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

Marlin_main.cpp 153KB

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  1. /* -*- c++ -*- */
  2. /*
  3. Reprap firmware based on Sprinter and grbl.
  4. Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  5. This program is free software: you can redistribute it and/or modify
  6. it under the terms of the GNU General Public License as published by
  7. the Free Software Foundation, either version 3 of the License, or
  8. (at your option) any later version.
  9. This program is distributed in the hope that it will be useful,
  10. but WITHOUT ANY WARRANTY; without even the implied warranty of
  11. MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  12. GNU General Public License for more details.
  13. You should have received a copy of the GNU General Public License
  14. along with this program. If not, see <http://www.gnu.org/licenses/>.
  15. */
  16. /*
  17. This firmware is a mashup between Sprinter and grbl.
  18. (https://github.com/kliment/Sprinter)
  19. (https://github.com/simen/grbl/tree)
  20. It has preliminary support for Matthew Roberts advance algorithm
  21. http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  22. */
  23. #include "Marlin.h"
  24. #ifdef ENABLE_AUTO_BED_LEVELING
  25. #include "vector_3.h"
  26. #ifdef AUTO_BED_LEVELING_GRID
  27. #include "qr_solve.h"
  28. #endif
  29. #endif // ENABLE_AUTO_BED_LEVELING
  30. #include "ultralcd.h"
  31. #include "planner.h"
  32. #include "stepper.h"
  33. #include "temperature.h"
  34. #include "motion_control.h"
  35. #include "cardreader.h"
  36. #include "watchdog.h"
  37. #include "ConfigurationStore.h"
  38. #include "language.h"
  39. #include "pins_arduino.h"
  40. #include "math.h"
  41. #ifdef BLINKM
  42. #include "BlinkM.h"
  43. #include "Wire.h"
  44. #endif
  45. #if NUM_SERVOS > 0
  46. #include "Servo.h"
  47. #endif
  48. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  49. #include <SPI.h>
  50. #endif
  51. #define VERSION_STRING "1.0.0"
  52. // look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
  53. // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  54. //Implemented Codes
  55. //-------------------
  56. // G0 -> G1
  57. // G1 - Coordinated Movement X Y Z E
  58. // G2 - CW ARC
  59. // G3 - CCW ARC
  60. // G4 - Dwell S<seconds> or P<milliseconds>
  61. // G10 - retract filament according to settings of M207
  62. // G11 - retract recover filament according to settings of M208
  63. // G28 - Home all Axis
  64. // G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  65. // G30 - Single Z Probe, probes bed at current XY location.
  66. // G31 - Dock sled (Z_PROBE_SLED only)
  67. // G32 - Undock sled (Z_PROBE_SLED only)
  68. // G90 - Use Absolute Coordinates
  69. // G91 - Use Relative Coordinates
  70. // G92 - Set current position to coordinates given
  71. // M Codes
  72. // M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
  73. // M1 - Same as M0
  74. // M17 - Enable/Power all stepper motors
  75. // M18 - Disable all stepper motors; same as M84
  76. // M20 - List SD card
  77. // M21 - Init SD card
  78. // M22 - Release SD card
  79. // M23 - Select SD file (M23 filename.g)
  80. // M24 - Start/resume SD print
  81. // M25 - Pause SD print
  82. // M26 - Set SD position in bytes (M26 S12345)
  83. // M27 - Report SD print status
  84. // M28 - Start SD write (M28 filename.g)
  85. // M29 - Stop SD write
  86. // M30 - Delete file from SD (M30 filename.g)
  87. // M31 - Output time since last M109 or SD card start to serial
  88. // M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  89. // syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  90. // Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  91. // The '#' is necessary when calling from within sd files, as it stops buffer prereading
  92. // M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
  93. // M80 - Turn on Power Supply
  94. // M81 - Turn off Power Supply
  95. // M82 - Set E codes absolute (default)
  96. // M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  97. // M84 - Disable steppers until next move,
  98. // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  99. // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  100. // M92 - Set axis_steps_per_unit - same syntax as G92
  101. // M104 - Set extruder target temp
  102. // M105 - Read current temp
  103. // M106 - Fan on
  104. // M107 - Fan off
  105. // M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  106. // Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  107. // IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  108. // M112 - Emergency stop
  109. // M114 - Output current position to serial port
  110. // M115 - Capabilities string
  111. // M117 - display message
  112. // M119 - Output Endstop status to serial port
  113. // M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  114. // M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  115. // M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  116. // M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  117. // M140 - Set bed target temp
  118. // M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
  119. // M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  120. // Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  121. // M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  122. // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  123. // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  124. // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  125. // M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) in mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
  126. // M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
  127. // M206 - set additional homing offset
  128. // M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
  129. // M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
  130. // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
  131. // M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  132. // M220 S<factor in percent>- set speed factor override percentage
  133. // M221 S<factor in percent>- set extrude factor override percentage
  134. // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  135. // M240 - Trigger a camera to take a photograph
  136. // M250 - Set LCD contrast C<contrast value> (value 0..63)
  137. // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  138. // M300 - Play beep sound S<frequency Hz> P<duration ms>
  139. // M301 - Set PID parameters P I and D
  140. // M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  141. // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  142. // M304 - Set bed PID parameters P I and D
  143. // M400 - Finish all moves
  144. // M401 - Lower z-probe if present
  145. // M402 - Raise z-probe if present
  146. // M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
  147. // M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
  148. // M406 - Turn off Filament Sensor extrusion control
  149. // M407 - Displays measured filament diameter
  150. // M500 - stores parameters in EEPROM
  151. // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
  152. // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  153. // M503 - print the current settings (from memory not from EEPROM)
  154. // M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  155. // M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  156. // M665 - set delta configurations
  157. // M666 - set delta endstop adjustment
  158. // M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  159. // M907 - Set digital trimpot motor current using axis codes.
  160. // M908 - Control digital trimpot directly.
  161. // M350 - Set microstepping mode.
  162. // M351 - Toggle MS1 MS2 pins directly.
