTCOUNTER)
  144. * M80 - Turn on Power Supply. (Requires POWER_SUPPLY)
  145. * M81 - Turn off Power Supply. (Requires POWER_SUPPLY)
  146. * M82 - Set E codes absolute (default).
  147. * M83 - Set E codes relative while in Absolute (G90) mode.
  148. * M84 - Disable steppers until next move, or use S<seconds> to specify an idle
  149. * duration after which steppers should turn off. S0 disables the timeout.
  150. * M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  151. * M92 - Set planner.axis_steps_per_mm for one or more axes.
  152. * M104 - Set extruder target temp.
  153. * M105 - Report current temperatures.
  154. * M106 - Fan on.
  155. * M107 - Fan off.
  156. * M108 - Break out of heating loops (M109, M190, M303). With no controller, breaks out of M0/M1. (Requires EMERGENCY_PARSER)
  157. * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  158. * Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  159. * IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  160. * M110 - Set the current line number. (Used by host printing)
  161. * M111 - Set debug flags: "M111 S<flagbits>". See flag bits defined in enum.h.
  162. * M112 - Emergency stop.
  163. * M113 - Get or set the timeout interval for Host Keepalive "busy" messages. (Requires HOST_KEEPALIVE_FEATURE)
  164. * M114 - Report current position.
  165. * M115 - Report capabilities.
  166. * M117 - Display a message on the controller screen. (Requires an LCD)
  167. * M119 - Report endstops status.
  168. * M120 - Enable endstops detection.
  169. * M121 - Disable endstops detection.
  170. * M126 - Solenoid Air Valve Open. (Requires BARICUDA)
  171. * M127 - Solenoid Air Valve Closed. (Requires BARICUDA)
  172. * M128 - EtoP Open. (Requires BARICUDA)
  173. * M129 - EtoP Closed. (Requires BARICUDA)
  174. * M140 - Set bed target temp. S<temp>
  175. * M145 - Set heatup values for materials on the LCD. H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
  176. * M149 - Set temperature units. (Requires TEMPERATURE_UNITS_SUPPORT)
  177. * M150 - Set BlinkM Color R<red> U<green> B<blue>. Values 0-255. (Requires BLINKM)
  178. * M163 - Set a single proportion for a mixing extruder. (Requires MIXING_EXTRUDER)
  179. * M164 - Save the mix as a virtual extruder. (Requires MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS)
  180. * M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. (Requires MIXING_EXTRUDER)
  181. * M190 - Sxxx Wait for bed current temp to reach target temp. ** Waits only when heating! **
  182. * Rxxx Wait for bed current temp to reach target temp. ** Waits for heating or cooling. **
  183. * M200 - Set filament diameter, D<diameter>, setting E axis units to cubic. (Use S0 to revert to linear units.)
  184. * M201 - Set max acceleration in units/s^2 for print moves: "M201 X<accel> Y<accel> Z<accel> E<accel>"
  185. * M202 - Set max acceleration in units/s^2 for travel moves: "M202 X<accel> Y<accel> Z<accel> E<accel>" ** UNUSED IN MARLIN! **
  186. * M203 - Set maximum feedrate: "M203 X<fr> Y<fr> Z<fr> E<fr>" in units/sec.
  187. * M204 - Set default acceleration in units/sec^2: P<printing> R<extruder_only> T<travel>
  188. * M205 - Set advanced settings. Current units apply:
  189. S<print> T<travel> minimum speeds
  190. B<minimum segment time>
  191. X<max X jerk>, Y<max Y jerk>, Z<max Z jerk>, E<max E jerk>
  192. * M206 - Set additional homing offset.
  193. * M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>. (Requires FWRETRACT)
  194. * M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>. (Requires FWRETRACT)
  195. * M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT)
  196. Every normal extrude-only move will be classified as retract depending on the direction.
  197. * M211 - Enable, Disable, and/or Report software endstops: S<0|1>
  198. * M218 - Set a tool offset: "M218 T<index> X<offset> Y<offset>". (Requires 2 or more extruders)
  199. * M220 - Set Feedrate Percentage: "M220 S<percent>" (i.e., "FR" on the LCD)
  200. * M221 - Set Flow Percentage: "M221 S<percent>"
  201. * M226 - Wait until a pin is in a given state: "M226 P<pin> S<state>"
  202. * M240 - Trigger a camera to take a photograph. (Requires CHDK or PHOTOGRAPH_PIN)
  203. * M250 - Set LCD contrast: "M250 C<contrast>" (0-63). (Requires LCD support)
  204. * M280 - Set servo position absolute: "M280 P<index> S<angle|µs>". (Requires servos)
  205. * M300 - Play beep sound S<frequency Hz> P<duration ms>
  206. * M301 - Set PID parameters P I and D. (Requires PIDTEMP)
  207. * M302 - Allow cold extrudes, or set the minimum extrude S<temperature>. (Requires PREVENT_COLD_EXTRUSION)
  208. * M303 - PID relay autotune S<temperature> sets the target temperature. Default 150C. (Requires PIDTEMP)
  209. * M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED)
  210. * M380 - Activate solenoid on active extruder. (Requires EXT_SOLENOID)
  211. * M381 - Disable all solenoids. (Requires EXT_SOLENOID)
  212. * M400 - Finish all moves.
  213. * M401 - Lower Z probe. (Requires a probe)
  214. * M402 - Raise Z probe. (Requires a probe)
  215. * M404 - Display or set the Nominal Filament Width: "W<diameter>". (Requires FILAMENT_WIDTH_SENSOR)
  216. * M405 - Enable Filament Sensor flow control. "M405 D<delay_cm>". (Requires FILAMENT_WIDTH_SENSOR)
  217. * M406 - Disable Filament Sensor flow control. (Requires FILAMENT_WIDTH_SENSOR)
  218. * M407 - Display measured filament diameter in millimeters. (Requires FILAMENT_WIDTH_SENSOR)
  219. * M410 - Quickstop. Abort all planned moves.
  220. * M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL)
  221. * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units> (Requires MESH_BED_LEVELING)
  222. * M428 - Set the home_offset based on the current_position. Nearest edge applies.
  223. * M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS)
  224. * M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS)
  225. * M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! **
  226. * M503 - Print the current settings (in memory): "M503 S<verbose>". S0 specifies compact output.
  227. * M540 - Enable/disable SD card abort on endstop hit: "M540 S<state>". (Requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  228. * M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires FILAMENT_CHANGE_FEATURE)
  229. * M665 - Set delta configurations: "M665 L<diagonal rod> R<delta radius> S<segments/s>" (Requires DELTA)
  230. * M666 - Set delta endstop adjustment. (Requires DELTA)
  231. * M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
  232. * M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
  233. * M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
  234. * M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN)
  235. * M909 - Print digipot/DAC current value. (Requires DAC_STEPPER_CURRENT)
  236. * M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT)
  237. * M350 - Set microstepping mode. (Requires digital microstepping pins.)
  238. * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
  239. *
  240. * ************ SCARA Specific - This can change to suit future G-code regulations
  241. * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  242. * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  243. * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  244. * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  245. * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  246. * ************* SCARA End ***************
  247. *
  248. * ************ Custom codes - This can change to suit future G-code regulations
  249. * M100 - Watch Free Memory (For Debugging). (Requires M100_FREE_MEMORY_WATCHER)
  250. * M928 - Start SD logging: "M928 filename.gco". Stop with M29. (Requires SDSUPPORT)
  251. * M999 - Restart after being stopped by error
  252. *
  253. * "T" Codes
  254. *
  255. * T0-T3 - Select an extruder (tool) by index: "T<n> F<units/min>"
  256. *
  257. */
  258. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  259. void gcode_M100();
  260. #endif
  261. #if ENABLED(SDSUPPORT)
  262. CardReader card;
  263. #endif
  264. #if ENABLED(EXPERIMENTAL_I2CBUS)
  265. TWIBus i2c;
  266. #endif
  267. #if ENABLED(G38_PROBE_TARGET)
  268. bool G38_move = false,
  269. G38_endstop_hit = false;
  270. #endif
  271. bool Running = true;
  272. uint8_t marlin_debug_flags = DEBUG_NONE;
  273. /**
  274. * Cartesian Current Position
  275. * Used to track the logical position as moves are queued.
  276. * Used by 'line_to_current_position' to do a move after changing it.
  277. * Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'.
  278. */
  279. float current_position[XYZE] = { 0.0 };
  280. /**
  281. * Cartesian Destination
  282. * A temporary position, usually applied to 'current_position'.
  283. * Set with 'gcode_get_destination' or 'set_destination_to_current'.
  284. * 'line_to_destination' sets 'current_position' to 'destination'.
  285. */
  286. static float destination[XYZE] = { 0.0 };
  287. /**
  288. * axis_homed
  289. * Flags that each linear axis was homed.
  290. * XYZ on cartesian, ABC on delta, ABZ on SCARA.
  291. *
  292. * axis_known_position
  293. * Flags that the position is known in each linear axis. Set when homed.
  294. * Cleared whenever a stepper powers off, potentially losing its position.
  295. */
  296. bool axis_homed[XYZ] = { false }, axis_known_position[XYZ] = { false };
  297. /**
  298. * GCode line number handling. Hosts may opt to include line numbers when
  299. * sending commands to Marlin, and lines will be checked for sequentiality.
  300. * M110 S<int> sets the current line number.
  301. */
  302. static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
  303. /**
  304. * GCode Command Queue
  305. * A simple ring buffer of BUFSIZE command strings.
  306. *
  307. * Commands are copied into this buffer by the command injectors
  308. * (immediate, serial, sd card) and they are processed sequentially by
  309. * the main loop. The process_next_command function parses the next
  310. * command and hands off execution to individual handler functions.
  311. */
  312. static char command_queue[BUFSIZE][MAX_CMD_SIZE];
  313. static uint8_t cmd_queue_index_r = 0, // Ring buffer read position
  314. cmd_queue_index_w = 0, // Ring buffer write position
  315. commands_in_queue = 0; // Count of commands in the queue
  316. /**
  317. * Current GCode Command
  318. * When a GCode handler is running, these will be set
  319. */
  320. static char *current_command, // The command currently being executed
  321. *current_command_args, // The address where arguments begin
  322. *seen_pointer; // Set by code_seen(), used by the code_value functions
  323. /**
  324. * Next Injected Command pointer. NULL if no commands are being injected.
  325. * Used by Marlin internally to ensure that commands initiated from within
  326. * are enqueued ahead of any pending serial or sd card commands.
  327. */
  328. static const char *injected_commands_P = NULL;
  329. #if ENABLED(INCH_MODE_SUPPORT)
  330. float linear_unit_factor = 1.0, volumetric_unit_factor = 1.0;
  331. #endif
  332. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  333. TempUnit input_temp_units = TEMPUNIT_C;
  334. #endif
  335. /**
  336. * Feed rates are often configured with mm/m
  337. * but the planner and stepper like mm/s units.
  338. */
  339. float constexpr homing_feedrate_mm_s[] = {
  340. #if ENABLED(DELTA)
  341. MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z),
  342. #else
  343. MMM_TO_MMS(HOMING_FEEDRATE_XY), MMM_TO_MMS(HOMING_FEEDRATE_XY),
  344. #endif
  345. MMM_TO_MMS(HOMING_FEEDRATE_Z), 0
  346. };
  347. static float feedrate_mm_s = MMM_TO_MMS(1500.0), saved_feedrate_mm_s;
  348. int feedrate_percentage = 100, saved_feedrate_percentage,
  349. flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
  350. bool axis_relative_modes[] = AXIS_RELATIVE_MODES,
  351. volumetric_enabled = false;
  352. float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA),
  353. volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
  354. // The distance that XYZ has been offset by G92. Reset by G28.
  355. float position_shift[XYZ] = { 0 };
  356. // This offset is added to the configured home position.
  357. // Set by M206, M428, or menu item. Saved to EEPROM.
  358. float home_offset[XYZ] = { 0 };
  359. // Software Endstops are based on the configured limits.
  360. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  361. bool soft_endstops_enabled = true;
  362. #endif
  363. float soft_endstop_min[XYZ] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
  364. soft_endstop_max[XYZ] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  365. #if FAN_COUNT > 0
  366. int fanSpeeds[FAN_COUNT] = { 0 };
  367. #endif
  368. // The active extruder (tool). Set with T<extruder> command.
  369. uint8_t active_extruder = 0;
  370. // Relative Mode. Enable with G91, disable with G90.
  371. static bool relative_mode = false;
  372. // For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
  373. volatile bool wait_for_heatup = true;
  374. // For M0/M1, this flag may be cleared (by M108) to exit the wait-for-user loop
  375. #if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
  376. volatile bool wait_for_user = false;
  377. #endif
  378. const char errormagic[] PROGMEM = "Error:";
  379. const char echomagic[] PROGMEM = "echo:";
  380. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  381. // Number of characters read in the current line of serial input
  382. static int serial_count = 0;
  383. // Inactivity shutdown
  384. millis_t previous_cmd_ms = 0;
  385. static millis_t max_inactive_time = 0;
  386. static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
  387. // Print Job Timer
  388. #if ENABLED(PRINTCOUNTER)
  389. PrintCounter print_job_timer = PrintCounter();
  390. #else
  391. Stopwatch print_job_timer = Stopwatch();
  392. #endif
  393. // Buzzer - I2C on the LCD or a BEEPER_PIN
  394. #if ENABLED(LCD_USE_I2C_BUZZER)
  395. #define BUZZ(d,f) lcd_buzz(d, f)
  396. #elif PIN_EXISTS(BEEPER)
  397. Buzzer buzzer;
  398. #define BUZZ(d,f) buzzer.tone(d, f)
  399. #else
  400. #define BUZZ(d,f) NOOP
  401. #endif
  402. static uint8_t target_extruder;
  403. #if HAS_BED_PROBE
  404. float zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER;
  405. #endif
  406. #define PLANNER_XY_FEEDRATE() (min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]))
  407. #if HAS_ABL
  408. float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
  409. #define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s
  410. #elif defined(XY_PROBE_SPEED)
  411. #define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED)
  412. #else
  413. #define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
  414. #endif
  415. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  416. #if ENABLED(DELTA)
  417. #define ADJUST_DELTA(V) \
  418. if (planner.abl_enabled) { \
  419. const float zadj = bilinear_z_offset(V); \
  420. delta[A_AXIS] += zadj; \
  421. delta[B_AXIS] += zadj; \
  422. delta[C_AXIS] += zadj; \
  423. }
  424. #else
  425. #define ADJUST_DELTA(V) if (planner.abl_enabled) { delta[Z_AXIS] += bilinear_z_offset(V); }
  426. #endif
  427. #elif IS_KINEMATIC
  428. #define ADJUST_DELTA(V) NOOP
  429. #endif
  430. #if ENABLED(Z_DUAL_ENDSTOPS)
  431. float z_endstop_adj = 0;
  432. #endif
  433. // Extruder offsets
  434. #if HOTENDS > 1
  435. float hotend_offset[XYZ][HOTENDS];
  436. #endif
  437. #if HAS_Z_SERVO_ENDSTOP
  438. const int z_servo_angle[2] = Z_SERVO_ANGLES;
  439. #endif
  440. #if ENABLED(BARICUDA)
  441. int baricuda_valve_pressure = 0;
  442. int baricuda_e_to_p_pressure = 0;
  443. #endif
  444. #if ENABLED(FWRETRACT)
  445. bool autoretract_enabled = false;
  446. bool retracted[EXTRUDERS] = { false };
  447. bool retracted_swap[EXTRUDERS] = { false };
  448. float retract_length = RETRACT_LENGTH;
  449. float retract_length_swap = RETRACT_LENGTH_SWAP;
  450. float retract_feedrate_mm_s = RETRACT_FEEDRATE;
  451. float retract_zlift = RETRACT_ZLIFT;
  452. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  453. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  454. float retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE;
  455. #endif // FWRETRACT
  456. #if ENABLED(ULTIPANEL) && HAS_POWER_SWITCH
  457. bool powersupply =
  458. #if ENABLED(PS_DEFAULT_OFF)
  459. false
  460. #else
  461. true
  462. #endif
  463. ;
  464. #endif
  465. #if ENABLED(DELTA)
  466. #define SIN_60 0.8660254037844386
  467. #define COS_60 0.5
  468. float delta[ABC],
  469. endstop_adj[ABC] = { 0 };
  470. // these are the default values, can be overriden with M665
  471. float delta_radius = DELTA_RADIUS,
  472. delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower
  473. delta_tower1_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1),
  474. delta_tower2_x = SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower
  475. delta_tower2_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2),
  476. delta_tower3_x = 0, // back middle tower
  477. delta_tower3_y = (delta_radius + DELTA_RADIUS_TRIM_TOWER_3),
  478. delta_diagonal_rod = DELTA_DIAGONAL_ROD,
  479. delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1,
  480. delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2,
  481. delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3,
  482. delta_diagonal_rod_2_tower_1 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_1),
  483. delta_diagonal_rod_2_tower_2 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_2),
  484. delta_diagonal_rod_2_tower_3 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_3),
  485. delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND,
  486. delta_clip_start_height = Z_MAX_POS;
  487. float delta_safe_distance_from_top();
  488. #else
  489. static bool home_all_axis = true;
  490. #endif
  491. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  492. int bilinear_grid_spacing[2] = { 0 }, bilinear_start[2] = { 0 };
  493. float bed_level_grid[ABL_GRID_POINTS_X][ABL_GRID_POINTS_Y];
  494. #endif
  495. #if IS_SCARA
  496. // Float constants for SCARA calculations
  497. const float L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
  498. L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
  499. L2_2 = sq(float(L2));
  500. float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
  501. delta[ABC];
  502. #endif
  503. float cartes[XYZ] = { 0 };
  504. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  505. bool filament_sensor = false; //M405 turns on filament_sensor control, M406 turns it off
  506. float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA, // Nominal filament width. Change with M404
  507. filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA; // Measured filament diameter
  508. int8_t measurement_delay[MAX_MEASUREMENT_DELAY + 1]; // Ring buffer to delayed measurement. Store extruder factor after subtracting 100
  509. int filwidth_delay_index[2] = { 0, -1 }; // Indexes into ring buffer
  510. int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
  511. #endif
  512. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  513. static bool filament_ran_out = false;
  514. #endif
  515. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  516. FilamentChangeMenuResponse filament_change_menu_response;
  517. #endif
  518. #if ENABLED(MIXING_EXTRUDER)
  519. float mixing_factor[MIXING_STEPPERS];
  520. #if MIXING_VIRTUAL_TOOLS > 1
  521. float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
  522. #endif
  523. #endif
  524. static bool send_ok[BUFSIZE];
  525. #if HAS_SERVOS
  526. Servo servo[NUM_SERVOS];
  527. #define MOVE_SERVO(I, P) servo[I].move(P)
  528. #if HAS_Z_SERVO_ENDSTOP
  529. #define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0])
  530. #define STOW_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[1])
  531. #endif
  532. #endif
  533. #ifdef CHDK
  534. millis_t chdkHigh = 0;
  535. boolean chdkActive = false;
  536. #endif
  537. #if ENABLED(PID_EXTRUSION_SCALING)
  538. int lpq_len = 20;
  539. #endif
  540. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  541. static MarlinBusyState busy_state = NOT_BUSY;
  542. static millis_t next_busy_signal_ms = 0;
  543. uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
  544. #define KEEPALIVE_STATE(n) do{ busy_state = n; }while(0)
  545. #else
  546. #define host_keepalive() ;
  547. #define KEEPALIVE_STATE(n) ;
  548. #endif // HOST_KEEPALIVE_FEATURE
  549. #define DEFINE_PGM_READ_ANY(type, reader) \
  550. static inline type pgm_read_any(const type *p) \
  551. { return pgm_read_##reader##_near(p); }
  552. DEFINE_PGM_READ_ANY(float, float)
  553. DEFINE_PGM_READ_ANY(signed char, byte)
  554. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  555. static const PROGMEM type array##_P[XYZ] = \
  556. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  557. static inline type array(int axis) \
  558. { return pgm_read_any(&array##_P[axis]); }
  559. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS)
  560. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS)
  561. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS)
  562. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH)
  563. XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM)
  564. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR)
  565. /**
  566. * ***************************************************************************
  567. * ******************************** FUNCTIONS ********************************
  568. * ***************************************************************************
  569. */
  570. void stop();
  571. void get_available_commands();
  572. void process_next_command();
  573. void prepare_move_to_destination();
  574. void get_cartesian_from_steppers();
  575. void set_current_from_steppers_for_axis(const AxisEnum axis);
  576. #if ENABLED(ARC_SUPPORT)
  577. void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
  578. #endif
  579. #if ENABLED(BEZIER_CURVE_SUPPORT)
  580. void plan_cubic_move(const float offset[4]);
  581. #endif
  582. void serial_echopair_P(const char* s_P, const char *v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  583. void serial_echopair_P(const char* s_P, char v) { serialprintPGM(s_P); SERIAL_CHAR(v); }
  584. void serial_echopair_P(const char* s_P, int v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  585. void serial_echopair_P(const char* s_P, long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  586. void serial_echopair_P(const char* s_P, float v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  587. void serial_echopair_P(const char* s_P, double v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  588. void serial_echopair_P(const char* s_P, unsigned long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  589. void tool_change(const uint8_t tmp_extruder, const float fr_mm_s=0.0, bool no_move=false);
  590. static void report_current_position();
  591. #if ENABLED(DEBUG_LEVELING_FEATURE)
  592. void print_xyz(const char* prefix, const char* suffix, const float x, const float y, const float z) {
  593. serialprintPGM(prefix);
  594. SERIAL_ECHOPAIR("(", x);
  595. SERIAL_ECHOPAIR(", ", y);
  596. SERIAL_ECHOPAIR(", ", z);
  597. SERIAL_ECHOPGM(")");
  598. if (suffix) serialprintPGM(suffix);
  599. else SERIAL_EOL;
  600. }
  601. void print_xyz(const char* prefix, const char* suffix, const float xyz[]) {
  602. print_xyz(prefix, suffix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
  603. }
  604. #if HAS_ABL
  605. void print_xyz(const char* prefix, const char* suffix, const vector_3 &xyz) {
  606. print_xyz(prefix, suffix, xyz.x, xyz.y, xyz.z);
  607. }
  608. #endif
  609. #define DEBUG_POS(SUFFIX,VAR) do { \
  610. print_xyz(PSTR(" " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); } while(0)
  611. #endif
  612. /**
  613. * sync_plan_position
  614. *
  615. * Set the planner/stepper positions directly from current_position with
  616. * no kinematic translation. Used for homing axes and cartesian/core syncing.
  617. */
  618. inline void sync_plan_position() {
  619. #if ENABLED(DEBUG_LEVELING_FEATURE)
  620. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
  621. #endif
  622. planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  623. }
  624. inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
  625. #if IS_KINEMATIC
  626. inline void sync_plan_position_kinematic() {
  627. #if ENABLED(DEBUG_LEVELING_FEATURE)
  628. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
  629. #endif
  630. planner.set_position_mm_kinematic(current_position);
  631. }
  632. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
  633. #else
  634. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
  635. #endif
  636. #if ENABLED(SDSUPPORT)
  637. #include "SdFatUtil.h"
  638. int freeMemory() { return SdFatUtil::FreeRam(); }
  639. #else
  640. extern "C" {
  641. extern unsigned int __bss_end;
  642. extern unsigned int __heap_start;
  643. extern void* __brkval;
  644. int freeMemory() {
  645. int free_memory;
  646. if ((int)__brkval == 0)
  647. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  648. else
  649. free_memory = ((int)&free_memory) - ((int)__brkval);
  650. return free_memory;
  651. }
  652. }
  653. #endif //!SDSUPPORT
  654. #if ENABLED(DIGIPOT_I2C)
  655. extern void digipot_i2c_set_current(int channel, float current);
  656. extern void digipot_i2c_init();
  657. #endif
  658. /**
  659. * Inject the next "immediate" command, when possible.
  660. * Return true if any immediate commands remain to inject.
  661. */
  662. static bool drain_injected_commands_P() {
  663. if (injected_commands_P != NULL) {
  664. size_t i = 0;
  665. char c, cmd[30];
  666. strncpy_P(cmd, injected_commands_P, sizeof(cmd) - 1);
  667. cmd[sizeof(cmd) - 1] = '\0';
  668. while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
  669. cmd[i] = '\0';
  670. if (enqueue_and_echo_command(cmd)) { // success?
  671. if (c) // newline char?
  672. injected_commands_P += i + 1; // advance to the next command
  673. else
  674. injected_commands_P = NULL; // nul char? no more commands
  675. }
  676. }
  677. return (injected_commands_P != NULL); // return whether any more remain
  678. }
  679. /**
  680. * Record one or many commands to run from program memory.
  681. * Aborts the current queue, if any.
  682. * Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards
  683. */
  684. void enqueue_and_echo_commands_P(const char* pgcode) {
  685. injected_commands_P = pgcode;
  686. drain_injected_commands_P(); // first command executed asap (when possible)
  687. }
  688. void clear_command_queue() {
  689. cmd_queue_index_r = cmd_queue_index_w;
  690. commands_in_queue = 0;
  691. }
  692. /**
  693. * Once a new command is in the ring buffer, call this to commit it
  694. */
  695. inline void _commit_command(bool say_ok) {
  696. send_ok[cmd_queue_index_w] = say_ok;
  697. cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE;
  698. commands_in_queue++;
  699. }
  700. /**
  701. * Copy a command directly into the main command buffer, from RAM.
  702. * Returns true if successfully adds the command
  703. */
  704. inline bool _enqueuecommand(const char* cmd, bool say_ok=false) {
  705. if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
  706. strcpy(command_queue[cmd_queue_index_w], cmd);
  707. _commit_command(say_ok);
  708. return true;
  709. }
  710. void enqueue_and_echo_command_now(const char* cmd) {
  711. while (!enqueue_and_echo_command(cmd)) idle();
  712. }
  713. /**
  714. * Enqueue with Serial Echo
  715. */
  716. bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
  717. if (_enqueuecommand(cmd, say_ok)) {
  718. SERIAL_ECHO_START;
  719. SERIAL_ECHOPAIR(MSG_Enqueueing, cmd);
  720. SERIAL_CHAR('"');
  721. SERIAL_EOL;
  722. return true;
  723. }
  724. return false;
  725. }
  726. void setup_killpin() {
  727. #if HAS_KILL
  728. SET_INPUT(KILL_PIN);
  729. WRITE(KILL_PIN, HIGH);
  730. #endif
  731. }
  732. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  733. void setup_filrunoutpin() {
  734. SET_INPUT(FIL_RUNOUT_PIN);
  735. #if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
  736. WRITE(FIL_RUNOUT_PIN, HIGH);
  737. #endif
  738. }
  739. #endif
  740. // Set home pin
  741. void setup_homepin(void) {
  742. #if HAS_HOME
  743. SET_INPUT(HOME_PIN);
  744. WRITE(HOME_PIN, HIGH);
  745. #endif
  746. }
  747. void setup_photpin() {
  748. #if HAS_PHOTOGRAPH
  749. OUT_WRITE(PHOTOGRAPH_PIN, LOW);
  750. #endif
  751. }
  752. void setup_powerhold() {
  753. #if HAS_SUICIDE
  754. OUT_WRITE(SUICIDE_PIN, HIGH);
  755. #endif
  756. #if HAS_POWER_SWITCH
  757. #if ENABLED(PS_DEFAULT_OFF)
  758. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  759. #else
  760. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
  761. #endif
  762. #endif
  763. }
  764. void suicide() {
  765. #if HAS_SUICIDE
  766. OUT_WRITE(SUICIDE_PIN, LOW);
  767. #endif
  768. }
  769. void servo_init() {
  770. #if NUM_SERVOS >= 1 && HAS_SERVO_0
  771. servo[0].attach(SERVO0_PIN);
  772. servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
  773. #endif
  774. #if NUM_SERVOS >= 2 && HAS_SERVO_1
  775. servo[1].attach(SERVO1_PIN);
  776. servo[1].detach();
  777. #endif
  778. #if NUM_SERVOS >= 3 && HAS_SERVO_2
  779. servo[2].attach(SERVO2_PIN);
  780. servo[2].detach();
  781. #endif
  782. #if NUM_SERVOS >= 4 && HAS_SERVO_3
  783. servo[3].attach(SERVO3_PIN);
  784. servo[3].detach();
  785. #endif
  786. #if HAS_Z_SERVO_ENDSTOP
  787. /**
  788. * Set position of Z Servo Endstop
  789. *
  790. * The servo might be deployed and positioned too low to stow
  791. * when starting up the machine or rebooting the board.
  792. * There's no way to know where the nozzle is positioned until
  793. * homing has been done - no homing with z-probe without init!
  794. *
  795. */
  796. STOW_Z_SERVO();
  797. #endif
  798. }
  799. /**
  800. * Stepper Reset (RigidBoard, et.al.)
  801. */
  802. #if HAS_STEPPER_RESET
  803. void disableStepperDrivers() {
  804. OUT_WRITE(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
  805. }
  806. void enableStepperDrivers() { SET_INPUT(STEPPER_RESET_PIN); } // set to input, which allows it to be pulled high by pullups
  807. #endif
  808. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  809. void i2c_on_receive(int bytes) { // just echo all bytes received to serial
  810. i2c.receive(bytes);
  811. }
  812. void i2c_on_request() { // just send dummy data for now
  813. i2c.reply("Hello World!\n");
  814. }
  815. #endif
  816. void gcode_line_error(const char* err, bool doFlush = true) {
  817. SERIAL_ERROR_START;
  818. serialprintPGM(err);
  819. SERIAL_ERRORLN(gcode_LastN);
  820. //Serial.println(gcode_N);
  821. if (doFlush) FlushSerialRequestResend();
  822. serial_count = 0;
  823. }
  824. inline void get_serial_commands() {
  825. static char serial_line_buffer[MAX_CMD_SIZE];
  826. static boolean serial_comment_mode = false;
  827. // If the command buffer is empty for too long,
  828. // send "wait" to indicate Marlin is still waiting.
  829. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  830. static millis_t last_command_time = 0;
  831. millis_t ms = millis();
  832. if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
  833. SERIAL_ECHOLNPGM(MSG_WAIT);
  834. last_command_time = ms;
  835. }
  836. #endif
  837. /**
  838. * Loop while serial characters are incoming and the queue is not full
  839. */
  840. while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) {
  841. char serial_char = MYSERIAL.read();
  842. /**
  843. * If the character ends the line
  844. */
  845. if (serial_char == '\n' || serial_char == '\r') {
  846. serial_comment_mode = false; // end of line == end of comment
  847. if (!serial_count) continue; // skip empty lines
  848. serial_line_buffer[serial_count] = 0; // terminate string
  849. serial_count = 0; //reset buffer
  850. char* command = serial_line_buffer;
  851. while (*command == ' ') command++; // skip any leading spaces
  852. char* npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
  853. char* apos = strchr(command, '*');
  854. if (npos) {
  855. boolean M110 = strstr_P(command, PSTR("M110")) != NULL;
  856. if (M110) {
  857. char* n2pos = strchr(command + 4, 'N');
  858. if (n2pos) npos = n2pos;
  859. }
  860. gcode_N = strtol(npos + 1, NULL, 10);
  861. if (gcode_N != gcode_LastN + 1 && !M110) {
  862. gcode_line_error(PSTR(MSG_ERR_LINE_NO));
  863. return;
  864. }
  865. if (apos) {
  866. byte checksum = 0, count = 0;
  867. while (command[count] != '*') checksum ^= command[count++];
  868. if (strtol(apos + 1, NULL, 10) != checksum) {
  869. gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
  870. return;
  871. }
  872. // if no errors, continue parsing
  873. }
  874. else {
  875. gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
  876. return;
  877. }
  878. gcode_LastN = gcode_N;
  879. // if no errors, continue parsing
  880. }
  881. else if (apos) { // No '*' without 'N'
  882. gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false);
  883. return;
  884. }
  885. // Movement commands alert when stopped
  886. if (IsStopped()) {
  887. char* gpos = strchr(command, 'G');
  888. if (gpos) {
  889. int codenum = strtol(gpos + 1, NULL, 10);
  890. switch (codenum) {
  891. case 0:
  892. case 1:
  893. case 2:
  894. case 3:
  895. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  896. LCD_MESSAGEPGM(MSG_STOPPED);
  897. break;
  898. }
  899. }
  900. }
  901. #if DISABLED(EMERGENCY_PARSER)
  902. // If command was e-stop process now
  903. if (strcmp(command, "M108") == 0) {
  904. wait_for_heatup = false;
  905. #if ENABLED(ULTIPANEL)
  906. wait_for_user = false;
  907. #endif
  908. }
  909. if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
  910. if (strcmp(command, "M410") == 0) { quickstop_stepper(); }
  911. #endif
  912. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  913. last_command_time = ms;
  914. #endif
  915. // Add the command to the queue
  916. _enqueuecommand(serial_line_buffer, true);
  917. }
  918. else if (serial_count >= MAX_CMD_SIZE - 1) {
  919. // Keep fetching, but ignore normal characters beyond the max length
  920. // The command will be injected when EOL is reached
  921. }
  922. else if (serial_char == '\\') { // Handle escapes
  923. if (MYSERIAL.available() > 0) {
  924. // if we have one more character, copy it over
  925. serial_char = MYSERIAL.read();
  926. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  927. }
  928. // otherwise do nothing
  929. }
  930. else { // it's not a newline, carriage return or escape char
  931. if (serial_char == ';') serial_comment_mode = true;
  932. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  933. }
  934. } // queue has space, serial has data
  935. }
  936. #if ENABLED(SDSUPPORT)
  937. inline void get_sdcard_commands() {
  938. static bool stop_buffering = false,
  939. sd_comment_mode = false;
  940. if (!card.sdprinting) return;
  941. /**
  942. * '#' stops reading from SD to the buffer prematurely, so procedural
  943. * macro calls are possible. If it occurs, stop_buffering is triggered
  944. * and the buffer is run dry; this character _can_ occur in serial com
  945. * due to checksums, however, no checksums are used in SD printing.
  946. */
  947. if (commands_in_queue == 0) stop_buffering = false;
  948. uint16_t sd_count = 0;
  949. bool card_eof = card.eof();
  950. while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
  951. int16_t n = card.get();
  952. char sd_char = (char)n;
  953. card_eof = card.eof();
  954. if (card_eof || n == -1
  955. || sd_char == '\n' || sd_char == '\r'
  956. || ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
  957. ) {
  958. if (card_eof) {
  959. SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
  960. card.printingHasFinished();
  961. card.checkautostart(true);
  962. }
  963. else if (n == -1) {
  964. SERIAL_ERROR_START;
  965. SERIAL_ECHOLNPGM(MSG_SD_ERR_READ);
  966. }
  967. if (sd_char == '#') stop_buffering = true;
  968. sd_comment_mode = false; //for new command
  969. if (!sd_count) continue; //skip empty lines
  970. command_queue[cmd_queue_index_w][sd_count] = '\0'; //terminate string
  971. sd_count = 0; //clear buffer
  972. _commit_command(false);
  973. }
  974. else if (sd_count >= MAX_CMD_SIZE - 1) {
  975. /**
  976. * Keep fetching, but ignore normal characters beyond the max length
  977. * The command will be injected when EOL is reached
  978. */
  979. }
  980. else {
  981. if (sd_char == ';') sd_comment_mode = true;
  982. if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
  983. }
  984. }
  985. }
  986. #endif // SDSUPPORT
  987. /**
  988. * Add to the circular command queue the next command from:
  989. * - The command-injection queue (injected_commands_P)
  990. * - The active serial input (usually USB)
  991. * - The SD card file being actively printed
  992. */
  993. void get_available_commands() {
  994. // if any immediate commands remain, don't get other commands yet
  995. if (drain_injected_commands_P()) return;
  996. get_serial_commands();
  997. #if ENABLED(SDSUPPORT)
  998. get_sdcard_commands();
  999. #endif
  1000. }
  1001. inline bool code_has_value() {
  1002. int i = 1;
  1003. char c = seen_pointer[i];
  1004. while (c == ' ') c = seen_pointer[++i];
  1005. if (c == '-' || c == '+') c = seen_pointer[++i];
  1006. if (c == '.') c = seen_pointer[++i];
  1007. return NUMERIC(c);
  1008. }
  1009. inline float code_value_float() {
  1010. float ret;
  1011. char* e = strchr(seen_pointer, 'E');
  1012. if (e) {
  1013. *e = 0;
  1014. ret = strtod(seen_pointer + 1, NULL);
  1015. *e = 'E';
  1016. }
  1017. else
  1018. ret = strtod(seen_pointer + 1, NULL);
  1019. return ret;
  1020. }
  1021. inline unsigned long code_value_ulong() { return strtoul(seen_pointer + 1, NULL, 10); }
  1022. inline long code_value_long() { return strtol(seen_pointer + 1, NULL, 10); }
  1023. inline int code_value_int() { return (int)strtol(seen_pointer + 1, NULL, 10); }
  1024. inline uint16_t code_value_ushort() { return (uint16_t)strtoul(seen_pointer + 1, NULL, 10); }
  1025. inline uint8_t code_value_byte() { return (uint8_t)(constrain(strtol(seen_pointer + 1, NULL, 10), 0, 255)); }
  1026. inline bool code_value_bool() { return !code_has_value() || code_value_byte() > 0; }
  1027. #if ENABLED(INCH_MODE_SUPPORT)
  1028. inline void set_input_linear_units(LinearUnit units) {
  1029. switch (units) {
  1030. case LINEARUNIT_INCH:
  1031. linear_unit_factor = 25.4;
  1032. break;
  1033. case LINEARUNIT_MM:
  1034. default:
  1035. linear_unit_factor = 1.0;
  1036. break;
  1037. }
  1038. volumetric_unit_factor = pow(linear_unit_factor, 3.0);
  1039. }
  1040. inline float axis_unit_factor(int axis) {
  1041. return (axis == E_AXIS && volumetric_enabled ? volumetric_unit_factor : linear_unit_factor);
  1042. }
  1043. inline float code_value_linear_units() { return code_value_float() * linear_unit_factor; }
  1044. inline float code_value_axis_units(int axis) { return code_value_float() * axis_unit_factor(axis); }
  1045. inline float code_value_per_axis_unit(int axis) { return code_value_float() / axis_unit_factor(axis); }
  1046. #else
  1047. inline float code_value_linear_units() { return code_value_float(); }
  1048. inline float code_value_axis_units(int axis) { UNUSED(axis); return code_value_float(); }
  1049. inline float code_value_per_axis_unit(int axis) { UNUSED(axis); return code_value_float(); }
  1050. #endif
  1051. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  1052. inline void set_input_temp_units(TempUnit units) { input_temp_units = units; }
  1053. float code_value_temp_abs() {
  1054. switch (input_temp_units) {
  1055. case TEMPUNIT_C:
  1056. return code_value_float();
  1057. case TEMPUNIT_F:
  1058. return (code_value_float() - 32) * 0.5555555556;
  1059. case TEMPUNIT_K:
  1060. return code_value_float() - 272.15;
  1061. default:
  1062. return code_value_float();
  1063. }
  1064. }
  1065. float code_value_temp_diff() {
  1066. switch (input_temp_units) {
  1067. case TEMPUNIT_C:
  1068. case TEMPUNIT_K:
  1069. return code_value_float();
  1070. case TEMPUNIT_F:
  1071. return code_value_float() * 0.5555555556;
  1072. default:
  1073. return code_value_float();
  1074. }
  1075. }
  1076. #else
  1077. float code_value_temp_abs() { return code_value_float(); }
  1078. float code_value_temp_diff() { return code_value_float(); }
  1079. #endif
  1080. FORCE_INLINE millis_t code_value_millis() { return code_value_ulong(); }
  1081. inline millis_t code_value_millis_from_seconds() { return code_value_float() * 1000; }
  1082. bool code_seen(char code) {
  1083. seen_pointer = strchr(current_command_args, code);
  1084. return (seen_pointer != NULL); // Return TRUE if the code-letter was found
  1085. }
  1086. /**
  1087. * Set target_extruder from the T parameter or the active_extruder
  1088. *
  1089. * Returns TRUE if the target is invalid
  1090. */
  1091. bool get_target_extruder_from_command(int code) {
  1092. if (code_seen('T')) {
  1093. if (code_value_byte() >= EXTRUDERS) {
  1094. SERIAL_ECHO_START;
  1095. SERIAL_CHAR('M');
  1096. SERIAL_ECHO(code);
  1097. SERIAL_ECHOLNPAIR(" " MSG_INVALID_EXTRUDER " ", code_value_byte());
  1098. return true;
  1099. }
  1100. target_extruder = code_value_byte();
  1101. }
  1102. else
  1103. target_extruder = active_extruder;
  1104. return false;
  1105. }
  1106. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  1107. bool extruder_duplication_enabled = false; // Used in Dual X mode 2
  1108. #endif
  1109. #if ENABLED(DUAL_X_CARRIAGE)
  1110. #define DXC_FULL_CONTROL_MODE 0
  1111. #define DXC_AUTO_PARK_MODE 1
  1112. #define DXC_DUPLICATION_MODE 2
  1113. static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  1114. static float x_home_pos(int extruder) {
  1115. if (extruder == 0)
  1116. return LOGICAL_X_POSITION(base_home_pos(X_AXIS));
  1117. else
  1118. /**
  1119. * In dual carriage mode the extruder offset provides an override of the
  1120. * second X-carriage offset when homed - otherwise X2_HOME_POS is used.
  1121. * This allow soft recalibration of the second extruder offset position
  1122. * without firmware reflash (through the M218 command).
  1123. */
  1124. return (hotend_offset[X_AXIS][1] > 0) ? hotend_offset[X_AXIS][1] : X2_HOME_POS;
  1125. }
  1126. static int x_home_dir(int extruder) {
  1127. return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
  1128. }
  1129. static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
  1130. static bool active_extruder_parked = false; // used in mode 1 & 2
  1131. static float raised_parked_position[NUM_AXIS]; // used in mode 1
  1132. static millis_t delayed_move_time = 0; // used in mode 1
  1133. static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
  1134. static float duplicate_extruder_temp_offset = 0; // used in mode 2
  1135. #endif // DUAL_X_CARRIAGE
  1136. /**
  1137. * Software endstops can be used to monitor the open end of
  1138. * an axis that has a hardware endstop on the other end. Or
  1139. * they can prevent axes from moving past endstops and grinding.
  1140. *
  1141. * To keep doing their job as the coordinate system changes,
  1142. * the software endstop positions must be refreshed to remain
  1143. * at the same positions relative to the machine.
  1144. */
  1145. void update_software_endstops(AxisEnum axis) {
  1146. float offs = LOGICAL_POSITION(0, axis);
  1147. #if ENABLED(DUAL_X_CARRIAGE)
  1148. if (axis == X_AXIS) {
  1149. float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
  1150. if (active_extruder != 0) {
  1151. soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
  1152. soft_endstop_max[X_AXIS] = dual_max_x + offs;
  1153. return;
  1154. }
  1155. else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
  1156. soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
  1157. soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
  1158. return;
  1159. }
  1160. }
  1161. else
  1162. #endif
  1163. {
  1164. soft_endstop_min[axis] = base_min_pos(axis) + offs;
  1165. soft_endstop_max[axis] = base_max_pos(axis) + offs;
  1166. }
  1167. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1168. if (DEBUGGING(LEVELING)) {
  1169. SERIAL_ECHOPAIR("For ", axis_codes[axis]);
  1170. SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
  1171. SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
  1172. SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
  1173. SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
  1174. }
  1175. #endif
  1176. #if ENABLED(DELTA)
  1177. if (axis == Z_AXIS)
  1178. delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
  1179. #endif
  1180. }
  1181. /**
  1182. * Change the home offset for an axis, update the current
  1183. * position and the software endstops to retain the same
  1184. * relative distance to the new home.
  1185. *
  1186. * Since this changes the current_position, code should
  1187. * call sync_plan_position soon after this.
  1188. */
  1189. static void set_home_offset(AxisEnum axis, float v) {
  1190. current_position[axis] += v - home_offset[axis];
  1191. home_offset[axis] = v;
  1192. update_software_endstops(axis);
  1193. }
  1194. /**
  1195. * Set an axis' current position to its home position (after homing).
  1196. *
  1197. * For Core and Cartesian robots this applies one-to-one when an
  1198. * individual axis has been homed.
  1199. *
  1200. * DELTA should wait until all homing is done before setting the XYZ
  1201. * current_position to home, because homing is a single operation.
  1202. * In the case where the axis positions are already known and previously
  1203. * homed, DELTA could home to X or Y individually by moving either one
  1204. * to the center. However, homing Z always homes XY and Z.
  1205. *
  1206. * SCARA should wait until all XY homing is done before setting the XY
  1207. * current_position to home, because neither X nor Y is at home until
  1208. * both are at home. Z can however be homed individually.
  1209. *
  1210. */
  1211. static void set_axis_is_at_home(AxisEnum axis) {
  1212. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1213. if (DEBUGGING(LEVELING)) {
  1214. SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]);
  1215. SERIAL_CHAR(')');
  1216. SERIAL_EOL;
  1217. }
  1218. #endif
  1219. axis_known_position[axis] = axis_homed[axis] = true;
  1220. position_shift[axis] = 0;
  1221. update_software_endstops(axis);
  1222. #if ENABLED(DUAL_X_CARRIAGE)
  1223. if (axis == X_AXIS && (active_extruder != 0 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
  1224. if (active_extruder != 0)
  1225. current_position[X_AXIS] = x_home_pos(active_extruder);
  1226. else
  1227. current_position[X_AXIS] = LOGICAL_X_POSITION(base_home_pos(X_AXIS));
  1228. update_software_endstops(X_AXIS);
  1229. return;
  1230. }
  1231. #endif
  1232. #if ENABLED(MORGAN_SCARA)
  1233. /**
  1234. * Morgan SCARA homes XY at the same time
  1235. */
  1236. if (axis == X_AXIS || axis == Y_AXIS) {
  1237. float homeposition[XYZ];
  1238. LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos(i), i);
  1239. // SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
  1240. // SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
  1241. /**
  1242. * Get Home position SCARA arm angles using inverse kinematics,
  1243. * and calculate homing offset using forward kinematics
  1244. */
  1245. inverse_kinematics(homeposition);
  1246. forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
  1247. // SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
  1248. // SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
  1249. current_position[axis] = LOGICAL_POSITION(cartes[axis], axis);
  1250. /**
  1251. * SCARA home positions are based on configuration since the actual
  1252. * limits are determined by the inverse kinematic transform.
  1253. */
  1254. soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis));
  1255. soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis));
  1256. }
  1257. else
  1258. #endif
  1259. {
  1260. current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis);
  1261. }
  1262. /**
  1263. * Z Probe Z Homing? Account for the probe's Z offset.
  1264. */
  1265. #if HAS_BED_PROBE && Z_HOME_DIR < 0
  1266. if (axis == Z_AXIS) {
  1267. #if HOMING_Z_WITH_PROBE
  1268. current_position[Z_AXIS] -= zprobe_zoffset;
  1269. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1270. if (DEBUGGING(LEVELING)) {
  1271. SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***");
  1272. SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset);
  1273. }
  1274. #endif
  1275. #elif ENABLED(DEBUG_LEVELING_FEATURE)
  1276. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP (Z_MIN_PROBE_ENDSTOP) ***");
  1277. #endif
  1278. }
  1279. #endif
  1280. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1281. if (DEBUGGING(LEVELING)) {
  1282. SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
  1283. SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
  1284. DEBUG_POS("", current_position);
  1285. SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
  1286. SERIAL_CHAR(')');
  1287. SERIAL_EOL;
  1288. }
  1289. #endif
  1290. }
  1291. /**
  1292. * Some planner shorthand inline functions
  1293. */
  1294. inline float get_homing_bump_feedrate(AxisEnum axis) {
  1295. int constexpr homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
  1296. int hbd = homing_bump_divisor[axis];
  1297. if (hbd < 1) {
  1298. hbd = 10;
  1299. SERIAL_ECHO_START;
  1300. SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
  1301. }
  1302. return homing_feedrate_mm_s[axis] / hbd;
  1303. }
  1304. //
  1305. // line_to_current_position
  1306. // Move the planner to the current position from wherever it last moved
  1307. // (or from wherever it has been told it is located).
  1308. //
  1309. inline void line_to_current_position() {
  1310. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
  1311. }
  1312. //
  1313. // line_to_destination
  1314. // Move the planner, not necessarily synced with current_position
  1315. //
  1316. inline void line_to_destination(float fr_mm_s) {
  1317. planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
  1318. }
  1319. inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
  1320. inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
  1321. inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
  1322. #if IS_KINEMATIC
  1323. /**
  1324. * Calculate delta, start a line, and set current_position to destination
  1325. */
  1326. void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0) {
  1327. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1328. if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
  1329. #endif
  1330. if ( current_position[X_AXIS] == destination[X_AXIS]
  1331. && current_position[Y_AXIS] == destination[Y_AXIS]
  1332. && current_position[Z_AXIS] == destination[Z_AXIS]
  1333. && current_position[E_AXIS] == destination[E_AXIS]
  1334. ) return;
  1335. refresh_cmd_timeout();
  1336. planner.buffer_line_kinematic(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
  1337. set_current_to_destination();
  1338. }
  1339. #endif // IS_KINEMATIC
  1340. /**
  1341. * Plan a move to (X, Y, Z) and set the current_position
  1342. * The final current_position may not be the one that was requested
  1343. */
  1344. void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s /*=0.0*/) {
  1345. float old_feedrate_mm_s = feedrate_mm_s;
  1346. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1347. if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, x, y, z);
  1348. #endif
  1349. #if ENABLED(DELTA)
  1350. feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  1351. set_destination_to_current(); // sync destination at the start
  1352. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1353. if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_to_current", destination);
  1354. #endif
  1355. // when in the danger zone
  1356. if (current_position[Z_AXIS] > delta_clip_start_height) {
  1357. if (z > delta_clip_start_height) { // staying in the danger zone
  1358. destination[X_AXIS] = x; // move directly (uninterpolated)
  1359. destination[Y_AXIS] = y;
  1360. destination[Z_AXIS] = z;
  1361. prepare_uninterpolated_move_to_destination(); // set_current_to_destination
  1362. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1363. if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
  1364. #endif
  1365. return;
  1366. }
  1367. else {
  1368. destination[Z_AXIS] = delta_clip_start_height;
  1369. prepare_uninterpolated_move_to_destination(); // set_current_to_destination
  1370. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1371. if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
  1372. #endif
  1373. }
  1374. }
  1375. if (z > current_position[Z_AXIS]) { // raising?
  1376. destination[Z_AXIS] = z;
  1377. prepare_uninterpolated_move_to_destination(); // set_current_to_destination
  1378. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1379. if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
  1380. #endif
  1381. }
  1382. destination[X_AXIS] = x;
  1383. destination[Y_AXIS] = y;
  1384. prepare_move_to_destination(); // set_current_to_destination
  1385. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1386. if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
  1387. #endif
  1388. if (z < current_position[Z_AXIS]) { // lowering?
  1389. destination[Z_AXIS] = z;
  1390. prepare_uninterpolated_move_to_destination(); // set_current_to_destination
  1391. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1392. if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
  1393. #endif
  1394. }
  1395. #elif IS_SCARA
  1396. set_destination_to_current();
  1397. // If Z needs to raise, do it before moving XY
  1398. if (destination[Z_AXIS] < z) {
  1399. destination[Z_AXIS] = z;
  1400. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
  1401. }
  1402. destination[X_AXIS] = x;
  1403. destination[Y_AXIS] = y;
  1404. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
  1405. // If Z needs to lower, do it after moving XY
  1406. if (destination[Z_AXIS] > z) {
  1407. destination[Z_AXIS] = z;
  1408. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
  1409. }
  1410. #else
  1411. // If Z needs to raise, do it before moving XY
  1412. if (current_position[Z_AXIS] < z) {
  1413. feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
  1414. current_position[Z_AXIS] = z;
  1415. line_to_current_position();
  1416. }
  1417. feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  1418. current_position[X_AXIS] = x;
  1419. current_position[Y_AXIS] = y;
  1420. line_to_current_position();
  1421. // If Z needs to lower, do it after moving XY
  1422. if (current_position[Z_AXIS] > z) {
  1423. feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
  1424. current_position[Z_AXIS] = z;
  1425. line_to_current_position();
  1426. }
  1427. #endif
  1428. stepper.synchronize();
  1429. feedrate_mm_s = old_feedrate_mm_s;
  1430. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1431. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
  1432. #endif
  1433. }
  1434. void do_blocking_move_to_x(const float &x, const float &fr_mm_s/*=0.0*/) {
  1435. do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
  1436. }
  1437. void do_blocking_move_to_z(const float &z, const float &fr_mm_s/*=0.0*/) {
  1438. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, fr_mm_s);
  1439. }
  1440. void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s/*=0.0*/) {
  1441. do_blocking_move_to(x, y, current_position[Z_AXIS], fr_mm_s);
  1442. }
  1443. //
  1444. // Prepare to do endstop or probe moves
  1445. // with custom feedrates.
  1446. //
  1447. // - Save current feedrates
  1448. // - Reset the rate multiplier
  1449. // - Reset the command timeout
  1450. // - Enable the endstops (for endstop moves)
  1451. //
  1452. static void setup_for_endstop_or_probe_move() {
  1453. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1454. if (DEBUGGING(LEVELING)) DEBUG_POS("setup_for_endstop_or_probe_move", current_position);
  1455. #endif
  1456. saved_feedrate_mm_s = feedrate_mm_s;
  1457. saved_feedrate_percentage = feedrate_percentage;
  1458. feedrate_percentage = 100;
  1459. refresh_cmd_timeout();
  1460. }
  1461. static void clean_up_after_endstop_or_probe_move() {
  1462. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1463. if (DEBUGGING(LEVELING)) DEBUG_POS("clean_up_after_endstop_or_probe_move", current_position);
  1464. #endif
  1465. feedrate_mm_s = saved_feedrate_mm_s;
  1466. feedrate_percentage = saved_feedrate_percentage;
  1467. refresh_cmd_timeout();
  1468. }
  1469. #if HAS_BED_PROBE
  1470. /**
  1471. * Raise Z to a minimum height to make room for a probe to move
  1472. */
  1473. inline void do_probe_raise(float z_raise) {
  1474. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1475. if (DEBUGGING(LEVELING)) {
  1476. SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
  1477. SERIAL_CHAR(')');
  1478. SERIAL_EOL;
  1479. }
  1480. #endif
  1481. float z_dest = LOGICAL_Z_POSITION(z_raise);
  1482. if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
  1483. if (z_dest > current_position[Z_AXIS])
  1484. do_blocking_move_to_z(z_dest);
  1485. }
  1486. #endif //HAS_BED_PROBE
  1487. #if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
  1488. static bool axis_unhomed_error(const bool x, const bool y, const bool z) {
  1489. const bool xx = x && !axis_homed[X_AXIS],
  1490. yy = y && !axis_homed[Y_AXIS],
  1491. zz = z && !axis_homed[Z_AXIS];
  1492. if (xx || yy || zz) {
  1493. SERIAL_ECHO_START;
  1494. SERIAL_ECHOPGM(MSG_HOME " ");
  1495. if (xx) SERIAL_ECHOPGM(MSG_X);
  1496. if (yy) SERIAL_ECHOPGM(MSG_Y);
  1497. if (zz) SERIAL_ECHOPGM(MSG_Z);
  1498. SERIAL_ECHOLNPGM(" " MSG_FIRST);
  1499. #if ENABLED(ULTRA_LCD)
  1500. char message[3 * (LCD_WIDTH) + 1] = ""; // worst case is kana.utf with up to 3*LCD_WIDTH+1
  1501. strcat_P(message, PSTR(MSG_HOME " "));
  1502. if (xx) strcat_P(message, PSTR(MSG_X));
  1503. if (yy) strcat_P(message, PSTR(MSG_Y));
  1504. if (zz) strcat_P(message, PSTR(MSG_Z));
  1505. strcat_P(message, PSTR(" " MSG_FIRST));
  1506. lcd_setstatus(message);
  1507. #endif
  1508. return true;
  1509. }
  1510. return false;
  1511. }
  1512. #endif
  1513. #if ENABLED(Z_PROBE_SLED)
  1514. #ifndef SLED_DOCKING_OFFSET
  1515. #define SLED_DOCKING_OFFSET 0
  1516. #endif
  1517. /**
  1518. * Method to dock/undock a sled designed by Charles Bell.
  1519. *
  1520. * stow[in] If false, move to MAX_X and engage the solenoid
  1521. * If true, move to MAX_X and release the solenoid
  1522. */
  1523. static void dock_sled(bool stow) {
  1524. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1525. if (DEBUGGING(LEVELING)) {
  1526. SERIAL_ECHOPAIR("dock_sled(", stow);
  1527. SERIAL_CHAR(')');
  1528. SERIAL_EOL;
  1529. }
  1530. #endif
  1531. // Dock sled a bit closer to ensure proper capturing
  1532. do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
  1533. #if PIN_EXISTS(SLED)
  1534. digitalWrite(SLED_PIN, !stow); // switch solenoid
  1535. #endif
  1536. }
  1537. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1538. void run_deploy_moves_script() {
  1539. #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)
  1540. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
  1541. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
  1542. #endif
  1543. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
  1544. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
  1545. #endif
  1546. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
  1547. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
  1548. #endif
  1549. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
  1550. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
  1551. #endif
  1552. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE));
  1553. #endif
  1554. #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)
  1555. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
  1556. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
  1557. #endif
  1558. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
  1559. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
  1560. #endif
  1561. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
  1562. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
  1563. #endif
  1564. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
  1565. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
  1566. #endif
  1567. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE));
  1568. #endif
  1569. #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)
  1570. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
  1571. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
  1572. #endif
  1573. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
  1574. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
  1575. #endif
  1576. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
  1577. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
  1578. #endif
  1579. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
  1580. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
  1581. #endif
  1582. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE));
  1583. #endif
  1584. #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)
  1585. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
  1586. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
  1587. #endif
  1588. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
  1589. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
  1590. #endif
  1591. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
  1592. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
  1593. #endif
  1594. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
  1595. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
  1596. #endif
  1597. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE));
  1598. #endif
  1599. #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)
  1600. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
  1601. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
  1602. #endif
  1603. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
  1604. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
  1605. #endif
  1606. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
  1607. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
  1608. #endif
  1609. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
  1610. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
  1611. #endif
  1612. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE));
  1613. #endif
  1614. }
  1615. void run_stow_moves_script() {
  1616. #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)
  1617. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
  1618. #define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
  1619. #endif
  1620. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
  1621. #define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
  1622. #endif
  1623. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
  1624. #define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
  1625. #endif
  1626. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
  1627. #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
  1628. #endif
  1629. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE));
  1630. #endif
  1631. #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)
  1632. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
  1633. #define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
  1634. #endif
  1635. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
  1636. #define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
  1637. #endif
  1638. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
  1639. #define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
  1640. #endif
  1641. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
  1642. #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
  1643. #endif
  1644. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE));
  1645. #endif
  1646. #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)
  1647. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
  1648. #define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
  1649. #endif
  1650. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
  1651. #define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
  1652. #endif
  1653. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
  1654. #define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
  1655. #endif
  1656. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
  1657. #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
  1658. #endif
  1659. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE));
  1660. #endif
  1661. #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)
  1662. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
  1663. #define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
  1664. #endif
  1665. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
  1666. #define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
  1667. #endif
  1668. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
  1669. #define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
  1670. #endif
  1671. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
  1672. #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
  1673. #endif
  1674. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE));
  1675. #endif
  1676. #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)
  1677. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
  1678. #define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
  1679. #endif
  1680. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
  1681. #define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
  1682. #endif
  1683. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
  1684. #define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
  1685. #endif
  1686. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
  1687. #define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
  1688. #endif
  1689. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE));
  1690. #endif
  1691. }
  1692. #endif
  1693. #if HAS_BED_PROBE
  1694. // TRIGGERED_WHEN_STOWED_TEST can easily be extended to servo probes, ... if needed.
  1695. #if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST)
  1696. #if ENABLED(Z_MIN_PROBE_ENDSTOP)
  1697. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
  1698. #else
  1699. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
  1700. #endif
  1701. #endif
  1702. #define DEPLOY_PROBE() set_probe_deployed(true)
  1703. #define STOW_PROBE() set_probe_deployed(false)
  1704. #if ENABLED(BLTOUCH)
  1705. FORCE_INLINE void set_bltouch_deployed(const bool &deploy) {
  1706. servo[Z_ENDSTOP_SERVO_NR].move(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
  1707. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1708. if (DEBUGGING(LEVELING)) {
  1709. SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy);
  1710. SERIAL_CHAR(')');
  1711. SERIAL_EOL;
  1712. }
  1713. #endif
  1714. }
  1715. #endif
  1716. // returns false for ok and true for failure
  1717. static bool set_probe_deployed(bool deploy) {
  1718. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1719. if (DEBUGGING(LEVELING)) {
  1720. DEBUG_POS("set_probe_deployed", current_position);
  1721. SERIAL_ECHOLNPAIR("deploy: ", deploy);
  1722. }
  1723. #endif
  1724. if (endstops.z_probe_enabled == deploy) return false;
  1725. // Make room for probe
  1726. do_probe_raise(_Z_CLEARANCE_DEPLOY_PROBE);
  1727. // When deploying make sure BLTOUCH is not already triggered
  1728. #if ENABLED(BLTOUCH)
  1729. if (deploy && TEST_BLTOUCH()) { stop(); return true; }
  1730. #endif
  1731. #if ENABLED(Z_PROBE_SLED)
  1732. if (axis_unhomed_error(true, false, false)) { stop(); return true; }
  1733. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1734. if (axis_unhomed_error(true, true, true )) { stop(); return true; }
  1735. #endif
  1736. float oldXpos = current_position[X_AXIS],
  1737. oldYpos = current_position[Y_AXIS];
  1738. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1739. // If endstop is already false, the Z probe is deployed
  1740. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
  1741. // Would a goto be less ugly?
  1742. //while (!_TRIGGERED_WHEN_STOWED_TEST) idle(); // would offer the opportunity
  1743. // for a triggered when stowed manual probe.
  1744. if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early
  1745. // otherwise an Allen-Key probe can't be stowed.
  1746. #endif
  1747. #if ENABLED(Z_PROBE_SLED)
  1748. dock_sled(!deploy);
  1749. #elif HAS_Z_SERVO_ENDSTOP && DISABLED(BLTOUCH)
  1750. servo[Z_ENDSTOP_SERVO_NR].move(z_servo_angle[deploy ? 0 : 1]);
  1751. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1752. deploy ? run_deploy_moves_script() : run_stow_moves_script();
  1753. #endif
  1754. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1755. } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  1756. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // State hasn't changed?
  1757. if (IsRunning()) {
  1758. SERIAL_ERROR_START;
  1759. SERIAL_ERRORLNPGM("Z-Probe failed");
  1760. LCD_ALERTMESSAGEPGM("Err: ZPROBE");
  1761. }
  1762. stop();
  1763. return true;
  1764. } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  1765. #endif
  1766. do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
  1767. endstops.enable_z_probe(deploy);
  1768. return false;
  1769. }
  1770. static void do_probe_move(float z, float fr_mm_m) {
  1771. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1772. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
  1773. #endif
  1774. // Deploy BLTouch at the start of any probe
  1775. #if ENABLED(BLTOUCH)
  1776. set_bltouch_deployed(true);
  1777. #endif
  1778. // Move down until probe triggered
  1779. do_blocking_move_to_z(LOGICAL_Z_POSITION(z), MMM_TO_MMS(fr_mm_m));
  1780. // Retract BLTouch immediately after a probe
  1781. #if ENABLED(BLTOUCH)
  1782. set_bltouch_deployed(false);
  1783. #endif
  1784. // Clear endstop flags
  1785. endstops.hit_on_purpose();
  1786. // Get Z where the steppers were interrupted
  1787. set_current_from_steppers_for_axis(Z_AXIS);
  1788. // Tell the planner where we actually are
  1789. SYNC_PLAN_POSITION_KINEMATIC();
  1790. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1791. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
  1792. #endif
  1793. }
  1794. // Do a single Z probe and return with current_position[Z_AXIS]
  1795. // at the height where the probe triggered.
  1796. static float run_z_probe() {
  1797. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1798. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
  1799. #endif
  1800. // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
  1801. refresh_cmd_timeout();
  1802. #if ENABLED(PROBE_DOUBLE_TOUCH)
  1803. // Do a first probe at the fast speed
  1804. do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_FAST);
  1805. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1806. float first_probe_z = current_position[Z_AXIS];
  1807. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("1st Probe Z:", first_probe_z);
  1808. #endif
  1809. // move up by the bump distance
  1810. do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  1811. #else
  1812. // If the nozzle is above the travel height then
  1813. // move down quickly before doing the slow probe
  1814. float z = LOGICAL_Z_POSITION(Z_CLEARANCE_BETWEEN_PROBES);
  1815. if (zprobe_zoffset < 0) z -= zprobe_zoffset;
  1816. if (z < current_position[Z_AXIS])
  1817. do_blocking_move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  1818. #endif
  1819. // move down slowly to find bed
  1820. do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_SLOW);
  1821. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1822. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
  1823. #endif
  1824. // Debug: compare probe heights
  1825. #if ENABLED(PROBE_DOUBLE_TOUCH) && ENABLED(DEBUG_LEVELING_FEATURE)
  1826. if (DEBUGGING(LEVELING)) {
  1827. SERIAL_ECHOPAIR("2nd Probe Z:", current_position[Z_AXIS]);
  1828. SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - current_position[Z_AXIS]);
  1829. }
  1830. #endif
  1831. return current_position[Z_AXIS];
  1832. }
  1833. //
  1834. // - Move to the given XY
  1835. // - Deploy the probe, if not already deployed
  1836. // - Probe the bed, get the Z position
  1837. // - Depending on the 'stow' flag
  1838. // - Stow the probe, or
  1839. // - Raise to the BETWEEN height
  1840. // - Return the probed Z position
  1841. //
  1842. static float probe_pt(const float &x, const float &y, bool stow = true, int verbose_level = 1) {
  1843. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1844. if (DEBUGGING(LEVELING)) {
  1845. SERIAL_ECHOPAIR(">>> probe_pt(", x);
  1846. SERIAL_ECHOPAIR(", ", y);
  1847. SERIAL_ECHOPAIR(", ", stow ? "" : "no ");
  1848. SERIAL_ECHOLNPGM("stow)");
  1849. DEBUG_POS("", current_position);
  1850. }
  1851. #endif
  1852. float old_feedrate_mm_s = feedrate_mm_s;
  1853. // Ensure a minimum height before moving the probe
  1854. do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
  1855. feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
  1856. // Move the probe to the given XY
  1857. do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
  1858. if (DEPLOY_PROBE()) return NAN;
  1859. float measured_z = run_z_probe();
  1860. if (!stow)
  1861. do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
  1862. else
  1863. if (STOW_PROBE()) return NAN;
  1864. if (verbose_level > 2) {
  1865. SERIAL_PROTOCOLPGM("Bed X: ");
  1866. SERIAL_PROTOCOL_F(x, 3);
  1867. SERIAL_PROTOCOLPGM(" Y: ");
  1868. SERIAL_PROTOCOL_F(y, 3);
  1869. SERIAL_PROTOCOLPGM(" Z: ");
  1870. SERIAL_PROTOCOL_F(measured_z, 3);
  1871. SERIAL_EOL;
  1872. }
  1873. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1874. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
  1875. #endif
  1876. feedrate_mm_s = old_feedrate_mm_s;
  1877. return measured_z;
  1878. }
  1879. #endif // HAS_BED_PROBE
  1880. #if PLANNER_LEVELING
  1881. /**
  1882. * Turn bed leveling on or off, fixing the current
  1883. * position as-needed.
  1884. *
  1885. * Disable: Current position = physical position
  1886. * Enable: Current position = "unleveled" physical position
  1887. */
  1888. void set_bed_leveling_enabled(bool enable=true) {
  1889. #if ENABLED(MESH_BED_LEVELING)
  1890. if (!enable && mbl.active())
  1891. current_position[Z_AXIS] +=
  1892. mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS)) - (MESH_HOME_SEARCH_Z);
  1893. mbl.set_active(enable && mbl.has_mesh()); // was set_has_mesh(). Is this not correct?
  1894. #elif HAS_ABL
  1895. if (enable != planner.abl_enabled) {
  1896. planner.abl_enabled = enable;
  1897. if (!enable)
  1898. set_current_from_steppers_for_axis(
  1899. #if ABL_PLANAR
  1900. ALL_AXES
  1901. #else
  1902. Z_AXIS
  1903. #endif
  1904. );
  1905. else
  1906. planner.unapply_leveling(current_position);
  1907. }
  1908. #endif
  1909. }
  1910. /**
  1911. * Reset calibration results to zero.
  1912. */
  1913. void reset_bed_level() {
  1914. #if ENABLED(MESH_BED_LEVELING)
  1915. if (mbl.has_mesh()) {
  1916. set_bed_leveling_enabled(false);
  1917. mbl.reset();
  1918. mbl.set_has_mesh(false);
  1919. }
  1920. #else
  1921. planner.abl_enabled = false;
  1922. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1923. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
  1924. #endif
  1925. #if ABL_PLANAR
  1926. planner.bed_level_matrix.set_to_identity();
  1927. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  1928. for (uint8_t x = 0; x < ABL_GRID_POINTS_X; x++)
  1929. for (uint8_t y = 0; y < ABL_GRID_POINTS_Y; y++)
  1930. bed_level_grid[x][y] = 1000.0;
  1931. #endif
  1932. #endif
  1933. }
  1934. #endif // PLANNER_LEVELING
  1935. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  1936. /**
  1937. * Extrapolate a single point from its neighbors
  1938. */
  1939. static void extrapolate_one_point(uint8_t x, uint8_t y, int8_t xdir, int8_t ydir) {
  1940. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1941. if (DEBUGGING(LEVELING)) {
  1942. SERIAL_ECHOPGM("Extrapolate [");
  1943. if (x < 10) SERIAL_CHAR(' ');
  1944. SERIAL_ECHO((int)x);
  1945. SERIAL_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' ');
  1946. SERIAL_CHAR(' ');
  1947. if (y < 10) SERIAL_CHAR(' ');
  1948. SERIAL_ECHO((int)y);
  1949. SERIAL_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
  1950. SERIAL_CHAR(']');
  1951. }
  1952. #endif
  1953. if (bed_level_grid[x][y] < 999.0) {
  1954. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1955. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" (done)");
  1956. #endif
  1957. return; // Don't overwrite good values.
  1958. }
  1959. SERIAL_EOL;
  1960. // Get X neighbors, Y neighbors, and XY neighbors
  1961. float a1 = bed_level_grid[x + xdir][y], a2 = bed_level_grid[x + xdir * 2][y],
  1962. b1 = bed_level_grid[x][y + ydir], b2 = bed_level_grid[x][y + ydir * 2],
  1963. c1 = bed_level_grid[x + xdir][y + ydir], c2 = bed_level_grid[x + xdir * 2][y + ydir * 2];
  1964. // Treat far unprobed points as zero, near as equal to far
  1965. if (a2 > 999.0) a2 = 0.0; if (a1 > 999.0) a1 = a2;
  1966. if (b2 > 999.0) b2 = 0.0; if (b1 > 999.0) b1 = b2;
  1967. if (c2 > 999.0) c2 = 0.0; if (c1 > 999.0) c1 = c2;
  1968. float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2;
  1969. // Take the average intstead of the median
  1970. bed_level_grid[x][y] = (a + b + c) / 3.0;
  1971. // Median is robust (ignores outliers).
  1972. // bed_level_grid[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
  1973. // : ((c < b) ? b : (a < c) ? a : c);
  1974. }
  1975. //Enable this if your SCARA uses 180° of total area
  1976. //#define EXTRAPOLATE_FROM_EDGE
  1977. #if ENABLED(EXTRAPOLATE_FROM_EDGE)
  1978. #if ABL_GRID_POINTS_X < ABL_GRID_POINTS_Y
  1979. #define HALF_IN_X
  1980. #elif ABL_GRID_POINTS_Y < ABL_GRID_POINTS_X
  1981. #define HALF_IN_Y
  1982. #endif
  1983. #endif
  1984. /**
  1985. * Fill in the unprobed points (corners of circular print surface)
  1986. * using linear extrapolation, away from the center.
  1987. */
  1988. static void extrapolate_unprobed_bed_level() {
  1989. #ifdef HALF_IN_X
  1990. const uint8_t ctrx2 = 0, xlen = ABL_GRID_POINTS_X - 1;
  1991. #else
  1992. const uint8_t ctrx1 = (ABL_GRID_POINTS_X - 1) / 2, // left-of-center
  1993. ctrx2 = ABL_GRID_POINTS_X / 2, // right-of-center
  1994. xlen = ctrx1;
  1995. #endif
  1996. #ifdef HALF_IN_Y
  1997. const uint8_t ctry2 = 0, ylen = ABL_GRID_POINTS_Y - 1;
  1998. #else
  1999. const uint8_t ctry1 = (ABL_GRID_POINTS_Y - 1) / 2, // top-of-center
  2000. ctry2 = ABL_GRID_POINTS_Y / 2, // bottom-of-center
  2001. ylen = ctry1;
  2002. #endif
  2003. for (uint8_t xo = 0; xo <= xlen; xo++)
  2004. for (uint8_t yo = 0; yo <= ylen; yo++) {
  2005. uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo;
  2006. #ifndef HALF_IN_X
  2007. uint8_t x1 = ctrx1 - xo;
  2008. #endif
  2009. #ifndef HALF_IN_Y
  2010. uint8_t y1 = ctry1 - yo;
  2011. #ifndef HALF_IN_X
  2012. extrapolate_one_point(x1, y1, +1, +1); // left-below + +
  2013. #endif
  2014. extrapolate_one_point(x2, y1, -1, +1); // right-below - +
  2015. #endif
  2016. #ifndef HALF_IN_X
  2017. extrapolate_one_point(x1, y2, +1, -1); // left-above + -
  2018. #endif
  2019. extrapolate_one_point(x2, y2, -1, -1); // right-above - -
  2020. }
  2021. }
  2022. /**
  2023. * Print calibration results for plotting or manual frame adjustment.
  2024. */
  2025. static void print_bed_level() {
  2026. SERIAL_ECHOPGM("Bilinear Leveling Grid:\n ");
  2027. for (uint8_t x = 0; x < ABL_GRID_POINTS_X; x++) {
  2028. SERIAL_PROTOCOLPGM(" ");
  2029. if (x < 10) SERIAL_PROTOCOLCHAR(' ');
  2030. SERIAL_PROTOCOL((int)x);
  2031. }
  2032. SERIAL_EOL;
  2033. for (uint8_t y = 0; y < ABL_GRID_POINTS_Y; y++) {
  2034. if (y < 9) SERIAL_PROTOCOLCHAR(' ');
  2035. SERIAL_PROTOCOL((int)y);
  2036. for (uint8_t x = 0; x < ABL_GRID_POINTS_X; x++) {
  2037. SERIAL_PROTOCOLCHAR(' ');
  2038. float offset = bed_level_grid[x][y];
  2039. if (offset < 999.0) {
  2040. if (offset > 0) SERIAL_CHAR('+');
  2041. SERIAL_PROTOCOL_F(offset, 2);
  2042. }
  2043. else
  2044. SERIAL_PROTOCOLPGM(" ====");
  2045. }
  2046. SERIAL_EOL;
  2047. }
  2048. SERIAL_EOL;
  2049. }
  2050. #endif // AUTO_BED_LEVELING_BILINEAR
  2051. /**
  2052. * Home an individual linear axis
  2053. */
  2054. static void do_homing_move(const AxisEnum axis, float distance, float fr_mm_s=0.0) {
  2055. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2056. if (DEBUGGING(LEVELING)) {
  2057. SERIAL_ECHOPAIR(">>> do_homing_move(", axis_codes[axis]);
  2058. SERIAL_ECHOPAIR(", ", distance);
  2059. SERIAL_ECHOPAIR(", ", fr_mm_s);
  2060. SERIAL_CHAR(')');
  2061. SERIAL_EOL;
  2062. }
  2063. #endif
  2064. #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
  2065. bool deploy_bltouch = (axis == Z_AXIS && distance < 0);
  2066. if (deploy_bltouch) set_bltouch_deployed(true);
  2067. #endif
  2068. // Tell the planner we're at Z=0
  2069. current_position[axis] = 0;
  2070. #if IS_SCARA
  2071. SYNC_PLAN_POSITION_KINEMATIC();
  2072. current_position[axis] = distance;
  2073. inverse_kinematics(current_position);
  2074. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
  2075. #else
  2076. sync_plan_position();
  2077. current_position[axis] = distance;
  2078. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
  2079. #endif
  2080. stepper.synchronize();
  2081. #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
  2082. if (deploy_bltouch) set_bltouch_deployed(false);
  2083. #endif
  2084. endstops.hit_on_purpose();
  2085. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2086. if (DEBUGGING(LEVELING)) {
  2087. SERIAL_ECHOPAIR("<<< do_homing_move(", axis_codes[axis]);
  2088. SERIAL_CHAR(')');
  2089. SERIAL_EOL;
  2090. }
  2091. #endif
  2092. }
  2093. /**
  2094. * Home an individual "raw axis" to its endstop.
  2095. * This applies to XYZ on Cartesian and Core robots, and
  2096. * to the individual ABC steppers on DELTA and SCARA.
  2097. *
  2098. * At the end of the procedure the axis is marked as
  2099. * homed and the current position of that axis is updated.
  2100. * Kinematic robots should wait till all axes are homed
  2101. * before updating the current position.
  2102. */
  2103. #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
  2104. static void homeaxis(AxisEnum axis) {
  2105. #if IS_SCARA
  2106. // Only Z homing (with probe) is permitted
  2107. if (axis != Z_AXIS) { BUZZ(100, 880); return; }
  2108. #else
  2109. #define CAN_HOME(A) \
  2110. (axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
  2111. if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
  2112. #endif
  2113. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2114. if (DEBUGGING(LEVELING)) {
  2115. SERIAL_ECHOPAIR(">>> homeaxis(", axis_codes[axis]);
  2116. SERIAL_CHAR(')');
  2117. SERIAL_EOL;
  2118. }
  2119. #endif
  2120. int axis_home_dir =
  2121. #if ENABLED(DUAL_X_CARRIAGE)
  2122. (axis == X_AXIS) ? x_home_dir(active_extruder) :
  2123. #endif
  2124. home_dir(axis);
  2125. // Homing Z towards the bed? Deploy the Z probe or endstop.
  2126. #if HOMING_Z_WITH_PROBE
  2127. if (axis == Z_AXIS && DEPLOY_PROBE()) return;
  2128. #endif
  2129. // Set a flag for Z motor locking
  2130. #if ENABLED(Z_DUAL_ENDSTOPS)
  2131. if (axis == Z_AXIS) stepper.set_homing_flag(true);
  2132. #endif
  2133. // Fast move towards endstop until triggered
  2134. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2135. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
  2136. #endif
  2137. do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
  2138. // When homing Z with probe respect probe clearance
  2139. const float bump = axis_home_dir * (
  2140. #if HOMING_Z_WITH_PROBE
  2141. (axis == Z_AXIS) ? max(Z_CLEARANCE_BETWEEN_PROBES, home_bump_mm(Z_AXIS)) :
  2142. #endif
  2143. home_bump_mm(axis)
  2144. );
  2145. // If a second homing move is configured...
  2146. if (bump) {
  2147. // Move away from the endstop by the axis HOME_BUMP_MM
  2148. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2149. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Move Away:");
  2150. #endif
  2151. do_homing_move(axis, -bump);
  2152. // Slow move towards endstop until triggered
  2153. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2154. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 2 Slow:");
  2155. #endif
  2156. do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis));
  2157. }
  2158. #if ENABLED(Z_DUAL_ENDSTOPS)
  2159. if (axis == Z_AXIS) {
  2160. float adj = fabs(z_endstop_adj);
  2161. bool lockZ1;
  2162. if (axis_home_dir > 0) {
  2163. adj = -adj;
  2164. lockZ1 = (z_endstop_adj > 0);
  2165. }
  2166. else
  2167. lockZ1 = (z_endstop_adj < 0);
  2168. if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
  2169. // Move to the adjusted endstop height
  2170. do_homing_move(axis, adj);
  2171. if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
  2172. stepper.set_homing_flag(false);
  2173. } // Z_AXIS
  2174. #endif
  2175. #if IS_SCARA
  2176. set_axis_is_at_home(axis);
  2177. SYNC_PLAN_POSITION_KINEMATIC();
  2178. #elif ENABLED(DELTA)
  2179. // Delta has already moved all three towers up in G28
  2180. // so here it re-homes each tower in turn.
  2181. // Delta homing treats the axes as normal linear axes.
  2182. // retrace by the amount specified in endstop_adj
  2183. if (endstop_adj[axis] * Z_HOME_DIR < 0) {
  2184. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2185. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("endstop_adj:");
  2186. #endif
  2187. do_homing_move(axis, endstop_adj[axis]);
  2188. }
  2189. #else
  2190. // For cartesian/core machines,
  2191. // set the axis to its home position
  2192. set_axis_is_at_home(axis);
  2193. sync_plan_position();
  2194. destination[axis] = current_position[axis];
  2195. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2196. if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
  2197. #endif
  2198. #endif
  2199. // Put away the Z probe
  2200. #if HOMING_Z_WITH_PROBE
  2201. if (axis == Z_AXIS && STOW_PROBE()) return;
  2202. #endif
  2203. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2204. if (DEBUGGING(LEVELING)) {
  2205. SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]);
  2206. SERIAL_CHAR(')');
  2207. SERIAL_EOL;
  2208. }
  2209. #endif
  2210. } // homeaxis()
  2211. #if ENABLED(FWRETRACT)
  2212. void retract(bool retracting, bool swapping = false) {
  2213. if (retracting == retracted[active_extruder]) return;
  2214. float old_feedrate_mm_s = feedrate_mm_s;
  2215. set_destination_to_current();
  2216. if (retracting) {
  2217. feedrate_mm_s = retract_feedrate_mm_s;
  2218. current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
  2219. sync_plan_position_e();
  2220. prepare_move_to_destination();
  2221. if (retract_zlift > 0.01) {
  2222. current_position[Z_AXIS] -= retract_zlift;
  2223. SYNC_PLAN_POSITION_KINEMATIC();
  2224. prepare_move_to_destination();
  2225. }
  2226. }
  2227. else {
  2228. if (retract_zlift > 0.01) {
  2229. current_position[Z_AXIS] += retract_zlift;
  2230. SYNC_PLAN_POSITION_KINEMATIC();
  2231. }
  2232. feedrate_mm_s = retract_recover_feedrate_mm_s;
  2233. float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
  2234. current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
  2235. sync_plan_position_e();
  2236. prepare_move_to_destination();
  2237. }
  2238. feedrate_mm_s = old_feedrate_mm_s;
  2239. retracted[active_extruder] = retracting;
  2240. } // retract()
  2241. #endif // FWRETRACT
  2242. #if ENABLED(MIXING_EXTRUDER)
  2243. void normalize_mix() {
  2244. float mix_total = 0.0;
  2245. for (int i = 0; i < MIXING_STEPPERS; i++) {
  2246. float v = mixing_factor[i];
  2247. if (v < 0) v = mixing_factor[i] = 0;
  2248. mix_total += v;
  2249. }
  2250. // Scale all values if they don't add up to ~1.0
  2251. if (mix_total < 0.9999 || mix_total > 1.0001) {
  2252. SERIAL_PROTOCOLLNPGM("Warning: Mix factors must add up to 1.0. Scaling.");
  2253. float mix_scale = 1.0 / mix_total;
  2254. for (int i = 0; i < MIXING_STEPPERS; i++)
  2255. mixing_factor[i] *= mix_scale;
  2256. }
  2257. }
  2258. #if ENABLED(DIRECT_MIXING_IN_G1)
  2259. // Get mixing parameters from the GCode
  2260. // Factors that are left out are set to 0
  2261. // The total "must" be 1.0 (but it will be normalized)
  2262. void gcode_get_mix() {
  2263. const char* mixing_codes = "ABCDHI";
  2264. for (int i = 0; i < MIXING_STEPPERS; i++)
  2265. mixing_factor[i] = code_seen(mixing_codes[i]) ? code_value_float() : 0;
  2266. normalize_mix();
  2267. }
  2268. #endif
  2269. #endif
  2270. /**
  2271. * ***************************************************************************
  2272. * ***************************** G-CODE HANDLING *****************************
  2273. * ***************************************************************************
  2274. */
  2275. /**
  2276. * Set XYZE destination and feedrate from the current GCode command
  2277. *
  2278. * - Set destination from included axis codes
  2279. * - Set to current for missing axis codes
  2280. * - Set the feedrate, if included
  2281. */
  2282. void gcode_get_destination() {
  2283. LOOP_XYZE(i) {
  2284. if (code_seen(axis_codes[i]))
  2285. destination[i] = code_value_axis_units(i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
  2286. else
  2287. destination[i] = current_position[i];
  2288. }
  2289. if (code_seen('F') && code_value_linear_units() > 0.0)
  2290. feedrate_mm_s = MMM_TO_MMS(code_value_linear_units());
  2291. #if ENABLED(PRINTCOUNTER)
  2292. if (!DEBUGGING(DRYRUN))
  2293. print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
  2294. #endif
  2295. // Get ABCDHI mixing factors
  2296. #if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1)
  2297. gcode_get_mix();
  2298. #endif
  2299. }
  2300. void unknown_command_error() {
  2301. SERIAL_ECHO_START;
  2302. SERIAL_ECHOPAIR(MSG_UNKNOWN_COMMAND, current_command);
  2303. SERIAL_CHAR('"');
  2304. SERIAL_EOL;
  2305. }
  2306. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  2307. /**
  2308. * Output a "busy" message at regular intervals
  2309. * while the machine is not accepting commands.