  163. // ************ SCARA Specific - This can change to suit future G-code regulations
  164. // M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  165. // M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  166. // M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  167. // M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  168. // M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  169. // M365 - SCARA calibration: Scaling factor, X, Y, Z axis
  170. //************* SCARA End ***************
  171. // M928 - Start SD logging (M928 filename.g) - ended by M29
  172. // M999 - Restart after being stopped by error
  173. //Stepper Movement Variables
  174. //===========================================================================
  175. //=============================imported variables============================
  176. //===========================================================================
  177. //===========================================================================
  178. //=============================public variables=============================
  179. //===========================================================================
  180. #ifdef SDSUPPORT
  181. CardReader card;
  182. #endif
  183. float homing_feedrate[] = HOMING_FEEDRATE;
  184. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  185. int feedmultiply=100; //100->1 200->2
  186. int saved_feedmultiply;
  187. int extrudemultiply=100; //100->1 200->2
  188. int extruder_multiply[EXTRUDERS] = {100
  189. #if EXTRUDERS > 1
  190. , 100
  191. #if EXTRUDERS > 2
  192. , 100
  193. #endif
  194. #endif
  195. };
  196. bool volumetric_enabled = false;
  197. float filament_size[EXTRUDERS] = { DEFAULT_NOMINAL_FILAMENT_DIA
  198. #if EXTRUDERS > 1
  199. , DEFAULT_NOMINAL_FILAMENT_DIA
  200. #if EXTRUDERS > 2
  201. , DEFAULT_NOMINAL_FILAMENT_DIA
  202. #endif
  203. #endif
  204. };
  205. float volumetric_multiplier[EXTRUDERS] = {1.0
  206. #if EXTRUDERS > 1
  207. , 1.0
  208. #if EXTRUDERS > 2
  209. , 1.0
  210. #endif
  211. #endif
  212. };
  213. float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
  214. float add_homing[3]={0,0,0};
  215. #ifdef DELTA
  216. float endstop_adj[3]={0,0,0};
  217. #endif
  218. float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
  219. float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  220. bool axis_known_position[3] = {false, false, false};
  221. float zprobe_zoffset;
  222. // Extruder offset
  223. #if EXTRUDERS > 1
  224. #ifndef DUAL_X_CARRIAGE
  225. #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
  226. #else
  227. #define NUM_EXTRUDER_OFFSETS 3 // supports offsets in XYZ plane
  228. #endif
  229. float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
  230. #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
  231. EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
  232. #endif
  233. };
  234. #endif
  235. uint8_t active_extruder = 0;
  236. int fanSpeed=0;
  237. #ifdef SERVO_ENDSTOPS
  238. int servo_endstops[] = SERVO_ENDSTOPS;
  239. int servo_endstop_angles[] = SERVO_ENDSTOP_ANGLES;
  240. #endif
  241. #ifdef BARICUDA
  242. int ValvePressure=0;
  243. int EtoPPressure=0;
  244. #endif
  245. #ifdef FWRETRACT
  246. bool autoretract_enabled=false;
  247. bool retracted[EXTRUDERS]={false
  248. #if EXTRUDERS > 1
  249. , false
  250. #if EXTRUDERS > 2
  251. , false
  252. #endif
  253. #endif
  254. };
  255. bool retracted_swap[EXTRUDERS]={false
  256. #if EXTRUDERS > 1
  257. , false
  258. #if EXTRUDERS > 2
  259. , false
  260. #endif
  261. #endif
  262. };
  263. float retract_length = RETRACT_LENGTH;
  264. float retract_length_swap = RETRACT_LENGTH_SWAP;
  265. float retract_feedrate = RETRACT_FEEDRATE;
  266. float retract_zlift = RETRACT_ZLIFT;
  267. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  268. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  269. float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
  270. #endif
  271. #ifdef ULTIPANEL
  272. #ifdef PS_DEFAULT_OFF
  273. bool powersupply = false;
  274. #else
  275. bool powersupply = true;
  276. #endif
  277. #endif
  278. #ifdef DELTA
  279. float delta[3] = {0.0, 0.0, 0.0};
  280. #define SIN_60 0.8660254037844386
  281. #define COS_60 0.5
  282. // these are the default values, can be overriden with M665
  283. float delta_radius= DELTA_RADIUS;
  284. float delta_tower1_x= -SIN_60*delta_radius; // front left tower
  285. float delta_tower1_y= -COS_60*delta_radius;
  286. float delta_tower2_x= SIN_60*delta_radius; // front right tower
  287. float delta_tower2_y= -COS_60*delta_radius;
  288. float delta_tower3_x= 0.0; // back middle tower
  289. float delta_tower3_y= delta_radius;
  290. float delta_diagonal_rod= DELTA_DIAGONAL_ROD;
  291. float delta_diagonal_rod_2= sq(delta_diagonal_rod);
  292. float delta_segments_per_second= DELTA_SEGMENTS_PER_SECOND;
  293. #endif
  294. #ifdef SCARA // Build size scaling
  295. float axis_scaling[3]={1,1,1}; // Build size scaling, default to 1
  296. #endif
  297. bool cancel_heatup = false ;
  298. #ifdef FILAMENT_SENSOR
  299. //Variables for Filament Sensor input
  300. float filament_width_nominal=DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
  301. bool filament_sensor=false; //M405 turns on filament_sensor control, M406 turns it off
  302. float filament_width_meas=DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter
  303. signed char measurement_delay[MAX_MEASUREMENT_DELAY+1]; //ring buffer to delay measurement store extruder factor after subtracting 100
  304. int delay_index1=0; //index into ring buffer
  305. int delay_index2=-1; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
  306. float delay_dist=0; //delay distance counter
  307. int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
  308. #endif
  309. const char errormagic[] PROGMEM = "Error:";
  310. const char echomagic[] PROGMEM = "echo:";
  311. //===========================================================================
  312. //=============================Private Variables=============================
  313. //===========================================================================
  314. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  315. static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
  316. #ifndef DELTA
  317. static float delta[3] = {0.0, 0.0, 0.0};
  318. #endif
  319. static float offset[3] = {0.0, 0.0, 0.0};
  320. static bool home_all_axis = true;
  321. static float feedrate = 1500.0, next_feedrate, saved_feedrate;
  322. static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
  323. static bool relative_mode = false; //Determines Absolute or Relative Coordinates
  324. static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
  325. static bool fromsd[BUFSIZE];
  326. static int bufindr = 0;
  327. static int bufindw = 0;
  328. static int buflen = 0;
  329. //static int i = 0;
  330. static char serial_char;
  331. static int serial_count = 0;
  332. static boolean comment_mode = false;
  333. static char *strchr_pointer; // just a pointer to find chars in the command string like X, Y, Z, E, etc
  334. const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
  335. //static float tt = 0;
  336. //static float bt = 0;
  337. //Inactivity shutdown variables
  338. static unsigned long previous_millis_cmd = 0;
  339. static unsigned long max_inactive_time = 0;
  340. static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
  341. unsigned long starttime=0;
  342. unsigned long stoptime=0;
  343. static uint8_t tmp_extruder;
  344. bool Stopped=false;
  345. #if NUM_SERVOS > 0
  346. Servo servos[NUM_SERVOS];
  347. #endif
  348. bool CooldownNoWait = true;
  349. bool target_direction;
  350. //Insert variables if CHDK is defined
  351. #ifdef CHDK
  352. unsigned long chdkHigh = 0;
  353. boolean chdkActive = false;
  354. #endif
  355. //===========================================================================
  356. //=============================Routines======================================
  357. //===========================================================================
  358. void get_arc_coordinates();
  359. bool setTargetedHotend(int code);
  360. void serial_echopair_P(const char *s_P, float v)
  361. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  362. void serial_echopair_P(const char *s_P, double v)
  363. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  364. void serial_echopair_P(const char *s_P, unsigned long v)
  365. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  366. #ifdef SDSUPPORT
  367. #include "SdFatUtil.h"
  368. int freeMemory() { return SdFatUtil::FreeRam(); }
  369. #else
  370. extern "C" {
  371. extern unsigned int __bss_end;
  372. extern unsigned int __heap_start;
  373. extern void *__brkval;
  374. int freeMemory() {
  375. int free_memory;
  376. if ((int)__brkval == 0)
  377. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  378. else
  379. free_memory = ((int)&free_memory) - ((int)__brkval);
  380. return free_memory;
  381. }
  382. }
  383. #endif //!SDSUPPORT
  384. //adds an command to the main command buffer
  385. //thats really done in a non-safe way.