  2310. */
  2311. void host_keepalive() {
  2312. millis_t ms = millis();
  2313. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  2314. if (PENDING(ms, next_busy_signal_ms)) return;
  2315. switch (busy_state) {
  2316. case IN_HANDLER:
  2317. case IN_PROCESS:
  2318. SERIAL_ECHO_START;
  2319. SERIAL_ECHOLNPGM(MSG_BUSY_PROCESSING);
  2320. break;
  2321. case PAUSED_FOR_USER:
  2322. SERIAL_ECHO_START;
  2323. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_USER);
  2324. break;
  2325. case PAUSED_FOR_INPUT:
  2326. SERIAL_ECHO_START;
  2327. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_INPUT);
  2328. break;
  2329. default:
  2330. break;
  2331. }
  2332. }
  2333. next_busy_signal_ms = ms + host_keepalive_interval * 1000UL;
  2334. }
  2335. #endif //HOST_KEEPALIVE_FEATURE
  2336. bool position_is_reachable(float target[XYZ]
  2337. #if HAS_BED_PROBE
  2338. , bool by_probe=false
  2339. #endif
  2340. ) {
  2341. float dx = RAW_X_POSITION(target[X_AXIS]),
  2342. dy = RAW_Y_POSITION(target[Y_AXIS]);
  2343. #if HAS_BED_PROBE
  2344. if (by_probe) {
  2345. dx -= X_PROBE_OFFSET_FROM_EXTRUDER;
  2346. dy -= Y_PROBE_OFFSET_FROM_EXTRUDER;
  2347. }
  2348. #endif
  2349. #if IS_SCARA
  2350. #if MIDDLE_DEAD_ZONE_R > 0
  2351. const float R2 = HYPOT2(dx - SCARA_OFFSET_X, dy - SCARA_OFFSET_Y);
  2352. return R2 >= sq(float(MIDDLE_DEAD_ZONE_R)) && R2 <= sq(L1 + L2);
  2353. #else
  2354. return HYPOT2(dx - SCARA_OFFSET_X, dy - SCARA_OFFSET_Y) <= sq(L1 + L2);
  2355. #endif
  2356. #elif ENABLED(DELTA)
  2357. return HYPOT2(dx, dy) <= sq(DELTA_PRINTABLE_RADIUS);
  2358. #else
  2359. const float dz = RAW_Z_POSITION(target[Z_AXIS]);
  2360. return dx >= X_MIN_POS - 0.0001 && dx <= X_MAX_POS + 0.0001
  2361. && dy >= Y_MIN_POS - 0.0001 && dy <= Y_MAX_POS + 0.0001
  2362. && dz >= Z_MIN_POS - 0.0001 && dz <= Z_MAX_POS + 0.0001;
  2363. #endif
  2364. }
  2365. /**************************************************
  2366. ***************** GCode Handlers *****************
  2367. **************************************************/
  2368. /**
  2369. * G0, G1: Coordinated movement of X Y Z E axes
  2370. */
  2371. inline void gcode_G0_G1(
  2372. #if IS_SCARA
  2373. bool fast_move=false
  2374. #endif
  2375. ) {
  2376. if (IsRunning()) {
  2377. gcode_get_destination(); // For X Y Z E F
  2378. #if ENABLED(FWRETRACT)
  2379. if (autoretract_enabled && !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  2380. float echange = destination[E_AXIS] - current_position[E_AXIS];
  2381. // Is this move an attempt to retract or recover?
  2382. if ((echange < -MIN_RETRACT && !retracted[active_extruder]) || (echange > MIN_RETRACT && retracted[active_extruder])) {
  2383. current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations
  2384. sync_plan_position_e(); // AND from the planner
  2385. retract(!retracted[active_extruder]);
  2386. return;
  2387. }
  2388. }
  2389. #endif //FWRETRACT
  2390. #if IS_SCARA
  2391. fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination();
  2392. #else
  2393. prepare_move_to_destination();
  2394. #endif
  2395. }
  2396. }
  2397. /**
  2398. * G2: Clockwise Arc
  2399. * G3: Counterclockwise Arc
  2400. *
  2401. * This command has two forms: IJ-form and R-form.
  2402. *
  2403. * - I specifies an X offset. J specifies a Y offset.
  2404. * At least one of the IJ parameters is required.
  2405. * X and Y can be omitted to do a complete circle.
  2406. * The given XY is not error-checked. The arc ends
  2407. * based on the angle of the destination.
  2408. * Mixing I or J with R will throw an error.
  2409. *
  2410. * - R specifies the radius. X or Y is required.
  2411. * Omitting both X and Y will throw an error.
  2412. * X or Y must differ from the current XY.
  2413. * Mixing R with I or J will throw an error.
  2414. *
  2415. * Examples:
  2416. *
  2417. * G2 I10 ; CW circle centered at X+10
  2418. * G3 X20 Y12 R14 ; CCW circle with r=14 ending at X20 Y12
  2419. */
  2420. #if ENABLED(ARC_SUPPORT)
  2421. inline void gcode_G2_G3(bool clockwise) {
  2422. if (IsRunning()) {
  2423. #if ENABLED(SF_ARC_FIX)
  2424. bool relative_mode_backup = relative_mode;
  2425. relative_mode = true;
  2426. #endif
  2427. gcode_get_destination();
  2428. #if ENABLED(SF_ARC_FIX)
  2429. relative_mode = relative_mode_backup;
  2430. #endif
  2431. float arc_offset[2] = { 0.0, 0.0 };
  2432. if (code_seen('R')) {
  2433. const float r = code_value_axis_units(X_AXIS),
  2434. x1 = current_position[X_AXIS], y1 = current_position[Y_AXIS],
  2435. x2 = destination[X_AXIS], y2 = destination[Y_AXIS];
  2436. if (r && (x2 != x1 || y2 != y1)) {
  2437. const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
  2438. dx = x2 - x1, dy = y2 - y1, // X and Y differences
  2439. d = HYPOT(dx, dy), // Linear distance between the points
  2440. h = sqrt(sq(r) - sq(d * 0.5)), // Distance to the arc pivot-point
  2441. mx = (x1 + x2) * 0.5, my = (y1 + y2) * 0.5, // Point between the two points
  2442. sx = -dy / d, sy = dx / d, // Slope of the perpendicular bisector
  2443. cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc
  2444. arc_offset[X_AXIS] = cx - x1;
  2445. arc_offset[Y_AXIS] = cy - y1;
  2446. }
  2447. }
  2448. else {
  2449. if (code_seen('I')) arc_offset[X_AXIS] = code_value_axis_units(X_AXIS);
  2450. if (code_seen('J')) arc_offset[Y_AXIS] = code_value_axis_units(Y_AXIS);
  2451. }
  2452. if (arc_offset[0] || arc_offset[1]) {
  2453. // Send an arc to the planner
  2454. plan_arc(destination, arc_offset, clockwise);
  2455. refresh_cmd_timeout();
  2456. }
  2457. else {
  2458. // Bad arguments
  2459. SERIAL_ERROR_START;
  2460. SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS);
  2461. }
  2462. }
  2463. }
  2464. #endif
  2465. /**
  2466. * G4: Dwell S<seconds> or P<milliseconds>
  2467. */
  2468. inline void gcode_G4() {
  2469. millis_t dwell_ms = 0;
  2470. if (code_seen('P')) dwell_ms = code_value_millis(); // milliseconds to wait
  2471. if (code_seen('S')) dwell_ms = code_value_millis_from_seconds(); // seconds to wait
  2472. stepper.synchronize();
  2473. refresh_cmd_timeout();
  2474. dwell_ms += previous_cmd_ms; // keep track of when we started waiting
  2475. if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
  2476. while (PENDING(millis(), dwell_ms)) idle();
  2477. }
  2478. #if ENABLED(BEZIER_CURVE_SUPPORT)
  2479. /**
  2480. * Parameters interpreted according to:
  2481. * http://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G5-Cubic-Spline
  2482. * However I, J omission is not supported at this point; all
  2483. * parameters can be omitted and default to zero.
  2484. */
  2485. /**
  2486. * G5: Cubic B-spline
  2487. */
  2488. inline void gcode_G5() {
  2489. if (IsRunning()) {
  2490. gcode_get_destination();
  2491. float offset[] = {
  2492. code_seen('I') ? code_value_axis_units(X_AXIS) : 0.0,
  2493. code_seen('J') ? code_value_axis_units(Y_AXIS) : 0.0,
  2494. code_seen('P') ? code_value_axis_units(X_AXIS) : 0.0,
  2495. code_seen('Q') ? code_value_axis_units(Y_AXIS) : 0.0
  2496. };
  2497. plan_cubic_move(offset);
  2498. }
  2499. }
  2500. #endif // BEZIER_CURVE_SUPPORT
  2501. #if ENABLED(FWRETRACT)
  2502. /**
  2503. * G10 - Retract filament according to settings of M207
  2504. * G11 - Recover filament according to settings of M208
  2505. */
  2506. inline void gcode_G10_G11(bool doRetract=false) {
  2507. #if EXTRUDERS > 1
  2508. if (doRetract) {
  2509. retracted_swap[active_extruder] = (code_seen('S') && code_value_bool()); // checks for swap retract argument
  2510. }
  2511. #endif
  2512. retract(doRetract
  2513. #if EXTRUDERS > 1
  2514. , retracted_swap[active_extruder]
  2515. #endif
  2516. );
  2517. }
  2518. #endif //FWRETRACT
  2519. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  2520. /**
  2521. * G12: Clean the nozzle
  2522. */
  2523. inline void gcode_G12() {
  2524. // Don't allow nozzle cleaning without homing first
  2525. if (axis_unhomed_error(true, true, true)) { return; }
  2526. uint8_t const pattern = code_seen('P') ? code_value_ushort() : 0;
  2527. uint8_t const strokes = code_seen('S') ? code_value_ushort() : NOZZLE_CLEAN_STROKES;
  2528. uint8_t const objects = code_seen('T') ? code_value_ushort() : 3;
  2529. Nozzle::clean(pattern, strokes, objects);
  2530. }
  2531. #endif
  2532. #if ENABLED(INCH_MODE_SUPPORT)
  2533. /**
  2534. * G20: Set input mode to inches
  2535. */
  2536. inline void gcode_G20() { set_input_linear_units(LINEARUNIT_INCH); }
  2537. /**
  2538. * G21: Set input mode to millimeters
  2539. */
  2540. inline void gcode_G21() { set_input_linear_units(LINEARUNIT_MM); }
  2541. #endif
  2542. #if ENABLED(NOZZLE_PARK_FEATURE)
  2543. /**
  2544. * G27: Park the nozzle
  2545. */
  2546. inline void gcode_G27() {
  2547. // Don't allow nozzle parking without homing first
  2548. if (axis_unhomed_error(true, true, true)) { return; }
  2549. uint8_t const z_action = code_seen('P') ? code_value_ushort() : 0;
  2550. Nozzle::park(z_action);
  2551. }
  2552. #endif // NOZZLE_PARK_FEATURE
  2553. #if ENABLED(QUICK_HOME)
  2554. static void quick_home_xy() {
  2555. // Pretend the current position is 0,0
  2556. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  2557. sync_plan_position();
  2558. int x_axis_home_dir =
  2559. #if ENABLED(DUAL_X_CARRIAGE)
  2560. x_home_dir(active_extruder)
  2561. #else
  2562. home_dir(X_AXIS)
  2563. #endif
  2564. ;
  2565. float mlx = max_length(X_AXIS),
  2566. mly = max_length(Y_AXIS),
  2567. mlratio = mlx > mly ? mly / mlx : mlx / mly,
  2568. fr_mm_s = min(homing_feedrate_mm_s[X_AXIS], homing_feedrate_mm_s[Y_AXIS]) * sqrt(sq(mlratio) + 1.0);
  2569. do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
  2570. endstops.hit_on_purpose(); // clear endstop hit flags
  2571. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  2572. }
  2573. #endif // QUICK_HOME
  2574. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2575. void log_machine_info() {
  2576. SERIAL_ECHOPGM("Machine Type: ");
  2577. #if ENABLED(DELTA)
  2578. SERIAL_ECHOLNPGM("Delta");
  2579. #elif IS_SCARA
  2580. SERIAL_ECHOLNPGM("SCARA");
  2581. #elif ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
  2582. SERIAL_ECHOLNPGM("Core");
  2583. #else
  2584. SERIAL_ECHOLNPGM("Cartesian");
  2585. #endif
  2586. SERIAL_ECHOPGM("Probe: ");
  2587. #if ENABLED(FIX_MOUNTED_PROBE)
  2588. SERIAL_ECHOLNPGM("FIX_MOUNTED_PROBE");
  2589. #elif ENABLED(BLTOUCH)
  2590. SERIAL_ECHOLNPGM("BLTOUCH");
  2591. #elif HAS_Z_SERVO_ENDSTOP
  2592. SERIAL_ECHOLNPGM("SERVO PROBE");
  2593. #elif ENABLED(Z_PROBE_SLED)
  2594. SERIAL_ECHOLNPGM("Z_PROBE_SLED");
  2595. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  2596. SERIAL_ECHOLNPGM("Z_PROBE_ALLEN_KEY");
  2597. #else
  2598. SERIAL_ECHOLNPGM("NONE");
  2599. #endif
  2600. #if HAS_BED_PROBE
  2601. SERIAL_ECHOPAIR("Probe Offset X:", X_PROBE_OFFSET_FROM_EXTRUDER);
  2602. SERIAL_ECHOPAIR(" Y:", Y_PROBE_OFFSET_FROM_EXTRUDER);
  2603. SERIAL_ECHOPAIR(" Z:", zprobe_zoffset);
  2604. #if (X_PROBE_OFFSET_FROM_EXTRUDER > 0)
  2605. SERIAL_ECHOPGM(" (Right");
  2606. #elif (X_PROBE_OFFSET_FROM_EXTRUDER < 0)
  2607. SERIAL_ECHOPGM(" (Left");
  2608. #elif (Y_PROBE_OFFSET_FROM_EXTRUDER != 0)
  2609. SERIAL_ECHOPGM(" (Middle");
  2610. #else
  2611. SERIAL_ECHOPGM(" (Aligned With");
  2612. #endif
  2613. #if (Y_PROBE_OFFSET_FROM_EXTRUDER > 0)
  2614. SERIAL_ECHOPGM("-Back");
  2615. #elif (Y_PROBE_OFFSET_FROM_EXTRUDER < 0)
  2616. SERIAL_ECHOPGM("-Front");
  2617. #elif (X_PROBE_OFFSET_FROM_EXTRUDER != 0)
  2618. SERIAL_ECHOPGM("-Center");
  2619. #endif
  2620. if (zprobe_zoffset < 0)
  2621. SERIAL_ECHOPGM(" & Below");
  2622. else if (zprobe_zoffset > 0)
  2623. SERIAL_ECHOPGM(" & Above");
  2624. else
  2625. SERIAL_ECHOPGM(" & Same Z as");
  2626. SERIAL_ECHOLNPGM(" Nozzle)");
  2627. #endif
  2628. #if HAS_ABL
  2629. SERIAL_ECHOPGM("Auto Bed Leveling: ");
  2630. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  2631. SERIAL_ECHOPGM("LINEAR");
  2632. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2633. SERIAL_ECHOPGM("BILINEAR");
  2634. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  2635. SERIAL_ECHOPGM("3POINT");
  2636. #endif
  2637. if (planner.abl_enabled) {
  2638. SERIAL_ECHOLNPGM(" (enabled)");
  2639. #if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_3POINT)
  2640. float diff[XYZ] = {
  2641. stepper.get_axis_position_mm(X_AXIS) - current_position[X_AXIS],
  2642. stepper.get_axis_position_mm(Y_AXIS) - current_position[Y_AXIS],
  2643. stepper.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]
  2644. };
  2645. SERIAL_ECHOPGM("ABL Adjustment X");
  2646. if (diff[X_AXIS] > 0) SERIAL_CHAR('+');
  2647. SERIAL_ECHO(diff[X_AXIS]);
  2648. SERIAL_ECHOPGM(" Y");
  2649. if (diff[Y_AXIS] > 0) SERIAL_CHAR('+');
  2650. SERIAL_ECHO(diff[Y_AXIS]);
  2651. SERIAL_ECHOPGM(" Z");
  2652. if (diff[Z_AXIS] > 0) SERIAL_CHAR('+');
  2653. SERIAL_ECHO(diff[Z_AXIS]);
  2654. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2655. SERIAL_ECHOPAIR("ABL Adjustment Z", bilinear_z_offset(current_position));
  2656. #endif
  2657. }
  2658. SERIAL_EOL;
  2659. #elif ENABLED(MESH_BED_LEVELING)
  2660. SERIAL_ECHOPGM("Mesh Bed Leveling");
  2661. if (mbl.active()) {
  2662. SERIAL_ECHOLNPGM(" (enabled)");
  2663. SERIAL_ECHOPAIR("MBL Adjustment Z", mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS)));
  2664. }
  2665. SERIAL_EOL;
  2666. #endif
  2667. }
  2668. #endif // DEBUG_LEVELING_FEATURE
  2669. #if ENABLED(DELTA)
  2670. /**
  2671. * A delta can only safely home all axes at the same time
  2672. * This is like quick_home_xy() but for 3 towers.
  2673. */
  2674. inline void home_delta() {
  2675. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2676. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
  2677. #endif
  2678. // Init the current position of all carriages to 0,0,0
  2679. ZERO(current_position);
  2680. sync_plan_position();
  2681. // Move all carriages together linearly until an endstop is hit.
  2682. current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10);
  2683. feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
  2684. line_to_current_position();
  2685. stepper.synchronize();
  2686. endstops.hit_on_purpose(); // clear endstop hit flags
  2687. // At least one carriage has reached the top.
  2688. // Now re-home each carriage separately.
  2689. HOMEAXIS(A);
  2690. HOMEAXIS(B);
  2691. HOMEAXIS(C);
  2692. // Set all carriages to their home positions
  2693. // Do this here all at once for Delta, because
  2694. // XYZ isn't ABC. Applying this per-tower would
  2695. // give the impression that they are the same.
  2696. LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
  2697. SYNC_PLAN_POSITION_KINEMATIC();
  2698. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2699. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
  2700. #endif
  2701. }
  2702. #endif // DELTA
  2703. #if ENABLED(Z_SAFE_HOMING)
  2704. inline void home_z_safely() {
  2705. // Disallow Z homing if X or Y are unknown
  2706. if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
  2707. LCD_MESSAGEPGM(MSG_ERR_Z_HOMING);
  2708. SERIAL_ECHO_START;
  2709. SERIAL_ECHOLNPGM(MSG_ERR_Z_HOMING);
  2710. return;
  2711. }
  2712. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2713. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>");
  2714. #endif
  2715. SYNC_PLAN_POSITION_KINEMATIC();
  2716. /**
  2717. * Move the Z probe (or just the nozzle) to the safe homing point
  2718. */
  2719. destination[X_AXIS] = LOGICAL_X_POSITION(Z_SAFE_HOMING_X_POINT);
  2720. destination[Y_AXIS] = LOGICAL_Y_POSITION(Z_SAFE_HOMING_Y_POINT);
  2721. destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
  2722. if (position_is_reachable(
  2723. destination
  2724. #if HOMING_Z_WITH_PROBE
  2725. , true
  2726. #endif
  2727. )
  2728. ) {
  2729. #if HOMING_Z_WITH_PROBE
  2730. destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
  2731. destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
  2732. #endif
  2733. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2734. if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
  2735. #endif
  2736. do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
  2737. HOMEAXIS(Z);
  2738. }
  2739. else {
  2740. LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
  2741. SERIAL_ECHO_START;
  2742. SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
  2743. }
  2744. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2745. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
  2746. #endif
  2747. }
  2748. #endif // Z_SAFE_HOMING
  2749. /**
  2750. * G28: Home all axes according to settings
  2751. *
  2752. * Parameters
  2753. *
  2754. * None Home to all axes with no parameters.
  2755. * With QUICK_HOME enabled XY will home together, then Z.
  2756. *
  2757. * Cartesian parameters
  2758. *
  2759. * X Home to the X endstop
  2760. * Y Home to the Y endstop
  2761. * Z Home to the Z endstop
  2762. *
  2763. */
  2764. inline void gcode_G28() {
  2765. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2766. if (DEBUGGING(LEVELING)) {
  2767. SERIAL_ECHOLNPGM(">>> gcode_G28");
  2768. log_machine_info();
  2769. }
  2770. #endif
  2771. // Wait for planner moves to finish!
  2772. stepper.synchronize();
  2773. // For auto bed leveling, clear the level matrix
  2774. #if HAS_ABL
  2775. reset_bed_level();
  2776. #endif
  2777. // Always home with tool 0 active
  2778. #if HOTENDS > 1
  2779. uint8_t old_tool_index = active_extruder;
  2780. tool_change(0, 0, true);
  2781. #endif
  2782. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  2783. extruder_duplication_enabled = false;
  2784. #endif
  2785. /**
  2786. * For mesh bed leveling deactivate the mesh calculations, will be turned
  2787. * on again when homing all axis
  2788. */
  2789. #if ENABLED(MESH_BED_LEVELING)
  2790. float pre_home_z = MESH_HOME_SEARCH_Z;
  2791. if (mbl.active()) {
  2792. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2793. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL was active");
  2794. #endif
  2795. // Save known Z position if already homed
  2796. if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) {
  2797. pre_home_z = current_position[Z_AXIS];
  2798. pre_home_z += mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS));
  2799. }
  2800. mbl.set_active(false);
  2801. current_position[Z_AXIS] = pre_home_z;
  2802. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2803. if (DEBUGGING(LEVELING)) DEBUG_POS("Set Z to pre_home_z", current_position);
  2804. #endif
  2805. }
  2806. #endif
  2807. setup_for_endstop_or_probe_move();
  2808. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2809. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
  2810. #endif
  2811. endstops.enable(true); // Enable endstops for next homing move
  2812. #if ENABLED(DELTA)
  2813. home_delta();
  2814. #else // NOT DELTA
  2815. bool homeX = code_seen('X'), homeY = code_seen('Y'), homeZ = code_seen('Z');
  2816. home_all_axis = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
  2817. set_destination_to_current();
  2818. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2819. if (home_all_axis || homeZ) {
  2820. HOMEAXIS(Z);
  2821. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2822. if (DEBUGGING(LEVELING)) DEBUG_POS("> HOMEAXIS(Z)", current_position);
  2823. #endif
  2824. }
  2825. #else
  2826. if (home_all_axis || homeX || homeY) {
  2827. // Raise Z before homing any other axes and z is not already high enough (never lower z)
  2828. destination[Z_AXIS] = LOGICAL_Z_POSITION(Z_HOMING_HEIGHT);
  2829. if (destination[Z_AXIS] > current_position[Z_AXIS]) {
  2830. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2831. if (DEBUGGING(LEVELING))
  2832. SERIAL_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
  2833. #endif
  2834. do_blocking_move_to_z(destination[Z_AXIS]);
  2835. }
  2836. }
  2837. #endif
  2838. #if ENABLED(QUICK_HOME)
  2839. if (home_all_axis || (homeX && homeY)) quick_home_xy();
  2840. #endif
  2841. #if ENABLED(HOME_Y_BEFORE_X)
  2842. // Home Y
  2843. if (home_all_axis || homeY) {
  2844. HOMEAXIS(Y);
  2845. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2846. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  2847. #endif
  2848. }
  2849. #endif
  2850. // Home X
  2851. if (home_all_axis || homeX) {
  2852. #if ENABLED(DUAL_X_CARRIAGE)
  2853. int tmp_extruder = active_extruder;
  2854. active_extruder = !active_extruder;
  2855. HOMEAXIS(X);
  2856. inactive_extruder_x_pos = RAW_X_POSITION(current_position[X_AXIS]);
  2857. active_extruder = tmp_extruder;
  2858. HOMEAXIS(X);
  2859. // reset state used by the different modes
  2860. memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
  2861. delayed_move_time = 0;
  2862. active_extruder_parked = true;
  2863. #else
  2864. HOMEAXIS(X);
  2865. #endif
  2866. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2867. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
  2868. #endif
  2869. }
  2870. #if DISABLED(HOME_Y_BEFORE_X)
  2871. // Home Y
  2872. if (home_all_axis || homeY) {
  2873. HOMEAXIS(Y);
  2874. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2875. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  2876. #endif
  2877. }
  2878. #endif
  2879. // Home Z last if homing towards the bed
  2880. #if Z_HOME_DIR < 0
  2881. if (home_all_axis || homeZ) {
  2882. #if ENABLED(Z_SAFE_HOMING)
  2883. home_z_safely();
  2884. #else
  2885. HOMEAXIS(Z);
  2886. #endif
  2887. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2888. if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all_axis || homeZ) > final", current_position);
  2889. #endif
  2890. } // home_all_axis || homeZ
  2891. #endif // Z_HOME_DIR < 0
  2892. SYNC_PLAN_POSITION_KINEMATIC();
  2893. #endif // !DELTA (gcode_G28)
  2894. endstops.not_homing();
  2895. #if ENABLED(DELTA)
  2896. // move to a height where we can use the full xy-area
  2897. do_blocking_move_to_z(delta_clip_start_height);
  2898. #endif
  2899. // Enable mesh leveling again
  2900. #if ENABLED(MESH_BED_LEVELING)
  2901. if (mbl.has_mesh()) {
  2902. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2903. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL has mesh");
  2904. #endif
  2905. if (home_all_axis || (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && homeZ)) {
  2906. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2907. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL Z homing");
  2908. #endif
  2909. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  2910. #if Z_HOME_DIR > 0
  2911. + Z_MAX_POS
  2912. #endif
  2913. ;
  2914. SYNC_PLAN_POSITION_KINEMATIC();
  2915. mbl.set_active(true);
  2916. #if ENABLED(MESH_G28_REST_ORIGIN)
  2917. current_position[Z_AXIS] = 0.0;
  2918. set_destination_to_current();
  2919. line_to_destination(homing_feedrate_mm_s[Z_AXIS]);
  2920. stepper.synchronize();
  2921. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2922. if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Rest Origin", current_position);
  2923. #endif
  2924. #else
  2925. planner.unapply_leveling(current_position);
  2926. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2927. if (DEBUGGING(LEVELING)) DEBUG_POS("MBL adjusted MESH_HOME_SEARCH_Z", current_position);
  2928. #endif
  2929. #endif
  2930. }
  2931. else if ((axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) && (homeX || homeY)) {
  2932. current_position[Z_AXIS] = pre_home_z;
  2933. SYNC_PLAN_POSITION_KINEMATIC();
  2934. mbl.set_active(true);
  2935. planner.unapply_leveling(current_position);
  2936. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2937. if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Home X or Y", current_position);
  2938. #endif
  2939. }
  2940. }
  2941. #endif
  2942. clean_up_after_endstop_or_probe_move();
  2943. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2944. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28");
  2945. #endif
  2946. // Restore the active tool after homing
  2947. #if HOTENDS > 1
  2948. tool_change(old_tool_index, 0, true);
  2949. #endif
  2950. report_current_position();
  2951. }
  2952. #if HAS_PROBING_PROCEDURE
  2953. void out_of_range_error(const char* p_edge) {
  2954. SERIAL_PROTOCOLPGM("?Probe ");
  2955. serialprintPGM(p_edge);
  2956. SERIAL_PROTOCOLLNPGM(" position out of range.");
  2957. }
  2958. #endif
  2959. #if ENABLED(MESH_BED_LEVELING)
  2960. inline void _mbl_goto_xy(float x, float y) {
  2961. float old_feedrate_mm_s = feedrate_mm_s;
  2962. feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
  2963. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  2964. #if Z_CLEARANCE_BETWEEN_PROBES > Z_HOMING_HEIGHT
  2965. + Z_CLEARANCE_BETWEEN_PROBES
  2966. #elif Z_HOMING_HEIGHT > 0
  2967. + Z_HOMING_HEIGHT
  2968. #endif
  2969. ;
  2970. line_to_current_position();
  2971. current_position[X_AXIS] = LOGICAL_X_POSITION(x);
  2972. current_position[Y_AXIS] = LOGICAL_Y_POSITION(y);
  2973. line_to_current_position();
  2974. #if Z_CLEARANCE_BETWEEN_PROBES > 0 || Z_HOMING_HEIGHT > 0
  2975. current_position[Z_AXIS] = LOGICAL_Z_POSITION(MESH_HOME_SEARCH_Z);
  2976. line_to_current_position();
  2977. #endif
  2978. feedrate_mm_s = old_feedrate_mm_s;
  2979. stepper.synchronize();
  2980. }
  2981. /**
  2982. * G29: Mesh-based Z probe, probes a grid and produces a
  2983. * mesh to compensate for variable bed height
  2984. *
  2985. * Parameters With MESH_BED_LEVELING:
  2986. *
  2987. * S0 Produce a mesh report
  2988. * S1 Start probing mesh points
  2989. * S2 Probe the next mesh point
  2990. * S3 Xn Yn Zn.nn Manually modify a single point
  2991. * S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.
  2992. * S5 Reset and disable mesh
  2993. *
  2994. * The S0 report the points as below
  2995. *
  2996. * +----> X-axis 1-n
  2997. * |
  2998. * |
  2999. * v Y-axis 1-n
  3000. *
  3001. */
  3002. inline void gcode_G29() {
  3003. static int probe_point = -1;
  3004. MeshLevelingState state = code_seen('S') ? (MeshLevelingState)code_value_byte() : MeshReport;
  3005. if (state < 0 || state > 5) {
  3006. SERIAL_PROTOCOLLNPGM("S out of range (0-5).");
  3007. return;
  3008. }
  3009. int8_t px, py;
  3010. switch (state) {
  3011. case MeshReport:
  3012. if (mbl.has_mesh()) {
  3013. SERIAL_PROTOCOLPAIR("State: ", mbl.active() ? MSG_ON : MSG_OFF);
  3014. SERIAL_PROTOCOLLNPGM("\nNum X,Y: " STRINGIFY(MESH_NUM_X_POINTS) "," STRINGIFY(MESH_NUM_Y_POINTS));
  3015. SERIAL_PROTOCOLLNPGM("Z search height: " STRINGIFY(MESH_HOME_SEARCH_Z));
  3016. SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
  3017. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  3018. for (py = 0; py < MESH_NUM_Y_POINTS; py++) {
  3019. for (px = 0; px < MESH_NUM_X_POINTS; px++) {
  3020. SERIAL_PROTOCOLPGM(" ");
  3021. SERIAL_PROTOCOL_F(mbl.z_values[py][px], 5);
  3022. }
  3023. SERIAL_EOL;
  3024. }
  3025. }
  3026. else
  3027. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  3028. break;
  3029. case MeshStart:
  3030. mbl.reset();
  3031. probe_point = 0;
  3032. enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
  3033. break;
  3034. case MeshNext:
  3035. if (probe_point < 0) {
  3036. SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
  3037. return;
  3038. }
  3039. // For each G29 S2...
  3040. if (probe_point == 0) {
  3041. // For the initial G29 S2 make Z a positive value (e.g., 4.0)
  3042. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  3043. #if Z_HOME_DIR > 0
  3044. + Z_MAX_POS
  3045. #endif
  3046. ;
  3047. SYNC_PLAN_POSITION_KINEMATIC();
  3048. }
  3049. else {
  3050. // For G29 S2 after adjusting Z.
  3051. mbl.set_zigzag_z(probe_point - 1, current_position[Z_AXIS]);
  3052. }
  3053. // If there's another point to sample, move there with optional lift.
  3054. if (probe_point < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) {
  3055. mbl.zigzag(probe_point, px, py);
  3056. _mbl_goto_xy(mbl.get_probe_x(px), mbl.get_probe_y(py));
  3057. probe_point++;
  3058. }
  3059. else {
  3060. // One last "return to the bed" (as originally coded) at completion
  3061. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  3062. #if Z_CLEARANCE_BETWEEN_PROBES > Z_HOMING_HEIGHT
  3063. + Z_CLEARANCE_BETWEEN_PROBES
  3064. #elif Z_HOMING_HEIGHT > 0
  3065. + Z_HOMING_HEIGHT
  3066. #endif
  3067. ;
  3068. line_to_current_position();
  3069. stepper.synchronize();
  3070. // After recording the last point, activate the mbl and home
  3071. SERIAL_PROTOCOLLNPGM("Mesh probing done.");
  3072. probe_point = -1;
  3073. mbl.set_has_mesh(true);
  3074. enqueue_and_echo_commands_P(PSTR("G28"));
  3075. }
  3076. break;
  3077. case MeshSet:
  3078. if (code_seen('X')) {
  3079. px = code_value_int() - 1;
  3080. if (px < 0 || px >= MESH_NUM_X_POINTS) {
  3081. SERIAL_PROTOCOLLNPGM("X out of range (1-" STRINGIFY(MESH_NUM_X_POINTS) ").");
  3082. return;
  3083. }
  3084. }
  3085. else {
  3086. SERIAL_CHAR('X'); SERIAL_PROTOCOLLNPGM(" not entered.");
  3087. return;
  3088. }
  3089. if (code_seen('Y')) {
  3090. py = code_value_int() - 1;
  3091. if (py < 0 || py >= MESH_NUM_Y_POINTS) {
  3092. SERIAL_PROTOCOLLNPGM("Y out of range (1-" STRINGIFY(MESH_NUM_Y_POINTS) ").");
  3093. return;
  3094. }
  3095. }
  3096. else {
  3097. SERIAL_CHAR('Y'); SERIAL_PROTOCOLLNPGM(" not entered.");
  3098. return;
  3099. }
  3100. if (code_seen('Z')) {
  3101. mbl.z_values[py][px] = code_value_axis_units(Z_AXIS);
  3102. }
  3103. else {
  3104. SERIAL_CHAR('Z'); SERIAL_PROTOCOLLNPGM(" not entered.");
  3105. return;
  3106. }
  3107. break;
  3108. case MeshSetZOffset:
  3109. if (code_seen('Z')) {
  3110. mbl.z_offset = code_value_axis_units(Z_AXIS);
  3111. }
  3112. else {
  3113. SERIAL_CHAR('Z'); SERIAL_PROTOCOLLNPGM(" not entered.");
  3114. return;
  3115. }
  3116. break;
  3117. case MeshReset:
  3118. if (mbl.active()) {
  3119. current_position[Z_AXIS] +=
  3120. mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS)) - MESH_HOME_SEARCH_Z;
  3121. mbl.reset();
  3122. SYNC_PLAN_POSITION_KINEMATIC();
  3123. }
  3124. else
  3125. mbl.reset();
  3126. } // switch(state)
  3127. report_current_position();
  3128. }
  3129. #elif HAS_ABL
  3130. /**
  3131. * G29: Detailed Z probe, probes the bed at 3 or more points.
  3132. * Will fail if the printer has not been homed with G28.
  3133. *
  3134. * Enhanced G29 Auto Bed Leveling Probe Routine
  3135. *
  3136. * Parameters With ABL_GRID:
  3137. *
  3138. * P Set the size of the grid that will be probed (P x P points).
  3139. * Not supported by non-linear delta printer bed leveling.
  3140. * Example: "G29 P4"
  3141. *
  3142. * S Set the XY travel speed between probe points (in units/min)
  3143. *
  3144. * D Dry-Run mode. Just evaluate the bed Topology - Don't apply
  3145. * or clean the rotation Matrix. Useful to check the topology
  3146. * after a first run of G29.
  3147. *
  3148. * V Set the verbose level (0-4). Example: "G29 V3"
  3149. *
  3150. * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
  3151. * This is useful for manual bed leveling and finding flaws in the bed (to
  3152. * assist with part placement).
  3153. * Not supported by non-linear delta printer bed leveling.
  3154. *
  3155. * F Set the Front limit of the probing grid
  3156. * B Set the Back limit of the probing grid
  3157. * L Set the Left limit of the probing grid
  3158. * R Set the Right limit of the probing grid
  3159. *
  3160. * Global Parameters:
  3161. *
  3162. * E/e By default G29 will engage the Z probe, test the bed, then disengage.
  3163. * Include "E" to engage/disengage the Z probe for each sample.
  3164. * There's no extra effect if you have a fixed Z probe.
  3165. * Usage: "G29 E" or "G29 e"
  3166. *
  3167. */
  3168. inline void gcode_G29() {
  3169. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3170. bool query = code_seen('Q');
  3171. uint8_t old_debug_flags = marlin_debug_flags;
  3172. if (query) marlin_debug_flags |= DEBUG_LEVELING;
  3173. if (DEBUGGING(LEVELING)) {
  3174. DEBUG_POS(">>> gcode_G29", current_position);
  3175. log_machine_info();
  3176. }
  3177. marlin_debug_flags = old_debug_flags;
  3178. if (query) return;
  3179. #endif
  3180. // Don't allow auto-leveling without homing first
  3181. if (axis_unhomed_error(true, true, true)) return;
  3182. int verbose_level = code_seen('V') ? code_value_int() : 1;
  3183. if (verbose_level < 0 || verbose_level > 4) {
  3184. SERIAL_PROTOCOLLNPGM("?(V)erbose Level is implausible (0-4).");
  3185. return;
  3186. }
  3187. bool dryrun = code_seen('D'),
  3188. stow_probe_after_each = code_seen('E');
  3189. #if ABL_GRID
  3190. if (verbose_level > 0) {
  3191. SERIAL_PROTOCOLLNPGM("G29 Auto Bed Leveling");
  3192. if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode");
  3193. }
  3194. #if ABL_PLANAR
  3195. bool do_topography_map = verbose_level > 2 || code_seen('T');
  3196. // X and Y specify points in each direction, overriding the default
  3197. // These values may be saved with the completed mesh
  3198. int abl_grid_points_x = code_seen('X') ? code_value_int() : ABL_GRID_POINTS_X,
  3199. abl_grid_points_y = code_seen('Y') ? code_value_int() : ABL_GRID_POINTS_Y;
  3200. if (code_seen('P')) abl_grid_points_x = abl_grid_points_y = code_value_int();
  3201. if (abl_grid_points_x < 2 || abl_grid_points_y < 2) {
  3202. SERIAL_PROTOCOLLNPGM("?Number of probe points is implausible (2 minimum).");
  3203. return;
  3204. }
  3205. #else
  3206. const int abl_grid_points_x = ABL_GRID_POINTS_X, abl_grid_points_y = ABL_GRID_POINTS_Y;
  3207. #endif
  3208. xy_probe_feedrate_mm_s = MMM_TO_MMS(code_seen('S') ? code_value_linear_units() : XY_PROBE_SPEED);
  3209. int left_probe_bed_position = code_seen('L') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(LEFT_PROBE_BED_POSITION),
  3210. right_probe_bed_position = code_seen('R') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(RIGHT_PROBE_BED_POSITION),
  3211. front_probe_bed_position = code_seen('F') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(FRONT_PROBE_BED_POSITION),
  3212. back_probe_bed_position = code_seen('B') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(BACK_PROBE_BED_POSITION);
  3213. bool left_out_l = left_probe_bed_position < LOGICAL_X_POSITION(MIN_PROBE_X),
  3214. left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE),
  3215. right_out_r = right_probe_bed_position > LOGICAL_X_POSITION(MAX_PROBE_X),
  3216. right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
  3217. front_out_f = front_probe_bed_position < LOGICAL_Y_POSITION(MIN_PROBE_Y),
  3218. front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE),
  3219. back_out_b = back_probe_bed_position > LOGICAL_Y_POSITION(MAX_PROBE_Y),
  3220. back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
  3221. if (left_out || right_out || front_out || back_out) {
  3222. if (left_out) {
  3223. out_of_range_error(PSTR("(L)eft"));
  3224. left_probe_bed_position = left_out_l ? LOGICAL_X_POSITION(MIN_PROBE_X) : right_probe_bed_position - (MIN_PROBE_EDGE);
  3225. }
  3226. if (right_out) {
  3227. out_of_range_error(PSTR("(R)ight"));
  3228. right_probe_bed_position = right_out_r ? LOGICAL_Y_POSITION(MAX_PROBE_X) : left_probe_bed_position + MIN_PROBE_EDGE;
  3229. }
  3230. if (front_out) {
  3231. out_of_range_error(PSTR("(F)ront"));
  3232. front_probe_bed_position = front_out_f ? LOGICAL_Y_POSITION(MIN_PROBE_Y) : back_probe_bed_position - (MIN_PROBE_EDGE);
  3233. }
  3234. if (back_out) {
  3235. out_of_range_error(PSTR("(B)ack"));
  3236. back_probe_bed_position = back_out_b ? LOGICAL_Y_POSITION(MAX_PROBE_Y) : front_probe_bed_position + MIN_PROBE_EDGE;
  3237. }
  3238. return;
  3239. }
  3240. #endif // ABL_GRID
  3241. stepper.synchronize();
  3242. // Disable auto bed leveling during G29
  3243. bool abl_should_enable = planner.abl_enabled;
  3244. planner.abl_enabled = false;
  3245. if (!dryrun) {
  3246. // Re-orient the current position without leveling
  3247. // based on where the steppers are positioned.
  3248. set_current_from_steppers_for_axis(ALL_AXES);
  3249. // Sync the planner to where the steppers stopped
  3250. SYNC_PLAN_POSITION_KINEMATIC();
  3251. }
  3252. setup_for_endstop_or_probe_move();
  3253. // Deploy the probe. Probe will raise if needed.
  3254. if (DEPLOY_PROBE()) {
  3255. planner.abl_enabled = abl_should_enable;
  3256. return;
  3257. }
  3258. float xProbe = 0, yProbe = 0, measured_z = 0;
  3259. #if ABL_GRID
  3260. // probe at the points of a lattice grid
  3261. const float xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1),
  3262. yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1);
  3263. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3264. float zoffset = zprobe_zoffset;
  3265. if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS);
  3266. if ( xGridSpacing != bilinear_grid_spacing[X_AXIS]
  3267. || yGridSpacing != bilinear_grid_spacing[Y_AXIS]
  3268. || left_probe_bed_position != bilinear_start[X_AXIS]
  3269. || front_probe_bed_position != bilinear_start[Y_AXIS]
  3270. ) {
  3271. reset_bed_level();
  3272. bilinear_grid_spacing[X_AXIS] = xGridSpacing;
  3273. bilinear_grid_spacing[Y_AXIS] = yGridSpacing;
  3274. bilinear_start[X_AXIS] = RAW_X_POSITION(left_probe_bed_position);
  3275. bilinear_start[Y_AXIS] = RAW_Y_POSITION(front_probe_bed_position);
  3276. // Can't re-enable (on error) until the new grid is written
  3277. abl_should_enable = false;
  3278. }
  3279. #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
  3280. /**
  3281. * solve the plane equation ax + by + d = z
  3282. * A is the matrix with rows [x y 1] for all the probed points
  3283. * B is the vector of the Z positions
  3284. * the normal vector to the plane is formed by the coefficients of the
  3285. * plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
  3286. * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  3287. */
  3288. int abl2 = abl_grid_points_x * abl_grid_points_y,
  3289. indexIntoAB[abl_grid_points_x][abl_grid_points_y],
  3290. probePointCounter = -1;
  3291. float eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
  3292. eqnBVector[abl2], // "B" vector of Z points
  3293. mean = 0.0;
  3294. #endif // AUTO_BED_LEVELING_LINEAR
  3295. #if ENABLED(PROBE_Y_FIRST)
  3296. #define PR_OUTER_VAR xCount
  3297. #define PR_OUTER_END abl_grid_points_x
  3298. #define PR_INNER_VAR yCount
  3299. #define PR_INNER_END abl_grid_points_y
  3300. #else
  3301. #define PR_OUTER_VAR yCount
  3302. #define PR_OUTER_END abl_grid_points_y
  3303. #define PR_INNER_VAR xCount
  3304. #define PR_INNER_END abl_grid_points_x
  3305. #endif
  3306. bool zig = PR_OUTER_END & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION
  3307. // Outer loop is Y with PROBE_Y_FIRST disabled
  3308. for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END; PR_OUTER_VAR++) {
  3309. int8_t inStart, inStop, inInc;
  3310. if (zig) { // away from origin
  3311. inStart = 0;
  3312. inStop = PR_INNER_END;
  3313. inInc = 1;
  3314. }
  3315. else { // towards origin
  3316. inStart = PR_INNER_END - 1;
  3317. inStop = -1;
  3318. inInc = -1;
  3319. }
  3320. zig = !zig; // zag
  3321. // Inner loop is Y with PROBE_Y_FIRST enabled
  3322. for (int8_t PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) {
  3323. float xBase = left_probe_bed_position + xGridSpacing * xCount,
  3324. yBase = front_probe_bed_position + yGridSpacing * yCount;
  3325. xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5));
  3326. yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5));
  3327. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3328. indexIntoAB[xCount][yCount] = ++probePointCounter;
  3329. #endif
  3330. #if IS_KINEMATIC
  3331. // Avoid probing outside the round or hexagonal area
  3332. float pos[XYZ] = { xProbe, yProbe, 0 };
  3333. if (!position_is_reachable(pos, true)) continue;
  3334. #endif
  3335. measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
  3336. if (measured_z == NAN) {
  3337. planner.abl_enabled = abl_should_enable;
  3338. return;
  3339. }
  3340. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3341. mean += measured_z;
  3342. eqnBVector[probePointCounter] = measured_z;
  3343. eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
  3344. eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
  3345. eqnAMatrix[probePointCounter + 2 * abl2] = 1;
  3346. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3347. bed_level_grid[xCount][yCount] = measured_z + zoffset;
  3348. #endif
  3349. idle();
  3350. } //xProbe
  3351. } //yProbe
  3352. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  3353. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3354. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
  3355. #endif
  3356. // Probe at 3 arbitrary points
  3357. vector_3 points[3] = {
  3358. vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, 0),
  3359. vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, 0),
  3360. vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, 0)
  3361. };
  3362. for (uint8_t i = 0; i < 3; ++i) {
  3363. // Retain the last probe position
  3364. xProbe = LOGICAL_X_POSITION(points[i].x);
  3365. yProbe = LOGICAL_Y_POSITION(points[i].y);
  3366. measured_z = points[i].z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
  3367. }
  3368. if (measured_z == NAN) {
  3369. planner.abl_enabled = abl_should_enable;
  3370. return;
  3371. }
  3372. if (!dryrun) {
  3373. vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
  3374. if (planeNormal.z < 0) {
  3375. planeNormal.x *= -1;
  3376. planeNormal.y *= -1;
  3377. planeNormal.z *= -1;
  3378. }
  3379. planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  3380. // Can't re-enable (on error) until the new grid is written
  3381. abl_should_enable = false;
  3382. }
  3383. #endif // AUTO_BED_LEVELING_3POINT
  3384. // Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe.
  3385. if (STOW_PROBE()) {
  3386. planner.abl_enabled = abl_should_enable;
  3387. return;
  3388. }
  3389. //
  3390. // Unless this is a dry run, auto bed leveling will
  3391. // definitely be enabled after this point
  3392. //
  3393. // Restore state after probing
  3394. clean_up_after_endstop_or_probe_move();
  3395. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3396. if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
  3397. #endif
  3398. // Calculate leveling, print reports, correct the position
  3399. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3400. if (!dryrun) extrapolate_unprobed_bed_level();
  3401. print_bed_level();
  3402. #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
  3403. // For LINEAR leveling calculate matrix, print reports, correct the position
  3404. // solve lsq problem
  3405. float plane_equation_coefficients[3];
  3406. qr_solve(plane_equation_coefficients, abl2, 3, eqnAMatrix, eqnBVector);
  3407. mean /= abl2;
  3408. if (verbose_level) {
  3409. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  3410. SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
  3411. SERIAL_PROTOCOLPGM(" b: ");
  3412. SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
  3413. SERIAL_PROTOCOLPGM(" d: ");
  3414. SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
  3415. SERIAL_EOL;
  3416. if (verbose_level > 2) {
  3417. SERIAL_PROTOCOLPGM("Mean of sampled points: ");
  3418. SERIAL_PROTOCOL_F(mean, 8);
  3419. SERIAL_EOL;
  3420. }
  3421. }
  3422. // Create the matrix but don't correct the position yet
  3423. if (!dryrun) {
  3424. planner.bed_level_matrix = matrix_3x3::create_look_at(
  3425. vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1)
  3426. );
  3427. }
  3428. // Show the Topography map if enabled
  3429. if (do_topography_map) {
  3430. SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n"
  3431. " +--- BACK --+\n"
  3432. " | |\n"
  3433. " L | (+) | R\n"
  3434. " E | | I\n"
  3435. " F | (-) N (+) | G\n"
  3436. " T | | H\n"
  3437. " | (-) | T\n"
  3438. " | |\n"
  3439. " O-- FRONT --+\n"
  3440. " (0,0)");
  3441. float min_diff = 999;
  3442. for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
  3443. for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
  3444. int ind = indexIntoAB[xx][yy];
  3445. float diff = eqnBVector[ind] - mean,
  3446. x_tmp = eqnAMatrix[ind + 0 * abl2],
  3447. y_tmp = eqnAMatrix[ind + 1 * abl2],
  3448. z_tmp = 0;
  3449. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  3450. NOMORE(min_diff, eqnBVector[ind] - z_tmp);
  3451. if (diff >= 0.0)
  3452. SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
  3453. else
  3454. SERIAL_PROTOCOLCHAR(' ');
  3455. SERIAL_PROTOCOL_F(diff, 5);
  3456. } // xx
  3457. SERIAL_EOL;
  3458. } // yy
  3459. SERIAL_EOL;
  3460. if (verbose_level > 3) {
  3461. SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:");
  3462. for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
  3463. for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
  3464. int ind = indexIntoAB[xx][yy];
  3465. float x_tmp = eqnAMatrix[ind + 0 * abl2],
  3466. y_tmp = eqnAMatrix[ind + 1 * abl2],
  3467. z_tmp = 0;
  3468. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  3469. float diff = eqnBVector[ind] - z_tmp - min_diff;
  3470. if (diff >= 0.0)
  3471. SERIAL_PROTOCOLPGM(" +");
  3472. // Include + for column alignment
  3473. else
  3474. SERIAL_PROTOCOLCHAR(' ');
  3475. SERIAL_PROTOCOL_F(diff, 5);
  3476. } // xx
  3477. SERIAL_EOL;
  3478. } // yy
  3479. SERIAL_EOL;
  3480. }
  3481. } //do_topography_map
  3482. #endif // AUTO_BED_LEVELING_LINEAR
  3483. #if ABL_PLANAR
  3484. // For LINEAR and 3POINT leveling correct the current position
  3485. if (verbose_level > 0)
  3486. planner.bed_level_matrix.debug("\n\nBed Level Correction Matrix:");
  3487. if (!dryrun) {
  3488. //
  3489. // Correct the current XYZ position based on the tilted plane.
  3490. //
  3491. // 1. Get the distance from the current position to the reference point.
  3492. float x_dist = RAW_CURRENT_POSITION(X_AXIS) - X_TILT_FULCRUM,
  3493. y_dist = RAW_CURRENT_POSITION(Y_AXIS) - Y_TILT_FULCRUM,
  3494. z_real = current_position[Z_AXIS],
  3495. z_zero = 0;
  3496. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3497. if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
  3498. #endif
  3499. matrix_3x3 inverse = matrix_3x3::transpose(planner.bed_level_matrix);
  3500. // 2. Apply the inverse matrix to the distance
  3501. // from the reference point to X, Y, and zero.
  3502. apply_rotation_xyz(inverse, x_dist, y_dist, z_zero);
  3503. // 3. Get the matrix-based corrected Z.
  3504. // (Even if not used, get it for comparison.)
  3505. float new_z = z_real + z_zero;
  3506. // 4. Use the last measured distance to the bed, if possible
  3507. if ( NEAR(current_position[X_AXIS], xProbe - (X_PROBE_OFFSET_FROM_EXTRUDER))
  3508. && NEAR(current_position[Y_AXIS], yProbe - (Y_PROBE_OFFSET_FROM_EXTRUDER))
  3509. ) {
  3510. float simple_z = z_real - (measured_z - (-zprobe_zoffset));
  3511. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3512. if (DEBUGGING(LEVELING)) {
  3513. SERIAL_ECHOPAIR("Z from Probe:", simple_z);
  3514. SERIAL_ECHOPAIR(" Matrix:", new_z);
  3515. SERIAL_ECHOLNPAIR(" Discrepancy:", simple_z - new_z);
  3516. }
  3517. #endif
  3518. new_z = simple_z;
  3519. }
  3520. // 5. The rotated XY and corrected Z are now current_position
  3521. current_position[X_AXIS] = LOGICAL_X_POSITION(x_dist) + X_TILT_FULCRUM;
  3522. current_position[Y_AXIS] = LOGICAL_Y_POSITION(y_dist) + Y_TILT_FULCRUM;
  3523. current_position[Z_AXIS] = new_z;
  3524. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3525. if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
  3526. #endif
  3527. }
  3528. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3529. if (!dryrun) {
  3530. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3531. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]);
  3532. #endif
  3533. // Unapply the offset because it is going to be immediately applied
  3534. // and cause compensation movement in Z
  3535. current_position[Z_AXIS] -= bilinear_z_offset(current_position);
  3536. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3537. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]);
  3538. #endif
  3539. }
  3540. #endif // ABL_PLANAR
  3541. #ifdef Z_PROBE_END_SCRIPT
  3542. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3543. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
  3544. #endif
  3545. enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
  3546. stepper.synchronize();
  3547. #endif
  3548. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3549. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29");
  3550. #endif
  3551. report_current_position();
  3552. KEEPALIVE_STATE(IN_HANDLER);
  3553. // Auto Bed Leveling is complete! Enable if possible.
  3554. planner.abl_enabled = dryrun ? abl_should_enable : true;
  3555. if (planner.abl_enabled)
  3556. SYNC_PLAN_POSITION_KINEMATIC();
  3557. }
  3558. #endif // HAS_ABL
  3559. #if HAS_BED_PROBE
  3560. /**
  3561. * G30: Do a single Z probe at the current XY
  3562. */
  3563. inline void gcode_G30() {
  3564. // Disable leveling so the planner won't mess with us
  3565. #if PLANNER_LEVELING
  3566. set_bed_leveling_enabled(false);
  3567. #endif
  3568. setup_for_endstop_or_probe_move();
  3569. float measured_z = probe_pt(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
  3570. current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
  3571. true, 1);
  3572. SERIAL_PROTOCOLPGM("Bed X: ");
  3573. SERIAL_PROTOCOL(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
  3574. SERIAL_PROTOCOLPGM(" Y: ");
  3575. SERIAL_PROTOCOL(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
  3576. SERIAL_PROTOCOLPGM(" Z: ");
  3577. SERIAL_PROTOCOL(measured_z + 0.0001);
  3578. SERIAL_EOL;
  3579. clean_up_after_endstop_or_probe_move();
  3580. report_current_position();
  3581. }
  3582. #if ENABLED(Z_PROBE_SLED)
  3583. /**
  3584. * G31: Deploy the Z probe
  3585. */
  3586. inline void gcode_G31() { DEPLOY_PROBE(); }
  3587. /**
  3588. * G32: Stow the Z probe
  3589. */
  3590. inline void gcode_G32() { STOW_PROBE(); }
  3591. #endif // Z_PROBE_SLED
  3592. #endif // HAS_BED_PROBE
  3593. #if ENABLED(G38_PROBE_TARGET)
  3594. static bool G38_run_probe() {
  3595. bool G38_pass_fail = false;
  3596. // Get direction of move and retract
  3597. float retract_mm[XYZ];
  3598. LOOP_XYZ(i) {
  3599. float dist = destination[i] - current_position[i];
  3600. retract_mm[i] = fabs(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm(i) * (dist > 0 ? -1 : 1);
  3601. }
  3602. stepper.synchronize(); // wait until the machine is idle
  3603. // Move until destination reached or target hit
  3604. endstops.enable(true);
  3605. G38_move = true;
  3606. G38_endstop_hit = false;
  3607. prepare_move_to_destination();
  3608. stepper.synchronize();
  3609. G38_move = false;
  3610. endstops.hit_on_purpose();
  3611. set_current_from_steppers_for_axis(ALL_AXES);
  3612. SYNC_PLAN_POSITION_KINEMATIC();
  3613. // Only do remaining moves if target was hit
  3614. if (G38_endstop_hit) {
  3615. G38_pass_fail = true;
  3616. // Move away by the retract distance
  3617. set_destination_to_current();
  3618. LOOP_XYZ(i) destination[i] += retract_mm[i];
  3619. endstops.enable(false);
  3620. prepare_move_to_destination();
  3621. stepper.synchronize();
  3622. feedrate_mm_s /= 4;
  3623. // Bump the target more slowly
  3624. LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
  3625. endstops.enable(true);
  3626. G38_move = true;
  3627. prepare_move_to_destination();
  3628. stepper.synchronize();
  3629. G38_move = false;
  3630. set_current_from_steppers_for_axis(ALL_AXES);
  3631. SYNC_PLAN_POSITION_KINEMATIC();
  3632. }
  3633. endstops.hit_on_purpose();
  3634. endstops.not_homing();
  3635. return G38_pass_fail;
  3636. }
  3637. /**
  3638. * G38.2 - probe toward workpiece, stop on contact, signal error if failure
  3639. * G38.3 - probe toward workpiece, stop on contact
  3640. *
  3641. * Like G28 except uses Z min endstop for all axes
  3642. */
  3643. inline void gcode_G38(bool is_38_2) {
  3644. // Get X Y Z E F
  3645. gcode_get_destination();
  3646. setup_for_endstop_or_probe_move();
  3647. // If any axis has enough movement, do the move
  3648. LOOP_XYZ(i)
  3649. if (fabs(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
  3650. if (!code_seen('F')) feedrate_mm_s = homing_feedrate_mm_s[i];
  3651. // If G38.2 fails throw an error
  3652. if (!G38_run_probe() && is_38_2) {
  3653. SERIAL_ERROR_START;
  3654. SERIAL_ERRORLNPGM("Failed to reach target");
  3655. }
  3656. break;
  3657. }
  3658. clean_up_after_endstop_or_probe_move();
  3659. }
  3660. #endif // G38_PROBE_TARGET
  3661. /**
  3662. * G92: Set current position to given X Y Z E
  3663. */
  3664. inline void gcode_G92() {
  3665. bool didXYZ = false,
  3666. didE = code_seen('E');
  3667. if (!didE) stepper.synchronize();
  3668. LOOP_XYZE(i) {
  3669. if (code_seen(axis_codes[i])) {
  3670. #if IS_SCARA
  3671. current_position[i] = code_value_axis_units(i);
  3672. if (i != E_AXIS) didXYZ = true;
  3673. #else
  3674. float p = current_position[i],
  3675. v = code_value_axis_units(i);
  3676. current_position[i] = v;
  3677. if (i != E_AXIS) {
  3678. didXYZ = true;
  3679. position_shift[i] += v - p; // Offset the coordinate space
  3680. update_software_endstops((AxisEnum)i);
  3681. }
  3682. #endif
  3683. }
  3684. }
  3685. if (didXYZ)
  3686. SYNC_PLAN_POSITION_KINEMATIC();
  3687. else if (didE)
  3688. sync_plan_position_e();
  3689. report_current_position();
  3690. }
  3691. #if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
  3692. /**
  3693. * M0: Unconditional stop - Wait for user button press on LCD
  3694. * M1: Conditional stop - Wait for user button press on LCD
  3695. */
  3696. inline void gcode_M0_M1() {
  3697. char* args = current_command_args;
  3698. millis_t codenum = 0;
  3699. bool hasP = false, hasS = false;
  3700. if (code_seen('P')) {
  3701. codenum = code_value_millis(); // milliseconds to wait
  3702. hasP = codenum > 0;
  3703. }
  3704. if (code_seen('S')) {
  3705. codenum = code_value_millis_from_seconds(); // seconds to wait
  3706. hasS = codenum > 0;
  3707. }
  3708. #if ENABLED(ULTIPANEL)
  3709. if (!hasP && !hasS && *args != '\0')
  3710. lcd_setstatus(args, true);
  3711. else {
  3712. LCD_MESSAGEPGM(MSG_USERWAIT);
  3713. #if ENABLED(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
  3714. dontExpireStatus();
  3715. #endif
  3716. }
  3717. #else
  3718. if (!hasP && !hasS && *args != '\0') {
  3719. SERIAL_ECHO_START;
  3720. SERIAL_ECHOLN(args);
  3721. }
  3722. #endif
  3723. wait_for_user = true;
  3724. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3725. stepper.synchronize();
  3726. refresh_cmd_timeout();
  3727. if (codenum > 0) {
  3728. codenum += previous_cmd_ms; // wait until this time for a click
  3729. while (PENDING(millis(), codenum) && wait_for_user) idle();
  3730. }
  3731. else {
  3732. #if ENABLED(ULTIPANEL)
  3733. if (lcd_detected()) {
  3734. while (wait_for_user) idle();
  3735. IS_SD_PRINTING ? LCD_MESSAGEPGM(MSG_RESUMING) : LCD_MESSAGEPGM(WELCOME_MSG);
  3736. }
  3737. #else
  3738. while (wait_for_user) idle();
  3739. #endif
  3740. }
  3741. wait_for_user = false;
  3742. KEEPALIVE_STATE(IN_HANDLER);
  3743. }
  3744. #endif // EMERGENCY_PARSER || ULTIPANEL
  3745. /**
  3746. * M17: Enable power on all stepper motors
  3747. */
  3748. inline void gcode_M17() {
  3749. LCD_MESSAGEPGM(MSG_NO_MOVE);
  3750. enable_all_steppers();
  3751. }
  3752. #if ENABLED(SDSUPPORT)
  3753. /**
  3754. * M20: List SD card to serial output
  3755. */
  3756. inline void gcode_M20() {
  3757. SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
  3758. card.ls();
  3759. SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
  3760. }
  3761. /**
  3762. * M21: Init SD Card
  3763. */
  3764. inline void gcode_M21() { card.initsd(); }
  3765. /**
  3766. * M22: Release SD Card
  3767. */
  3768. inline void gcode_M22() { card.release(); }
  3769. /**
  3770. * M23: Open a file
  3771. */
  3772. inline void gcode_M23() { card.openFile(current_command_args, true); }
  3773. /**
  3774. * M24: Start SD Print
  3775. */
  3776. inline void gcode_M24() {
  3777. card.startFileprint();
  3778. print_job_timer.start();
  3779. }
  3780. /**
  3781. * M25: Pause SD Print
  3782. */
  3783. inline void gcode_M25() { card.pauseSDPrint(); }
  3784. /**
  3785. * M26: Set SD Card file index
  3786. */
  3787. inline void gcode_M26() {
  3788. if (card.cardOK && code_seen('S'))
  3789. card.setIndex(code_value_long());
  3790. }
  3791. /**
  3792. * M27: Get SD Card status
  3793. */
  3794. inline void gcode_M27() { card.getStatus(); }
  3795. /**
  3796. * M28: Start SD Write
  3797. */
  3798. inline void gcode_M28() { card.openFile(current_command_args, false); }
  3799. /**
  3800. * M29: Stop SD Write
  3801. * Processed in write to file routine above
  3802. */
  3803. inline void gcode_M29() {
  3804. // card.saving = false;
  3805. }
  3806. /**
  3807. * M30 <filename>: Delete SD Card file
  3808. */
  3809. inline void gcode_M30() {
  3810. if (card.cardOK) {
  3811. card.closefile();
  3812. card.removeFile(current_command_args);
  3813. }
  3814. }
  3815. #endif // SDSUPPORT
  3816. /**
  3817. * M31: Get the time since the start of SD Print (or last M109)
  3818. */
  3819. inline void gcode_M31() {
  3820. char buffer[21];
  3821. duration_t elapsed = print_job_timer.duration();
  3822. elapsed.toString(buffer);
  3823. lcd_setstatus(buffer);
  3824. SERIAL_ECHO_START;
  3825. SERIAL_ECHOLNPAIR("Print time: ", buffer);
  3826. #if ENABLED(AUTOTEMP)
  3827. thermalManager.autotempShutdown();
  3828. #endif
  3829. }
  3830. #if ENABLED(SDSUPPORT)
  3831. /**
  3832. * M32: Select file and start SD Print
  3833. */
  3834. inline void gcode_M32() {
  3835. if (card.sdprinting)
  3836. stepper.synchronize();
  3837. char* namestartpos = strchr(current_command_args, '!'); // Find ! to indicate filename string start.
  3838. if (!namestartpos)
  3839. namestartpos = current_command_args; // Default name position, 4 letters after the M
  3840. else
  3841. namestartpos++; //to skip the '!'
  3842. bool call_procedure = code_seen('P') && (seen_pointer < namestartpos);
  3843. if (card.cardOK) {
  3844. card.openFile(namestartpos, true, call_procedure);
  3845. if (code_seen('S') && seen_pointer < namestartpos) // "S" (must occur _before_ the filename!)
  3846. card.setIndex(code_value_long());
  3847. card.startFileprint();
  3848. // Procedure calls count as normal print time.
  3849. if (!call_procedure) print_job_timer.start();
  3850. }
  3851. }
  3852. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  3853. /**
  3854. * M33: Get the long full path of a file or folder
  3855. *
  3856. * Parameters:
  3857. * <dospath> Case-insensitive DOS-style path to a file or folder
  3858. *
  3859. * Example:
  3860. * M33 miscel~1/armchair/armcha~1.gco
  3861. *
  3862. * Output:
  3863. * /Miscellaneous/Armchair/Armchair.gcode
  3864. */
  3865. inline void gcode_M33() {
  3866. card.printLongPath(current_command_args);
  3867. }
  3868. #endif
  3869. /**
  3870. * M928: Start SD Write
  3871. */
  3872. inline void gcode_M928() {
  3873. card.openLogFile(current_command_args);
  3874. }
  3875. #endif // SDSUPPORT
  3876. /**
  3877. * Sensitive pin test for M42, M226
  3878. */
  3879. static bool pin_is_protected(uint8_t pin) {
  3880. static const int sensitive_pins[] = SENSITIVE_PINS;
  3881. for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
  3882. if (sensitive_pins[i] == pin) return true;
  3883. return false;
  3884. }
  3885. /**
  3886. * M42: Change pin status via GCode
  3887. *
  3888. * P<pin> Pin number (LED if omitted)
  3889. * S<byte> Pin status from 0 - 255
  3890. */
  3891. inline void gcode_M42() {
  3892. if (!code_seen('S')) return;
  3893. int pin_status = code_value_int();
  3894. if (pin_status < 0 || pin_status > 255) return;
  3895. int pin_number = code_seen('P') ? code_value_int() : LED_PIN;
  3896. if (pin_number < 0) return;
  3897. if (pin_is_protected(pin_number)) {
  3898. SERIAL_ERROR_START;
  3899. SERIAL_ERRORLNPGM(MSG_ERR_PROTECTED_PIN);
  3900. return;
  3901. }
  3902. pinMode(pin_number, OUTPUT);
  3903. digitalWrite(pin_number, pin_status);
  3904. analogWrite(pin_number, pin_status);
  3905. #if FAN_COUNT > 0
  3906. switch (pin_number) {
  3907. #if HAS_FAN0
  3908. case FAN_PIN: fanSpeeds[0] = pin_status; break;
  3909. #endif
  3910. #if HAS_FAN1
  3911. case FAN1_PIN: fanSpeeds[1] = pin_status; break;
  3912. #endif
  3913. #if HAS_FAN2
  3914. case FAN2_PIN: fanSpeeds[2] = pin_status; break;
  3915. #endif
  3916. }
  3917. #endif
  3918. }
  3919. #if ENABLED(PINS_DEBUGGING)
  3920. #include "pinsDebug.h"
  3921. /**
  3922. * M43: Pin report and debug
  3923. *
  3924. * pin report if just M43 with no codes
  3925. * P<pin> Will read/watch a single pin
  3926. * W Watch pins for changes until reboot
  3927. * E toggles endstop monitor
  3928. * reports changes to endstops
  3929. * toggles LED when endstop changes
  3930. * background function (machine continues to operate as normal)
  3931. *
  3932. */
  3933. inline void gcode_M43() {
  3934. int first_pin = 0, last_pin = DIO_COUNT - 1;
  3935. if (code_seen('P')) {
  3936. first_pin = last_pin = code_value_byte();
  3937. if (first_pin > DIO_COUNT - 1) return;
  3938. }
  3939. if (code_seen('W') && code_value_bool()) { // watch digital pins
  3940. byte pin_state[last_pin - first_pin + 1];
  3941. for (int8_t pin = first_pin; pin <= last_pin; pin++) {
  3942. if (pin_is_protected(pin)) continue;
  3943. pinMode(pin, INPUT_PULLUP);
  3944. // if (IS_ANALOG(pin))
  3945. // pin_state[pin - first_pin] = analogRead(pin - analogInputToDigitalPin(0)); // int16_t pin_state[...]
  3946. // else
  3947. pin_state[pin - first_pin] = digitalRead(pin);
  3948. }
  3949. #if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
  3950. wait_for_user = true;
  3951. #endif
  3952. for(;;) {
  3953. for (int8_t pin = first_pin; pin <= last_pin; pin++) {
  3954. if (pin_is_protected(pin)) continue;
  3955. byte val;
  3956. // if (IS_ANALOG(pin))
  3957. // val = analogRead(pin - analogInputToDigitalPin(0)); // int16_t val
  3958. // else
  3959. val = digitalRead(pin);
  3960. if (val != pin_state[pin - first_pin]) {
  3961. report_pin_state(pin);
  3962. pin_state[pin - first_pin] = val;
  3963. }
  3964. }
  3965. #if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
  3966. if (!wait_for_user) break;
  3967. #endif
  3968. safe_delay(500);
  3969. }
  3970. }
  3971. if ( !(code_seen('P') || code_seen('W') || code_seen('E'))) // single pins report
  3972. for (uint8_t pin = first_pin; pin <= last_pin; pin++)
  3973. report_pin_state_extended(pin, code_seen('I') ); // "hidden" option to ignore protected list
  3974. if (code_seen('E')) {
  3975. endstop_monitor_flag ^= true;
  3976. SERIAL_PROTOCOLPGM("endstop monitor ");
  3977. SERIAL_PROTOCOL(endstop_monitor_flag ? "en" : "dis");
  3978. SERIAL_PROTOCOLLNPGM("abled");
  3979. }
  3980. }
  3981. #endif // PINS_DEBUGGING
  3982. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  3983. /**
  3984. * M48: Z probe repeatability measurement function.
  3985. *
  3986. * Usage:
  3987. * M48 <P#> <X#> <Y#> <V#> <E> <L#>
  3988. * P = Number of sampled points (4-50, default 10)
  3989. * X = Sample X position
  3990. * Y = Sample Y position
  3991. * V = Verbose level (0-4, default=1)
  3992. * E = Engage Z probe for each reading
  3993. * L = Number of legs of movement before probe
  3994. * S = Schizoid (Or Star if you prefer)
  3995. *
  3996. * This function assumes the bed has been homed. Specifically, that a G28 command
  3997. * as been issued prior to invoking the M48 Z probe repeatability measurement function.
  3998. * Any information generated by a prior G29 Bed leveling command will be lost and need to be
  3999. * regenerated.
  4000. */
  4001. inline void gcode_M48() {
  4002. if (axis_unhomed_error(true, true, true)) return;
  4003. int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
  4004. if (verbose_level < 0 || verbose_level > 4) {
  4005. SERIAL_PROTOCOLLNPGM("?Verbose Level not plausible (0-4).");
  4006. return;
  4007. }
  4008. if (verbose_level > 0)
  4009. SERIAL_PROTOCOLLNPGM("M48 Z-Probe Repeatability Test");
  4010. int8_t n_samples = code_seen('P') ? code_value_byte() : 10;
  4011. if (n_samples < 4 || n_samples > 50) {
  4012. SERIAL_PROTOCOLLNPGM("?Sample size not plausible (4-50).");
  4013. return;
  4014. }
  4015. float X_current = current_position[X_AXIS],
  4016. Y_current = current_position[Y_AXIS];
  4017. bool stow_probe_after_each = code_seen('E');
  4018. float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : X_current + X_PROBE_OFFSET_FROM_EXTRUDER;
  4019. #if DISABLED(DELTA)
  4020. if (X_probe_location < LOGICAL_X_POSITION(MIN_PROBE_X) || X_probe_location > LOGICAL_X_POSITION(MAX_PROBE_X)) {
  4021. out_of_range_error(PSTR("X"));
  4022. return;
  4023. }
  4024. #endif
  4025. float Y_probe_location = code_seen('Y') ? code_value_axis_units(Y_AXIS) : Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER;
  4026. #if DISABLED(DELTA)
  4027. if (Y_probe_location < LOGICAL_Y_POSITION(MIN_PROBE_Y) || Y_probe_location > LOGICAL_Y_POSITION(MAX_PROBE_Y)) {
  4028. out_of_range_error(PSTR("Y"));
  4029. return;
  4030. }
  4031. #else
  4032. float pos[XYZ] = { X_probe_location, Y_probe_location, 0 };
  4033. if (!position_is_reachable(pos, true)) {
  4034. SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius.");
  4035. return;
  4036. }
  4037. #endif
  4038. bool seen_L = code_seen('L');
  4039. uint8_t n_legs = seen_L ? code_value_byte() : 0;
  4040. if (n_legs > 15) {
  4041. SERIAL_PROTOCOLLNPGM("?Number of legs in movement not plausible (0-15).");
  4042. return;
  4043. }
  4044. if (n_legs == 1) n_legs = 2;
  4045. bool schizoid_flag = code_seen('S');
  4046. if (schizoid_flag && !seen_L) n_legs = 7;
  4047. /**
  4048. * Now get everything to the specified probe point So we can safely do a
  4049. * probe to get us close to the bed. If the Z-Axis is far from the bed,
  4050. * we don't want to use that as a starting point for each probe.
  4051. */
  4052. if (verbose_level > 2)
  4053. SERIAL_PROTOCOLLNPGM("Positioning the probe...");
  4054. // Disable bed level correction in M48 because we want the raw data when we probe
  4055. #if HAS_ABL
  4056. reset_bed_level();
  4057. #endif
  4058. setup_for_endstop_or_probe_move();
  4059. // Move to the first point, deploy, and probe
  4060. probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
  4061. randomSeed(millis());
  4062. double mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
  4063. for (uint8_t n = 0; n < n_samples; n++) {
  4064. if (n_legs) {
  4065. int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
  4066. float angle = random(0.0, 360.0),
  4067. radius = random(
  4068. #if ENABLED(DELTA)
  4069. DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3
  4070. #else
  4071. 5, X_MAX_LENGTH / 8
  4072. #endif
  4073. );
  4074. if (verbose_level > 3) {
  4075. SERIAL_ECHOPAIR("Starting radius: ", radius);
  4076. SERIAL_ECHOPAIR(" angle: ", angle);
  4077. SERIAL_ECHOPGM(" Direction: ");
  4078. if (dir > 0) SERIAL_ECHOPGM("Counter-");
  4079. SERIAL_ECHOLNPGM("Clockwise");
  4080. }
  4081. for (uint8_t l = 0; l < n_legs - 1; l++) {
  4082. double delta_angle;
  4083. if (schizoid_flag)
  4084. // The points of a 5 point star are 72 degrees apart. We need to
  4085. // skip a point and go to the next one on the star.
  4086. delta_angle = dir * 2.0 * 72.0;
  4087. else
  4088. // If we do this line, we are just trying to move further
  4089. // around the circle.
  4090. delta_angle = dir * (float) random(25, 45);
  4091. angle += delta_angle;
  4092. while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
  4093. angle -= 360.0; // Arduino documentation says the trig functions should not be given values
  4094. while (angle < 0.0) // outside of this range. It looks like they behave correctly with
  4095. angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
  4096. X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
  4097. Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
  4098. #if DISABLED(DELTA)
  4099. X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
  4100. Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
  4101. #else
  4102. // If we have gone out too far, we can do a simple fix and scale the numbers
  4103. // back in closer to the origin.
  4104. while (HYPOT(X_current, Y_current) > DELTA_PROBEABLE_RADIUS) {
  4105. X_current /= 1.25;
  4106. Y_current /= 1.25;
  4107. if (verbose_level > 3) {
  4108. SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
  4109. SERIAL_ECHOLNPAIR(", ", Y_current);
  4110. }
  4111. }
  4112. #endif
  4113. if (verbose_level > 3) {
  4114. SERIAL_PROTOCOLPGM("Going to:");
  4115. SERIAL_ECHOPAIR(" X", X_current);
  4116. SERIAL_ECHOPAIR(" Y", Y_current);
  4117. SERIAL_ECHOLNPAIR(" Z", current_position[Z_AXIS]);
  4118. }
  4119. do_blocking_move_to_xy(X_current, Y_current);
  4120. } // n_legs loop
  4121. } // n_legs
  4122. // Probe a single point
  4123. sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, 0);
  4124. /**
  4125. * Get the current mean for the data points we have so far
  4126. */
  4127. double sum = 0.0;
  4128. for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
  4129. mean = sum / (n + 1);
  4130. NOMORE(min, sample_set[n]);
  4131. NOLESS(max, sample_set[n]);
  4132. /**
  4133. * Now, use that mean to calculate the standard deviation for the
  4134. * data points we have so far
  4135. */
  4136. sum = 0.0;
  4137. for (uint8_t j = 0; j <= n; j++)
  4138. sum += sq(sample_set[j] - mean);
  4139. sigma = sqrt(sum / (n + 1));
  4140. if (verbose_level > 0) {
  4141. if (verbose_level > 1) {
  4142. SERIAL_PROTOCOL(n + 1);
  4143. SERIAL_PROTOCOLPGM(" of ");
  4144. SERIAL_PROTOCOL((int)n_samples);
  4145. SERIAL_PROTOCOLPGM(": z: ");
  4146. SERIAL_PROTOCOL_F(sample_set[n], 3);
  4147. if (verbose_level > 2) {
  4148. SERIAL_PROTOCOLPGM(" mean: ");
  4149. SERIAL_PROTOCOL_F(mean, 4);
  4150. SERIAL_PROTOCOLPGM(" sigma: ");
  4151. SERIAL_PROTOCOL_F(sigma, 6);
  4152. SERIAL_PROTOCOLPGM(" min: ");
  4153. SERIAL_PROTOCOL_F(min, 3);
  4154. SERIAL_PROTOCOLPGM(" max: ");
  4155. SERIAL_PROTOCOL_F(max, 3);
  4156. SERIAL_PROTOCOLPGM(" range: ");
  4157. SERIAL_PROTOCOL_F(max-min, 3);
  4158. }
  4159. }
  4160. SERIAL_EOL;
  4161. }
  4162. } // End of probe loop
  4163. if (STOW_PROBE()) return;
  4164. SERIAL_PROTOCOLPGM("Finished!");
  4165. SERIAL_EOL;
  4166. if (verbose_level > 0) {
  4167. SERIAL_PROTOCOLPGM("Mean: ");
  4168. SERIAL_PROTOCOL_F(mean, 6);
  4169. SERIAL_PROTOCOLPGM(" Min: ");
  4170. SERIAL_PROTOCOL_F(min, 3);
  4171. SERIAL_PROTOCOLPGM(" Max: ");
  4172. SERIAL_PROTOCOL_F(max, 3);
  4173. SERIAL_PROTOCOLPGM(" Range: ");
  4174. SERIAL_PROTOCOL_F(max-min, 3);
  4175. SERIAL_EOL;
  4176. }
  4177. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  4178. SERIAL_PROTOCOL_F(sigma, 6);
  4179. SERIAL_EOL;
  4180. SERIAL_EOL;
  4181. clean_up_after_endstop_or_probe_move();
  4182. report_current_position();
  4183. }
  4184. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  4185. /**
  4186. * M75: Start print timer
  4187. */
  4188. inline void gcode_M75() { print_job_timer.start(); }
  4189. /**
  4190. * M76: Pause print timer
  4191. */
  4192. inline void gcode_M76() { print_job_timer.pause(); }
  4193. /**
  4194. * M77: Stop print timer
  4195. */
  4196. inline void gcode_M77() { print_job_timer.stop(); }
  4197. #if ENABLED(PRINTCOUNTER)
  4198. /**
  4199. * M78: Show print statistics
  4200. */
  4201. inline void gcode_M78() {
  4202. // "M78 S78" will reset the statistics
  4203. if (code_seen('S') && code_value_int() == 78)
  4204. print_job_timer.initStats();
  4205. else
  4206. print_job_timer.showStats();
  4207. }
  4208. #endif
  4209. /**
  4210. * M104: Set hot end temperature
  4211. */
  4212. inline void gcode_M104() {
  4213. if (get_target_extruder_from_command(104)) return;
  4214. if (DEBUGGING(DRYRUN)) return;
  4215. #if ENABLED(SINGLENOZZLE)
  4216. if (target_extruder != active_extruder) return;
  4217. #endif
  4218. if (code_seen('S')) {
  4219. thermalManager.setTargetHotend(code_value_temp_abs(), target_extruder);
  4220. #if ENABLED(DUAL_X_CARRIAGE)
  4221. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  4222. thermalManager.setTargetHotend(code_value_temp_abs() == 0.0 ? 0.0 : code_value_temp_abs() + duplicate_extruder_temp_offset, 1);
  4223. #endif
  4224. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  4225. /**
  4226. * Stop the timer at the end of print, starting is managed by
  4227. * 'heat and wait' M109.