  386. //needs overworking someday
  387. void enquecommand(const char *cmd)
  388. {
  389. if(buflen < BUFSIZE)
  390. {
  391. //this is dangerous if a mixing of serial and this happens
  392. strcpy(&(cmdbuffer[bufindw][0]),cmd);
  393. SERIAL_ECHO_START;
  394. SERIAL_ECHOPGM(MSG_Enqueing);
  395. SERIAL_ECHO(cmdbuffer[bufindw]);
  396. SERIAL_ECHOLNPGM("\"");
  397. bufindw= (bufindw + 1)%BUFSIZE;
  398. buflen += 1;
  399. }
  400. }
  401. void enquecommand_P(const char *cmd)
  402. {
  403. if(buflen < BUFSIZE)
  404. {
  405. //this is dangerous if a mixing of serial and this happens
  406. strcpy_P(&(cmdbuffer[bufindw][0]),cmd);
  407. SERIAL_ECHO_START;
  408. SERIAL_ECHOPGM(MSG_Enqueing);
  409. SERIAL_ECHO(cmdbuffer[bufindw]);
  410. SERIAL_ECHOLNPGM("\"");
  411. bufindw= (bufindw + 1)%BUFSIZE;
  412. buflen += 1;
  413. }
  414. }
  415. void setup_killpin()
  416. {
  417. #if defined(KILL_PIN) && KILL_PIN > -1
  418. SET_INPUT(KILL_PIN);
  419. WRITE(KILL_PIN,HIGH);
  420. #endif
  421. }
  422. // Set home pin
  423. void setup_homepin(void)
  424. {
  425. #if defined(HOME_PIN) && HOME_PIN > -1
  426. SET_INPUT(HOME_PIN);
  427. WRITE(HOME_PIN,HIGH);
  428. #endif
  429. }
  430. void setup_photpin()
  431. {
  432. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  433. SET_OUTPUT(PHOTOGRAPH_PIN);
  434. WRITE(PHOTOGRAPH_PIN, LOW);
  435. #endif
  436. }
  437. void setup_powerhold()
  438. {
  439. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  440. SET_OUTPUT(SUICIDE_PIN);
  441. WRITE(SUICIDE_PIN, HIGH);
  442. #endif
  443. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  444. SET_OUTPUT(PS_ON_PIN);
  445. #if defined(PS_DEFAULT_OFF)
  446. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  447. #else
  448. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  449. #endif
  450. #endif
  451. }
  452. void suicide()
  453. {
  454. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  455. SET_OUTPUT(SUICIDE_PIN);
  456. WRITE(SUICIDE_PIN, LOW);
  457. #endif
  458. }
  459. void servo_init()
  460. {
  461. #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
  462. servos[0].attach(SERVO0_PIN);
  463. #endif
  464. #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
  465. servos[1].attach(SERVO1_PIN);
  466. #endif
  467. #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
  468. servos[2].attach(SERVO2_PIN);
  469. #endif
  470. #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
  471. servos[3].attach(SERVO3_PIN);
  472. #endif
  473. #if (NUM_SERVOS >= 5)
  474. #error "TODO: enter initalisation code for more servos"
  475. #endif
  476. // Set position of Servo Endstops that are defined
  477. #ifdef SERVO_ENDSTOPS
  478. for(int8_t i = 0; i < 3; i++)
  479. {
  480. if(servo_endstops[i] > -1) {
  481. servos[servo_endstops[i]].write(servo_endstop_angles[i * 2 + 1]);
  482. }
  483. }
  484. #endif
  485. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  486. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  487. servos[servo_endstops[Z_AXIS]].detach();
  488. #endif
  489. }
  490. void setup()
  491. {
  492. setup_killpin();
  493. setup_powerhold();
  494. MYSERIAL.begin(BAUDRATE);
  495. SERIAL_PROTOCOLLNPGM("start");
  496. SERIAL_ECHO_START;
  497. // Check startup - does nothing if bootloader sets MCUSR to 0
  498. byte mcu = MCUSR;
  499. if(mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
  500. if(mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
  501. if(mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
  502. if(mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
  503. if(mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
  504. MCUSR=0;
  505. SERIAL_ECHOPGM(MSG_MARLIN);
  506. SERIAL_ECHOLNPGM(VERSION_STRING);
  507. #ifdef STRING_VERSION_CONFIG_H
  508. #ifdef STRING_CONFIG_H_AUTHOR
  509. SERIAL_ECHO_START;
  510. SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
  511. SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
  512. SERIAL_ECHOPGM(MSG_AUTHOR);
  513. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  514. SERIAL_ECHOPGM("Compiled: ");
  515. SERIAL_ECHOLNPGM(__DATE__);
  516. #endif
  517. #endif
  518. SERIAL_ECHO_START;
  519. SERIAL_ECHOPGM(MSG_FREE_MEMORY);
  520. SERIAL_ECHO(freeMemory());
  521. SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
  522. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  523. for(int8_t i = 0; i < BUFSIZE; i++)
  524. {
  525. fromsd[i] = false;
  526. }
  527. // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  528. Config_RetrieveSettings();
  529. tp_init(); // Initialize temperature loop
  530. plan_init(); // Initialize planner;
  531. watchdog_init();
  532. st_init(); // Initialize stepper, this enables interrupts!
  533. setup_photpin();
  534. servo_init();
  535. lcd_init();
  536. _delay_ms(1000); // wait 1sec to display the splash screen
  537. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  538. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  539. #endif
  540. #ifdef DIGIPOT_I2C
  541. digipot_i2c_init();
  542. #endif
  543. #ifdef Z_PROBE_SLED
  544. pinMode(SERVO0_PIN, OUTPUT);
  545. digitalWrite(SERVO0_PIN, LOW); // turn it off
  546. #endif // Z_PROBE_SLED
  547. setup_homepin();
  548. }
  549. void loop()
  550. {
  551. if(buflen < (BUFSIZE-1))
  552. get_command();
  553. #ifdef SDSUPPORT
  554. card.checkautostart(false);
  555. #endif
  556. if(buflen)
  557. {
  558. #ifdef SDSUPPORT
  559. if(card.saving)
  560. {
  561. if(strstr_P(cmdbuffer[bufindr], PSTR("M29")) == NULL)
  562. {
  563. card.write_command(cmdbuffer[bufindr]);
  564. if(card.logging)
  565. {
  566. process_commands();
  567. }
  568. else
  569. {
  570. SERIAL_PROTOCOLLNPGM(MSG_OK);
  571. }
  572. }
  573. else
  574. {
  575. card.closefile();
  576. SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
  577. }
  578. }
  579. else
  580. {
  581. process_commands();
  582. }
  583. #else
  584. process_commands();
  585. #endif //SDSUPPORT
  586. buflen = (buflen-1);
  587. bufindr = (bufindr + 1)%BUFSIZE;
  588. }
  589. //check heater every n milliseconds
  590. manage_heater();
  591. manage_inactivity();
  592. checkHitEndstops();
  593. lcd_update();
  594. }
  595. void get_command()
  596. {
  597. while( MYSERIAL.available() > 0 && buflen < BUFSIZE) {
  598. serial_char = MYSERIAL.read();
  599. if(serial_char == '\n' ||
  600. serial_char == '\r' ||
  601. (serial_char == ':' && comment_mode == false) ||
  602. serial_count >= (MAX_CMD_SIZE - 1) )
  603. {
  604. if(!serial_count) { //if empty line
  605. comment_mode = false; //for new command
  606. return;
  607. }
  608. cmdbuffer[bufindw][serial_count] = 0; //terminate string
  609. if(!comment_mode){
  610. comment_mode = false; //for new command
  611. fromsd[bufindw] = false;
  612. if(strchr(cmdbuffer[bufindw], 'N') != NULL)
  613. {
  614. strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
  615. gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
  616. if(gcode_N != gcode_LastN+1 && (strstr_P(cmdbuffer[bufindw], PSTR("M110")) == NULL) ) {
  617. SERIAL_ERROR_START;
  618. SERIAL_ERRORPGM(MSG_ERR_LINE_NO);
  619. SERIAL_ERRORLN(gcode_LastN);
  620. //Serial.println(gcode_N);
  621. FlushSerialRequestResend();
  622. serial_count = 0;
  623. return;
  624. }
  625. if(strchr(cmdbuffer[bufindw], '*') != NULL)
  626. {
  627. byte checksum = 0;
  628. byte count = 0;
  629. while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
  630. strchr_pointer = strchr(cmdbuffer[bufindw], '*');
  631. if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
  632. SERIAL_ERROR_START;
  633. SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH);
  634. SERIAL_ERRORLN(gcode_LastN);
  635. FlushSerialRequestResend();
  636. serial_count = 0;
  637. return;
  638. }
  639. //if no errors, continue parsing
  640. }
  641. else
  642. {
  643. SERIAL_ERROR_START;
  644. SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
  645. SERIAL_ERRORLN(gcode_LastN);
  646. FlushSerialRequestResend();
  647. serial_count = 0;
  648. return;
  649. }
  650. gcode_LastN = gcode_N;
  651. //if no errors, continue parsing
  652. }
  653. else // if we don't receive 'N' but still see '*'
  654. {
  655. if((strchr(cmdbuffer[bufindw], '*') != NULL))
  656. {
  657. SERIAL_ERROR_START;
  658. SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
  659. SERIAL_ERRORLN(gcode_LastN);
  660. serial_count = 0;
  661. return;
  662. }
  663. }
  664. if((strchr(cmdbuffer[bufindw], 'G') != NULL)){
  665. strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
  666. switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
  667. case 0:
  668. case 1:
  669. case 2:
  670. case 3:
  671. if (Stopped == true) {
  672. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  673. LCD_MESSAGEPGM(MSG_STOPPED);
  674. }
  675. break;
  676. default:
  677. break;
  678. }
  679. }
  680. //If command was e-stop process now
  681. if(strcmp(cmdbuffer[bufindw], "M112") == 0)
  682. kill();
  683. bufindw = (bufindw + 1)%BUFSIZE;
  684. buflen += 1;
  685. }
  686. serial_count = 0; //clear buffer
  687. }
  688. else
  689. {
  690. if(serial_char == ';') comment_mode = true;
  691. if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
  692. }
  693. }
  694. #ifdef SDSUPPORT
  695. if(!card.sdprinting || serial_count!=0){
  696. return;
  697. }
  698. //'#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible
  699. // if it occurs, stop_buffering is triggered and the buffer is ran dry.
  700. // this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing
  701. static bool stop_buffering=false;
  702. if(buflen==0) stop_buffering=false;
  703. while( !card.eof() && buflen < BUFSIZE && !stop_buffering) {
  704. int16_t n=card.get();
  705. serial_char = (char)n;
  706. if(serial_char == '\n' ||
  707. serial_char == '\r' ||
  708. (serial_char == '#' && comment_mode == false) ||
  709. (serial_char == ':' && comment_mode == false) ||
  710. serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
  711. {
  712. if(card.eof()){
  713. SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
  714. stoptime=millis();
  715. char time[30];
  716. unsigned long t=(stoptime-starttime)/1000;
  717. int hours, minutes;
  718. minutes=(t/60)%60;
  719. hours=t/60/60;
  720. sprintf_P(time, PSTR("%i hours %i minutes"),hours, minutes);
  721. SERIAL_ECHO_START;
  722. SERIAL_ECHOLN(time);
  723. lcd_setstatus(time);
  724. card.printingHasFinished();
  725. card.checkautostart(true);
  726. }
  727. if(serial_char=='#')
  728. stop_buffering=true;
  729. if(!serial_count)
  730. {
  731. comment_mode = false; //for new command
  732. return; //if empty line
  733. }
  734. cmdbuffer[bufindw][serial_count] = 0; //terminate string
  735. // if(!comment_mode){
  736. fromsd[bufindw] = true;
  737. buflen += 1;
  738. bufindw = (bufindw + 1)%BUFSIZE;
  739. // }
  740. comment_mode = false; //for new command
  741. serial_count = 0; //clear buffer
  742. }
  743. else
  744. {
  745. if(serial_char == ';') comment_mode = true;
  746. if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
  747. }
  748. }
  749. #endif //SDSUPPORT
  750. }
  751. float code_value()
  752. {
  753. return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
  754. }
  755. long code_value_long()
  756. {
  757. return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
  758. }
  759. bool code_seen(char code)
  760. {
  761. strchr_pointer = strchr(cmdbuffer[bufindr], code);
  762. return (strchr_pointer != NULL); //Return True if a character was found
  763. }
  764. #define DEFINE_PGM_READ_ANY(type, reader) \
  765. static inline type pgm_read_any(const type *p) \
  766. { return pgm_read_##reader##_near(p); }
  767. DEFINE_PGM_READ_ANY(float, float);
  768. DEFINE_PGM_READ_ANY(signed char, byte);
  769. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  770. static const PROGMEM type array##_P[3] = \
  771. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  772. static inline type array(int axis) \
  773. { return pgm_read_any(&array##_P[axis]); }
  774. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  775. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  776. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  777. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  778. XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
  779. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  780. #ifdef DUAL_X_CARRIAGE
  781. #if EXTRUDERS == 1 || defined(COREXY) \
  782. || !defined(X2_ENABLE_PIN) || !defined(X2_STEP_PIN) || !defined(X2_DIR_PIN) \
  783. || !defined(X2_HOME_POS) || !defined(X2_MIN_POS) || !defined(X2_MAX_POS) \
  784. || !defined(X_MAX_PIN) || X_MAX_PIN < 0
  785. #error "Missing or invalid definitions for DUAL_X_CARRIAGE mode."
  786. #endif
  787. #if X_HOME_DIR != -1 || X2_HOME_DIR != 1
  788. #error "Please use canonical x-carriage assignment" // the x-carriages are defined by their homing directions
  789. #endif
  790. #define DXC_FULL_CONTROL_MODE 0
  791. #define DXC_AUTO_PARK_MODE 1
  792. #define DXC_DUPLICATION_MODE 2
  793. static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  794. static float x_home_pos(int extruder) {
  795. if (extruder == 0)
  796. return base_home_pos(X_AXIS) + add_homing[X_AXIS];
  797. else
  798. // In dual carriage mode the extruder offset provides an override of the
  799. // second X-carriage offset when homed - otherwise X2_HOME_POS is used.
  800. // This allow soft recalibration of the second extruder offset position without firmware reflash
  801. // (through the M218 command).
  802. return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
  803. }
  804. static int x_home_dir(int extruder) {
  805. return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
  806. }
  807. static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
  808. static bool active_extruder_parked = false; // used in mode 1 & 2
  809. static float raised_parked_position[NUM_AXIS]; // used in mode 1
  810. static unsigned long delayed_move_time = 0; // used in mode 1
  811. static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
  812. static float duplicate_extruder_temp_offset = 0; // used in mode 2
  813. bool extruder_duplication_enabled = false; // used in mode 2
  814. #endif //DUAL_X_CARRIAGE
  815. static void axis_is_at_home(int axis) {
  816. #ifdef DUAL_X_CARRIAGE
  817. if (axis == X_AXIS) {
  818. if (active_extruder != 0) {
  819. current_position[X_AXIS] = x_home_pos(active_extruder);
  820. min_pos[X_AXIS] = X2_MIN_POS;
  821. max_pos[X_AXIS] = max(extruder_offset[X_AXIS][1], X2_MAX_POS);
  822. return;
  823. }
  824. else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
  825. current_position[X_AXIS] = base_home_pos(X_AXIS) + add_homing[X_AXIS];
  826. min_pos[X_AXIS] = base_min_pos(X_AXIS) + add_homing[X_AXIS];
  827. max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + add_homing[X_AXIS],
  828. max(extruder_offset[X_AXIS][1], X2_MAX_POS) - duplicate_extruder_x_offset);
  829. return;
  830. }
  831. }
  832. #endif
  833. #ifdef SCARA
  834. float homeposition[3];
  835. char i;
  836. if (axis < 2)
  837. {
  838. for (i=0; i<3; i++)
  839. {
  840. homeposition[i] = base_home_pos(i);
  841. }
  842. // SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
  843. // SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
  844. // Works out real Homeposition angles using inverse kinematics,
  845. // and calculates homing offset using forward kinematics
  846. calculate_delta(homeposition);
  847. // SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]);
  848. // SERIAL_ECHOPGM(" base Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
  849. for (i=0; i<2; i++)
  850. {
  851. delta[i] -= add_homing[i];
  852. }
  853. // SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(add_homing[X_AXIS]);
  854. // SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(add_homing[Y_AXIS]);
  855. // SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
  856. // SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
  857. calculate_SCARA_forward_Transform(delta);
  858. // SERIAL_ECHOPGM("Delta X="); SERIAL_ECHO(delta[X_AXIS]);
  859. // SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);
  860. current_position[axis] = delta[axis];
  861. // SCARA home positions are based on configuration since the actual limits are determined by the
  862. // inverse kinematic transform.
  863. min_pos[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
  864. max_pos[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
  865. }
  866. else
  867. {
  868. current_position[axis] = base_home_pos(axis) + add_homing[axis];
  869. min_pos[axis] = base_min_pos(axis) + add_homing[axis];
  870. max_pos[axis] = base_max_pos(axis) + add_homing[axis];
  871. }
  872. #else
  873. current_position[axis] = base_home_pos(axis) + add_homing[axis];
  874. min_pos[axis] = base_min_pos(axis) + add_homing[axis];
  875. max_pos[axis] = base_max_pos(axis) + add_homing[axis];
  876. #endif
  877. }
  878. #ifdef ENABLE_AUTO_BED_LEVELING
  879. #ifdef AUTO_BED_LEVELING_GRID
  880. static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
  881. {
  882. vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
  883. planeNormal.debug("planeNormal");
  884. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  885. //bedLevel.debug("bedLevel");
  886. //plan_bed_level_matrix.debug("bed level before");
  887. //vector_3 uncorrected_position = plan_get_position_mm();
  888. //uncorrected_position.debug("position before");
  889. vector_3 corrected_position = plan_get_position();
  890. // corrected_position.debug("position after");
  891. current_position[X_AXIS] = corrected_position.x;
  892. current_position[Y_AXIS] = corrected_position.y;
  893. current_position[Z_AXIS] = corrected_position.z;
  894. // put the bed at 0 so we don't go below it.