  4228. * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
  4229. * stand by mode, for instance in a dual extruder setup, without affecting
  4230. * the running print timer.
  4231. */
  4232. if (code_value_temp_abs() <= (EXTRUDE_MINTEMP)/2) {
  4233. print_job_timer.stop();
  4234. LCD_MESSAGEPGM(WELCOME_MSG);
  4235. }
  4236. #endif
  4237. if (code_value_temp_abs() > thermalManager.degHotend(target_extruder)) LCD_MESSAGEPGM(MSG_HEATING);
  4238. }
  4239. }
  4240. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  4241. void print_heaterstates() {
  4242. #if HAS_TEMP_HOTEND
  4243. SERIAL_PROTOCOLPGM(" T:");
  4244. SERIAL_PROTOCOL_F(thermalManager.degHotend(target_extruder), 1);
  4245. SERIAL_PROTOCOLPGM(" /");
  4246. SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(target_extruder), 1);
  4247. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  4248. SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_raw[target_extruder] / OVERSAMPLENR);
  4249. SERIAL_CHAR(')');
  4250. #endif
  4251. #endif
  4252. #if HAS_TEMP_BED
  4253. SERIAL_PROTOCOLPGM(" B:");
  4254. SERIAL_PROTOCOL_F(thermalManager.degBed(), 1);
  4255. SERIAL_PROTOCOLPGM(" /");
  4256. SERIAL_PROTOCOL_F(thermalManager.degTargetBed(), 1);
  4257. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  4258. SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_bed_raw / OVERSAMPLENR);
  4259. SERIAL_CHAR(')');
  4260. #endif
  4261. #endif
  4262. #if HOTENDS > 1
  4263. HOTEND_LOOP() {
  4264. SERIAL_PROTOCOLPAIR(" T", e);
  4265. SERIAL_PROTOCOLCHAR(':');
  4266. SERIAL_PROTOCOL_F(thermalManager.degHotend(e), 1);
  4267. SERIAL_PROTOCOLPGM(" /");
  4268. SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(e), 1);
  4269. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  4270. SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_raw[e] / OVERSAMPLENR);
  4271. SERIAL_CHAR(')');
  4272. #endif
  4273. }
  4274. #endif
  4275. SERIAL_PROTOCOLPGM(" @:");
  4276. SERIAL_PROTOCOL(thermalManager.getHeaterPower(target_extruder));
  4277. #if HAS_TEMP_BED
  4278. SERIAL_PROTOCOLPGM(" B@:");
  4279. SERIAL_PROTOCOL(thermalManager.getHeaterPower(-1));
  4280. #endif
  4281. #if HOTENDS > 1
  4282. HOTEND_LOOP() {
  4283. SERIAL_PROTOCOLPAIR(" @", e);
  4284. SERIAL_PROTOCOLCHAR(':');
  4285. SERIAL_PROTOCOL(thermalManager.getHeaterPower(e));
  4286. }
  4287. #endif
  4288. }
  4289. #endif
  4290. /**
  4291. * M105: Read hot end and bed temperature
  4292. */
  4293. inline void gcode_M105() {
  4294. if (get_target_extruder_from_command(105)) return;
  4295. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  4296. SERIAL_PROTOCOLPGM(MSG_OK);
  4297. print_heaterstates();
  4298. #else // !HAS_TEMP_HOTEND && !HAS_TEMP_BED
  4299. SERIAL_ERROR_START;
  4300. SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
  4301. #endif
  4302. SERIAL_EOL;
  4303. }
  4304. #if FAN_COUNT > 0
  4305. /**
  4306. * M106: Set Fan Speed
  4307. *
  4308. * S<int> Speed between 0-255
  4309. * P<index> Fan index, if more than one fan
  4310. */
  4311. inline void gcode_M106() {
  4312. uint16_t s = code_seen('S') ? code_value_ushort() : 255,
  4313. p = code_seen('P') ? code_value_ushort() : 0;
  4314. NOMORE(s, 255);
  4315. if (p < FAN_COUNT) fanSpeeds[p] = s;
  4316. }
  4317. /**
  4318. * M107: Fan Off
  4319. */
  4320. inline void gcode_M107() {
  4321. uint16_t p = code_seen('P') ? code_value_ushort() : 0;
  4322. if (p < FAN_COUNT) fanSpeeds[p] = 0;
  4323. }
  4324. #endif // FAN_COUNT > 0
  4325. #if DISABLED(EMERGENCY_PARSER)
  4326. /**
  4327. * M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
  4328. */
  4329. inline void gcode_M108() { wait_for_heatup = false; }
  4330. /**
  4331. * M112: Emergency Stop
  4332. */
  4333. inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
  4334. /**
  4335. * M410: Quickstop - Abort all planned moves
  4336. *
  4337. * This will stop the carriages mid-move, so most likely they
  4338. * will be out of sync with the stepper position after this.
  4339. */
  4340. inline void gcode_M410() { quickstop_stepper(); }
  4341. #endif
  4342. #ifndef MIN_COOLING_SLOPE_DEG
  4343. #define MIN_COOLING_SLOPE_DEG 1.50
  4344. #endif
  4345. #ifndef MIN_COOLING_SLOPE_TIME
  4346. #define MIN_COOLING_SLOPE_TIME 60
  4347. #endif
  4348. /**
  4349. * M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
  4350. * Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
  4351. */
  4352. inline void gcode_M109() {
  4353. if (get_target_extruder_from_command(109)) return;
  4354. if (DEBUGGING(DRYRUN)) return;
  4355. #if ENABLED(SINGLENOZZLE)
  4356. if (target_extruder != active_extruder) return;
  4357. #endif
  4358. bool no_wait_for_cooling = code_seen('S');
  4359. if (no_wait_for_cooling || code_seen('R')) {
  4360. thermalManager.setTargetHotend(code_value_temp_abs(), target_extruder);
  4361. #if ENABLED(DUAL_X_CARRIAGE)
  4362. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  4363. thermalManager.setTargetHotend(code_value_temp_abs() == 0.0 ? 0.0 : code_value_temp_abs() + duplicate_extruder_temp_offset, 1);
  4364. #endif
  4365. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  4366. /**
  4367. * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
  4368. * stand by mode, for instance in a dual extruder setup, without affecting
  4369. * the running print timer.
  4370. */
  4371. if (code_value_temp_abs() <= (EXTRUDE_MINTEMP)/2) {
  4372. print_job_timer.stop();
  4373. LCD_MESSAGEPGM(WELCOME_MSG);
  4374. }
  4375. /**
  4376. * We do not check if the timer is already running because this check will
  4377. * be done for us inside the Stopwatch::start() method thus a running timer
  4378. * will not restart.
  4379. */
  4380. else print_job_timer.start();
  4381. #endif
  4382. if (thermalManager.isHeatingHotend(target_extruder)) LCD_MESSAGEPGM(MSG_HEATING);
  4383. }
  4384. #if ENABLED(AUTOTEMP)
  4385. planner.autotemp_M109();
  4386. #endif
  4387. #if TEMP_RESIDENCY_TIME > 0
  4388. millis_t residency_start_ms = 0;
  4389. // Loop until the temperature has stabilized
  4390. #define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL))
  4391. #else
  4392. // Loop until the temperature is very close target
  4393. #define TEMP_CONDITIONS (wants_to_cool ? thermalManager.isCoolingHotend(target_extruder) : thermalManager.isHeatingHotend(target_extruder))
  4394. #endif //TEMP_RESIDENCY_TIME > 0
  4395. float theTarget = -1.0, old_temp = 9999.0;
  4396. bool wants_to_cool = false;
  4397. wait_for_heatup = true;
  4398. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  4399. KEEPALIVE_STATE(NOT_BUSY);
  4400. do {
  4401. // Target temperature might be changed during the loop
  4402. if (theTarget != thermalManager.degTargetHotend(target_extruder)) {
  4403. wants_to_cool = thermalManager.isCoolingHotend(target_extruder);
  4404. theTarget = thermalManager.degTargetHotend(target_extruder);
  4405. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  4406. if (no_wait_for_cooling && wants_to_cool) break;
  4407. }
  4408. now = millis();
  4409. if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting
  4410. next_temp_ms = now + 1000UL;
  4411. print_heaterstates();
  4412. #if TEMP_RESIDENCY_TIME > 0
  4413. SERIAL_PROTOCOLPGM(" W:");
  4414. if (residency_start_ms) {
  4415. long rem = (((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
  4416. SERIAL_PROTOCOLLN(rem);
  4417. }
  4418. else {
  4419. SERIAL_PROTOCOLLNPGM("?");
  4420. }
  4421. #else
  4422. SERIAL_EOL;
  4423. #endif
  4424. }
  4425. idle();
  4426. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  4427. float temp = thermalManager.degHotend(target_extruder);
  4428. #if TEMP_RESIDENCY_TIME > 0
  4429. float temp_diff = fabs(theTarget - temp);
  4430. if (!residency_start_ms) {
  4431. // Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
  4432. if (temp_diff < TEMP_WINDOW) residency_start_ms = now;
  4433. }
  4434. else if (temp_diff > TEMP_HYSTERESIS) {
  4435. // Restart the timer whenever the temperature falls outside the hysteresis.
  4436. residency_start_ms = now;
  4437. }
  4438. #endif //TEMP_RESIDENCY_TIME > 0
  4439. // Prevent a wait-forever situation if R is misused i.e. M109 R0
  4440. if (wants_to_cool) {
  4441. // break after MIN_COOLING_SLOPE_TIME seconds
  4442. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG
  4443. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  4444. if (old_temp - temp < MIN_COOLING_SLOPE_DEG) break;
  4445. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME;
  4446. old_temp = temp;
  4447. }
  4448. }
  4449. } while (wait_for_heatup && TEMP_CONDITIONS);
  4450. if (wait_for_heatup) LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
  4451. KEEPALIVE_STATE(IN_HANDLER);
  4452. }
  4453. #if HAS_TEMP_BED
  4454. #ifndef MIN_COOLING_SLOPE_DEG_BED
  4455. #define MIN_COOLING_SLOPE_DEG_BED 1.50
  4456. #endif
  4457. #ifndef MIN_COOLING_SLOPE_TIME_BED
  4458. #define MIN_COOLING_SLOPE_TIME_BED 60
  4459. #endif
  4460. /**
  4461. * M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  4462. * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  4463. */
  4464. inline void gcode_M190() {
  4465. if (DEBUGGING(DRYRUN)) return;
  4466. LCD_MESSAGEPGM(MSG_BED_HEATING);
  4467. bool no_wait_for_cooling = code_seen('S');
  4468. if (no_wait_for_cooling || code_seen('R')) {
  4469. thermalManager.setTargetBed(code_value_temp_abs());
  4470. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  4471. if (code_value_temp_abs() > BED_MINTEMP) {
  4472. /**
  4473. * We start the timer when 'heating and waiting' command arrives, LCD
  4474. * functions never wait. Cooling down managed by extruders.
  4475. *
  4476. * We do not check if the timer is already running because this check will
  4477. * be done for us inside the Stopwatch::start() method thus a running timer
  4478. * will not restart.
  4479. */
  4480. print_job_timer.start();
  4481. }
  4482. #endif
  4483. }
  4484. #if TEMP_BED_RESIDENCY_TIME > 0
  4485. millis_t residency_start_ms = 0;
  4486. // Loop until the temperature has stabilized
  4487. #define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL))
  4488. #else
  4489. // Loop until the temperature is very close target
  4490. #define TEMP_BED_CONDITIONS (wants_to_cool ? thermalManager.isCoolingBed() : thermalManager.isHeatingBed())
  4491. #endif //TEMP_BED_RESIDENCY_TIME > 0
  4492. float theTarget = -1.0, old_temp = 9999.0;
  4493. bool wants_to_cool = false;
  4494. wait_for_heatup = true;
  4495. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  4496. KEEPALIVE_STATE(NOT_BUSY);
  4497. target_extruder = active_extruder; // for print_heaterstates
  4498. do {
  4499. // Target temperature might be changed during the loop
  4500. if (theTarget != thermalManager.degTargetBed()) {
  4501. wants_to_cool = thermalManager.isCoolingBed();
  4502. theTarget = thermalManager.degTargetBed();
  4503. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  4504. if (no_wait_for_cooling && wants_to_cool) break;
  4505. }
  4506. now = millis();
  4507. if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up.
  4508. next_temp_ms = now + 1000UL;
  4509. print_heaterstates();
  4510. #if TEMP_BED_RESIDENCY_TIME > 0
  4511. SERIAL_PROTOCOLPGM(" W:");
  4512. if (residency_start_ms) {
  4513. long rem = (((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
  4514. SERIAL_PROTOCOLLN(rem);
  4515. }
  4516. else {
  4517. SERIAL_PROTOCOLLNPGM("?");
  4518. }
  4519. #else
  4520. SERIAL_EOL;
  4521. #endif
  4522. }
  4523. idle();
  4524. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  4525. float temp = thermalManager.degBed();
  4526. #if TEMP_BED_RESIDENCY_TIME > 0
  4527. float temp_diff = fabs(theTarget - temp);
  4528. if (!residency_start_ms) {
  4529. // Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
  4530. if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = now;
  4531. }
  4532. else if (temp_diff > TEMP_BED_HYSTERESIS) {
  4533. // Restart the timer whenever the temperature falls outside the hysteresis.
  4534. residency_start_ms = now;
  4535. }
  4536. #endif //TEMP_BED_RESIDENCY_TIME > 0
  4537. // Prevent a wait-forever situation if R is misused i.e. M190 R0
  4538. if (wants_to_cool) {
  4539. // break after MIN_COOLING_SLOPE_TIME_BED seconds
  4540. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED
  4541. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  4542. if (old_temp - temp < MIN_COOLING_SLOPE_DEG_BED) break;
  4543. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME_BED;
  4544. old_temp = temp;
  4545. }
  4546. }
  4547. } while (wait_for_heatup && TEMP_BED_CONDITIONS);
  4548. if (wait_for_heatup) LCD_MESSAGEPGM(MSG_BED_DONE);
  4549. KEEPALIVE_STATE(IN_HANDLER);
  4550. }
  4551. #endif // HAS_TEMP_BED
  4552. /**
  4553. * M110: Set Current Line Number
  4554. */
  4555. inline void gcode_M110() {
  4556. if (code_seen('N')) gcode_N = code_value_long();
  4557. }
  4558. /**
  4559. * M111: Set the debug level
  4560. */
  4561. inline void gcode_M111() {
  4562. marlin_debug_flags = code_seen('S') ? code_value_byte() : (uint8_t) DEBUG_NONE;
  4563. const static char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO;
  4564. const static char str_debug_2[] PROGMEM = MSG_DEBUG_INFO;
  4565. const static char str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS;
  4566. const static char str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN;
  4567. const static char str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION;
  4568. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4569. const static char str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING;
  4570. #endif
  4571. const static char* const debug_strings[] PROGMEM = {
  4572. str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16,
  4573. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4574. str_debug_32
  4575. #endif
  4576. };
  4577. SERIAL_ECHO_START;
  4578. SERIAL_ECHOPGM(MSG_DEBUG_PREFIX);
  4579. if (marlin_debug_flags) {
  4580. uint8_t comma = 0;
  4581. for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
  4582. if (TEST(marlin_debug_flags, i)) {
  4583. if (comma++) SERIAL_CHAR(',');
  4584. serialprintPGM((char*)pgm_read_word(&(debug_strings[i])));
  4585. }
  4586. }
  4587. }
  4588. else {
  4589. SERIAL_ECHOPGM(MSG_DEBUG_OFF);
  4590. }
  4591. SERIAL_EOL;
  4592. }
  4593. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  4594. /**
  4595. * M113: Get or set Host Keepalive interval (0 to disable)
  4596. *
  4597. * S<seconds> Optional. Set the keepalive interval.
  4598. */
  4599. inline void gcode_M113() {
  4600. if (code_seen('S')) {
  4601. host_keepalive_interval = code_value_byte();
  4602. NOMORE(host_keepalive_interval, 60);
  4603. }
  4604. else {
  4605. SERIAL_ECHO_START;
  4606. SERIAL_ECHOLNPAIR("M113 S", (unsigned long)host_keepalive_interval);
  4607. }
  4608. }
  4609. #endif
  4610. #if ENABLED(BARICUDA)
  4611. #if HAS_HEATER_1
  4612. /**
  4613. * M126: Heater 1 valve open
  4614. */
  4615. inline void gcode_M126() { baricuda_valve_pressure = code_seen('S') ? code_value_byte() : 255; }
  4616. /**
  4617. * M127: Heater 1 valve close
  4618. */
  4619. inline void gcode_M127() { baricuda_valve_pressure = 0; }
  4620. #endif
  4621. #if HAS_HEATER_2
  4622. /**
  4623. * M128: Heater 2 valve open
  4624. */
  4625. inline void gcode_M128() { baricuda_e_to_p_pressure = code_seen('S') ? code_value_byte() : 255; }
  4626. /**
  4627. * M129: Heater 2 valve close
  4628. */
  4629. inline void gcode_M129() { baricuda_e_to_p_pressure = 0; }
  4630. #endif
  4631. #endif //BARICUDA
  4632. /**
  4633. * M140: Set bed temperature
  4634. */
  4635. inline void gcode_M140() {
  4636. if (DEBUGGING(DRYRUN)) return;
  4637. if (code_seen('S')) thermalManager.setTargetBed(code_value_temp_abs());
  4638. }
  4639. #if ENABLED(ULTIPANEL)
  4640. /**
  4641. * M145: Set the heatup state for a material in the LCD menu
  4642. * S<material> (0=PLA, 1=ABS)
  4643. * H<hotend temp>
  4644. * B<bed temp>
  4645. * F<fan speed>
  4646. */
  4647. inline void gcode_M145() {
  4648. uint8_t material = code_seen('S') ? (uint8_t)code_value_int() : 0;
  4649. if (material >= COUNT(lcd_preheat_hotend_temp)) {
  4650. SERIAL_ERROR_START;
  4651. SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
  4652. }
  4653. else {
  4654. int v;
  4655. if (code_seen('H')) {
  4656. v = code_value_int();
  4657. lcd_preheat_hotend_temp[material] = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
  4658. }
  4659. if (code_seen('F')) {
  4660. v = code_value_int();
  4661. lcd_preheat_fan_speed[material] = constrain(v, 0, 255);
  4662. }
  4663. #if TEMP_SENSOR_BED != 0
  4664. if (code_seen('B')) {
  4665. v = code_value_int();
  4666. lcd_preheat_bed_temp[material] = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
  4667. }
  4668. #endif
  4669. }
  4670. }
  4671. #endif // ULTIPANEL
  4672. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  4673. /**
  4674. * M149: Set temperature units
  4675. */
  4676. inline void gcode_M149() {
  4677. if (code_seen('C')) set_input_temp_units(TEMPUNIT_C);
  4678. else if (code_seen('K')) set_input_temp_units(TEMPUNIT_K);
  4679. else if (code_seen('F')) set_input_temp_units(TEMPUNIT_F);
  4680. }
  4681. #endif
  4682. #if HAS_POWER_SWITCH
  4683. /**
  4684. * M80: Turn on Power Supply
  4685. */
  4686. inline void gcode_M80() {
  4687. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND
  4688. /**
  4689. * If you have a switch on suicide pin, this is useful
  4690. * if you want to start another print with suicide feature after
  4691. * a print without suicide...
  4692. */
  4693. #if HAS_SUICIDE
  4694. OUT_WRITE(SUICIDE_PIN, HIGH);
  4695. #endif
  4696. #if ENABLED(ULTIPANEL)
  4697. powersupply = true;
  4698. LCD_MESSAGEPGM(WELCOME_MSG);
  4699. lcd_update();
  4700. #endif
  4701. }
  4702. #endif // HAS_POWER_SWITCH
  4703. /**
  4704. * M81: Turn off Power, including Power Supply, if there is one.
  4705. *
  4706. * This code should ALWAYS be available for EMERGENCY SHUTDOWN!
  4707. */
  4708. inline void gcode_M81() {
  4709. thermalManager.disable_all_heaters();
  4710. stepper.finish_and_disable();
  4711. #if FAN_COUNT > 0
  4712. #if FAN_COUNT > 1
  4713. for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
  4714. #else
  4715. fanSpeeds[0] = 0;
  4716. #endif
  4717. #endif
  4718. delay(1000); // Wait 1 second before switching off
  4719. #if HAS_SUICIDE
  4720. stepper.synchronize();
  4721. suicide();
  4722. #elif HAS_POWER_SWITCH
  4723. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  4724. #endif
  4725. #if ENABLED(ULTIPANEL)
  4726. #if HAS_POWER_SWITCH
  4727. powersupply = false;
  4728. #endif
  4729. LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
  4730. lcd_update();
  4731. #endif
  4732. }
  4733. /**
  4734. * M82: Set E codes absolute (default)
  4735. */
  4736. inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
  4737. /**
  4738. * M83: Set E codes relative while in Absolute Coordinates (G90) mode
  4739. */
  4740. inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; }
  4741. /**
  4742. * M18, M84: Disable all stepper motors
  4743. */
  4744. inline void gcode_M18_M84() {
  4745. if (code_seen('S')) {
  4746. stepper_inactive_time = code_value_millis_from_seconds();
  4747. }
  4748. else {
  4749. bool all_axis = !((code_seen('X')) || (code_seen('Y')) || (code_seen('Z')) || (code_seen('E')));
  4750. if (all_axis) {
  4751. stepper.finish_and_disable();
  4752. }
  4753. else {
  4754. stepper.synchronize();
  4755. if (code_seen('X')) disable_x();
  4756. if (code_seen('Y')) disable_y();
  4757. if (code_seen('Z')) disable_z();
  4758. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  4759. if (code_seen('E')) {
  4760. disable_e0();
  4761. disable_e1();
  4762. disable_e2();
  4763. disable_e3();
  4764. }
  4765. #endif
  4766. }
  4767. }
  4768. }
  4769. /**
  4770. * M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  4771. */
  4772. inline void gcode_M85() {
  4773. if (code_seen('S')) max_inactive_time = code_value_millis_from_seconds();
  4774. }
  4775. /**
  4776. * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
  4777. * (Follows the same syntax as G92)
  4778. */
  4779. inline void gcode_M92() {
  4780. LOOP_XYZE(i) {
  4781. if (code_seen(axis_codes[i])) {
  4782. if (i == E_AXIS) {
  4783. float value = code_value_per_axis_unit(i);
  4784. if (value < 20.0) {
  4785. float factor = planner.axis_steps_per_mm[i] / value; // increase e constants if M92 E14 is given for netfab.
  4786. planner.max_jerk[E_AXIS] *= factor;
  4787. planner.max_feedrate_mm_s[E_AXIS] *= factor;
  4788. planner.max_acceleration_steps_per_s2[E_AXIS] *= factor;
  4789. }
  4790. planner.axis_steps_per_mm[E_AXIS] = value;
  4791. }
  4792. else {
  4793. planner.axis_steps_per_mm[i] = code_value_per_axis_unit(i);
  4794. }
  4795. }
  4796. }
  4797. planner.refresh_positioning();
  4798. }
  4799. /**
  4800. * Output the current position to serial
  4801. */
  4802. static void report_current_position() {
  4803. SERIAL_PROTOCOLPGM("X:");
  4804. SERIAL_PROTOCOL(current_position[X_AXIS]);
  4805. SERIAL_PROTOCOLPGM(" Y:");
  4806. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  4807. SERIAL_PROTOCOLPGM(" Z:");
  4808. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  4809. SERIAL_PROTOCOLPGM(" E:");
  4810. SERIAL_PROTOCOL(current_position[E_AXIS]);
  4811. stepper.report_positions();
  4812. #if IS_SCARA
  4813. SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_degrees(A_AXIS));
  4814. SERIAL_PROTOCOLLNPAIR(" Psi+Theta:", stepper.get_axis_position_degrees(B_AXIS));
  4815. SERIAL_EOL;
  4816. #endif
  4817. }
  4818. /**
  4819. * M114: Output current position to serial port
  4820. */
  4821. inline void gcode_M114() { report_current_position(); }
  4822. /**
  4823. * M115: Capabilities string
  4824. */
  4825. inline void gcode_M115() {
  4826. SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
  4827. }
  4828. /**
  4829. * M117: Set LCD Status Message
  4830. */
  4831. inline void gcode_M117() {
  4832. lcd_setstatus(current_command_args);
  4833. }
  4834. /**
  4835. * M119: Output endstop states to serial output
  4836. */
  4837. inline void gcode_M119() { endstops.M119(); }
  4838. /**
  4839. * M120: Enable endstops and set non-homing endstop state to "enabled"
  4840. */
  4841. inline void gcode_M120() { endstops.enable_globally(true); }
  4842. /**
  4843. * M121: Disable endstops and set non-homing endstop state to "disabled"
  4844. */
  4845. inline void gcode_M121() { endstops.enable_globally(false); }
  4846. #if ENABLED(BLINKM)
  4847. /**
  4848. * M150: Set Status LED Color - Use R-U-B for R-G-B
  4849. */
  4850. inline void gcode_M150() {
  4851. SendColors(
  4852. code_seen('R') ? code_value_byte() : 0,
  4853. code_seen('U') ? code_value_byte() : 0,
  4854. code_seen('B') ? code_value_byte() : 0
  4855. );
  4856. }
  4857. #endif // BLINKM
  4858. #if ENABLED(EXPERIMENTAL_I2CBUS)
  4859. /**
  4860. * M155: Send data to a I2C slave device
  4861. *
  4862. * This is a PoC, the formating and arguments for the GCODE will
  4863. * change to be more compatible, the current proposal is:
  4864. *
  4865. * M155 A<slave device address base 10> ; Sets the I2C slave address the data will be sent to
  4866. *
  4867. * M155 B<byte-1 value in base 10>
  4868. * M155 B<byte-2 value in base 10>
  4869. * M155 B<byte-3 value in base 10>
  4870. *
  4871. * M155 S1 ; Send the buffered data and reset the buffer
  4872. * M155 R1 ; Reset the buffer without sending data
  4873. *
  4874. */
  4875. inline void gcode_M155() {
  4876. // Set the target address
  4877. if (code_seen('A')) i2c.address(code_value_byte());
  4878. // Add a new byte to the buffer
  4879. if (code_seen('B')) i2c.addbyte(code_value_byte());
  4880. // Flush the buffer to the bus
  4881. if (code_seen('S')) i2c.send();
  4882. // Reset and rewind the buffer
  4883. else if (code_seen('R')) i2c.reset();
  4884. }
  4885. /**
  4886. * M156: Request X bytes from I2C slave device
  4887. *
  4888. * Usage: M156 A<slave device address base 10> B<number of bytes>
  4889. */
  4890. inline void gcode_M156() {
  4891. if (code_seen('A')) i2c.address(code_value_byte());
  4892. uint8_t bytes = code_seen('B') ? code_value_byte() : 1;
  4893. if (i2c.addr && bytes && bytes <= TWIBUS_BUFFER_SIZE) {
  4894. i2c.relay(bytes);
  4895. }
  4896. else {
  4897. SERIAL_ERROR_START;
  4898. SERIAL_ERRORLN("Bad i2c request");
  4899. }
  4900. }
  4901. #endif // EXPERIMENTAL_I2CBUS
  4902. /**
  4903. * M200: Set filament diameter and set E axis units to cubic units
  4904. *
  4905. * T<extruder> - Optional extruder number. Current extruder if omitted.
  4906. * D<linear> - Diameter of the filament. Use "D0" to switch back to linear units on the E axis.
  4907. */
  4908. inline void gcode_M200() {
  4909. if (get_target_extruder_from_command(200)) return;
  4910. if (code_seen('D')) {
  4911. // setting any extruder filament size disables volumetric on the assumption that
  4912. // slicers either generate in extruder values as cubic mm or as as filament feeds
  4913. // for all extruders
  4914. volumetric_enabled = (code_value_linear_units() != 0.0);
  4915. if (volumetric_enabled) {
  4916. filament_size[target_extruder] = code_value_linear_units();
  4917. // make sure all extruders have some sane value for the filament size
  4918. for (uint8_t i = 0; i < COUNT(filament_size); i++)
  4919. if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
  4920. }
  4921. }
  4922. else {
  4923. //reserved for setting filament diameter via UFID or filament measuring device
  4924. return;
  4925. }
  4926. calculate_volumetric_multipliers();
  4927. }
  4928. /**
  4929. * M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  4930. */
  4931. inline void gcode_M201() {
  4932. LOOP_XYZE(i) {
  4933. if (code_seen(axis_codes[i])) {
  4934. planner.max_acceleration_mm_per_s2[i] = code_value_axis_units(i);
  4935. }
  4936. }
  4937. // 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)
  4938. planner.reset_acceleration_rates();
  4939. }
  4940. #if 0 // Not used for Sprinter/grbl gen6
  4941. inline void gcode_M202() {
  4942. LOOP_XYZE(i) {
  4943. if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value_axis_units(i) * planner.axis_steps_per_mm[i];
  4944. }
  4945. }
  4946. #endif
  4947. /**
  4948. * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
  4949. */
  4950. inline void gcode_M203() {
  4951. LOOP_XYZE(i)
  4952. if (code_seen(axis_codes[i]))
  4953. planner.max_feedrate_mm_s[i] = code_value_axis_units(i);
  4954. }
  4955. /**
  4956. * M204: Set Accelerations in units/sec^2 (M204 P1200 R3000 T3000)
  4957. *
  4958. * P = Printing moves
  4959. * R = Retract only (no X, Y, Z) moves
  4960. * T = Travel (non printing) moves
  4961. *
  4962. * Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
  4963. */
  4964. inline void gcode_M204() {
  4965. if (code_seen('S')) { // Kept for legacy compatibility. Should NOT BE USED for new developments.
  4966. planner.travel_acceleration = planner.acceleration = code_value_linear_units();
  4967. SERIAL_ECHOLNPAIR("Setting Print and Travel Acceleration: ", planner.acceleration);
  4968. }
  4969. if (code_seen('P')) {
  4970. planner.acceleration = code_value_linear_units();
  4971. SERIAL_ECHOLNPAIR("Setting Print Acceleration: ", planner.acceleration);
  4972. }
  4973. if (code_seen('R')) {
  4974. planner.retract_acceleration = code_value_linear_units();
  4975. SERIAL_ECHOLNPAIR("Setting Retract Acceleration: ", planner.retract_acceleration);
  4976. }
  4977. if (code_seen('T')) {
  4978. planner.travel_acceleration = code_value_linear_units();
  4979. SERIAL_ECHOLNPAIR("Setting Travel Acceleration: ", planner.travel_acceleration);
  4980. }
  4981. }
  4982. /**
  4983. * M205: Set Advanced Settings
  4984. *
  4985. * S = Min Feed Rate (units/s)
  4986. * T = Min Travel Feed Rate (units/s)
  4987. * B = Min Segment Time (µs)
  4988. * X = Max X Jerk (units/sec^2)
  4989. * Y = Max Y Jerk (units/sec^2)
  4990. * Z = Max Z Jerk (units/sec^2)
  4991. * E = Max E Jerk (units/sec^2)
  4992. */
  4993. inline void gcode_M205() {
  4994. if (code_seen('S')) planner.min_feedrate_mm_s = code_value_linear_units();
  4995. if (code_seen('T')) planner.min_travel_feedrate_mm_s = code_value_linear_units();
  4996. if (code_seen('B')) planner.min_segment_time = code_value_millis();
  4997. if (code_seen('X')) planner.max_jerk[X_AXIS] = code_value_axis_units(X_AXIS);
  4998. if (code_seen('Y')) planner.max_jerk[Y_AXIS] = code_value_axis_units(Y_AXIS);
  4999. if (code_seen('Z')) planner.max_jerk[Z_AXIS] = code_value_axis_units(Z_AXIS);
  5000. if (code_seen('E')) planner.max_jerk[E_AXIS] = code_value_axis_units(E_AXIS);
  5001. }
  5002. /**
  5003. * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
  5004. */
  5005. inline void gcode_M206() {
  5006. LOOP_XYZ(i)
  5007. if (code_seen(axis_codes[i]))
  5008. set_home_offset((AxisEnum)i, code_value_axis_units(i));
  5009. #if ENABLED(MORGAN_SCARA)
  5010. if (code_seen('T')) set_home_offset(A_AXIS, code_value_axis_units(A_AXIS)); // Theta
  5011. if (code_seen('P')) set_home_offset(B_AXIS, code_value_axis_units(B_AXIS)); // Psi
  5012. #endif
  5013. SYNC_PLAN_POSITION_KINEMATIC();
  5014. report_current_position();
  5015. }
  5016. #if ENABLED(DELTA)
  5017. /**
  5018. * M665: Set delta configurations
  5019. *
  5020. * L = diagonal rod
  5021. * R = delta radius
  5022. * S = segments per second
  5023. * A = Alpha (Tower 1) diagonal rod trim
  5024. * B = Beta (Tower 2) diagonal rod trim
  5025. * C = Gamma (Tower 3) diagonal rod trim
  5026. */
  5027. inline void gcode_M665() {
  5028. if (code_seen('L')) delta_diagonal_rod = code_value_linear_units();
  5029. if (code_seen('R')) delta_radius = code_value_linear_units();
  5030. if (code_seen('S')) delta_segments_per_second = code_value_float();
  5031. if (code_seen('A')) delta_diagonal_rod_trim_tower_1 = code_value_linear_units();
  5032. if (code_seen('B')) delta_diagonal_rod_trim_tower_2 = code_value_linear_units();
  5033. if (code_seen('C')) delta_diagonal_rod_trim_tower_3 = code_value_linear_units();
  5034. recalc_delta_settings(delta_radius, delta_diagonal_rod);
  5035. }
  5036. /**
  5037. * M666: Set delta endstop adjustment
  5038. */
  5039. inline void gcode_M666() {
  5040. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5041. if (DEBUGGING(LEVELING)) {
  5042. SERIAL_ECHOLNPGM(">>> gcode_M666");
  5043. }
  5044. #endif
  5045. LOOP_XYZ(i) {
  5046. if (code_seen(axis_codes[i])) {
  5047. endstop_adj[i] = code_value_axis_units(i);
  5048. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5049. if (DEBUGGING(LEVELING)) {
  5050. SERIAL_ECHOPAIR("endstop_adj[", axis_codes[i]);
  5051. SERIAL_ECHOLNPAIR("] = ", endstop_adj[i]);
  5052. }
  5053. #endif
  5054. }
  5055. }
  5056. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5057. if (DEBUGGING(LEVELING)) {
  5058. SERIAL_ECHOLNPGM("<<< gcode_M666");
  5059. }
  5060. #endif
  5061. }
  5062. #elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
  5063. /**
  5064. * M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
  5065. */
  5066. inline void gcode_M666() {
  5067. if (code_seen('Z')) z_endstop_adj = code_value_axis_units(Z_AXIS);
  5068. SERIAL_ECHOLNPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj);
  5069. }
  5070. #endif // !DELTA && Z_DUAL_ENDSTOPS
  5071. #if ENABLED(FWRETRACT)
  5072. /**
  5073. * M207: Set firmware retraction values
  5074. *
  5075. * S[+units] retract_length
  5076. * W[+units] retract_length_swap (multi-extruder)
  5077. * F[units/min] retract_feedrate_mm_s
  5078. * Z[units] retract_zlift
  5079. */
  5080. inline void gcode_M207() {
  5081. if (code_seen('S')) retract_length = code_value_axis_units(E_AXIS);
  5082. if (code_seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
  5083. if (code_seen('Z')) retract_zlift = code_value_axis_units(Z_AXIS);
  5084. #if EXTRUDERS > 1
  5085. if (code_seen('W')) retract_length_swap = code_value_axis_units(E_AXIS);
  5086. #endif
  5087. }
  5088. /**
  5089. * M208: Set firmware un-retraction values
  5090. *
  5091. * S[+units] retract_recover_length (in addition to M207 S*)
  5092. * W[+units] retract_recover_length_swap (multi-extruder)
  5093. * F[units/min] retract_recover_feedrate_mm_s
  5094. */
  5095. inline void gcode_M208() {
  5096. if (code_seen('S')) retract_recover_length = code_value_axis_units(E_AXIS);
  5097. if (code_seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
  5098. #if EXTRUDERS > 1
  5099. if (code_seen('W')) retract_recover_length_swap = code_value_axis_units(E_AXIS);
  5100. #endif
  5101. }
  5102. /**
  5103. * M209: Enable automatic retract (M209 S1)
  5104. * For slicers that don't support G10/11, reversed extrude-only
  5105. * moves will be classified as retraction.
  5106. */
  5107. inline void gcode_M209() {
  5108. if (code_seen('S')) {
  5109. autoretract_enabled = code_value_bool();
  5110. for (int i = 0; i < EXTRUDERS; i++) retracted[i] = false;
  5111. }
  5112. }
  5113. #endif // FWRETRACT
  5114. /**
  5115. * M211: Enable, Disable, and/or Report software endstops
  5116. *
  5117. * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
  5118. */
  5119. inline void gcode_M211() {
  5120. SERIAL_ECHO_START;
  5121. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  5122. if (code_seen('S')) soft_endstops_enabled = code_value_bool();
  5123. #endif
  5124. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  5125. SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
  5126. serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF));
  5127. #else
  5128. SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
  5129. SERIAL_ECHOPGM(MSG_OFF);
  5130. #endif
  5131. SERIAL_ECHOPGM(MSG_SOFT_MIN);
  5132. SERIAL_ECHOPAIR( MSG_X, soft_endstop_min[X_AXIS]);
  5133. SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_min[Y_AXIS]);
  5134. SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_min[Z_AXIS]);
  5135. SERIAL_ECHOPGM(MSG_SOFT_MAX);
  5136. SERIAL_ECHOPAIR( MSG_X, soft_endstop_max[X_AXIS]);
  5137. SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]);
  5138. SERIAL_ECHOLNPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]);
  5139. }
  5140. #if HOTENDS > 1
  5141. /**
  5142. * M218 - set hotend offset (in linear units)
  5143. *
  5144. * T<tool>
  5145. * X<xoffset>
  5146. * Y<yoffset>
  5147. * Z<zoffset> - Available with DUAL_X_CARRIAGE and SWITCHING_EXTRUDER
  5148. */
  5149. inline void gcode_M218() {
  5150. if (get_target_extruder_from_command(218) || target_extruder == 0) return;
  5151. if (code_seen('X')) hotend_offset[X_AXIS][target_extruder] = code_value_axis_units(X_AXIS);
  5152. if (code_seen('Y')) hotend_offset[Y_AXIS][target_extruder] = code_value_axis_units(Y_AXIS);
  5153. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
  5154. if (code_seen('Z')) hotend_offset[Z_AXIS][target_extruder] = code_value_axis_units(Z_AXIS);
  5155. #endif
  5156. SERIAL_ECHO_START;
  5157. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  5158. HOTEND_LOOP() {
  5159. SERIAL_CHAR(' ');
  5160. SERIAL_ECHO(hotend_offset[X_AXIS][e]);
  5161. SERIAL_CHAR(',');
  5162. SERIAL_ECHO(hotend_offset[Y_AXIS][e]);
  5163. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
  5164. SERIAL_CHAR(',');
  5165. SERIAL_ECHO(hotend_offset[Z_AXIS][e]);
  5166. #endif
  5167. }
  5168. SERIAL_EOL;
  5169. }
  5170. #endif // HOTENDS > 1
  5171. /**
  5172. * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
  5173. */
  5174. inline void gcode_M220() {
  5175. if (code_seen('S')) feedrate_percentage = code_value_int();
  5176. }
  5177. /**
  5178. * M221: Set extrusion percentage (M221 T0 S95)
  5179. */
  5180. inline void gcode_M221() {
  5181. if (get_target_extruder_from_command(221)) return;
  5182. if (code_seen('S'))
  5183. flow_percentage[target_extruder] = code_value_int();
  5184. }
  5185. /**
  5186. * M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
  5187. */
  5188. inline void gcode_M226() {
  5189. if (code_seen('P')) {
  5190. int pin_number = code_value_int(),
  5191. pin_state = code_seen('S') ? code_value_int() : -1; // required pin state - default is inverted
  5192. if (pin_state >= -1 && pin_state <= 1 && pin_number > -1 && !pin_is_protected(pin_number)) {
  5193. int target = LOW;
  5194. stepper.synchronize();
  5195. pinMode(pin_number, INPUT);
  5196. switch (pin_state) {
  5197. case 1:
  5198. target = HIGH;
  5199. break;
  5200. case 0:
  5201. target = LOW;
  5202. break;
  5203. case -1:
  5204. target = !digitalRead(pin_number);
  5205. break;
  5206. }
  5207. while (digitalRead(pin_number) != target) idle();
  5208. } // pin_state -1 0 1 && pin_number > -1
  5209. } // code_seen('P')
  5210. }
  5211. #if HAS_SERVOS
  5212. /**
  5213. * M280: Get or set servo position. P<index> [S<angle>]
  5214. */
  5215. inline void gcode_M280() {
  5216. if (!code_seen('P')) return;
  5217. int servo_index = code_value_int();
  5218. if (servo_index >= 0 && servo_index < NUM_SERVOS) {
  5219. if (code_seen('S'))
  5220. MOVE_SERVO(servo_index, code_value_int());
  5221. else {
  5222. SERIAL_ECHO_START;
  5223. SERIAL_ECHOPAIR(" Servo ", servo_index);
  5224. SERIAL_ECHOLNPAIR(": ", servo[servo_index].read());
  5225. }
  5226. }
  5227. else {
  5228. SERIAL_ERROR_START;
  5229. SERIAL_ECHOPAIR("Servo ", servo_index);
  5230. SERIAL_ECHOLNPGM(" out of range");
  5231. }
  5232. }
  5233. #endif // HAS_SERVOS
  5234. #if HAS_BUZZER
  5235. /**
  5236. * M300: Play beep sound S<frequency Hz> P<duration ms>
  5237. */
  5238. inline void gcode_M300() {
  5239. uint16_t const frequency = code_seen('S') ? code_value_ushort() : 260;
  5240. uint16_t duration = code_seen('P') ? code_value_ushort() : 1000;
  5241. // Limits the tone duration to 0-5 seconds.
  5242. NOMORE(duration, 5000);
  5243. BUZZ(duration, frequency);
  5244. }
  5245. #endif // HAS_BUZZER
  5246. #if ENABLED(PIDTEMP)
  5247. /**
  5248. * M301: Set PID parameters P I D (and optionally C, L)
  5249. *
  5250. * P[float] Kp term
  5251. * I[float] Ki term (unscaled)
  5252. * D[float] Kd term (unscaled)
  5253. *
  5254. * With PID_EXTRUSION_SCALING:
  5255. *
  5256. * C[float] Kc term
  5257. * L[float] LPQ length
  5258. */
  5259. inline void gcode_M301() {
  5260. // multi-extruder PID patch: M301 updates or prints a single extruder's PID values
  5261. // default behaviour (omitting E parameter) is to update for extruder 0 only
  5262. int e = code_seen('E') ? code_value_int() : 0; // extruder being updated
  5263. if (e < HOTENDS) { // catch bad input value
  5264. if (code_seen('P')) PID_PARAM(Kp, e) = code_value_float();
  5265. if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value_float());
  5266. if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value_float());
  5267. #if ENABLED(PID_EXTRUSION_SCALING)
  5268. if (code_seen('C')) PID_PARAM(Kc, e) = code_value_float();
  5269. if (code_seen('L')) lpq_len = code_value_float();
  5270. NOMORE(lpq_len, LPQ_MAX_LEN);
  5271. #endif
  5272. thermalManager.updatePID();
  5273. SERIAL_ECHO_START;
  5274. #if ENABLED(PID_PARAMS_PER_HOTEND)
  5275. SERIAL_ECHOPAIR(" e:", e); // specify extruder in serial output
  5276. #endif // PID_PARAMS_PER_HOTEND
  5277. SERIAL_ECHOPAIR(" p:", PID_PARAM(Kp, e));
  5278. SERIAL_ECHOPAIR(" i:", unscalePID_i(PID_PARAM(Ki, e)));
  5279. SERIAL_ECHOPAIR(" d:", unscalePID_d(PID_PARAM(Kd, e)));
  5280. #if ENABLED(PID_EXTRUSION_SCALING)
  5281. //Kc does not have scaling applied above, or in resetting defaults
  5282. SERIAL_ECHOPAIR(" c:", PID_PARAM(Kc, e));
  5283. #endif
  5284. SERIAL_EOL;
  5285. }
  5286. else {
  5287. SERIAL_ERROR_START;
  5288. SERIAL_ERRORLN(MSG_INVALID_EXTRUDER);
  5289. }
  5290. }
  5291. #endif // PIDTEMP
  5292. #if ENABLED(PIDTEMPBED)
  5293. inline void gcode_M304() {
  5294. if (code_seen('P')) thermalManager.bedKp = code_value_float();
  5295. if (code_seen('I')) thermalManager.bedKi = scalePID_i(code_value_float());
  5296. if (code_seen('D')) thermalManager.bedKd = scalePID_d(code_value_float());
  5297. thermalManager.updatePID();
  5298. SERIAL_ECHO_START;
  5299. SERIAL_ECHOPAIR(" p:", thermalManager.bedKp);
  5300. SERIAL_ECHOPAIR(" i:", unscalePID_i(thermalManager.bedKi));
  5301. SERIAL_ECHOLNPAIR(" d:", unscalePID_d(thermalManager.bedKd));
  5302. }
  5303. #endif // PIDTEMPBED
  5304. #if defined(CHDK) || HAS_PHOTOGRAPH
  5305. /**
  5306. * M240: Trigger a camera by emulating a Canon RC-1
  5307. * See http://www.doc-diy.net/photo/rc-1_hacked/
  5308. */
  5309. inline void gcode_M240() {
  5310. #ifdef CHDK
  5311. OUT_WRITE(CHDK, HIGH);
  5312. chdkHigh = millis();
  5313. chdkActive = true;
  5314. #elif HAS_PHOTOGRAPH
  5315. const uint8_t NUM_PULSES = 16;
  5316. const float PULSE_LENGTH = 0.01524;
  5317. for (int i = 0; i < NUM_PULSES; i++) {
  5318. WRITE(PHOTOGRAPH_PIN, HIGH);
  5319. _delay_ms(PULSE_LENGTH);
  5320. WRITE(PHOTOGRAPH_PIN, LOW);
  5321. _delay_ms(PULSE_LENGTH);
  5322. }
  5323. delay(7.33);
  5324. for (int i = 0; i < NUM_PULSES; i++) {
  5325. WRITE(PHOTOGRAPH_PIN, HIGH);
  5326. _delay_ms(PULSE_LENGTH);
  5327. WRITE(PHOTOGRAPH_PIN, LOW);
  5328. _delay_ms(PULSE_LENGTH);
  5329. }
  5330. #endif // !CHDK && HAS_PHOTOGRAPH
  5331. }
  5332. #endif // CHDK || PHOTOGRAPH_PIN
  5333. #if HAS_LCD_CONTRAST
  5334. /**
  5335. * M250: Read and optionally set the LCD contrast
  5336. */
  5337. inline void gcode_M250() {
  5338. if (code_seen('C')) set_lcd_contrast(code_value_int());
  5339. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  5340. SERIAL_PROTOCOL(lcd_contrast);
  5341. SERIAL_EOL;
  5342. }
  5343. #endif // HAS_LCD_CONTRAST
  5344. #if ENABLED(PREVENT_COLD_EXTRUSION)
  5345. /**
  5346. * M302: Allow cold extrudes, or set the minimum extrude temperature
  5347. *
  5348. * S<temperature> sets the minimum extrude temperature
  5349. * P<bool> enables (1) or disables (0) cold extrusion
  5350. *
  5351. * Examples:
  5352. *
  5353. * M302 ; report current cold extrusion state
  5354. * M302 P0 ; enable cold extrusion checking
  5355. * M302 P1 ; disables cold extrusion checking
  5356. * M302 S0 ; always allow extrusion (disables checking)
  5357. * M302 S170 ; only allow extrusion above 170
  5358. * M302 S170 P1 ; set min extrude temp to 170 but leave disabled
  5359. */
  5360. inline void gcode_M302() {
  5361. bool seen_S = code_seen('S');
  5362. if (seen_S) {
  5363. thermalManager.extrude_min_temp = code_value_temp_abs();
  5364. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0);
  5365. }
  5366. if (code_seen('P'))
  5367. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0) || code_value_bool();
  5368. else if (!seen_S) {
  5369. // Report current state
  5370. SERIAL_ECHO_START;
  5371. SERIAL_ECHOPAIR("Cold extrudes are ", (thermalManager.allow_cold_extrude ? "en" : "dis"));
  5372. SERIAL_ECHOPAIR("abled (min temp ", int(thermalManager.extrude_min_temp + 0.5));
  5373. SERIAL_ECHOLNPGM("C)");
  5374. }
  5375. }
  5376. #endif // PREVENT_COLD_EXTRUSION
  5377. /**
  5378. * M303: PID relay autotune
  5379. *
  5380. * S<temperature> sets the target temperature. (default 150C)
  5381. * E<extruder> (-1 for the bed) (default 0)
  5382. * C<cycles>
  5383. * U<bool> with a non-zero value will apply the result to current settings
  5384. */
  5385. inline void gcode_M303() {
  5386. #if HAS_PID_HEATING
  5387. int e = code_seen('E') ? code_value_int() : 0;
  5388. int c = code_seen('C') ? code_value_int() : 5;
  5389. bool u = code_seen('U') && code_value_bool();
  5390. float temp = code_seen('S') ? code_value_temp_abs() : (e < 0 ? 70.0 : 150.0);
  5391. if (e >= 0 && e < HOTENDS)
  5392. target_extruder = e;
  5393. KEEPALIVE_STATE(NOT_BUSY); // don't send "busy: processing" messages during autotune output
  5394. thermalManager.PID_autotune(temp, e, c, u);
  5395. KEEPALIVE_STATE(IN_HANDLER);
  5396. #else
  5397. SERIAL_ERROR_START;
  5398. SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
  5399. #endif
  5400. }
  5401. #if ENABLED(MORGAN_SCARA)
  5402. bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) {
  5403. if (IsRunning()) {
  5404. forward_kinematics_SCARA(delta_a, delta_b);
  5405. destination[X_AXIS] = LOGICAL_X_POSITION(cartes[X_AXIS]);
  5406. destination[Y_AXIS] = LOGICAL_Y_POSITION(cartes[Y_AXIS]);
  5407. destination[Z_AXIS] = current_position[Z_AXIS];
  5408. prepare_move_to_destination();
  5409. return true;
  5410. }
  5411. return false;
  5412. }
  5413. /**
  5414. * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  5415. */
  5416. inline bool gcode_M360() {
  5417. SERIAL_ECHOLNPGM(" Cal: Theta 0");
  5418. return SCARA_move_to_cal(0, 120);
  5419. }
  5420. /**
  5421. * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  5422. */
  5423. inline bool gcode_M361() {
  5424. SERIAL_ECHOLNPGM(" Cal: Theta 90");
  5425. return SCARA_move_to_cal(90, 130);
  5426. }
  5427. /**
  5428. * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  5429. */
  5430. inline bool gcode_M362() {
  5431. SERIAL_ECHOLNPGM(" Cal: Psi 0");
  5432. return SCARA_move_to_cal(60, 180);
  5433. }
  5434. /**
  5435. * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  5436. */
  5437. inline bool gcode_M363() {
  5438. SERIAL_ECHOLNPGM(" Cal: Psi 90");
  5439. return SCARA_move_to_cal(50, 90);
  5440. }
  5441. /**
  5442. * M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  5443. */
  5444. inline bool gcode_M364() {
  5445. SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
  5446. return SCARA_move_to_cal(45, 135);
  5447. }
  5448. #endif // SCARA
  5449. #if ENABLED(EXT_SOLENOID)
  5450. void enable_solenoid(uint8_t num) {
  5451. switch (num) {
  5452. case 0:
  5453. OUT_WRITE(SOL0_PIN, HIGH);
  5454. break;
  5455. #if HAS_SOLENOID_1
  5456. case 1:
  5457. OUT_WRITE(SOL1_PIN, HIGH);
  5458. break;
  5459. #endif
  5460. #if HAS_SOLENOID_2
  5461. case 2:
  5462. OUT_WRITE(SOL2_PIN, HIGH);
  5463. break;
  5464. #endif
  5465. #if HAS_SOLENOID_3
  5466. case 3:
  5467. OUT_WRITE(SOL3_PIN, HIGH);
  5468. break;
  5469. #endif
  5470. default:
  5471. SERIAL_ECHO_START;
  5472. SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
  5473. break;
  5474. }
  5475. }
  5476. void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
  5477. void disable_all_solenoids() {
  5478. OUT_WRITE(SOL0_PIN, LOW);
  5479. OUT_WRITE(SOL1_PIN, LOW);
  5480. OUT_WRITE(SOL2_PIN, LOW);
  5481. OUT_WRITE(SOL3_PIN, LOW);
  5482. }
  5483. /**
  5484. * M380: Enable solenoid on the active extruder
  5485. */
  5486. inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
  5487. /**
  5488. * M381: Disable all solenoids
  5489. */
  5490. inline void gcode_M381() { disable_all_solenoids(); }
  5491. #endif // EXT_SOLENOID
  5492. /**
  5493. * M400: Finish all moves
  5494. */
  5495. inline void gcode_M400() { stepper.synchronize(); }
  5496. #if HAS_BED_PROBE
  5497. /**
  5498. * M401: Engage Z Servo endstop if available
  5499. */
  5500. inline void gcode_M401() { DEPLOY_PROBE(); }
  5501. /**
  5502. * M402: Retract Z Servo endstop if enabled
  5503. */
  5504. inline void gcode_M402() { STOW_PROBE(); }
  5505. #endif // HAS_BED_PROBE
  5506. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  5507. /**
  5508. * M404: Display or set (in current units) the nominal filament width (3mm, 1.75mm ) W<3.0>
  5509. */
  5510. inline void gcode_M404() {
  5511. if (code_seen('W')) {
  5512. filament_width_nominal = code_value_linear_units();
  5513. }
  5514. else {
  5515. SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
  5516. SERIAL_PROTOCOLLN(filament_width_nominal);
  5517. }
  5518. }
  5519. /**
  5520. * M405: Turn on filament sensor for control
  5521. */
  5522. inline void gcode_M405() {
  5523. // This is technically a linear measurement, but since it's quantized to centimeters and is a different unit than
  5524. // everything else, it uses code_value_int() instead of code_value_linear_units().
  5525. if (code_seen('D')) meas_delay_cm = code_value_int();
  5526. NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY);
  5527. if (filwidth_delay_index[1] == -1) { // Initialize the ring buffer if not done since startup
  5528. int temp_ratio = thermalManager.widthFil_to_size_ratio();
  5529. for (uint8_t i = 0; i < COUNT(measurement_delay); ++i)
  5530. measurement_delay[i] = temp_ratio - 100; // Subtract 100 to scale within a signed byte
  5531. filwidth_delay_index[0] = filwidth_delay_index[1] = 0;
  5532. }
  5533. filament_sensor = true;
  5534. //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  5535. //SERIAL_PROTOCOL(filament_width_meas);
  5536. //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
  5537. //SERIAL_PROTOCOL(flow_percentage[active_extruder]);
  5538. }
  5539. /**
  5540. * M406: Turn off filament sensor for control
  5541. */
  5542. inline void gcode_M406() { filament_sensor = false; }
  5543. /**
  5544. * M407: Get measured filament diameter on serial output
  5545. */
  5546. inline void gcode_M407() {
  5547. SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  5548. SERIAL_PROTOCOLLN(filament_width_meas);
  5549. }
  5550. #endif // FILAMENT_WIDTH_SENSOR
  5551. void quickstop_stepper() {
  5552. stepper.quick_stop();
  5553. stepper.synchronize();
  5554. set_current_from_steppers_for_axis(ALL_AXES);
  5555. SYNC_PLAN_POSITION_KINEMATIC();
  5556. }
  5557. #if PLANNER_LEVELING
  5558. /**
  5559. * M420: Enable/Disable Bed Leveling
  5560. */
  5561. inline void gcode_M420() { if (code_seen('S')) set_bed_leveling_enabled(code_value_bool()); }
  5562. #endif
  5563. #if ENABLED(MESH_BED_LEVELING)
  5564. /**
  5565. * M421: Set a single Mesh Bed Leveling Z coordinate
  5566. * Use either 'M421 X<linear> Y<linear> Z<linear>' or 'M421 I<xindex> J<yindex> Z<linear>'
  5567. */
  5568. inline void gcode_M421() {
  5569. int8_t px = 0, py = 0;
  5570. float z = 0;
  5571. bool hasX, hasY, hasZ, hasI, hasJ;
  5572. if ((hasX = code_seen('X'))) px = mbl.probe_index_x(code_value_axis_units(X_AXIS));
  5573. if ((hasY = code_seen('Y'))) py = mbl.probe_index_y(code_value_axis_units(Y_AXIS));
  5574. if ((hasI = code_seen('I'))) px = code_value_axis_units(X_AXIS);
  5575. if ((hasJ = code_seen('J'))) py = code_value_axis_units(Y_AXIS);
  5576. if ((hasZ = code_seen('Z'))) z = code_value_axis_units(Z_AXIS);
  5577. if (hasX && hasY && hasZ) {
  5578. if (px >= 0 && py >= 0)
  5579. mbl.set_z(px, py, z);
  5580. else {
  5581. SERIAL_ERROR_START;
  5582. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  5583. }
  5584. }
  5585. else if (hasI && hasJ && hasZ) {
  5586. if (px >= 0 && px < MESH_NUM_X_POINTS && py >= 0 && py < MESH_NUM_Y_POINTS)
  5587. mbl.set_z(px, py, z);
  5588. else {
  5589. SERIAL_ERROR_START;
  5590. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  5591. }
  5592. }
  5593. else {
  5594. SERIAL_ERROR_START;
  5595. SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
  5596. }
  5597. }
  5598. #endif
  5599. /**
  5600. * M428: Set home_offset based on the distance between the
  5601. * current_position and the nearest "reference point."
  5602. * If an axis is past center its endstop position
  5603. * is the reference-point. Otherwise it uses 0. This allows
  5604. * the Z offset to be set near the bed when using a max endstop.
  5605. *
  5606. * M428 can't be used more than 2cm away from 0 or an endstop.
  5607. *
  5608. * Use M206 to set these values directly.
  5609. */
  5610. inline void gcode_M428() {
  5611. bool err = false;
  5612. LOOP_XYZ(i) {
  5613. if (axis_homed[i]) {
  5614. float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos(i) : 0,
  5615. diff = current_position[i] - LOGICAL_POSITION(base, i);
  5616. if (diff > -20 && diff < 20) {
  5617. set_home_offset((AxisEnum)i, home_offset[i] - diff);
  5618. }
  5619. else {
  5620. SERIAL_ERROR_START;
  5621. SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
  5622. LCD_ALERTMESSAGEPGM("Err: Too far!");
  5623. BUZZ(200, 40);
  5624. err = true;
  5625. break;
  5626. }
  5627. }
  5628. }
  5629. if (!err) {
  5630. SYNC_PLAN_POSITION_KINEMATIC();
  5631. report_current_position();
  5632. LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
  5633. BUZZ(200, 659);
  5634. BUZZ(200, 698);
  5635. }
  5636. }
  5637. /**
  5638. * M500: Store settings in EEPROM
  5639. */
  5640. inline void gcode_M500() {
  5641. Config_StoreSettings();
  5642. }
  5643. /**
  5644. * M501: Read settings from EEPROM
  5645. */
  5646. inline void gcode_M501() {
  5647. Config_RetrieveSettings();
  5648. }
  5649. /**
  5650. * M502: Revert to default settings
  5651. */
  5652. inline void gcode_M502() {
  5653. Config_ResetDefault();
  5654. }
  5655. /**
  5656. * M503: print settings currently in memory
  5657. */
  5658. inline void gcode_M503() {
  5659. Config_PrintSettings(code_seen('S') && !code_value_bool());
  5660. }
  5661. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  5662. /**
  5663. * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
  5664. */
  5665. inline void gcode_M540() {
  5666. if (code_seen('S')) stepper.abort_on_endstop_hit = code_value_bool();
  5667. }
  5668. #endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  5669. #if HAS_BED_PROBE
  5670. inline void gcode_M851() {
  5671. SERIAL_ECHO_START;
  5672. SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
  5673. SERIAL_CHAR(' ');
  5674. if (code_seen('Z')) {
  5675. float value = code_value_axis_units(Z_AXIS);
  5676. if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
  5677. zprobe_zoffset = value;
  5678. SERIAL_ECHO(zprobe_zoffset);
  5679. }
  5680. else {
  5681. SERIAL_ECHOPAIR(MSG_Z_MIN, Z_PROBE_OFFSET_RANGE_MIN);
  5682. SERIAL_CHAR(' ');
  5683. SERIAL_ECHOPAIR(MSG_Z_MAX, Z_PROBE_OFFSET_RANGE_MAX);
  5684. }
  5685. }
  5686. else {
  5687. SERIAL_ECHOPAIR(": ", zprobe_zoffset);
  5688. }
  5689. SERIAL_EOL;
  5690. }
  5691. #endif // HAS_BED_PROBE
  5692. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  5693. /**
  5694. * M600: Pause for filament change
  5695. *
  5696. * E[distance] - Retract the filament this far (negative value)
  5697. * Z[distance] - Move the Z axis by this distance
  5698. * X[position] - Move to this X position, with Y
  5699. * Y[position] - Move to this Y position, with X
  5700. * L[distance] - Retract distance for removal (manual reload)
  5701. *
  5702. * Default values are used for omitted arguments.
  5703. *
  5704. */
  5705. inline void gcode_M600() {
  5706. if (thermalManager.tooColdToExtrude(active_extruder)) {
  5707. SERIAL_ERROR_START;
  5708. SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
  5709. return;
  5710. }
  5711. // Show initial message and wait for synchronize steppers
  5712. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INIT);
  5713. stepper.synchronize();
  5714. float lastpos[NUM_AXIS];
  5715. // Save current position of all axes
  5716. LOOP_XYZE(i)
  5717. lastpos[i] = destination[i] = current_position[i];
  5718. // Define runplan for move axes
  5719. #if IS_KINEMATIC
  5720. #define RUNPLAN(RATE_MM_S) planner.buffer_line_kinematic(destination, RATE_MM_S, active_extruder);
  5721. #else
  5722. #define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S);
  5723. #endif
  5724. KEEPALIVE_STATE(IN_HANDLER);
  5725. // Initial retract before move to filament change position
  5726. if (code_seen('E')) destination[E_AXIS] += code_value_axis_units(E_AXIS);
  5727. #if defined(FILAMENT_CHANGE_RETRACT_LENGTH) && FILAMENT_CHANGE_RETRACT_LENGTH > 0
  5728. else destination[E_AXIS] -= FILAMENT_CHANGE_RETRACT_LENGTH;
  5729. #endif
  5730. RUNPLAN(FILAMENT_CHANGE_RETRACT_FEEDRATE);
  5731. // Lift Z axis
  5732. float z_lift = code_seen('Z') ? code_value_axis_units(Z_AXIS) :
  5733. #if defined(FILAMENT_CHANGE_Z_ADD) && FILAMENT_CHANGE_Z_ADD > 0
  5734. FILAMENT_CHANGE_Z_ADD
  5735. #else
  5736. 0
  5737. #endif
  5738. ;
  5739. if (z_lift > 0) {
  5740. destination[Z_AXIS] += z_lift;
  5741. NOMORE(destination[Z_AXIS], Z_MAX_POS);
  5742. RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
  5743. }
  5744. // Move XY axes to filament exchange position
  5745. if (code_seen('X')) destination[X_AXIS] = code_value_axis_units(X_AXIS);
  5746. #ifdef FILAMENT_CHANGE_X_POS
  5747. else destination[X_AXIS] = FILAMENT_CHANGE_X_POS;
  5748. #endif
  5749. if (code_seen('Y')) destination[Y_AXIS] = code_value_axis_units(Y_AXIS);
  5750. #ifdef FILAMENT_CHANGE_Y_POS
  5751. else destination[Y_AXIS] = FILAMENT_CHANGE_Y_POS;
  5752. #endif
  5753. RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
  5754. stepper.synchronize();
  5755. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_UNLOAD);
  5756. // Unload filament
  5757. if (code_seen('L')) destination[E_AXIS] += code_value_axis_units(E_AXIS);
  5758. #if defined(FILAMENT_CHANGE_UNLOAD_LENGTH) && FILAMENT_CHANGE_UNLOAD_LENGTH > 0
  5759. else destination[E_AXIS] -= FILAMENT_CHANGE_UNLOAD_LENGTH;
  5760. #endif
  5761. RUNPLAN(FILAMENT_CHANGE_UNLOAD_FEEDRATE);
  5762. // Synchronize steppers and then disable extruders steppers for manual filament changing
  5763. stepper.synchronize();
  5764. disable_e0();
  5765. disable_e1();
  5766. disable_e2();
  5767. disable_e3();
  5768. delay(100);
  5769. #if HAS_BUZZER
  5770. millis_t next_buzz = 0;
  5771. #endif
  5772. // Wait for filament insert by user and press button
  5773. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INSERT);
  5774. // LCD click or M108 will clear this
  5775. wait_for_user = true;
  5776. while (wait_for_user) {
  5777. #if HAS_BUZZER
  5778. millis_t ms = millis();
  5779. if (ms >= next_buzz) {
  5780. BUZZ(300, 2000);
  5781. next_buzz = ms + 2500; // Beep every 2.5s while waiting
  5782. }
  5783. #endif
  5784. idle(true);
  5785. }
  5786. // Show load message
  5787. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_LOAD);
  5788. // Load filament
  5789. if (code_seen('L')) destination[E_AXIS] -= code_value_axis_units(E_AXIS);
  5790. #if defined(FILAMENT_CHANGE_LOAD_LENGTH) && FILAMENT_CHANGE_LOAD_LENGTH > 0
  5791. else destination[E_AXIS] += FILAMENT_CHANGE_LOAD_LENGTH;
  5792. #endif
  5793. RUNPLAN(FILAMENT_CHANGE_LOAD_FEEDRATE);
  5794. stepper.synchronize();
  5795. #if defined(FILAMENT_CHANGE_EXTRUDE_LENGTH) && FILAMENT_CHANGE_EXTRUDE_LENGTH > 0
  5796. do {
  5797. // Extrude filament to get into hotend
  5798. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_EXTRUDE);
  5799. destination[E_AXIS] += FILAMENT_CHANGE_EXTRUDE_LENGTH;
  5800. RUNPLAN(FILAMENT_CHANGE_EXTRUDE_FEEDRATE);
  5801. stepper.synchronize();
  5802. // Ask user if more filament should be extruded
  5803. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5804. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_OPTION);
  5805. while (filament_change_menu_response == FILAMENT_CHANGE_RESPONSE_WAIT_FOR) idle(true);
  5806. KEEPALIVE_STATE(IN_HANDLER);
  5807. } while (filament_change_menu_response != FILAMENT_CHANGE_RESPONSE_RESUME_PRINT);
  5808. #endif
  5809. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_RESUME);
  5810. KEEPALIVE_STATE(IN_HANDLER);
  5811. // Set extruder to saved position
  5812. destination[E_AXIS] = current_position[E_AXIS] = lastpos[E_AXIS];
  5813. planner.set_e_position_mm(current_position[E_AXIS]);
  5814. #if IS_KINEMATIC
  5815. // Move XYZ to starting position
  5816. planner.buffer_line_kinematic(lastpos, FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
  5817. #else
  5818. // Move XY to starting position, then Z
  5819. destination[X_AXIS] = lastpos[X_AXIS];
  5820. destination[Y_AXIS] = lastpos[Y_AXIS];
  5821. RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
  5822. destination[Z_AXIS] = lastpos[Z_AXIS];
  5823. RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
  5824. #endif
  5825. stepper.synchronize();
  5826. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  5827. filament_ran_out = false;
  5828. #endif
  5829. // Show status screen
  5830. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_STATUS);
  5831. }
  5832. #endif // FILAMENT_CHANGE_FEATURE
  5833. #if ENABLED(DUAL_X_CARRIAGE)
  5834. /**
  5835. * M605: Set dual x-carriage movement mode
  5836. *
  5837. * M605 S0: Full control mode. The slicer has full control over x-carriage movement
  5838. * M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
  5839. * M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
  5840. * units x-offset and an optional differential hotend temperature of
  5841. * mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
  5842. * the first with a spacing of 100mm in the x direction and 2 degrees hotter.
  5843. *
  5844. * Note: the X axis should be homed after changing dual x-carriage mode.
  5845. */
  5846. inline void gcode_M605() {
  5847. stepper.synchronize();
  5848. if (code_seen('S')) dual_x_carriage_mode = code_value_byte();
  5849. switch (dual_x_carriage_mode) {
  5850. case DXC_DUPLICATION_MODE:
  5851. if (code_seen('X')) duplicate_extruder_x_offset = max(code_value_axis_units(X_AXIS), X2_MIN_POS - x_home_pos(0));
  5852. if (code_seen('R')) duplicate_extruder_temp_offset = code_value_temp_diff();
  5853. SERIAL_ECHO_START;
  5854. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  5855. SERIAL_CHAR(' ');
  5856. SERIAL_ECHO(hotend_offset[X_AXIS][0]);
  5857. SERIAL_CHAR(',');
  5858. SERIAL_ECHO(hotend_offset[Y_AXIS][0]);
  5859. SERIAL_CHAR(' ');
  5860. SERIAL_ECHO(duplicate_extruder_x_offset);
  5861. SERIAL_CHAR(',');
  5862. SERIAL_ECHOLN(hotend_offset[Y_AXIS][1]);
  5863. break;
  5864. case DXC_FULL_CONTROL_MODE:
  5865. case DXC_AUTO_PARK_MODE:
  5866. break;
  5867. default:
  5868. dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  5869. break;
  5870. }
  5871. active_extruder_parked = false;
  5872. extruder_duplication_enabled = false;
  5873. delayed_move_time = 0;
  5874. }
  5875. #elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  5876. inline void gcode_M605() {
  5877. stepper.synchronize();
  5878. extruder_duplication_enabled = code_seen('S') && code_value_int() == 2;
  5879. SERIAL_ECHO_START;
  5880. SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
  5881. }
  5882. #endif // M605
  5883. #if ENABLED(LIN_ADVANCE)
  5884. /**
  5885. * M905: Set advance factor
  5886. */
  5887. inline void gcode_M905() {
  5888. stepper.synchronize();
  5889. stepper.advance_M905(code_seen('K') ? code_value_float() : -1.0);
  5890. }
  5891. #endif
  5892. /**
  5893. * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
  5894. */
  5895. inline void gcode_M907() {
  5896. #if HAS_DIGIPOTSS
  5897. LOOP_XYZE(i)
  5898. if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
  5899. if (code_seen('B')) stepper.digipot_current(4, code_value_int());
  5900. if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int());
  5901. #elif HAS_MOTOR_CURRENT_PWM
  5902. #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
  5903. if (code_seen('X')) stepper.digipot_current(0, code_value_int());
  5904. #endif
  5905. #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
  5906. if (code_seen('Z')) stepper.digipot_current(1, code_value_int());
  5907. #endif
  5908. #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
  5909. if (code_seen('E')) stepper.digipot_current(2, code_value_int());
  5910. #endif
  5911. #endif
  5912. #if ENABLED(DIGIPOT_I2C)
  5913. // this one uses actual amps in floating point
  5914. LOOP_XYZE(i) if (code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value_float());
  5915. // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
  5916. 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());
  5917. #endif
  5918. #if ENABLED(DAC_STEPPER_CURRENT)
  5919. if (code_seen('S')) {
  5920. float dac_percent = code_value_float();
  5921. for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
  5922. }
  5923. LOOP_XYZE(i) if (code_seen(axis_codes[i])) dac_current_percent(i, code_value_float());
  5924. #endif
  5925. }
  5926. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  5927. /**
  5928. * M908: Control digital trimpot directly (M908 P<pin> S<current>)
  5929. */
  5930. inline void gcode_M908() {
  5931. #if HAS_DIGIPOTSS
  5932. stepper.digitalPotWrite(
  5933. code_seen('P') ? code_value_int() : 0,
  5934. code_seen('S') ? code_value_int() : 0
  5935. );
  5936. #endif
  5937. #ifdef DAC_STEPPER_CURRENT
  5938. dac_current_raw(
  5939. code_seen('P') ? code_value_byte() : -1,
  5940. code_seen('S') ? code_value_ushort() : 0
  5941. );
  5942. #endif
  5943. }
  5944. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  5945. inline void gcode_M909() { dac_print_values(); }
  5946. inline void gcode_M910() { dac_commit_eeprom(); }
  5947. #endif
  5948. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  5949. #if HAS_MICROSTEPS
  5950. // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  5951. inline void gcode_M350() {
  5952. if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.microstep_mode(i, code_value_byte());
  5953. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_mode(i, code_value_byte());
  5954. if (code_seen('B')) stepper.microstep_mode(4, code_value_byte());
  5955. stepper.microstep_readings();
  5956. }
  5957. /**
  5958. * M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
  5959. * S# determines MS1 or MS2, X# sets the pin high/low.
  5960. */
  5961. inline void gcode_M351() {
  5962. if (code_seen('S')) switch (code_value_byte()) {
  5963. case 1:
  5964. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, code_value_byte(), -1);
  5965. if (code_seen('B')) stepper.microstep_ms(4, code_value_byte(), -1);
  5966. break;
  5967. case 2:
  5968. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, -1, code_value_byte());
  5969. if (code_seen('B')) stepper.microstep_ms(4, -1, code_value_byte());
  5970. break;
  5971. }
  5972. stepper.microstep_readings();
  5973. }
  5974. #endif // HAS_MICROSTEPS
  5975. #if ENABLED(MIXING_EXTRUDER)
  5976. /**
  5977. * M163: Set a single mix factor for a mixing extruder
  5978. * This is called "weight" by some systems.
  5979. *
  5980. * S[index] The channel index to set
  5981. * P[float] The mix value
  5982. *
  5983. */
  5984. inline void gcode_M163() {
  5985. int mix_index = code_seen('S') ? code_value_int() : 0;
  5986. float mix_value = code_seen('P') ? code_value_float() : 0.0;
  5987. if (mix_index < MIXING_STEPPERS) mixing_factor[mix_index] = mix_value;
  5988. }
  5989. #if MIXING_VIRTUAL_TOOLS > 1
  5990. /**
  5991. * M164: Store the current mix factors as a virtual tool.
  5992. *
  5993. * S[index] The virtual tool to store
  5994. *
  5995. */
  5996. inline void gcode_M164() {
  5997. int tool_index = code_seen('S') ? code_value_int() : 0;
  5998. if (tool_index < MIXING_VIRTUAL_TOOLS) {
  5999. normalize_mix();
  6000. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  6001. mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i];
  6002. }
  6003. }
  6004. #endif
  6005. #if ENABLED(DIRECT_MIXING_IN_G1)
  6006. /**
  6007. * M165: Set multiple mix factors for a mixing extruder.
  6008. * Factors that are left out will be set to 0.
  6009. * All factors together must add up to 1.0.
  6010. *
  6011. * A[factor] Mix factor for extruder stepper 1
  6012. * B[factor] Mix factor for extruder stepper 2
  6013. * C[factor] Mix factor for extruder stepper 3
  6014. * D[factor] Mix factor for extruder stepper 4
  6015. * H[factor] Mix factor for extruder stepper 5
  6016. * I[factor] Mix factor for extruder stepper 6
  6017. *
  6018. */
  6019. inline void gcode_M165() { gcode_get_mix(); }
  6020. #endif
  6021. #endif // MIXING_EXTRUDER
  6022. /**
  6023. * M999: Restart after being stopped
  6024. *
  6025. * Default behaviour is to flush the serial buffer and request
  6026. * a resend to the host starting on the last N line received.
  6027. *
  6028. * Sending "M999 S1" will resume printing without flushing the
  6029. * existing command buffer.
  6030. *
  6031. */
  6032. inline void gcode_M999() {
  6033. Running = true;
  6034. lcd_reset_alert_level();
  6035. if (code_seen('S') && code_value_bool()) return;
  6036. // gcode_LastN = Stopped_gcode_LastN;
  6037. FlushSerialRequestResend();
  6038. }
  6039. #if ENABLED(SWITCHING_EXTRUDER)
  6040. inline void move_extruder_servo(uint8_t e) {
  6041. const int angles[2] = SWITCHING_EXTRUDER_SERVO_ANGLES;
  6042. MOVE_SERVO(SWITCHING_EXTRUDER_SERVO_NR, angles[e]);
  6043. }
  6044. #endif
  6045. inline void invalid_extruder_error(const uint8_t &e) {
  6046. SERIAL_ECHO_START;
  6047. SERIAL_CHAR('T');
  6048. SERIAL_PROTOCOL_F(e, DEC);
  6049. SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
  6050. }
  6051. /**
  6052. * Perform a tool-change, which may result in moving the
  6053. * previous tool out of the way and the new tool into place.
  6054. */
  6055. void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
  6056. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  6057. if (tmp_extruder >= MIXING_VIRTUAL_TOOLS) {
  6058. invalid_extruder_error(tmp_extruder);
  6059. return;
  6060. }
  6061. // T0-Tnnn: Switch virtual tool by changing the mix
  6062. for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
  6063. mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
  6064. #else //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  6065. #if HOTENDS > 1
  6066. if (tmp_extruder >= EXTRUDERS) {
  6067. invalid_extruder_error(tmp_extruder);
  6068. return;
  6069. }
  6070. float old_feedrate_mm_s = feedrate_mm_s;
  6071. feedrate_mm_s = fr_mm_s > 0.0 ? (old_feedrate_mm_s = fr_mm_s) : XY_PROBE_FEEDRATE_MM_S;
  6072. if (tmp_extruder != active_extruder) {
  6073. if (!no_move && axis_unhomed_error(true, true, true)) {
  6074. SERIAL_ECHOLNPGM("No move on toolchange");
  6075. no_move = true;
  6076. }
  6077. // Save current position to destination, for use later
  6078. set_destination_to_current();
  6079. #if ENABLED(DUAL_X_CARRIAGE)
  6080. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6081. if (DEBUGGING(LEVELING)) {
  6082. SERIAL_ECHOPGM("Dual X Carriage Mode ");
  6083. switch (dual_x_carriage_mode) {
  6084. case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
  6085. case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
  6086. case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
  6087. }
  6088. }
  6089. #endif
  6090. if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() &&
  6091. (delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder))
  6092. ) {
  6093. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6094. if (DEBUGGING(LEVELING)) {
  6095. SERIAL_ECHOPAIR("Raise to ", current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT); SERIAL_EOL;
  6096. SERIAL_ECHOPAIR("MoveX to ", x_home_pos(active_extruder)); SERIAL_EOL;
  6097. SERIAL_ECHOPAIR("Lower to ", current_position[Z_AXIS]); SERIAL_EOL;
  6098. }
  6099. #endif
  6100. // Park old head: 1) raise 2) move to park position 3) lower
  6101. for (uint8_t i = 0; i < 3; i++)
  6102. planner.buffer_line(
  6103. i == 0 ? current_position[X_AXIS] : x_home_pos(active_extruder),
  6104. current_position[Y_AXIS],
  6105. current_position[Z_AXIS] + (i == 2 ? 0 : TOOLCHANGE_PARK_ZLIFT),
  6106. current_position[E_AXIS],
  6107. planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
  6108. active_extruder
  6109. );
  6110. stepper.synchronize();
  6111. }
  6112. // apply Y & Z extruder offset (x offset is already used in determining home pos)
  6113. current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
  6114. current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
  6115. active_extruder = tmp_extruder;
  6116. // This function resets the max/min values - the current position may be overwritten below.
  6117. set_axis_is_at_home(X_AXIS);
  6118. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6119. if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
  6120. #endif
  6121. switch (dual_x_carriage_mode) {
  6122. case DXC_FULL_CONTROL_MODE:
  6123. current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
  6124. inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
  6125. break;
  6126. case DXC_DUPLICATION_MODE:
  6127. active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
  6128. if (active_extruder_parked)
  6129. current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
  6130. else
  6131. current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
  6132. inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
  6133. extruder_duplication_enabled = false;
  6134. break;
  6135. default:
  6136. // record raised toolhead position for use by unpark
  6137. memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
  6138. raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
  6139. active_extruder_parked = true;
  6140. delayed_move_time = 0;
  6141. break;
  6142. }
  6143. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6144. if (DEBUGGING(LEVELING)) {
  6145. SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
  6146. DEBUG_POS("New extruder (parked)", current_position);
  6147. }
  6148. #endif
  6149. // No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
  6150. #else // !DUAL_X_CARRIAGE
  6151. #if ENABLED(SWITCHING_EXTRUDER)
  6152. // <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
  6153. float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
  6154. z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
  6155. set_destination_to_current();
  6156. // Always raise by some amount
  6157. destination[Z_AXIS] += z_raise;
  6158. planner.buffer_line_kinematic(destination, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
  6159. stepper.synchronize();
  6160. move_extruder_servo(active_extruder);
  6161. delay(500);
  6162. // Move back down, if needed
  6163. if (z_raise != z_diff) {
  6164. destination[Z_AXIS] = current_position[Z_AXIS] + z_diff;
  6165. planner.buffer_line_kinematic(destination, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
  6166. stepper.synchronize();
  6167. }
  6168. #endif
  6169. /**
  6170. * Set current_position to the position of the new nozzle.
  6171. * Offsets are based on linear distance, so we need to get
  6172. * the resulting position in coordinate space.
  6173. *
  6174. * - With grid or 3-point leveling, offset XYZ by a tilted vector
  6175. * - With mesh leveling, update Z for the new position
  6176. * - Otherwise, just use the raw linear distance
  6177. *
  6178. * Software endstops are altered here too. Consider a case where:
  6179. * E0 at X=0 ... E1 at X=10
  6180. * When we switch to E1 now X=10, but E1 can't move left.
  6181. * To express this we apply the change in XY to the software endstops.
  6182. * E1 can move farther right than E0, so the right limit is extended.
  6183. *
  6184. * Note that we don't adjust the Z software endstops. Why not?
  6185. * Consider a case where Z=0 (here) and switching to E1 makes Z=1
  6186. * because the bed is 1mm lower at the new position. As long as
  6187. * the first nozzle is out of the way, the carriage should be
  6188. * allowed to move 1mm lower. This technically "breaks" the
  6189. * Z software endstop. But this is technically correct (and
  6190. * there is no viable alternative).