  895. current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
  896. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  897. }
  898. #else // not AUTO_BED_LEVELING_GRID
  899. static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
  900. plan_bed_level_matrix.set_to_identity();
  901. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
  902. vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
  903. vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  904. vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
  905. vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
  906. vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
  907. planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
  908. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  909. vector_3 corrected_position = plan_get_position();
  910. current_position[X_AXIS] = corrected_position.x;
  911. current_position[Y_AXIS] = corrected_position.y;
  912. current_position[Z_AXIS] = corrected_position.z;
  913. // put the bed at 0 so we don't go below it.
  914. current_position[Z_AXIS] = zprobe_zoffset;
  915. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  916. }
  917. #endif // AUTO_BED_LEVELING_GRID
  918. static void run_z_probe() {
  919. plan_bed_level_matrix.set_to_identity();
  920. feedrate = homing_feedrate[Z_AXIS];
  921. // move down until you find the bed
  922. float zPosition = -10;
  923. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  924. st_synchronize();
  925. // we have to let the planner know where we are right now as it is not where we said to go.
  926. zPosition = st_get_position_mm(Z_AXIS);
  927. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
  928. // move up the retract distance
  929. zPosition += home_retract_mm(Z_AXIS);
  930. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  931. st_synchronize();
  932. // move back down slowly to find bed
  933. feedrate = homing_feedrate[Z_AXIS]/4;
  934. zPosition -= home_retract_mm(Z_AXIS) * 2;
  935. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  936. st_synchronize();
  937. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  938. // make sure the planner knows where we are as it may be a bit different than we last said to move to
  939. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  940. }
  941. static void do_blocking_move_to(float x, float y, float z) {
  942. float oldFeedRate = feedrate;
  943. feedrate = homing_feedrate[Z_AXIS];
  944. current_position[Z_AXIS] = z;
  945. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  946. st_synchronize();
  947. feedrate = XY_TRAVEL_SPEED;
  948. current_position[X_AXIS] = x;
  949. current_position[Y_AXIS] = y;
  950. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  951. st_synchronize();
  952. feedrate = oldFeedRate;
  953. }
  954. static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
  955. do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
  956. }
  957. static void setup_for_endstop_move() {
  958. saved_feedrate = feedrate;
  959. saved_feedmultiply = feedmultiply;
  960. feedmultiply = 100;
  961. previous_millis_cmd = millis();
  962. enable_endstops(true);
  963. }
  964. static void clean_up_after_endstop_move() {
  965. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  966. enable_endstops(false);
  967. #endif
  968. feedrate = saved_feedrate;
  969. feedmultiply = saved_feedmultiply;
  970. previous_millis_cmd = millis();
  971. }
  972. static void engage_z_probe() {
  973. // Engage Z Servo endstop if enabled
  974. #ifdef SERVO_ENDSTOPS
  975. if (servo_endstops[Z_AXIS] > -1) {
  976. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  977. servos[servo_endstops[Z_AXIS]].attach(0);
  978. #endif
  979. servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2]);
  980. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  981. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  982. servos[servo_endstops[Z_AXIS]].detach();
  983. #endif
  984. }
  985. #endif
  986. }
  987. static void retract_z_probe() {
  988. // Retract Z Servo endstop if enabled
  989. #ifdef SERVO_ENDSTOPS
  990. if (servo_endstops[Z_AXIS] > -1) {
  991. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  992. servos[servo_endstops[Z_AXIS]].attach(0);
  993. #endif
  994. servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
  995. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  996. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  997. servos[servo_endstops[Z_AXIS]].detach();
  998. #endif
  999. }
  1000. #endif
  1001. }
  1002. /// Probe bed height at position (x,y), returns the measured z value
  1003. static float probe_pt(float x, float y, float z_before) {
  1004. // move to right place
  1005. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
  1006. do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
  1007. #ifndef Z_PROBE_SLED
  1008. engage_z_probe(); // Engage Z Servo endstop if available
  1009. #endif // Z_PROBE_SLED
  1010. run_z_probe();
  1011. float measured_z = current_position[Z_AXIS];
  1012. #ifndef Z_PROBE_SLED
  1013. retract_z_probe();
  1014. #endif // Z_PROBE_SLED
  1015. SERIAL_PROTOCOLPGM(MSG_BED);
  1016. SERIAL_PROTOCOLPGM(" x: ");
  1017. SERIAL_PROTOCOL(x);
  1018. SERIAL_PROTOCOLPGM(" y: ");
  1019. SERIAL_PROTOCOL(y);
  1020. SERIAL_PROTOCOLPGM(" z: ");
  1021. SERIAL_PROTOCOL(measured_z);
  1022. SERIAL_PROTOCOLPGM("\n");
  1023. return measured_z;
  1024. }
  1025. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  1026. static void homeaxis(int axis) {
  1027. #define HOMEAXIS_DO(LETTER) \
  1028. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  1029. if (axis==X_AXIS ? HOMEAXIS_DO(X) :
  1030. axis==Y_AXIS ? HOMEAXIS_DO(Y) :
  1031. axis==Z_AXIS ? HOMEAXIS_DO(Z) :
  1032. 0) {
  1033. int axis_home_dir = home_dir(axis);
  1034. #ifdef DUAL_X_CARRIAGE
  1035. if (axis == X_AXIS)
  1036. axis_home_dir = x_home_dir(active_extruder);
  1037. #endif
  1038. current_position[axis] = 0;
  1039. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1040. #ifndef Z_PROBE_SLED
  1041. // Engage Servo endstop if enabled
  1042. #ifdef SERVO_ENDSTOPS
  1043. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  1044. if (axis==Z_AXIS) {
  1045. engage_z_probe();
  1046. }
  1047. else
  1048. #endif
  1049. if (servo_endstops[axis] > -1) {
  1050. servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
  1051. }
  1052. #endif
  1053. #endif // Z_PROBE_SLED
  1054. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  1055. feedrate = homing_feedrate[axis];
  1056. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1057. st_synchronize();
  1058. current_position[axis] = 0;
  1059. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1060. destination[axis] = -home_retract_mm(axis) * axis_home_dir;
  1061. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1062. st_synchronize();
  1063. destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
  1064. #ifdef DELTA
  1065. feedrate = homing_feedrate[axis]/10;
  1066. #else
  1067. feedrate = homing_feedrate[axis]/2 ;
  1068. #endif
  1069. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1070. st_synchronize();
  1071. #ifdef DELTA
  1072. // retrace by the amount specified in endstop_adj
  1073. if (endstop_adj[axis] * axis_home_dir < 0) {
  1074. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1075. destination[axis] = endstop_adj[axis];
  1076. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1077. st_synchronize();
  1078. }
  1079. #endif
  1080. axis_is_at_home(axis);
  1081. destination[axis] = current_position[axis];
  1082. feedrate = 0.0;
  1083. endstops_hit_on_purpose();
  1084. axis_known_position[axis] = true;
  1085. // Retract Servo endstop if enabled
  1086. #ifdef SERVO_ENDSTOPS
  1087. if (servo_endstops[axis] > -1) {
  1088. servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]);
  1089. }
  1090. #endif
  1091. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  1092. #ifndef Z_PROBE_SLED
  1093. if (axis==Z_AXIS) retract_z_probe();
  1094. #endif
  1095. #endif
  1096. }
  1097. }
  1098. #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
  1099. void refresh_cmd_timeout(void)
  1100. {
  1101. previous_millis_cmd = millis();
  1102. }
  1103. #ifdef FWRETRACT
  1104. void retract(bool retracting, bool swapretract = false) {
  1105. if(retracting && !retracted[active_extruder]) {
  1106. destination[X_AXIS]=current_position[X_AXIS];
  1107. destination[Y_AXIS]=current_position[Y_AXIS];
  1108. destination[Z_AXIS]=current_position[Z_AXIS];
  1109. destination[E_AXIS]=current_position[E_AXIS];
  1110. if (swapretract) {
  1111. current_position[E_AXIS]+=retract_length_swap/volumetric_multiplier[active_extruder];
  1112. } else {
  1113. current_position[E_AXIS]+=retract_length/volumetric_multiplier[active_extruder];
  1114. }
  1115. plan_set_e_position(current_position[E_AXIS]);
  1116. float oldFeedrate = feedrate;
  1117. feedrate=retract_feedrate*60;
  1118. retracted[active_extruder]=true;
  1119. prepare_move();
  1120. current_position[Z_AXIS]-=retract_zlift;
  1121. #ifdef DELTA
  1122. calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
  1123. plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
  1124. #else
  1125. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1126. #endif
  1127. prepare_move();
  1128. feedrate = oldFeedrate;
  1129. } else if(!retracting && retracted[active_extruder]) {
  1130. destination[X_AXIS]=current_position[X_AXIS];
  1131. destination[Y_AXIS]=current_position[Y_AXIS];
  1132. destination[Z_AXIS]=current_position[Z_AXIS];
  1133. destination[E_AXIS]=current_position[E_AXIS];
  1134. current_position[Z_AXIS]+=retract_zlift;
  1135. #ifdef DELTA
  1136. calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
  1137. plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
  1138. #else
  1139. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1140. #endif
  1141. //prepare_move();
  1142. if (swapretract) {
  1143. current_position[E_AXIS]-=(retract_length_swap+retract_recover_length_swap)/volumetric_multiplier[active_extruder];
  1144. } else {
  1145. current_position[E_AXIS]-=(retract_length+retract_recover_length)/volumetric_multiplier[active_extruder];
  1146. }
  1147. plan_set_e_position(current_position[E_AXIS]);
  1148. float oldFeedrate = feedrate;
  1149. feedrate=retract_recover_feedrate*60;
  1150. retracted[active_extruder]=false;
  1151. prepare_move();
  1152. feedrate = oldFeedrate;
  1153. }
  1154. } //retract
  1155. #endif //FWRETRACT
  1156. #ifdef Z_PROBE_SLED
  1157. //
  1158. // Method to dock/undock a sled designed by Charles Bell.
  1159. //
  1160. // dock[in] If true, move to MAX_X and engage the electromagnet
  1161. // offset[in] The additional distance to move to adjust docking location
  1162. //
  1163. static void dock_sled(bool dock, int offset=0) {
  1164. int z_loc;
  1165. if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
  1166. LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
  1167. SERIAL_ECHO_START;
  1168. SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
  1169. return;
  1170. }
  1171. if (dock) {
  1172. do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset,
  1173. current_position[Y_AXIS],
  1174. current_position[Z_AXIS]);
  1175. // turn off magnet
  1176. digitalWrite(SERVO0_PIN, LOW);
  1177. } else {
  1178. if (current_position[Z_AXIS] < (Z_RAISE_BEFORE_PROBING + 5))
  1179. z_loc = Z_RAISE_BEFORE_PROBING;
  1180. else
  1181. z_loc = current_position[Z_AXIS];
  1182. do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset,
  1183. Y_PROBE_OFFSET_FROM_EXTRUDER, z_loc);
  1184. // turn on magnet
  1185. digitalWrite(SERVO0_PIN, HIGH);
  1186. }
  1187. }
  1188. #endif
  1189. void process_commands()
  1190. {
  1191. unsigned long codenum; //throw away variable
  1192. char *starpos = NULL;
  1193. #ifdef ENABLE_AUTO_BED_LEVELING
  1194. float x_tmp, y_tmp, z_tmp, real_z;
  1195. #endif
  1196. if(code_seen('G'))
  1197. {
  1198. switch((int)code_value())
  1199. {
  1200. case 0: // G0 -> G1
  1201. case 1: // G1
  1202. if(Stopped == false) {
  1203. get_coordinates(); // For X Y Z E F
  1204. #ifdef FWRETRACT
  1205. if(autoretract_enabled)
  1206. if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  1207. float echange=destination[E_AXIS]-current_position[E_AXIS];
  1208. if((echange<-MIN_RETRACT && !retracted) || (echange>MIN_RETRACT && retracted)) { //move appears to be an attempt to retract or recover
  1209. current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
  1210. plan_set_e_position(current_position[E_AXIS]); //AND from the planner
  1211. retract(!retracted);
  1212. return;
  1213. }
  1214. }
  1215. #endif //FWRETRACT
  1216. prepare_move();
  1217. //ClearToSend();
  1218. }
  1219. break;
  1220. #ifndef SCARA //disable arc support
  1221. case 2: // G2 - CW ARC
  1222. if(Stopped == false) {
  1223. get_arc_coordinates();
  1224. prepare_arc_move(true);
  1225. }
  1226. break;
  1227. case 3: // G3 - CCW ARC
  1228. if(Stopped == false) {
  1229. get_arc_coordinates();
  1230. prepare_arc_move(false);
  1231. }
  1232. break;
  1233. #endif
  1234. case 4: // G4 dwell
  1235. LCD_MESSAGEPGM(MSG_DWELL);
  1236. codenum = 0;
  1237. if(code_seen('P')) codenum = code_value(); // milliseconds to wait
  1238. if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
  1239. st_synchronize();
  1240. codenum += millis(); // keep track of when we started waiting
  1241. previous_millis_cmd = millis();
  1242. while(millis() < codenum) {
  1243. manage_heater();
  1244. manage_inactivity();
  1245. lcd_update();
  1246. }
  1247. break;
  1248. #ifdef FWRETRACT
  1249. case 10: // G10 retract
  1250. #if EXTRUDERS > 1
  1251. retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
  1252. retract(true,retracted_swap[active_extruder]);
  1253. #else
  1254. retract(true);
  1255. #endif
  1256. break;
  1257. case 11: // G11 retract_recover
  1258. #if EXTRUDERS > 1
  1259. retract(false,retracted_swap[active_extruder]);
  1260. #else
  1261. retract(false);
  1262. #endif
  1263. break;
  1264. #endif //FWRETRACT
  1265. case 28: //G28 Home all Axis one at a time
  1266. #ifdef ENABLE_AUTO_BED_LEVELING
  1267. plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
  1268. #endif //ENABLE_AUTO_BED_LEVELING
  1269. saved_feedrate = feedrate;
  1270. saved_feedmultiply = feedmultiply;
  1271. feedmultiply = 100;
  1272. previous_millis_cmd = millis();
  1273. enable_endstops(true);
  1274. for(int8_t i=0; i < NUM_AXIS; i++) {
  1275. destination[i] = current_position[i];
  1276. }
  1277. feedrate = 0.0;
  1278. #ifdef DELTA
  1279. // A delta can only safely home all axis at the same time
  1280. // all axis have to home at the same time
  1281. // Move all carriages up together until the first endstop is hit.