  6191. */
  6192. #if ABL_PLANAR
  6193. // Offset extruder, make sure to apply the bed level rotation matrix
  6194. vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
  6195. hotend_offset[Y_AXIS][tmp_extruder],
  6196. 0),
  6197. act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
  6198. hotend_offset[Y_AXIS][active_extruder],
  6199. 0),
  6200. offset_vec = tmp_offset_vec - act_offset_vec;
  6201. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6202. if (DEBUGGING(LEVELING)) {
  6203. tmp_offset_vec.debug("tmp_offset_vec");
  6204. act_offset_vec.debug("act_offset_vec");
  6205. offset_vec.debug("offset_vec (BEFORE)");
  6206. }
  6207. #endif
  6208. offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
  6209. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6210. if (DEBUGGING(LEVELING)) offset_vec.debug("offset_vec (AFTER)");
  6211. #endif
  6212. // Adjustments to the current position
  6213. float xydiff[2] = { offset_vec.x, offset_vec.y };
  6214. current_position[Z_AXIS] += offset_vec.z;
  6215. #else // !ABL_PLANAR
  6216. float xydiff[2] = {
  6217. hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
  6218. hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
  6219. };
  6220. #if ENABLED(MESH_BED_LEVELING)
  6221. if (mbl.active()) {
  6222. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6223. if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before MBL: ", current_position[Z_AXIS]);
  6224. #endif
  6225. float xpos = RAW_CURRENT_POSITION(X_AXIS),
  6226. ypos = RAW_CURRENT_POSITION(Y_AXIS);
  6227. current_position[Z_AXIS] += mbl.get_z(xpos + xydiff[X_AXIS], ypos + xydiff[Y_AXIS]) - mbl.get_z(xpos, ypos);
  6228. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6229. if (DEBUGGING(LEVELING))
  6230. SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]);
  6231. #endif
  6232. }
  6233. #endif // MESH_BED_LEVELING
  6234. #endif // !HAS_ABL
  6235. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6236. if (DEBUGGING(LEVELING)) {
  6237. SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
  6238. SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
  6239. SERIAL_ECHOLNPGM(" }");
  6240. }
  6241. #endif
  6242. // The newly-selected extruder XY is actually at...
  6243. current_position[X_AXIS] += xydiff[X_AXIS];
  6244. current_position[Y_AXIS] += xydiff[Y_AXIS];
  6245. for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
  6246. position_shift[i] += xydiff[i];
  6247. update_software_endstops((AxisEnum)i);
  6248. }
  6249. // Set the new active extruder
  6250. active_extruder = tmp_extruder;
  6251. #endif // !DUAL_X_CARRIAGE
  6252. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6253. if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
  6254. #endif
  6255. // Tell the planner the new "current position"
  6256. SYNC_PLAN_POSITION_KINEMATIC();
  6257. // Move to the "old position" (move the extruder into place)
  6258. if (!no_move && IsRunning()) {
  6259. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6260. if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
  6261. #endif
  6262. prepare_move_to_destination();
  6263. }
  6264. } // (tmp_extruder != active_extruder)
  6265. stepper.synchronize();
  6266. #if ENABLED(EXT_SOLENOID)
  6267. disable_all_solenoids();
  6268. enable_solenoid_on_active_extruder();
  6269. #endif // EXT_SOLENOID
  6270. feedrate_mm_s = old_feedrate_mm_s;
  6271. #else // HOTENDS <= 1
  6272. // Set the new active extruder
  6273. active_extruder = tmp_extruder;
  6274. UNUSED(fr_mm_s);
  6275. UNUSED(no_move);
  6276. #endif // HOTENDS <= 1
  6277. SERIAL_ECHO_START;
  6278. SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, (int)active_extruder);
  6279. #endif //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  6280. }
  6281. /**
  6282. * T0-T3: Switch tool, usually switching extruders
  6283. *
  6284. * F[units/min] Set the movement feedrate
  6285. * S1 Don't move the tool in XY after change
  6286. */
  6287. inline void gcode_T(uint8_t tmp_extruder) {
  6288. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6289. if (DEBUGGING(LEVELING)) {
  6290. SERIAL_ECHOPAIR(">>> gcode_T(", tmp_extruder);
  6291. SERIAL_CHAR(')');
  6292. SERIAL_EOL;
  6293. DEBUG_POS("BEFORE", current_position);
  6294. }
  6295. #endif
  6296. #if HOTENDS == 1 || (ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1)
  6297. tool_change(tmp_extruder);
  6298. #elif HOTENDS > 1
  6299. tool_change(
  6300. tmp_extruder,
  6301. code_seen('F') ? MMM_TO_MMS(code_value_axis_units(X_AXIS)) : 0.0,
  6302. (tmp_extruder == active_extruder) || (code_seen('S') && code_value_bool())
  6303. );
  6304. #endif
  6305. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6306. if (DEBUGGING(LEVELING)) {
  6307. DEBUG_POS("AFTER", current_position);
  6308. SERIAL_ECHOLNPGM("<<< gcode_T");
  6309. }
  6310. #endif
  6311. }
  6312. /**
  6313. * Process a single command and dispatch it to its handler
  6314. * This is called from the main loop()
  6315. */
  6316. void process_next_command() {
  6317. current_command = command_queue[cmd_queue_index_r];
  6318. if (DEBUGGING(ECHO)) {
  6319. SERIAL_ECHO_START;
  6320. SERIAL_ECHOLN(current_command);
  6321. }
  6322. // Sanitize the current command:
  6323. // - Skip leading spaces
  6324. // - Bypass N[-0-9][0-9]*[ ]*
  6325. // - Overwrite * with nul to mark the end
  6326. while (*current_command == ' ') ++current_command;
  6327. if (*current_command == 'N' && NUMERIC_SIGNED(current_command[1])) {
  6328. current_command += 2; // skip N[-0-9]
  6329. while (NUMERIC(*current_command)) ++current_command; // skip [0-9]*
  6330. while (*current_command == ' ') ++current_command; // skip [ ]*
  6331. }
  6332. char* starpos = strchr(current_command, '*'); // * should always be the last parameter
  6333. if (starpos) while (*starpos == ' ' || *starpos == '*') *starpos-- = '\0'; // nullify '*' and ' '
  6334. char *cmd_ptr = current_command;
  6335. // Get the command code, which must be G, M, or T
  6336. char command_code = *cmd_ptr++;
  6337. // Skip spaces to get the numeric part
  6338. while (*cmd_ptr == ' ') cmd_ptr++;
  6339. // Allow for decimal point in command
  6340. #if ENABLED(G38_PROBE_TARGET)
  6341. uint8_t subcode = 0;
  6342. #endif
  6343. uint16_t codenum = 0; // define ahead of goto
  6344. // Bail early if there's no code
  6345. bool code_is_good = NUMERIC(*cmd_ptr);
  6346. if (!code_is_good) goto ExitUnknownCommand;
  6347. // Get and skip the code number
  6348. do {
  6349. codenum = (codenum * 10) + (*cmd_ptr - '0');
  6350. cmd_ptr++;
  6351. } while (NUMERIC(*cmd_ptr));
  6352. // Allow for decimal point in command
  6353. #if ENABLED(G38_PROBE_TARGET)
  6354. if (*cmd_ptr == '.') {
  6355. cmd_ptr++;
  6356. while (NUMERIC(*cmd_ptr))
  6357. subcode = (subcode * 10) + (*cmd_ptr++ - '0');
  6358. }
  6359. #endif
  6360. // Skip all spaces to get to the first argument, or nul
  6361. while (*cmd_ptr == ' ') cmd_ptr++;
  6362. // The command's arguments (if any) start here, for sure!
  6363. current_command_args = cmd_ptr;
  6364. KEEPALIVE_STATE(IN_HANDLER);
  6365. // Handle a known G, M, or T
  6366. switch (command_code) {
  6367. case 'G': switch (codenum) {
  6368. // G0, G1
  6369. case 0:
  6370. case 1:
  6371. #if IS_SCARA
  6372. gcode_G0_G1(codenum == 0);
  6373. #else
  6374. gcode_G0_G1();
  6375. #endif
  6376. break;
  6377. // G2, G3
  6378. #if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
  6379. case 2: // G2 - CW ARC
  6380. case 3: // G3 - CCW ARC
  6381. gcode_G2_G3(codenum == 2);
  6382. break;
  6383. #endif
  6384. // G4 Dwell
  6385. case 4:
  6386. gcode_G4();
  6387. break;
  6388. #if ENABLED(BEZIER_CURVE_SUPPORT)
  6389. // G5
  6390. case 5: // G5 - Cubic B_spline
  6391. gcode_G5();
  6392. break;
  6393. #endif // BEZIER_CURVE_SUPPORT
  6394. #if ENABLED(FWRETRACT)
  6395. case 10: // G10: retract
  6396. case 11: // G11: retract_recover
  6397. gcode_G10_G11(codenum == 10);
  6398. break;
  6399. #endif // FWRETRACT
  6400. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  6401. case 12:
  6402. gcode_G12(); // G12: Nozzle Clean
  6403. break;
  6404. #endif // NOZZLE_CLEAN_FEATURE
  6405. #if ENABLED(INCH_MODE_SUPPORT)
  6406. case 20: //G20: Inch Mode
  6407. gcode_G20();
  6408. break;
  6409. case 21: //G21: MM Mode
  6410. gcode_G21();
  6411. break;
  6412. #endif // INCH_MODE_SUPPORT
  6413. #if ENABLED(NOZZLE_PARK_FEATURE)
  6414. case 27: // G27: Nozzle Park
  6415. gcode_G27();
  6416. break;
  6417. #endif // NOZZLE_PARK_FEATURE
  6418. case 28: // G28: Home all axes, one at a time
  6419. gcode_G28();
  6420. break;
  6421. #if PLANNER_LEVELING
  6422. case 29: // G29 Detailed Z probe, probes the bed at 3 or more points.
  6423. gcode_G29();
  6424. break;
  6425. #endif // PLANNER_LEVELING
  6426. #if HAS_BED_PROBE
  6427. case 30: // G30 Single Z probe
  6428. gcode_G30();
  6429. break;
  6430. #if ENABLED(Z_PROBE_SLED)
  6431. case 31: // G31: dock the sled
  6432. gcode_G31();
  6433. break;
  6434. case 32: // G32: undock the sled
  6435. gcode_G32();
  6436. break;
  6437. #endif // Z_PROBE_SLED
  6438. #endif // HAS_BED_PROBE
  6439. #if ENABLED(G38_PROBE_TARGET)
  6440. case 38: // G38.2 & G38.3
  6441. if (subcode == 2 || subcode == 3)
  6442. gcode_G38(subcode == 2);
  6443. break;
  6444. #endif
  6445. case 90: // G90
  6446. relative_mode = false;
  6447. break;
  6448. case 91: // G91
  6449. relative_mode = true;
  6450. break;
  6451. case 92: // G92
  6452. gcode_G92();
  6453. break;
  6454. }
  6455. break;
  6456. case 'M': switch (codenum) {
  6457. #if ENABLED(ULTIPANEL) || ENABLED(EMERGENCY_PARSER)
  6458. case 0: // M0: Unconditional stop - Wait for user button press on LCD
  6459. case 1: // M1: Conditional stop - Wait for user button press on LCD
  6460. gcode_M0_M1();
  6461. break;
  6462. #endif // ULTIPANEL
  6463. case 17: // M17: Enable all stepper motors
  6464. gcode_M17();
  6465. break;
  6466. #if ENABLED(SDSUPPORT)
  6467. case 20: // M20: list SD card
  6468. gcode_M20(); break;
  6469. case 21: // M21: init SD card
  6470. gcode_M21(); break;
  6471. case 22: // M22: release SD card
  6472. gcode_M22(); break;
  6473. case 23: // M23: Select file
  6474. gcode_M23(); break;
  6475. case 24: // M24: Start SD print
  6476. gcode_M24(); break;
  6477. case 25: // M25: Pause SD print
  6478. gcode_M25(); break;
  6479. case 26: // M26: Set SD index
  6480. gcode_M26(); break;
  6481. case 27: // M27: Get SD status
  6482. gcode_M27(); break;
  6483. case 28: // M28: Start SD write
  6484. gcode_M28(); break;
  6485. case 29: // M29: Stop SD write
  6486. gcode_M29(); break;
  6487. case 30: // M30 <filename> Delete File
  6488. gcode_M30(); break;
  6489. case 32: // M32: Select file and start SD print
  6490. gcode_M32(); break;
  6491. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  6492. case 33: // M33: Get the long full path to a file or folder
  6493. gcode_M33(); break;
  6494. #endif
  6495. case 928: // M928: Start SD write
  6496. gcode_M928(); break;
  6497. #endif //SDSUPPORT
  6498. case 31: // M31: Report time since the start of SD print or last M109
  6499. gcode_M31(); break;
  6500. case 42: // M42: Change pin state
  6501. gcode_M42(); break;
  6502. #if ENABLED(PINS_DEBUGGING)
  6503. case 43: // M43: Read pin state
  6504. gcode_M43(); break;
  6505. #endif
  6506. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  6507. case 48: // M48: Z probe repeatability test
  6508. gcode_M48();
  6509. break;
  6510. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  6511. case 75: // M75: Start print timer
  6512. gcode_M75(); break;
  6513. case 76: // M76: Pause print timer
  6514. gcode_M76(); break;
  6515. case 77: // M77: Stop print timer
  6516. gcode_M77(); break;
  6517. #if ENABLED(PRINTCOUNTER)
  6518. case 78: // M78: Show print statistics
  6519. gcode_M78(); break;
  6520. #endif
  6521. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  6522. case 100: // M100: Free Memory Report
  6523. gcode_M100();
  6524. break;
  6525. #endif
  6526. case 104: // M104: Set hot end temperature
  6527. gcode_M104();
  6528. break;
  6529. case 110: // M110: Set Current Line Number
  6530. gcode_M110();
  6531. break;
  6532. case 111: // M111: Set debug level
  6533. gcode_M111();
  6534. break;
  6535. #if DISABLED(EMERGENCY_PARSER)
  6536. case 108: // M108: Cancel Waiting
  6537. gcode_M108();
  6538. break;
  6539. case 112: // M112: Emergency Stop
  6540. gcode_M112();
  6541. break;
  6542. case 410: // M410 quickstop - Abort all the planned moves.
  6543. gcode_M410();
  6544. break;
  6545. #endif
  6546. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  6547. case 113: // M113: Set Host Keepalive interval
  6548. gcode_M113();
  6549. break;
  6550. #endif
  6551. case 140: // M140: Set bed temperature
  6552. gcode_M140();
  6553. break;
  6554. case 105: // M105: Report current temperature
  6555. gcode_M105();
  6556. KEEPALIVE_STATE(NOT_BUSY);
  6557. return; // "ok" already printed
  6558. case 109: // M109: Wait for hotend temperature to reach target
  6559. gcode_M109();
  6560. break;
  6561. #if HAS_TEMP_BED
  6562. case 190: // M190: Wait for bed temperature to reach target
  6563. gcode_M190();
  6564. break;
  6565. #endif // HAS_TEMP_BED
  6566. #if FAN_COUNT > 0
  6567. case 106: // M106: Fan On
  6568. gcode_M106();
  6569. break;
  6570. case 107: // M107: Fan Off
  6571. gcode_M107();
  6572. break;
  6573. #endif // FAN_COUNT > 0
  6574. #if ENABLED(BARICUDA)
  6575. // PWM for HEATER_1_PIN
  6576. #if HAS_HEATER_1
  6577. case 126: // M126: valve open
  6578. gcode_M126();
  6579. break;
  6580. case 127: // M127: valve closed
  6581. gcode_M127();
  6582. break;
  6583. #endif // HAS_HEATER_1
  6584. // PWM for HEATER_2_PIN
  6585. #if HAS_HEATER_2
  6586. case 128: // M128: valve open
  6587. gcode_M128();
  6588. break;
  6589. case 129: // M129: valve closed
  6590. gcode_M129();
  6591. break;
  6592. #endif // HAS_HEATER_2
  6593. #endif // BARICUDA
  6594. #if HAS_POWER_SWITCH
  6595. case 80: // M80: Turn on Power Supply
  6596. gcode_M80();
  6597. break;
  6598. #endif // HAS_POWER_SWITCH
  6599. case 81: // M81: Turn off Power, including Power Supply, if possible
  6600. gcode_M81();
  6601. break;
  6602. case 82: // M83: Set E axis normal mode (same as other axes)
  6603. gcode_M82();
  6604. break;
  6605. case 83: // M83: Set E axis relative mode
  6606. gcode_M83();
  6607. break;
  6608. case 18: // M18 => M84
  6609. case 84: // M84: Disable all steppers or set timeout
  6610. gcode_M18_M84();
  6611. break;
  6612. case 85: // M85: Set inactivity stepper shutdown timeout
  6613. gcode_M85();
  6614. break;
  6615. case 92: // M92: Set the steps-per-unit for one or more axes
  6616. gcode_M92();
  6617. break;
  6618. case 115: // M115: Report capabilities
  6619. gcode_M115();
  6620. break;
  6621. case 117: // M117: Set LCD message text, if possible
  6622. gcode_M117();
  6623. break;
  6624. case 114: // M114: Report current position
  6625. gcode_M114();
  6626. break;
  6627. case 120: // M120: Enable endstops
  6628. gcode_M120();
  6629. break;
  6630. case 121: // M121: Disable endstops
  6631. gcode_M121();
  6632. break;
  6633. case 119: // M119: Report endstop states
  6634. gcode_M119();
  6635. break;
  6636. #if ENABLED(ULTIPANEL)
  6637. case 145: // M145: Set material heatup parameters
  6638. gcode_M145();
  6639. break;
  6640. #endif
  6641. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  6642. case 149: // M149: Set temperature units
  6643. gcode_M149();
  6644. break;
  6645. #endif
  6646. #if ENABLED(BLINKM)
  6647. case 150: // M150: Set the BlinkM LCD color
  6648. gcode_M150();
  6649. break;
  6650. #endif // BLINKM
  6651. #if ENABLED(EXPERIMENTAL_I2CBUS)
  6652. case 155: // M155: Send data to an i2c slave
  6653. gcode_M155();
  6654. break;
  6655. case 156: // M156: Request data from an i2c slave
  6656. gcode_M156();
  6657. break;
  6658. #endif //EXPERIMENTAL_I2CBUS
  6659. #if ENABLED(MIXING_EXTRUDER)
  6660. case 163: // M163: Set a component weight for mixing extruder
  6661. gcode_M163();
  6662. break;
  6663. #if MIXING_VIRTUAL_TOOLS > 1
  6664. case 164: // M164: Save current mix as a virtual extruder
  6665. gcode_M164();
  6666. break;
  6667. #endif
  6668. #if ENABLED(DIRECT_MIXING_IN_G1)
  6669. case 165: // M165: Set multiple mix weights
  6670. gcode_M165();
  6671. break;
  6672. #endif
  6673. #endif
  6674. case 200: // M200: Set filament diameter, E to cubic units
  6675. gcode_M200();
  6676. break;
  6677. case 201: // M201: Set max acceleration for print moves (units/s^2)
  6678. gcode_M201();
  6679. break;
  6680. #if 0 // Not used for Sprinter/grbl gen6
  6681. case 202: // M202
  6682. gcode_M202();
  6683. break;
  6684. #endif
  6685. case 203: // M203: Set max feedrate (units/sec)
  6686. gcode_M203();
  6687. break;
  6688. case 204: // M204: Set acceleration
  6689. gcode_M204();
  6690. break;
  6691. case 205: //M205: Set advanced settings
  6692. gcode_M205();
  6693. break;
  6694. case 206: // M206: Set home offsets
  6695. gcode_M206();
  6696. break;
  6697. #if ENABLED(DELTA)
  6698. case 665: // M665: Set delta configurations
  6699. gcode_M665();
  6700. break;
  6701. #endif
  6702. #if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS)
  6703. case 666: // M666: Set delta or dual endstop adjustment
  6704. gcode_M666();
  6705. break;
  6706. #endif
  6707. #if ENABLED(FWRETRACT)
  6708. case 207: // M207: Set Retract Length, Feedrate, and Z lift
  6709. gcode_M207();
  6710. break;
  6711. case 208: // M208: Set Recover (unretract) Additional Length and Feedrate
  6712. gcode_M208();
  6713. break;
  6714. case 209: // M209: Turn Automatic Retract Detection on/off
  6715. gcode_M209();
  6716. break;
  6717. #endif // FWRETRACT
  6718. case 211: // M211: Enable, Disable, and/or Report software endstops
  6719. gcode_M211();
  6720. break;
  6721. #if HOTENDS > 1
  6722. case 218: // M218: Set a tool offset
  6723. gcode_M218();
  6724. break;
  6725. #endif
  6726. case 220: // M220: Set Feedrate Percentage: S<percent> ("FR" on your LCD)
  6727. gcode_M220();
  6728. break;
  6729. case 221: // M221: Set Flow Percentage
  6730. gcode_M221();
  6731. break;
  6732. case 226: // M226: Wait until a pin reaches a state
  6733. gcode_M226();
  6734. break;
  6735. #if HAS_SERVOS
  6736. case 280: // M280: Set servo position absolute
  6737. gcode_M280();
  6738. break;
  6739. #endif // HAS_SERVOS
  6740. #if HAS_BUZZER
  6741. case 300: // M300: Play beep tone
  6742. gcode_M300();
  6743. break;
  6744. #endif // HAS_BUZZER
  6745. #if ENABLED(PIDTEMP)
  6746. case 301: // M301: Set hotend PID parameters
  6747. gcode_M301();
  6748. break;
  6749. #endif // PIDTEMP
  6750. #if ENABLED(PIDTEMPBED)
  6751. case 304: // M304: Set bed PID parameters
  6752. gcode_M304();
  6753. break;
  6754. #endif // PIDTEMPBED
  6755. #if defined(CHDK) || HAS_PHOTOGRAPH
  6756. case 240: // M240: Trigger a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  6757. gcode_M240();
  6758. break;
  6759. #endif // CHDK || PHOTOGRAPH_PIN
  6760. #if HAS_LCD_CONTRAST
  6761. case 250: // M250: Set LCD contrast
  6762. gcode_M250();
  6763. break;
  6764. #endif // HAS_LCD_CONTRAST
  6765. #if ENABLED(PREVENT_COLD_EXTRUSION)
  6766. case 302: // M302: Allow cold extrudes (set the minimum extrude temperature)
  6767. gcode_M302();
  6768. break;
  6769. #endif // PREVENT_COLD_EXTRUSION
  6770. case 303: // M303: PID autotune
  6771. gcode_M303();
  6772. break;
  6773. #if ENABLED(MORGAN_SCARA)
  6774. case 360: // M360: SCARA Theta pos1
  6775. if (gcode_M360()) return;
  6776. break;
  6777. case 361: // M361: SCARA Theta pos2
  6778. if (gcode_M361()) return;
  6779. break;
  6780. case 362: // M362: SCARA Psi pos1
  6781. if (gcode_M362()) return;
  6782. break;
  6783. case 363: // M363: SCARA Psi pos2
  6784. if (gcode_M363()) return;
  6785. break;
  6786. case 364: // M364: SCARA Psi pos3 (90 deg to Theta)
  6787. if (gcode_M364()) return;
  6788. break;
  6789. #endif // SCARA
  6790. case 400: // M400: Finish all moves
  6791. gcode_M400();
  6792. break;
  6793. #if HAS_BED_PROBE
  6794. case 401: // M401: Deploy probe
  6795. gcode_M401();
  6796. break;
  6797. case 402: // M402: Stow probe
  6798. gcode_M402();
  6799. break;
  6800. #endif // HAS_BED_PROBE
  6801. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  6802. case 404: // M404: Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
  6803. gcode_M404();
  6804. break;
  6805. case 405: // M405: Turn on filament sensor for control
  6806. gcode_M405();
  6807. break;
  6808. case 406: // M406: Turn off filament sensor for control
  6809. gcode_M406();
  6810. break;
  6811. case 407: // M407: Display measured filament diameter
  6812. gcode_M407();
  6813. break;
  6814. #endif // ENABLED(FILAMENT_WIDTH_SENSOR)
  6815. #if PLANNER_LEVELING
  6816. case 420: // M420: Enable/Disable Bed Leveling
  6817. gcode_M420();
  6818. break;
  6819. #endif
  6820. #if ENABLED(MESH_BED_LEVELING)
  6821. case 421: // M421: Set a Mesh Bed Leveling Z coordinate
  6822. gcode_M421();
  6823. break;
  6824. #endif
  6825. case 428: // M428: Apply current_position to home_offset
  6826. gcode_M428();
  6827. break;
  6828. case 500: // M500: Store settings in EEPROM
  6829. gcode_M500();
  6830. break;
  6831. case 501: // M501: Read settings from EEPROM
  6832. gcode_M501();
  6833. break;
  6834. case 502: // M502: Revert to default settings
  6835. gcode_M502();
  6836. break;
  6837. case 503: // M503: print settings currently in memory
  6838. gcode_M503();
  6839. break;
  6840. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  6841. case 540:
  6842. gcode_M540();
  6843. break;
  6844. #endif
  6845. #if HAS_BED_PROBE
  6846. case 851: // M851: Set Z Probe Z Offset
  6847. gcode_M851();
  6848. break;
  6849. #endif // HAS_BED_PROBE
  6850. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  6851. case 600: // M600: Pause for filament change
  6852. gcode_M600();
  6853. break;
  6854. #endif // FILAMENT_CHANGE_FEATURE
  6855. #if ENABLED(DUAL_X_CARRIAGE)
  6856. case 605: // M605: Set Dual X Carriage movement mode
  6857. gcode_M605();
  6858. break;
  6859. #endif // DUAL_X_CARRIAGE
  6860. #if ENABLED(LIN_ADVANCE)
  6861. case 905: // M905: Set advance K factor.
  6862. gcode_M905();
  6863. break;
  6864. #endif
  6865. case 907: // M907: Set digital trimpot motor current using axis codes.
  6866. gcode_M907();
  6867. break;
  6868. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  6869. case 908: // M908: Control digital trimpot directly.
  6870. gcode_M908();
  6871. break;
  6872. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  6873. case 909: // M909: Print digipot/DAC current value
  6874. gcode_M909();
  6875. break;
  6876. case 910: // M910: Commit digipot/DAC value to external EEPROM
  6877. gcode_M910();
  6878. break;
  6879. #endif
  6880. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  6881. #if HAS_MICROSTEPS
  6882. case 350: // M350: Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  6883. gcode_M350();
  6884. break;
  6885. case 351: // M351: Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  6886. gcode_M351();
  6887. break;
  6888. #endif // HAS_MICROSTEPS
  6889. case 999: // M999: Restart after being Stopped
  6890. gcode_M999();
  6891. break;
  6892. }
  6893. break;
  6894. case 'T':
  6895. gcode_T(codenum);
  6896. break;
  6897. default: code_is_good = false;
  6898. }
  6899. KEEPALIVE_STATE(NOT_BUSY);
  6900. ExitUnknownCommand:
  6901. // Still unknown command? Throw an error
  6902. if (!code_is_good) unknown_command_error();
  6903. ok_to_send();
  6904. }
  6905. /**
  6906. * Send a "Resend: nnn" message to the host to
  6907. * indicate that a command needs to be re-sent.
  6908. */
  6909. void FlushSerialRequestResend() {
  6910. //char command_queue[cmd_queue_index_r][100]="Resend:";
  6911. MYSERIAL.flush();
  6912. SERIAL_PROTOCOLPGM(MSG_RESEND);
  6913. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  6914. ok_to_send();
  6915. }
  6916. /**
  6917. * Send an "ok" message to the host, indicating
  6918. * that a command was successfully processed.
  6919. *
  6920. * If ADVANCED_OK is enabled also include:
  6921. * N<int> Line number of the command, if any
  6922. * P<int> Planner space remaining
  6923. * B<int> Block queue space remaining
  6924. */
  6925. void ok_to_send() {
  6926. refresh_cmd_timeout();
  6927. if (!send_ok[cmd_queue_index_r]) return;
  6928. SERIAL_PROTOCOLPGM(MSG_OK);
  6929. #if ENABLED(ADVANCED_OK)
  6930. char* p = command_queue[cmd_queue_index_r];
  6931. if (*p == 'N') {
  6932. SERIAL_PROTOCOL(' ');
  6933. SERIAL_ECHO(*p++);
  6934. while (NUMERIC_SIGNED(*p))
  6935. SERIAL_ECHO(*p++);
  6936. }
  6937. SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
  6938. SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
  6939. #endif
  6940. SERIAL_EOL;
  6941. }
  6942. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  6943. /**
  6944. * Constrain the given coordinates to the software endstops.
  6945. */
  6946. void clamp_to_software_endstops(float target[XYZ]) {
  6947. #if ENABLED(min_software_endstops)
  6948. NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
  6949. NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
  6950. NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
  6951. #endif
  6952. #if ENABLED(max_software_endstops)
  6953. NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
  6954. NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
  6955. NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
  6956. #endif
  6957. }
  6958. #endif
  6959. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  6960. // Get the Z adjustment for non-linear bed leveling
  6961. float bilinear_z_offset(float cartesian[XYZ]) {
  6962. // XY relative to the probed area
  6963. const float x = RAW_X_POSITION(cartesian[X_AXIS]) - bilinear_start[X_AXIS],
  6964. y = RAW_Y_POSITION(cartesian[Y_AXIS]) - bilinear_start[Y_AXIS];
  6965. // Convert to grid box units
  6966. float ratio_x = x / bilinear_grid_spacing[X_AXIS],
  6967. ratio_y = y / bilinear_grid_spacing[Y_AXIS];
  6968. // Whole units for the grid line indices. Constrained within bounds.
  6969. const int gridx = constrain(floor(ratio_x), 0, ABL_GRID_POINTS_X - 1),
  6970. gridy = constrain(floor(ratio_y), 0, ABL_GRID_POINTS_Y - 1),
  6971. nextx = min(gridx + 1, ABL_GRID_POINTS_X - 1),
  6972. nexty = min(gridy + 1, ABL_GRID_POINTS_Y - 1);
  6973. // Subtract whole to get the ratio within the grid box
  6974. ratio_x -= gridx; ratio_y -= gridy;
  6975. // Never less than 0.0. (Over 1.0 is fine due to previous contraints.)
  6976. NOLESS(ratio_x, 0); NOLESS(ratio_y, 0);
  6977. // Z at the box corners
  6978. const float z1 = bed_level_grid[gridx][gridy], // left-front
  6979. z2 = bed_level_grid[gridx][nexty], // left-back
  6980. z3 = bed_level_grid[nextx][gridy], // right-front
  6981. z4 = bed_level_grid[nextx][nexty], // right-back
  6982. // Bilinear interpolate
  6983. L = z1 + (z2 - z1) * ratio_y, // Linear interp. LF -> LB
  6984. R = z3 + (z4 - z3) * ratio_y, // Linear interp. RF -> RB
  6985. offset = L + ratio_x * (R - L);
  6986. /*
  6987. static float last_offset = 0;
  6988. if (fabs(last_offset - offset) > 0.2) {
  6989. SERIAL_ECHOPGM("Sudden Shift at ");
  6990. SERIAL_ECHOPAIR("x=", x);
  6991. SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[X_AXIS]);
  6992. SERIAL_ECHOLNPAIR(" -> gridx=", gridx);
  6993. SERIAL_ECHOPAIR(" y=", y);
  6994. SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[Y_AXIS]);
  6995. SERIAL_ECHOLNPAIR(" -> gridy=", gridy);
  6996. SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
  6997. SERIAL_ECHOLNPAIR(" ratio_y=", ratio_y);
  6998. SERIAL_ECHOPAIR(" z1=", z1);
  6999. SERIAL_ECHOPAIR(" z2=", z2);
  7000. SERIAL_ECHOPAIR(" z3=", z3);
  7001. SERIAL_ECHOLNPAIR(" z4=", z4);
  7002. SERIAL_ECHOPAIR(" L=", L);
  7003. SERIAL_ECHOPAIR(" R=", R);
  7004. SERIAL_ECHOLNPAIR(" offset=", offset);
  7005. }
  7006. last_offset = offset;
  7007. //*/
  7008. return offset;
  7009. }
  7010. #endif // AUTO_BED_LEVELING_BILINEAR
  7011. #if ENABLED(DELTA)
  7012. /**
  7013. * Recalculate factors used for delta kinematics whenever
  7014. * settings have been changed (e.g., by M665).
  7015. */
  7016. void recalc_delta_settings(float radius, float diagonal_rod) {
  7017. delta_tower1_x = -SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
  7018. delta_tower1_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1);
  7019. delta_tower2_x = SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
  7020. delta_tower2_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2);
  7021. delta_tower3_x = 0.0; // back middle tower
  7022. delta_tower3_y = (radius + DELTA_RADIUS_TRIM_TOWER_3);
  7023. delta_diagonal_rod_2_tower_1 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_1);
  7024. delta_diagonal_rod_2_tower_2 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_2);
  7025. delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3);
  7026. }
  7027. #if ENABLED(DELTA_FAST_SQRT)
  7028. /**
  7029. * Fast inverse sqrt from Quake III Arena
  7030. * See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
  7031. */
  7032. float Q_rsqrt(float number) {
  7033. long i;
  7034. float x2, y;
  7035. const float threehalfs = 1.5f;
  7036. x2 = number * 0.5f;
  7037. y = number;
  7038. i = * ( long * ) &y; // evil floating point bit level hacking
  7039. i = 0x5f3759df - ( i >> 1 ); // what the f***?
  7040. y = * ( float * ) &i;
  7041. y = y * ( threehalfs - ( x2 * y * y ) ); // 1st iteration
  7042. // y = y * ( threehalfs - ( x2 * y * y ) ); // 2nd iteration, this can be removed
  7043. return y;
  7044. }
  7045. #define _SQRT(n) (1.0f / Q_rsqrt(n))
  7046. #else
  7047. #define _SQRT(n) sqrt(n)
  7048. #endif
  7049. /**
  7050. * Delta Inverse Kinematics
  7051. *
  7052. * Calculate the tower positions for a given logical
  7053. * position, storing the result in the delta[] array.
  7054. *
  7055. * This is an expensive calculation, requiring 3 square
  7056. * roots per segmented linear move, and strains the limits
  7057. * of a Mega2560 with a Graphical Display.
  7058. *
  7059. * Suggested optimizations include:
  7060. *
  7061. * - Disable the home_offset (M206) and/or position_shift (G92)
  7062. * features to remove up to 12 float additions.
  7063. *
  7064. * - Use a fast-inverse-sqrt function and add the reciprocal.
  7065. * (see above)
  7066. */
  7067. // Macro to obtain the Z position of an individual tower
  7068. #define DELTA_Z(T) raw[Z_AXIS] + _SQRT( \
  7069. delta_diagonal_rod_2_tower_##T - HYPOT2( \
  7070. delta_tower##T##_x - raw[X_AXIS], \
  7071. delta_tower##T##_y - raw[Y_AXIS] \
  7072. ) \
  7073. )
  7074. #define DELTA_RAW_IK() do { \
  7075. delta[A_AXIS] = DELTA_Z(1); \
  7076. delta[B_AXIS] = DELTA_Z(2); \
  7077. delta[C_AXIS] = DELTA_Z(3); \
  7078. } while(0)
  7079. #define DELTA_LOGICAL_IK() do { \
  7080. const float raw[XYZ] = { \
  7081. RAW_X_POSITION(logical[X_AXIS]), \
  7082. RAW_Y_POSITION(logical[Y_AXIS]), \
  7083. RAW_Z_POSITION(logical[Z_AXIS]) \
  7084. }; \
  7085. DELTA_RAW_IK(); \
  7086. } while(0)
  7087. #define DELTA_DEBUG() do { \
  7088. SERIAL_ECHOPAIR("cartesian X:", raw[X_AXIS]); \
  7089. SERIAL_ECHOPAIR(" Y:", raw[Y_AXIS]); \
  7090. SERIAL_ECHOLNPAIR(" Z:", raw[Z_AXIS]); \
  7091. SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]); \
  7092. SERIAL_ECHOPAIR(" B:", delta[B_AXIS]); \
  7093. SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); \
  7094. } while(0)
  7095. void inverse_kinematics(const float logical[XYZ]) {
  7096. DELTA_LOGICAL_IK();
  7097. // DELTA_DEBUG();
  7098. }
  7099. /**
  7100. * Calculate the highest Z position where the
  7101. * effector has the full range of XY motion.
  7102. */
  7103. float delta_safe_distance_from_top() {
  7104. float cartesian[XYZ] = {
  7105. LOGICAL_X_POSITION(0),
  7106. LOGICAL_Y_POSITION(0),
  7107. LOGICAL_Z_POSITION(0)
  7108. };
  7109. inverse_kinematics(cartesian);
  7110. float distance = delta[A_AXIS];
  7111. cartesian[Y_AXIS] = LOGICAL_Y_POSITION(DELTA_PRINTABLE_RADIUS);
  7112. inverse_kinematics(cartesian);
  7113. return abs(distance - delta[A_AXIS]);
  7114. }
  7115. /**
  7116. * Delta Forward Kinematics
  7117. *
  7118. * See the Wikipedia article "Trilateration"
  7119. * https://en.wikipedia.org/wiki/Trilateration
  7120. *
  7121. * Establish a new coordinate system in the plane of the
  7122. * three carriage points. This system has its origin at
  7123. * tower1, with tower2 on the X axis. Tower3 is in the X-Y
  7124. * plane with a Z component of zero.
  7125. * We will define unit vectors in this coordinate system
  7126. * in our original coordinate system. Then when we calculate
  7127. * the Xnew, Ynew and Znew values, we can translate back into
  7128. * the original system by moving along those unit vectors
  7129. * by the corresponding values.
  7130. *
  7131. * Variable names matched to Marlin, c-version, and avoid the
  7132. * use of any vector library.
  7133. *
  7134. * by Andreas Hardtung 2016-06-07
  7135. * based on a Java function from "Delta Robot Kinematics V3"
  7136. * by Steve Graves
  7137. *
  7138. * The result is stored in the cartes[] array.
  7139. */
  7140. void forward_kinematics_DELTA(float z1, float z2, float z3) {
  7141. // Create a vector in old coordinates along x axis of new coordinate
  7142. float p12[3] = { delta_tower2_x - delta_tower1_x, delta_tower2_y - delta_tower1_y, z2 - z1 };
  7143. // Get the Magnitude of vector.
  7144. float d = sqrt( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) );
  7145. // Create unit vector by dividing by magnitude.
  7146. float ex[3] = { p12[0] / d, p12[1] / d, p12[2] / d };
  7147. // Get the vector from the origin of the new system to the third point.
  7148. float p13[3] = { delta_tower3_x - delta_tower1_x, delta_tower3_y - delta_tower1_y, z3 - z1 };
  7149. // Use the dot product to find the component of this vector on the X axis.
  7150. float i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2];
  7151. // Create a vector along the x axis that represents the x component of p13.
  7152. float iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i };
  7153. // Subtract the X component from the original vector leaving only Y. We use the
  7154. // variable that will be the unit vector after we scale it.
  7155. float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] };
  7156. // The magnitude of Y component
  7157. float j = sqrt( sq(ey[0]) + sq(ey[1]) + sq(ey[2]) );
  7158. // Convert to a unit vector
  7159. ey[0] /= j; ey[1] /= j; ey[2] /= j;
  7160. // The cross product of the unit x and y is the unit z
  7161. // float[] ez = vectorCrossProd(ex, ey);
  7162. float ez[3] = {
  7163. ex[1] * ey[2] - ex[2] * ey[1],
  7164. ex[2] * ey[0] - ex[0] * ey[2],
  7165. ex[0] * ey[1] - ex[1] * ey[0]
  7166. };
  7167. // We now have the d, i and j values defined in Wikipedia.
  7168. // Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
  7169. float Xnew = (delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_2 + sq(d)) / (d * 2),
  7170. Ynew = ((delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_3 + HYPOT2(i, j)) / 2 - i * Xnew) / j,
  7171. Znew = sqrt(delta_diagonal_rod_2_tower_1 - HYPOT2(Xnew, Ynew));
  7172. // Start from the origin of the old coordinates and add vectors in the
  7173. // old coords that represent the Xnew, Ynew and Znew to find the point
  7174. // in the old system.
  7175. cartes[X_AXIS] = delta_tower1_x + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew;
  7176. cartes[Y_AXIS] = delta_tower1_y + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew;
  7177. cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
  7178. }
  7179. void forward_kinematics_DELTA(float point[ABC]) {
  7180. forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
  7181. }
  7182. #endif // DELTA
  7183. /**
  7184. * Get the stepper positions in the cartes[] array.
  7185. * Forward kinematics are applied for DELTA and SCARA.
  7186. *
  7187. * The result is in the current coordinate space with
  7188. * leveling applied. The coordinates need to be run through
  7189. * unapply_leveling to obtain the "ideal" coordinates
  7190. * suitable for current_position, etc.
  7191. */
  7192. void get_cartesian_from_steppers() {
  7193. #if ENABLED(DELTA)
  7194. forward_kinematics_DELTA(
  7195. stepper.get_axis_position_mm(A_AXIS),
  7196. stepper.get_axis_position_mm(B_AXIS),
  7197. stepper.get_axis_position_mm(C_AXIS)
  7198. );
  7199. cartes[X_AXIS] += LOGICAL_X_POSITION(0);
  7200. cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
  7201. cartes[Z_AXIS] += LOGICAL_Z_POSITION(0);
  7202. #elif IS_SCARA
  7203. forward_kinematics_SCARA(
  7204. stepper.get_axis_position_degrees(A_AXIS),
  7205. stepper.get_axis_position_degrees(B_AXIS)
  7206. );
  7207. cartes[X_AXIS] += LOGICAL_X_POSITION(0);
  7208. cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
  7209. cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
  7210. #else
  7211. cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
  7212. cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
  7213. cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
  7214. #endif
  7215. }
  7216. /**
  7217. * Set the current_position for an axis based on
  7218. * the stepper positions, removing any leveling that
  7219. * may have been applied.
  7220. */
  7221. void set_current_from_steppers_for_axis(const AxisEnum axis) {
  7222. get_cartesian_from_steppers();
  7223. #if PLANNER_LEVELING
  7224. planner.unapply_leveling(cartes);
  7225. #endif
  7226. if (axis == ALL_AXES)
  7227. memcpy(current_position, cartes, sizeof(cartes));
  7228. else
  7229. current_position[axis] = cartes[axis];
  7230. }
  7231. #if ENABLED(MESH_BED_LEVELING)
  7232. /**
  7233. * Prepare a mesh-leveled linear move in a Cartesian setup,
  7234. * splitting the move where it crosses mesh borders.