  1282. current_position[X_AXIS] = 0;
  1283. current_position[Y_AXIS] = 0;
  1284. current_position[Z_AXIS] = 0;
  1285. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1286. destination[X_AXIS] = 3 * Z_MAX_LENGTH;
  1287. destination[Y_AXIS] = 3 * Z_MAX_LENGTH;
  1288. destination[Z_AXIS] = 3 * Z_MAX_LENGTH;
  1289. feedrate = 1.732 * homing_feedrate[X_AXIS];
  1290. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1291. st_synchronize();
  1292. endstops_hit_on_purpose();
  1293. current_position[X_AXIS] = destination[X_AXIS];
  1294. current_position[Y_AXIS] = destination[Y_AXIS];
  1295. current_position[Z_AXIS] = destination[Z_AXIS];
  1296. // take care of back off and rehome now we are all at the top
  1297. HOMEAXIS(X);
  1298. HOMEAXIS(Y);
  1299. HOMEAXIS(Z);
  1300. calculate_delta(current_position);
  1301. plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
  1302. #else // NOT DELTA
  1303. home_all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS])));
  1304. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  1305. if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
  1306. HOMEAXIS(Z);
  1307. }
  1308. #endif
  1309. #ifdef QUICK_HOME
  1310. if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) ) //first diagonal move
  1311. {
  1312. current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
  1313. #ifndef DUAL_X_CARRIAGE
  1314. int x_axis_home_dir = home_dir(X_AXIS);
  1315. #else
  1316. int x_axis_home_dir = x_home_dir(active_extruder);
  1317. extruder_duplication_enabled = false;
  1318. #endif
  1319. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1320. destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
  1321. feedrate = homing_feedrate[X_AXIS];
  1322. if(homing_feedrate[Y_AXIS]<feedrate)
  1323. feedrate = homing_feedrate[Y_AXIS];
  1324. if (max_length(X_AXIS) > max_length(Y_AXIS)) {
  1325. feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
  1326. } else {
  1327. feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
  1328. }
  1329. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1330. st_synchronize();
  1331. axis_is_at_home(X_AXIS);
  1332. axis_is_at_home(Y_AXIS);
  1333. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1334. destination[X_AXIS] = current_position[X_AXIS];
  1335. destination[Y_AXIS] = current_position[Y_AXIS];
  1336. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1337. feedrate = 0.0;
  1338. st_synchronize();
  1339. endstops_hit_on_purpose();
  1340. current_position[X_AXIS] = destination[X_AXIS];
  1341. current_position[Y_AXIS] = destination[Y_AXIS];
  1342. #ifndef SCARA
  1343. current_position[Z_AXIS] = destination[Z_AXIS];
  1344. #endif
  1345. }
  1346. #endif
  1347. if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
  1348. {
  1349. #ifdef DUAL_X_CARRIAGE
  1350. int tmp_extruder = active_extruder;
  1351. extruder_duplication_enabled = false;
  1352. active_extruder = !active_extruder;
  1353. HOMEAXIS(X);
  1354. inactive_extruder_x_pos = current_position[X_AXIS];
  1355. active_extruder = tmp_extruder;
  1356. HOMEAXIS(X);
  1357. // reset state used by the different modes
  1358. memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
  1359. delayed_move_time = 0;
  1360. active_extruder_parked = true;
  1361. #else
  1362. HOMEAXIS(X);
  1363. #endif
  1364. }
  1365. if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
  1366. HOMEAXIS(Y);
  1367. }
  1368. if(code_seen(axis_codes[X_AXIS]))
  1369. {
  1370. if(code_value_long() != 0) {
  1371. #ifdef SCARA
  1372. current_position[X_AXIS]=code_value();
  1373. #else
  1374. current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
  1375. #endif
  1376. }
  1377. }
  1378. if(code_seen(axis_codes[Y_AXIS])) {
  1379. if(code_value_long() != 0) {
  1380. #ifdef SCARA
  1381. current_position[Y_AXIS]=code_value();
  1382. #else
  1383. current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
  1384. #endif
  1385. }
  1386. }
  1387. #if Z_HOME_DIR < 0 // If homing towards BED do Z last
  1388. #ifndef Z_SAFE_HOMING
  1389. if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
  1390. #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  1391. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  1392. feedrate = max_feedrate[Z_AXIS];
  1393. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  1394. st_synchronize();
  1395. #endif
  1396. HOMEAXIS(Z);
  1397. }
  1398. #else // Z Safe mode activated.
  1399. if(home_all_axis) {
  1400. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
  1401. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
  1402. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  1403. feedrate = XY_TRAVEL_SPEED/60;
  1404. current_position[Z_AXIS] = 0;
  1405. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1406. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  1407. st_synchronize();
  1408. current_position[X_AXIS] = destination[X_AXIS];
  1409. current_position[Y_AXIS] = destination[Y_AXIS];
  1410. HOMEAXIS(Z);
  1411. }
  1412. // Let's see if X and Y are homed and probe is inside bed area.
  1413. if(code_seen(axis_codes[Z_AXIS])) {
  1414. if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
  1415. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
  1416. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
  1417. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
  1418. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
  1419. current_position[Z_AXIS] = 0;
  1420. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1421. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  1422. feedrate = max_feedrate[Z_AXIS];
  1423. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  1424. st_synchronize();
  1425. HOMEAXIS(Z);
  1426. } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
  1427. LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
  1428. SERIAL_ECHO_START;
  1429. SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
  1430. } else {
  1431. LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
  1432. SERIAL_ECHO_START;
  1433. SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
  1434. }
  1435. }
  1436. #endif
  1437. #endif
  1438. if(code_seen(axis_codes[Z_AXIS])) {
  1439. if(code_value_long() != 0) {
  1440. current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
  1441. }
  1442. }
  1443. #ifdef ENABLE_AUTO_BED_LEVELING
  1444. if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
  1445. current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
  1446. }
  1447. #endif
  1448. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1449. #endif // else DELTA
  1450. #ifdef SCARA
  1451. calculate_delta(current_position);
  1452. plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
  1453. #endif // SCARA
  1454. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  1455. enable_endstops(false);
  1456. #endif
  1457. feedrate = saved_feedrate;
  1458. feedmultiply = saved_feedmultiply;
  1459. previous_millis_cmd = millis();
  1460. endstops_hit_on_purpose();
  1461. break;
  1462. #ifdef ENABLE_AUTO_BED_LEVELING
  1463. case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
  1464. {
  1465. #if Z_MIN_PIN == -1
  1466. #error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature!!! Z_MIN_PIN must point to a valid hardware pin."
  1467. #endif
  1468. // Prevent user from running a G29 without first homing in X and Y
  1469. if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
  1470. {
  1471. LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
  1472. SERIAL_ECHO_START;
  1473. SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
  1474. break; // abort G29, since we don't know where we are
  1475. }
  1476. #ifdef Z_PROBE_SLED
  1477. dock_sled(false);
  1478. #endif // Z_PROBE_SLED
  1479. st_synchronize();
  1480. // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
  1481. //vector_3 corrected_position = plan_get_position_mm();
  1482. //corrected_position.debug("position before G29");
  1483. plan_bed_level_matrix.set_to_identity();
  1484. vector_3 uncorrected_position = plan_get_position();
  1485. //uncorrected_position.debug("position durring G29");
  1486. current_position[X_AXIS] = uncorrected_position.x;
  1487. current_position[Y_AXIS] = uncorrected_position.y;
  1488. current_position[Z_AXIS] = uncorrected_position.z;
  1489. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1490. setup_for_endstop_move();
  1491. feedrate = homing_feedrate[Z_AXIS];
  1492. #ifdef AUTO_BED_LEVELING_GRID
  1493. // probe at the points of a lattice grid
  1494. int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  1495. int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  1496. // solve the plane equation ax + by + d = z
  1497. // A is the matrix with rows [x y 1] for all the probed points
  1498. // B is the vector of the Z positions
  1499. // the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
  1500. // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  1501. // "A" matrix of the linear system of equations
  1502. double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
  1503. // "B" vector of Z points
  1504. double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
  1505. int probePointCounter = 0;
  1506. bool zig = true;
  1507. for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
  1508. {
  1509. int xProbe, xInc;
  1510. if (zig)
  1511. {
  1512. xProbe = LEFT_PROBE_BED_POSITION;
  1513. //xEnd = RIGHT_PROBE_BED_POSITION;
  1514. xInc = xGridSpacing;
  1515. zig = false;
  1516. } else // zag
  1517. {
  1518. xProbe = RIGHT_PROBE_BED_POSITION;
  1519. //xEnd = LEFT_PROBE_BED_POSITION;
  1520. xInc = -xGridSpacing;
  1521. zig = true;
  1522. }
  1523. for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
  1524. {
  1525. float z_before;
  1526. if (probePointCounter == 0)
  1527. {
  1528. // raise before probing
  1529. z_before = Z_RAISE_BEFORE_PROBING;
  1530. } else
  1531. {
  1532. // raise extruder
  1533. z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
  1534. }
  1535. float measured_z = probe_pt(xProbe, yProbe, z_before);
  1536. eqnBVector[probePointCounter] = measured_z;
  1537. eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
  1538. eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
  1539. eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
  1540. probePointCounter++;
  1541. xProbe += xInc;
  1542. }
  1543. }
  1544. clean_up_after_endstop_move();
  1545. // solve lsq problem
  1546. double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
  1547. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  1548. SERIAL_PROTOCOL(plane_equation_coefficients[0]);
  1549. SERIAL_PROTOCOLPGM(" b: ");
  1550. SERIAL_PROTOCOL(plane_equation_coefficients[1]);
  1551. SERIAL_PROTOCOLPGM(" d: ");
  1552. SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
  1553. set_bed_level_equation_lsq(plane_equation_coefficients);
  1554. free(plane_equation_coefficients);
  1555. #else // AUTO_BED_LEVELING_GRID not defined
  1556. // Probe at 3 arbitrary points
  1557. // probe 1
  1558. float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
  1559. // probe 2
  1560. float z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
  1561. // probe 3
  1562. float z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
  1563. clean_up_after_endstop_move();
  1564. set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
  1565. #endif // AUTO_BED_LEVELING_GRID
  1566. st_synchronize();
  1567. // The following code correct the Z height difference from z-probe position and hotend tip position.