  7235. */
  7236. void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
  7237. int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X_AXIS)),
  7238. cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y_AXIS)),
  7239. cx2 = mbl.cell_index_x(RAW_X_POSITION(destination[X_AXIS])),
  7240. cy2 = mbl.cell_index_y(RAW_Y_POSITION(destination[Y_AXIS]));
  7241. NOMORE(cx1, MESH_NUM_X_POINTS - 2);
  7242. NOMORE(cy1, MESH_NUM_Y_POINTS - 2);
  7243. NOMORE(cx2, MESH_NUM_X_POINTS - 2);
  7244. NOMORE(cy2, MESH_NUM_Y_POINTS - 2);
  7245. if (cx1 == cx2 && cy1 == cy2) {
  7246. // Start and end on same mesh square
  7247. line_to_destination(fr_mm_s);
  7248. set_current_to_destination();
  7249. return;
  7250. }
  7251. #define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
  7252. float normalized_dist, end[NUM_AXIS];
  7253. // Split at the left/front border of the right/top square
  7254. int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
  7255. if (cx2 != cx1 && TEST(x_splits, gcx)) {
  7256. memcpy(end, destination, sizeof(end));
  7257. destination[X_AXIS] = LOGICAL_X_POSITION(mbl.get_probe_x(gcx));
  7258. normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
  7259. destination[Y_AXIS] = MBL_SEGMENT_END(Y);
  7260. CBI(x_splits, gcx);
  7261. }
  7262. else if (cy2 != cy1 && TEST(y_splits, gcy)) {
  7263. memcpy(end, destination, sizeof(end));
  7264. destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.get_probe_y(gcy));
  7265. normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
  7266. destination[X_AXIS] = MBL_SEGMENT_END(X);
  7267. CBI(y_splits, gcy);
  7268. }
  7269. else {
  7270. // Already split on a border
  7271. line_to_destination(fr_mm_s);
  7272. set_current_to_destination();
  7273. return;
  7274. }
  7275. destination[Z_AXIS] = MBL_SEGMENT_END(Z);
  7276. destination[E_AXIS] = MBL_SEGMENT_END(E);
  7277. // Do the split and look for more borders
  7278. mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
  7279. // Restore destination from stack
  7280. memcpy(destination, end, sizeof(end));
  7281. mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
  7282. }
  7283. #endif // MESH_BED_LEVELING
  7284. #if IS_KINEMATIC
  7285. /**
  7286. * Prepare a linear move in a DELTA or SCARA setup.
  7287. *
  7288. * This calls planner.buffer_line several times, adding
  7289. * small incremental moves for DELTA or SCARA.
  7290. */
  7291. inline bool prepare_kinematic_move_to(float ltarget[NUM_AXIS]) {
  7292. // Get the top feedrate of the move in the XY plane
  7293. float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
  7294. // If the move is only in Z/E don't split up the move
  7295. if (ltarget[X_AXIS] == current_position[X_AXIS] && ltarget[Y_AXIS] == current_position[Y_AXIS]) {
  7296. planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
  7297. return true;
  7298. }
  7299. // Get the cartesian distances moved in XYZE
  7300. float difference[NUM_AXIS];
  7301. LOOP_XYZE(i) difference[i] = ltarget[i] - current_position[i];
  7302. // Get the linear distance in XYZ
  7303. float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
  7304. // If the move is very short, check the E move distance
  7305. if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = abs(difference[E_AXIS]);
  7306. // No E move either? Game over.
  7307. if (UNEAR_ZERO(cartesian_mm)) return false;
  7308. // Minimum number of seconds to move the given distance
  7309. float seconds = cartesian_mm / _feedrate_mm_s;
  7310. // The number of segments-per-second times the duration
  7311. // gives the number of segments
  7312. uint16_t segments = delta_segments_per_second * seconds;
  7313. // For SCARA minimum segment size is 0.5mm
  7314. #if IS_SCARA
  7315. NOMORE(segments, cartesian_mm * 2);
  7316. #endif
  7317. // At least one segment is required
  7318. NOLESS(segments, 1);
  7319. // The approximate length of each segment
  7320. float segment_distance[XYZE] = {
  7321. difference[X_AXIS] / segments,
  7322. difference[Y_AXIS] / segments,
  7323. difference[Z_AXIS] / segments,
  7324. difference[E_AXIS] / segments
  7325. };
  7326. // SERIAL_ECHOPAIR("mm=", cartesian_mm);
  7327. // SERIAL_ECHOPAIR(" seconds=", seconds);
  7328. // SERIAL_ECHOLNPAIR(" segments=", segments);
  7329. // Drop one segment so the last move is to the exact target.
  7330. // If there's only 1 segment, loops will be skipped entirely.
  7331. --segments;
  7332. // Using "raw" coordinates saves 6 float subtractions
  7333. // per segment, saving valuable CPU cycles
  7334. #if ENABLED(USE_RAW_KINEMATICS)
  7335. // Get the raw current position as starting point
  7336. float raw[XYZE] = {
  7337. RAW_CURRENT_POSITION(X_AXIS),
  7338. RAW_CURRENT_POSITION(Y_AXIS),
  7339. RAW_CURRENT_POSITION(Z_AXIS),
  7340. current_position[E_AXIS]
  7341. };
  7342. #define DELTA_VAR raw
  7343. // Delta can inline its kinematics
  7344. #if ENABLED(DELTA)
  7345. #define DELTA_IK() DELTA_RAW_IK()
  7346. #else
  7347. #define DELTA_IK() inverse_kinematics(raw)
  7348. #endif
  7349. #else
  7350. // Get the logical current position as starting point
  7351. float logical[XYZE];
  7352. memcpy(logical, current_position, sizeof(logical));
  7353. #define DELTA_VAR logical
  7354. // Delta can inline its kinematics
  7355. #if ENABLED(DELTA)
  7356. #define DELTA_IK() DELTA_LOGICAL_IK()
  7357. #else
  7358. #define DELTA_IK() inverse_kinematics(logical)
  7359. #endif
  7360. #endif
  7361. #if ENABLED(USE_DELTA_IK_INTERPOLATION)
  7362. // Only interpolate XYZ. Advance E normally.
  7363. #define DELTA_NEXT(ADDEND) LOOP_XYZ(i) DELTA_VAR[i] += ADDEND;
  7364. // Get the starting delta if interpolation is possible
  7365. if (segments >= 2) {
  7366. DELTA_IK();
  7367. ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
  7368. }
  7369. // Loop using decrement
  7370. for (uint16_t s = segments + 1; --s;) {
  7371. // Are there at least 2 moves left?
  7372. if (s >= 2) {
  7373. // Save the previous delta for interpolation
  7374. float prev_delta[ABC] = { delta[A_AXIS], delta[B_AXIS], delta[C_AXIS] };
  7375. // Get the delta 2 segments ahead (rather than the next)
  7376. DELTA_NEXT(segment_distance[i] + segment_distance[i]);
  7377. // Advance E normally
  7378. DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
  7379. // Get the exact delta for the move after this
  7380. DELTA_IK();
  7381. ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
  7382. // Move to the interpolated delta position first
  7383. planner.buffer_line(
  7384. (prev_delta[A_AXIS] + delta[A_AXIS]) * 0.5,
  7385. (prev_delta[B_AXIS] + delta[B_AXIS]) * 0.5,
  7386. (prev_delta[C_AXIS] + delta[C_AXIS]) * 0.5,
  7387. DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder
  7388. );
  7389. // Advance E once more for the next move
  7390. DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
  7391. // Do an extra decrement of the loop
  7392. --s;
  7393. }
  7394. else {
  7395. // Get the last segment delta. (Used when segments is odd)
  7396. DELTA_NEXT(segment_distance[i]);
  7397. DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
  7398. DELTA_IK();
  7399. ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
  7400. }
  7401. // Move to the non-interpolated position
  7402. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder);
  7403. }
  7404. #else
  7405. #define DELTA_NEXT(ADDEND) LOOP_XYZE(i) DELTA_VAR[i] += ADDEND;
  7406. // For non-interpolated delta calculate every segment
  7407. for (uint16_t s = segments + 1; --s;) {
  7408. DELTA_NEXT(segment_distance[i]);
  7409. planner.buffer_line_kinematic(DELTA_VAR, _feedrate_mm_s, active_extruder);
  7410. }
  7411. #endif
  7412. // Since segment_distance is only approximate,
  7413. // the final move must be to the exact destination.
  7414. planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
  7415. return true;
  7416. }
  7417. #else
  7418. /**
  7419. * Prepare a linear move in a Cartesian setup.
  7420. * If Mesh Bed Leveling is enabled, perform a mesh move.
  7421. */
  7422. inline bool prepare_move_to_destination_cartesian() {
  7423. // Do not use feedrate_percentage for E or Z only moves
  7424. if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
  7425. line_to_destination();
  7426. }
  7427. else {
  7428. #if ENABLED(MESH_BED_LEVELING)
  7429. if (mbl.active()) {
  7430. mesh_line_to_destination(MMS_SCALED(feedrate_mm_s));
  7431. return false;
  7432. }
  7433. else
  7434. #endif
  7435. line_to_destination(MMS_SCALED(feedrate_mm_s));
  7436. }
  7437. return true;
  7438. }
  7439. #endif // !IS_KINEMATIC
  7440. #if ENABLED(DUAL_X_CARRIAGE)
  7441. /**
  7442. * Prepare a linear move in a dual X axis setup
  7443. */
  7444. inline bool prepare_move_to_destination_dualx() {
  7445. if (active_extruder_parked) {
  7446. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
  7447. // move duplicate extruder into correct duplication position.
  7448. planner.set_position_mm(
  7449. LOGICAL_X_POSITION(inactive_extruder_x_pos),
  7450. current_position[Y_AXIS],
  7451. current_position[Z_AXIS],
  7452. current_position[E_AXIS]
  7453. );
  7454. planner.buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset,
  7455. current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[X_AXIS], 1);
  7456. SYNC_PLAN_POSITION_KINEMATIC();
  7457. stepper.synchronize();
  7458. extruder_duplication_enabled = true;
  7459. active_extruder_parked = false;
  7460. }
  7461. else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) { // handle unparking of head
  7462. if (current_position[E_AXIS] == destination[E_AXIS]) {
  7463. // This is a travel move (with no extrusion)
  7464. // Skip it, but keep track of the current position
  7465. // (so it can be used as the start of the next non-travel move)
  7466. if (delayed_move_time != 0xFFFFFFFFUL) {
  7467. set_current_to_destination();
  7468. NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
  7469. delayed_move_time = millis();
  7470. return false;
  7471. }
  7472. }
  7473. delayed_move_time = 0;
  7474. // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
  7475. 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);
  7476. 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);
  7477. 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);
  7478. active_extruder_parked = false;
  7479. }
  7480. }
  7481. return true;
  7482. }
  7483. #endif // DUAL_X_CARRIAGE
  7484. /**
  7485. * Prepare a single move and get ready for the next one
  7486. *
  7487. * This may result in several calls to planner.buffer_line to
  7488. * do smaller moves for DELTA, SCARA, mesh moves, etc.
  7489. */
  7490. void prepare_move_to_destination() {
  7491. clamp_to_software_endstops(destination);
  7492. refresh_cmd_timeout();
  7493. #if ENABLED(PREVENT_COLD_EXTRUSION)
  7494. if (!DEBUGGING(DRYRUN)) {
  7495. if (destination[E_AXIS] != current_position[E_AXIS]) {
  7496. if (thermalManager.tooColdToExtrude(active_extruder)) {
  7497. current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
  7498. SERIAL_ECHO_START;
  7499. SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
  7500. }
  7501. #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
  7502. if (labs(destination[E_AXIS] - current_position[E_AXIS]) > EXTRUDE_MAXLENGTH) {
  7503. current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
  7504. SERIAL_ECHO_START;
  7505. SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
  7506. }
  7507. #endif
  7508. }
  7509. }
  7510. #endif
  7511. #if IS_KINEMATIC
  7512. if (!prepare_kinematic_move_to(destination)) return;
  7513. #else
  7514. #if ENABLED(DUAL_X_CARRIAGE)
  7515. if (!prepare_move_to_destination_dualx()) return;
  7516. #endif
  7517. if (!prepare_move_to_destination_cartesian()) return;
  7518. #endif
  7519. set_current_to_destination();
  7520. }
  7521. #if ENABLED(ARC_SUPPORT)
  7522. /**
  7523. * Plan an arc in 2 dimensions
  7524. *
  7525. * The arc is approximated by generating many small linear segments.
  7526. * The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
  7527. * Arcs should only be made relatively large (over 5mm), as larger arcs with
  7528. * larger segments will tend to be more efficient. Your slicer should have
  7529. * options for G2/G3 arc generation. In future these options may be GCode tunable.
  7530. */
  7531. void plan_arc(
  7532. float logical[NUM_AXIS], // Destination position
  7533. float* offset, // Center of rotation relative to current_position
  7534. uint8_t clockwise // Clockwise?
  7535. ) {
  7536. float radius = HYPOT(offset[X_AXIS], offset[Y_AXIS]),
  7537. center_X = current_position[X_AXIS] + offset[X_AXIS],
  7538. center_Y = current_position[Y_AXIS] + offset[Y_AXIS],
  7539. linear_travel = logical[Z_AXIS] - current_position[Z_AXIS],
  7540. extruder_travel = logical[E_AXIS] - current_position[E_AXIS],
  7541. r_X = -offset[X_AXIS], // Radius vector from center to current location
  7542. r_Y = -offset[Y_AXIS],
  7543. rt_X = logical[X_AXIS] - center_X,
  7544. rt_Y = logical[Y_AXIS] - center_Y;
  7545. // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
  7546. float angular_travel = atan2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y);
  7547. if (angular_travel < 0) angular_travel += RADIANS(360);
  7548. if (clockwise) angular_travel -= RADIANS(360);
  7549. // Make a circle if the angular rotation is 0
  7550. if (angular_travel == 0 && current_position[X_AXIS] == logical[X_AXIS] && current_position[Y_AXIS] == logical[Y_AXIS])
  7551. angular_travel += RADIANS(360);
  7552. float mm_of_travel = HYPOT(angular_travel * radius, fabs(linear_travel));
  7553. if (mm_of_travel < 0.001) return;
  7554. uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT));
  7555. if (segments == 0) segments = 1;
  7556. /**
  7557. * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
  7558. * and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
  7559. * r_T = [cos(phi) -sin(phi);
  7560. * sin(phi) cos(phi)] * r ;
  7561. *
  7562. * For arc generation, the center of the circle is the axis of rotation and the radius vector is
  7563. * defined from the circle center to the initial position. Each line segment is formed by successive
  7564. * vector rotations. This requires only two cos() and sin() computations to form the rotation
  7565. * matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
  7566. * all double numbers are single precision on the Arduino. (True double precision will not have
  7567. * round off issues for CNC applications.) Single precision error can accumulate to be greater than
  7568. * tool precision in some cases. Therefore, arc path correction is implemented.
  7569. *
  7570. * Small angle approximation may be used to reduce computation overhead further. This approximation
  7571. * holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
  7572. * theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
  7573. * to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
  7574. * numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
  7575. * issue for CNC machines with the single precision Arduino calculations.
  7576. *
  7577. * This approximation also allows plan_arc to immediately insert a line segment into the planner
  7578. * without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
  7579. * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
  7580. * This is important when there are successive arc motions.
  7581. */
  7582. // Vector rotation matrix values
  7583. float arc_target[XYZE],
  7584. theta_per_segment = angular_travel / segments,
  7585. linear_per_segment = linear_travel / segments,
  7586. extruder_per_segment = extruder_travel / segments,
  7587. sin_T = theta_per_segment,
  7588. cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
  7589. // Initialize the linear axis
  7590. arc_target[Z_AXIS] = current_position[Z_AXIS];
  7591. // Initialize the extruder axis
  7592. arc_target[E_AXIS] = current_position[E_AXIS];
  7593. float fr_mm_s = MMS_SCALED(feedrate_mm_s);
  7594. millis_t next_idle_ms = millis() + 200UL;
  7595. int8_t count = 0;
  7596. for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
  7597. thermalManager.manage_heater();
  7598. if (ELAPSED(millis(), next_idle_ms)) {
  7599. next_idle_ms = millis() + 200UL;
  7600. idle();
  7601. }
  7602. if (++count < N_ARC_CORRECTION) {
  7603. // Apply vector rotation matrix to previous r_X / 1
  7604. float r_new_Y = r_X * sin_T + r_Y * cos_T;
  7605. r_X = r_X * cos_T - r_Y * sin_T;
  7606. r_Y = r_new_Y;
  7607. }
  7608. else {
  7609. // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
  7610. // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
  7611. // To reduce stuttering, the sin and cos could be computed at different times.
  7612. // For now, compute both at the same time.
  7613. float cos_Ti = cos(i * theta_per_segment),
  7614. sin_Ti = sin(i * theta_per_segment);
  7615. r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti;
  7616. r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti;
  7617. count = 0;
  7618. }
  7619. // Update arc_target location
  7620. arc_target[X_AXIS] = center_X + r_X;
  7621. arc_target[Y_AXIS] = center_Y + r_Y;
  7622. arc_target[Z_AXIS] += linear_per_segment;
  7623. arc_target[E_AXIS] += extruder_per_segment;
  7624. clamp_to_software_endstops(arc_target);
  7625. planner.buffer_line_kinematic(arc_target, fr_mm_s, active_extruder);
  7626. }
  7627. // Ensure last segment arrives at target location.
  7628. planner.buffer_line_kinematic(logical, fr_mm_s, active_extruder);
  7629. // As far as the parser is concerned, the position is now == target. In reality the
  7630. // motion control system might still be processing the action and the real tool position
  7631. // in any intermediate location.
  7632. set_current_to_destination();
  7633. }
  7634. #endif
  7635. #if ENABLED(BEZIER_CURVE_SUPPORT)
  7636. void plan_cubic_move(const float offset[4]) {
  7637. cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
  7638. // As far as the parser is concerned, the position is now == destination. In reality the
  7639. // motion control system might still be processing the action and the real tool position
  7640. // in any intermediate location.
  7641. set_current_to_destination();
  7642. }
  7643. #endif // BEZIER_CURVE_SUPPORT
  7644. #if HAS_CONTROLLERFAN
  7645. void controllerFan() {
  7646. static millis_t lastMotorOn = 0; // Last time a motor was turned on
  7647. static millis_t nextMotorCheck = 0; // Last time the state was checked
  7648. millis_t ms = millis();
  7649. if (ELAPSED(ms, nextMotorCheck)) {
  7650. nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s
  7651. if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || thermalManager.soft_pwm_bed > 0
  7652. || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
  7653. #if E_STEPPERS > 1
  7654. || E1_ENABLE_READ == E_ENABLE_ON
  7655. #if HAS_X2_ENABLE
  7656. || X2_ENABLE_READ == X_ENABLE_ON
  7657. #endif
  7658. #if E_STEPPERS > 2
  7659. || E2_ENABLE_READ == E_ENABLE_ON
  7660. #if E_STEPPERS > 3
  7661. || E3_ENABLE_READ == E_ENABLE_ON
  7662. #endif
  7663. #endif
  7664. #endif
  7665. ) {
  7666. lastMotorOn = ms; //... set time to NOW so the fan will turn on
  7667. }
  7668. // Fan off if no steppers have been enabled for CONTROLLERFAN_SECS seconds
  7669. uint8_t speed = (!lastMotorOn || ELAPSED(ms, lastMotorOn + (CONTROLLERFAN_SECS) * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
  7670. // allows digital or PWM fan output to be used (see M42 handling)
  7671. digitalWrite(CONTROLLERFAN_PIN, speed);
  7672. analogWrite(CONTROLLERFAN_PIN, speed);
  7673. }
  7674. }
  7675. #endif // HAS_CONTROLLERFAN
  7676. #if ENABLED(MORGAN_SCARA)
  7677. /**
  7678. * Morgan SCARA Forward Kinematics. Results in cartes[].
  7679. * Maths and first version by QHARLEY.
  7680. * Integrated into Marlin and slightly restructured by Joachim Cerny.
  7681. */
  7682. void forward_kinematics_SCARA(const float &a, const float &b) {
  7683. float a_sin = sin(RADIANS(a)) * L1,
  7684. a_cos = cos(RADIANS(a)) * L1,
  7685. b_sin = sin(RADIANS(b)) * L2,
  7686. b_cos = cos(RADIANS(b)) * L2;
  7687. cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta
  7688. cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
  7689. /*
  7690. SERIAL_ECHOPAIR("SCARA FK Angle a=", a);
  7691. SERIAL_ECHOPAIR(" b=", b);
  7692. SERIAL_ECHOPAIR(" a_sin=", a_sin);
  7693. SERIAL_ECHOPAIR(" a_cos=", a_cos);
  7694. SERIAL_ECHOPAIR(" b_sin=", b_sin);
  7695. SERIAL_ECHOLNPAIR(" b_cos=", b_cos);
  7696. SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]);
  7697. SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]);
  7698. //*/
  7699. }
  7700. /**
  7701. * Morgan SCARA Inverse Kinematics. Results in delta[].
  7702. *
  7703. * See http://forums.reprap.org/read.php?185,283327
  7704. *
  7705. * Maths and first version by QHARLEY.
  7706. * Integrated into Marlin and slightly restructured by Joachim Cerny.
  7707. */
  7708. void inverse_kinematics(const float logical[XYZ]) {
  7709. static float C2, S2, SK1, SK2, THETA, PSI;
  7710. float sx = RAW_X_POSITION(logical[X_AXIS]) - SCARA_OFFSET_X, // Translate SCARA to standard X Y
  7711. sy = RAW_Y_POSITION(logical[Y_AXIS]) - SCARA_OFFSET_Y; // With scaling factor.
  7712. if (L1 == L2)
  7713. C2 = HYPOT2(sx, sy) / L1_2_2 - 1;
  7714. else
  7715. C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2);
  7716. S2 = sqrt(sq(C2) - 1);
  7717. // Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
  7718. SK1 = L1 + L2 * C2;
  7719. // Rotated Arm2 gives the distance from Arm1 to Arm2
  7720. SK2 = L2 * S2;
  7721. // Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
  7722. THETA = atan2(SK1, SK2) - atan2(sx, sy);
  7723. // Angle of Arm2
  7724. PSI = atan2(S2, C2);
  7725. delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
  7726. delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
  7727. delta[C_AXIS] = logical[Z_AXIS];
  7728. /*
  7729. DEBUG_POS("SCARA IK", logical);
  7730. DEBUG_POS("SCARA IK", delta);
  7731. SERIAL_ECHOPAIR(" SCARA (x,y) ", sx);
  7732. SERIAL_ECHOPAIR(",", sy);
  7733. SERIAL_ECHOPAIR(" C2=", C2);
  7734. SERIAL_ECHOPAIR(" S2=", S2);
  7735. SERIAL_ECHOPAIR(" Theta=", THETA);
  7736. SERIAL_ECHOLNPAIR(" Phi=", PHI);
  7737. //*/
  7738. }
  7739. #endif // MORGAN_SCARA
  7740. #if ENABLED(TEMP_STAT_LEDS)
  7741. static bool red_led = false;
  7742. static millis_t next_status_led_update_ms = 0;
  7743. void handle_status_leds(void) {
  7744. if (ELAPSED(millis(), next_status_led_update_ms)) {
  7745. next_status_led_update_ms += 500; // Update every 0.5s
  7746. float max_temp = 0.0;
  7747. #if HAS_TEMP_BED
  7748. max_temp = MAX3(max_temp, thermalManager.degTargetBed(), thermalManager.degBed());
  7749. #endif
  7750. HOTEND_LOOP() {
  7751. max_temp = MAX3(max_temp, thermalManager.degHotend(e), thermalManager.degTargetHotend(e));
  7752. }
  7753. bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
  7754. if (new_led != red_led) {
  7755. red_led = new_led;
  7756. #if PIN_EXISTS(STAT_LED_RED)
  7757. WRITE(STAT_LED_RED_PIN, new_led ? HIGH : LOW);
  7758. #if PIN_EXISTS(STAT_LED_BLUE)
  7759. WRITE(STAT_LED_BLUE_PIN, new_led ? LOW : HIGH);
  7760. #endif
  7761. #else
  7762. WRITE(STAT_LED_BLUE_PIN, new_led ? HIGH : LOW);
  7763. #endif
  7764. }
  7765. }
  7766. }
  7767. #endif
  7768. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  7769. void handle_filament_runout() {
  7770. if (!filament_ran_out) {
  7771. filament_ran_out = true;
  7772. enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
  7773. stepper.synchronize();
  7774. }
  7775. }
  7776. #endif // FILAMENT_RUNOUT_SENSOR
  7777. #if ENABLED(FAST_PWM_FAN)
  7778. void setPwmFrequency(uint8_t pin, int val) {
  7779. val &= 0x07;
  7780. switch (digitalPinToTimer(pin)) {
  7781. #if defined(TCCR0A)
  7782. case TIMER0A:
  7783. case TIMER0B:
  7784. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  7785. // TCCR0B |= val;
  7786. break;
  7787. #endif
  7788. #if defined(TCCR1A)
  7789. case TIMER1A:
  7790. case TIMER1B:
  7791. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  7792. // TCCR1B |= val;
  7793. break;
  7794. #endif
  7795. #if defined(TCCR2)
  7796. case TIMER2:
  7797. case TIMER2:
  7798. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  7799. TCCR2 |= val;
  7800. break;
  7801. #endif
  7802. #if defined(TCCR2A)
  7803. case TIMER2A:
  7804. case TIMER2B:
  7805. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  7806. TCCR2B |= val;
  7807. break;
  7808. #endif
  7809. #if defined(TCCR3A)
  7810. case TIMER3A:
  7811. case TIMER3B:
  7812. case TIMER3C:
  7813. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  7814. TCCR3B |= val;
  7815. break;
  7816. #endif
  7817. #if defined(TCCR4A)
  7818. case TIMER4A:
  7819. case TIMER4B:
  7820. case TIMER4C:
  7821. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  7822. TCCR4B |= val;
  7823. break;
  7824. #endif
  7825. #if defined(TCCR5A)
  7826. case TIMER5A:
  7827. case TIMER5B:
  7828. case TIMER5C:
  7829. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  7830. TCCR5B |= val;
  7831. break;
  7832. #endif
  7833. }
  7834. }
  7835. #endif // FAST_PWM_FAN
  7836. float calculate_volumetric_multiplier(float diameter) {
  7837. if (!volumetric_enabled || diameter == 0) return 1.0;
  7838. return 1.0 / (M_PI * diameter * 0.5 * diameter * 0.5);
  7839. }
  7840. void calculate_volumetric_multipliers() {
  7841. for (uint8_t i = 0; i < COUNT(filament_size); i++)
  7842. volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
  7843. }
  7844. void enable_all_steppers() {
  7845. enable_x();
  7846. enable_y();
  7847. enable_z();
  7848. enable_e0();
  7849. enable_e1();
  7850. enable_e2();
  7851. enable_e3();
  7852. }
  7853. void disable_all_steppers() {
  7854. disable_x();
  7855. disable_y();
  7856. disable_z();
  7857. disable_e0();
  7858. disable_e1();
  7859. disable_e2();
  7860. disable_e3();
  7861. }
  7862. /**
  7863. * Manage several activities:
  7864. * - Check for Filament Runout
  7865. * - Keep the command buffer full
  7866. * - Check for maximum inactive time between commands
  7867. * - Check for maximum inactive time between stepper commands
  7868. * - Check if pin CHDK needs to go LOW
  7869. * - Check for KILL button held down
  7870. * - Check for HOME button held down
  7871. * - Check if cooling fan needs to be switched on
  7872. * - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
  7873. */
  7874. void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
  7875. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  7876. if ((IS_SD_PRINTING || print_job_timer.isRunning()) && !(READ(FIL_RUNOUT_PIN) ^ FIL_RUNOUT_INVERTING))
  7877. handle_filament_runout();
  7878. #endif
  7879. if (commands_in_queue < BUFSIZE) get_available_commands();
  7880. millis_t ms = millis();
  7881. if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) kill(PSTR(MSG_KILLED));
  7882. if (stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
  7883. && !ignore_stepper_queue && !planner.blocks_queued()) {
  7884. #if ENABLED(DISABLE_INACTIVE_X)
  7885. disable_x();
  7886. #endif
  7887. #if ENABLED(DISABLE_INACTIVE_Y)
  7888. disable_y();
  7889. #endif
  7890. #if ENABLED(DISABLE_INACTIVE_Z)
  7891. disable_z();
  7892. #endif
  7893. #if ENABLED(DISABLE_INACTIVE_E)
  7894. disable_e0();
  7895. disable_e1();
  7896. disable_e2();
  7897. disable_e3();
  7898. #endif
  7899. }
  7900. #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
  7901. if (chdkActive && PENDING(ms, chdkHigh + CHDK_DELAY)) {
  7902. chdkActive = false;
  7903. WRITE(CHDK, LOW);
  7904. }
  7905. #endif
  7906. #if HAS_KILL
  7907. // Check if the kill button was pressed and wait just in case it was an accidental
  7908. // key kill key press
  7909. // -------------------------------------------------------------------------------
  7910. static int killCount = 0; // make the inactivity button a bit less responsive
  7911. const int KILL_DELAY = 750;
  7912. if (!READ(KILL_PIN))
  7913. killCount++;
  7914. else if (killCount > 0)
  7915. killCount--;
  7916. // Exceeded threshold and we can confirm that it was not accidental
  7917. // KILL the machine
  7918. // ----------------------------------------------------------------
  7919. if (killCount >= KILL_DELAY) kill(PSTR(MSG_KILLED));
  7920. #endif
  7921. #if HAS_HOME
  7922. // Check to see if we have to home, use poor man's debouncer
  7923. // ---------------------------------------------------------
  7924. static int homeDebounceCount = 0; // poor man's debouncing count
  7925. const int HOME_DEBOUNCE_DELAY = 2500;
  7926. if (!READ(HOME_PIN)) {
  7927. if (!homeDebounceCount) {
  7928. enqueue_and_echo_commands_P(PSTR("G28"));
  7929. LCD_MESSAGEPGM(MSG_AUTO_HOME);
  7930. }
  7931. if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
  7932. homeDebounceCount++;
  7933. else
  7934. homeDebounceCount = 0;
  7935. }
  7936. #endif
  7937. #if HAS_CONTROLLERFAN
  7938. controllerFan(); // Check if fan should be turned on to cool stepper drivers down
  7939. #endif
  7940. #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
  7941. if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
  7942. && thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
  7943. bool oldstatus;
  7944. #if ENABLED(SWITCHING_EXTRUDER)
  7945. oldstatus = E0_ENABLE_READ;
  7946. enable_e0();
  7947. #else // !SWITCHING_EXTRUDER
  7948. switch (active_extruder) {
  7949. case 0:
  7950. oldstatus = E0_ENABLE_READ;
  7951. enable_e0();
  7952. break;
  7953. #if E_STEPPERS > 1
  7954. case 1:
  7955. oldstatus = E1_ENABLE_READ;
  7956. enable_e1();
  7957. break;
  7958. #if E_STEPPERS > 2
  7959. case 2:
  7960. oldstatus = E2_ENABLE_READ;
  7961. enable_e2();
  7962. break;
  7963. #if E_STEPPERS > 3
  7964. case 3:
  7965. oldstatus = E3_ENABLE_READ;
  7966. enable_e3();
  7967. break;
  7968. #endif
  7969. #endif
  7970. #endif
  7971. }
  7972. #endif // !SWITCHING_EXTRUDER
  7973. previous_cmd_ms = ms; // refresh_cmd_timeout()
  7974. #if IS_KINEMATIC
  7975. inverse_kinematics(current_position);
  7976. ADJUST_DELTA(current_position);
  7977. planner.buffer_line(
  7978. delta[A_AXIS], delta[B_AXIS], delta[C_AXIS],
  7979. current_position[E_AXIS] + EXTRUDER_RUNOUT_EXTRUDE,
  7980. MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder
  7981. );
  7982. #else
  7983. planner.buffer_line(
  7984. current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
  7985. current_position[E_AXIS] + EXTRUDER_RUNOUT_EXTRUDE,
  7986. MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder
  7987. );
  7988. #endif
  7989. stepper.synchronize();
  7990. planner.set_e_position_mm(current_position[E_AXIS]);
  7991. #if ENABLED(SWITCHING_EXTRUDER)
  7992. E0_ENABLE_WRITE(oldstatus);
  7993. #else
  7994. switch (active_extruder) {
  7995. case 0:
  7996. E0_ENABLE_WRITE(oldstatus);
  7997. break;
  7998. #if E_STEPPERS > 1
  7999. case 1:
  8000. E1_ENABLE_WRITE(oldstatus);
  8001. break;
  8002. #if E_STEPPERS > 2
  8003. case 2:
  8004. E2_ENABLE_WRITE(oldstatus);
  8005. break;
  8006. #if E_STEPPERS > 3
  8007. case 3:
  8008. E3_ENABLE_WRITE(oldstatus);
  8009. break;
  8010. #endif
  8011. #endif
  8012. #endif
  8013. }
  8014. #endif // !SWITCHING_EXTRUDER
  8015. }
  8016. #endif // EXTRUDER_RUNOUT_PREVENT
  8017. #if ENABLED(DUAL_X_CARRIAGE)
  8018. // handle delayed move timeout
  8019. if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
  8020. // travel moves have been received so enact them
  8021. delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
  8022. set_destination_to_current();
  8023. prepare_move_to_destination();
  8024. }
  8025. #endif
  8026. #if ENABLED(TEMP_STAT_LEDS)
  8027. handle_status_leds();
  8028. #endif
  8029. planner.check_axes_activity();
  8030. }
  8031. /**
  8032. * Standard idle routine keeps the machine alive
  8033. */
  8034. void idle(
  8035. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  8036. bool no_stepper_sleep/*=false*/
  8037. #endif
  8038. ) {
  8039. lcd_update();
  8040. host_keepalive();
  8041. manage_inactivity(
  8042. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  8043. no_stepper_sleep
  8044. #endif
  8045. );
  8046. thermalManager.manage_heater();
  8047. #if ENABLED(PRINTCOUNTER)
  8048. print_job_timer.tick();
  8049. #endif
  8050. #if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
  8051. buzzer.tick();
  8052. #endif
  8053. }
  8054. /**
  8055. * Kill all activity and lock the machine.
  8056. * After this the machine will need to be reset.
  8057. */
  8058. void kill(const char* lcd_msg) {
  8059. SERIAL_ERROR_START;
  8060. SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
  8061. #if ENABLED(ULTRA_LCD)
  8062. kill_screen(lcd_msg);
  8063. #else
  8064. UNUSED(lcd_msg);
  8065. #endif
  8066. delay(500); // Wait a short time
  8067. cli(); // Stop interrupts
  8068. thermalManager.disable_all_heaters();
  8069. disable_all_steppers();
  8070. #if HAS_POWER_SWITCH
  8071. pinMode(PS_ON_PIN, INPUT);
  8072. #endif
  8073. suicide();
  8074. while (1) {
  8075. #if ENABLED(USE_WATCHDOG)
  8076. watchdog_reset();
  8077. #endif
  8078. } // Wait for reset
  8079. }
  8080. /**
  8081. * Turn off heaters and stop the print in progress
  8082. * After a stop the machine may be resumed with M999
  8083. */
  8084. void stop() {
  8085. thermalManager.disable_all_heaters();
  8086. if (IsRunning()) {
  8087. Running = false;
  8088. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  8089. SERIAL_ERROR_START;
  8090. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  8091. LCD_MESSAGEPGM(MSG_STOPPED);
  8092. }
  8093. }
  8094. /**
  8095. * Marlin entry-point: Set up before the program loop
  8096. * - Set up the kill pin, filament runout, power hold
  8097. * - Start the serial port
  8098. * - Print startup messages and diagnostics
  8099. * - Get EEPROM or default settings
  8100. * - Initialize managers for:
  8101. * • temperature
  8102. * • planner
  8103. * • watchdog
  8104. * • stepper
  8105. * • photo pin
  8106. * • servos
  8107. * • LCD controller
  8108. * • Digipot I2C
  8109. * • Z probe sled
  8110. * • status LEDs
  8111. */
  8112. void setup() {
  8113. #ifdef DISABLE_JTAG
  8114. // Disable JTAG on AT90USB chips to free up pins for IO
  8115. MCUCR = 0x80;
  8116. MCUCR = 0x80;
  8117. #endif
  8118. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  8119. setup_filrunoutpin();
  8120. #endif
  8121. setup_killpin();
  8122. setup_powerhold();
  8123. #if HAS_STEPPER_RESET
  8124. disableStepperDrivers();
  8125. #endif
  8126. MYSERIAL.begin(BAUDRATE);
  8127. SERIAL_PROTOCOLLNPGM("start");
  8128. SERIAL_ECHO_START;
  8129. // Check startup - does nothing if bootloader sets MCUSR to 0
  8130. byte mcu = MCUSR;
  8131. if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
  8132. if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
  8133. if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
  8134. if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
  8135. if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
  8136. MCUSR = 0;
  8137. SERIAL_ECHOPGM(MSG_MARLIN);
  8138. SERIAL_CHAR(' ');
  8139. SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION);
  8140. SERIAL_EOL;
  8141. #if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
  8142. SERIAL_ECHO_START;
  8143. SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
  8144. SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
  8145. SERIAL_ECHOLNPGM(MSG_AUTHOR STRING_CONFIG_H_AUTHOR);
  8146. SERIAL_ECHOLNPGM("Compiled: " __DATE__);
  8147. #endif
  8148. SERIAL_ECHO_START;
  8149. SERIAL_ECHOPAIR(MSG_FREE_MEMORY, freeMemory());
  8150. SERIAL_ECHOLNPAIR(MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  8151. // Send "ok" after commands by default
  8152. for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
  8153. // Load data from EEPROM if available (or use defaults)
  8154. // This also updates variables in the planner, elsewhere
  8155. Config_RetrieveSettings();
  8156. // Initialize current position based on home_offset
  8157. memcpy(current_position, home_offset, sizeof(home_offset));
  8158. // Vital to init stepper/planner equivalent for current_position
  8159. SYNC_PLAN_POSITION_KINEMATIC();
  8160. thermalManager.init(); // Initialize temperature loop
  8161. #if ENABLED(USE_WATCHDOG)
  8162. watchdog_init();
  8163. #endif
  8164. stepper.init(); // Initialize stepper, this enables interrupts!
  8165. setup_photpin();
  8166. servo_init();
  8167. #if HAS_BED_PROBE
  8168. endstops.enable_z_probe(false);
  8169. #endif
  8170. #if HAS_CONTROLLERFAN
  8171. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  8172. #endif
  8173. #if HAS_STEPPER_RESET
  8174. enableStepperDrivers();
  8175. #endif
  8176. #if ENABLED(DIGIPOT_I2C)
  8177. digipot_i2c_init();
  8178. #endif
  8179. #if ENABLED(DAC_STEPPER_CURRENT)
  8180. dac_init();
  8181. #endif
  8182. #if ENABLED(Z_PROBE_SLED) && PIN_EXISTS(SLED)
  8183. OUT_WRITE(SLED_PIN, LOW); // turn it off
  8184. #endif // Z_PROBE_SLED
  8185. setup_homepin();
  8186. #if PIN_EXISTS(STAT_LED_RED)
  8187. OUT_WRITE(STAT_LED_RED_PIN, LOW); // turn it off
  8188. #endif
  8189. #if PIN_EXISTS(STAT_LED_BLUE)
  8190. OUT_WRITE(STAT_LED_BLUE_PIN, LOW); // turn it off
  8191. #endif
  8192. lcd_init();
  8193. #if ENABLED(SHOW_BOOTSCREEN)
  8194. #if ENABLED(DOGLCD)
  8195. safe_delay(BOOTSCREEN_TIMEOUT);
  8196. #elif ENABLED(ULTRA_LCD)
  8197. bootscreen();
  8198. #if DISABLED(SDSUPPORT)
  8199. lcd_init();
  8200. #endif
  8201. #endif
  8202. #endif
  8203. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  8204. // Initialize mixing to 100% color 1
  8205. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  8206. mixing_factor[i] = (i == 0) ? 1 : 0;
  8207. for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
  8208. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  8209. mixing_virtual_tool_mix[t][i] = mixing_factor[i];
  8210. #endif
  8211. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  8212. i2c.onReceive(i2c_on_receive);
  8213. i2c.onRequest(i2c_on_request);
  8214. #endif
  8215. }
  8216. /**
  8217. * The main Marlin program loop
  8218. *
  8219. * - Save or log commands to SD
  8220. * - Process available commands (if not saving)
  8221. * - Call heater manager
  8222. * - Call inactivity manager
  8223. * - Call endstop manager
  8224. * - Call LCD update
  8225. */
  8226. void loop() {
  8227. if (commands_in_queue < BUFSIZE) get_available_commands();
  8228. #if ENABLED(SDSUPPORT)
  8229. card.checkautostart(false);
  8230. #endif
  8231. if (commands_in_queue) {
  8232. #if ENABLED(SDSUPPORT)
  8233. if (card.saving) {
  8234. char* command = command_queue[cmd_queue_index_r];
  8235. if (strstr_P(command, PSTR("M29"))) {
  8236. // M29 closes the file
  8237. card.closefile();
  8238. SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
  8239. ok_to_send();
  8240. }
  8241. else {
  8242. // Write the string from the read buffer to SD
  8243. card.write_command(command);
  8244. if (card.logging)
  8245. process_next_command(); // The card is saving because it's logging
  8246. else
  8247. ok_to_send();
  8248. }
  8249. }
  8250. else
  8251. process_next_command();
  8252. #else
  8253. process_next_command();
  8254. #endif // SDSUPPORT
  8255. // The queue may be reset by a command handler or by code invoked by idle() within a handler
  8256. if (commands_in_queue) {
  8257. --commands_in_queue;
  8258. cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
  8259. }
  8260. }
  8261. endstops.report_state();
  8262. idle();
  8263. }