  1568. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
  1569. // When the bed is uneven, this height must be corrected.
  1570. real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
  1571. x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
  1572. y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  1573. z_tmp = current_position[Z_AXIS];
  1574. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
  1575. current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
  1576. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1577. #ifdef Z_PROBE_SLED
  1578. dock_sled(true, -SLED_DOCKING_OFFSET); // correct for over travel.
  1579. #endif // Z_PROBE_SLED
  1580. }
  1581. break;
  1582. #ifndef Z_PROBE_SLED
  1583. case 30: // G30 Single Z Probe
  1584. {
  1585. engage_z_probe(); // Engage Z Servo endstop if available
  1586. st_synchronize();
  1587. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  1588. setup_for_endstop_move();
  1589. feedrate = homing_feedrate[Z_AXIS];
  1590. run_z_probe();
  1591. SERIAL_PROTOCOLPGM(MSG_BED);
  1592. SERIAL_PROTOCOLPGM(" X: ");
  1593. SERIAL_PROTOCOL(current_position[X_AXIS]);
  1594. SERIAL_PROTOCOLPGM(" Y: ");
  1595. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  1596. SERIAL_PROTOCOLPGM(" Z: ");
  1597. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  1598. SERIAL_PROTOCOLPGM("\n");
  1599. clean_up_after_endstop_move();
  1600. retract_z_probe(); // Retract Z Servo endstop if available
  1601. }
  1602. break;
  1603. #else
  1604. case 31: // dock the sled
  1605. dock_sled(true);
  1606. break;
  1607. case 32: // undock the sled
  1608. dock_sled(false);
  1609. break;
  1610. #endif // Z_PROBE_SLED
  1611. #endif // ENABLE_AUTO_BED_LEVELING
  1612. case 90: // G90
  1613. relative_mode = false;
  1614. break;
  1615. case 91: // G91
  1616. relative_mode = true;
  1617. break;
  1618. case 92: // G92
  1619. if(!code_seen(axis_codes[E_AXIS]))
  1620. st_synchronize();
  1621. for(int8_t i=0; i < NUM_AXIS; i++) {
  1622. if(code_seen(axis_codes[i])) {
  1623. if(i == E_AXIS) {
  1624. current_position[i] = code_value();
  1625. plan_set_e_position(current_position[E_AXIS]);
  1626. }
  1627. else {
  1628. #ifdef SCARA
  1629. if (i == X_AXIS || i == Y_AXIS) {
  1630. current_position[i] = code_value();
  1631. }
  1632. else {
  1633. current_position[i] = code_value()+add_homing[i];
  1634. }
  1635. #else
  1636. current_position[i] = code_value()+add_homing[i];
  1637. #endif
  1638. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1639. }
  1640. }
  1641. }
  1642. break;
  1643. }
  1644. }
  1645. else if(code_seen('M'))
  1646. {
  1647. switch( (int)code_value() )
  1648. {
  1649. #ifdef ULTIPANEL
  1650. case 0: // M0 - Unconditional stop - Wait for user button press on LCD
  1651. case 1: // M1 - Conditional stop - Wait for user button press on LCD
  1652. {
  1653. char *src = strchr_pointer + 2;
  1654. codenum = 0;
  1655. bool hasP = false, hasS = false;
  1656. if (code_seen('P')) {
  1657. codenum = code_value(); // milliseconds to wait
  1658. hasP = codenum > 0;
  1659. }
  1660. if (code_seen('S')) {
  1661. codenum = code_value() * 1000; // seconds to wait
  1662. hasS = codenum > 0;
  1663. }
  1664. starpos = strchr(src, '*');
  1665. if (starpos != NULL) *(starpos) = '\0';
  1666. while (*src == ' ') ++src;
  1667. if (!hasP && !hasS && *src != '\0') {
  1668. lcd_setstatus(src);
  1669. } else {
  1670. LCD_MESSAGEPGM(MSG_USERWAIT);
  1671. }
  1672. lcd_ignore_click();
  1673. st_synchronize();
  1674. previous_millis_cmd = millis();
  1675. if (codenum > 0){
  1676. codenum += millis(); // keep track of when we started waiting
  1677. while(millis() < codenum && !lcd_clicked()){
  1678. manage_heater();
  1679. manage_inactivity();
  1680. lcd_update();
  1681. }
  1682. lcd_ignore_click(false);
  1683. }else{
  1684. if (!lcd_detected())
  1685. break;
  1686. while(!lcd_clicked()){
  1687. manage_heater();
  1688. manage_inactivity();
  1689. lcd_update();
  1690. }
  1691. }
  1692. if (IS_SD_PRINTING)
  1693. LCD_MESSAGEPGM(MSG_RESUMING);
  1694. else
  1695. LCD_MESSAGEPGM(WELCOME_MSG);
  1696. }
  1697. break;
  1698. #endif
  1699. case 17:
  1700. LCD_MESSAGEPGM(MSG_NO_MOVE);
  1701. enable_x();
  1702. enable_y();
  1703. enable_z();
  1704. enable_e0();
  1705. enable_e1();
  1706. enable_e2();
  1707. break;
  1708. #ifdef SDSUPPORT
  1709. case 20: // M20 - list SD card
  1710. SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
  1711. card.ls();
  1712. SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
  1713. break;
  1714. case 21: // M21 - init SD card
  1715. card.initsd();
  1716. break;
  1717. case 22: //M22 - release SD card
  1718. card.release();
  1719. break;
  1720. case 23: //M23 - Select file
  1721. starpos = (strchr(strchr_pointer + 4,'*'));
  1722. if(starpos!=NULL)
  1723. *(starpos)='\0';
  1724. card.openFile(strchr_pointer + 4,true);
  1725. break;
  1726. case 24: //M24 - Start SD print
  1727. card.startFileprint();
  1728. starttime=millis();
  1729. break;
  1730. case 25: //M25 - Pause SD print
  1731. card.pauseSDPrint();
  1732. break;
  1733. case 26: //M26 - Set SD index
  1734. if(card.cardOK && code_seen('S')) {
  1735. card.setIndex(code_value_long());
  1736. }
  1737. break;
  1738. case 27: //M27 - Get SD status
  1739. card.getStatus();
  1740. break;
  1741. case 28: //M28 - Start SD write
  1742. starpos = (strchr(strchr_pointer + 4,'*'));
  1743. if(starpos != NULL){
  1744. char* npos = strchr(cmdbuffer[bufindr], 'N');
  1745. strchr_pointer = strchr(npos,' ') + 1;
  1746. *(starpos) = '\0';
  1747. }
  1748. card.openFile(strchr_pointer+4,false);
  1749. break;
  1750. case 29: //M29 - Stop SD write
  1751. //processed in write to file routine above
  1752. //card,saving = false;
  1753. break;
  1754. case 30: //M30 <filename> Delete File
  1755. if (card.cardOK){
  1756. card.closefile();
  1757. starpos = (strchr(strchr_pointer + 4,'*'));
  1758. if(starpos != NULL){
  1759. char* npos = strchr(cmdbuffer[bufindr], 'N');
  1760. strchr_pointer = strchr(npos,' ') + 1;
  1761. *(starpos) = '\0';
  1762. }
  1763. card.removeFile(strchr_pointer + 4);
  1764. }
  1765. break;
  1766. case 32: //M32 - Select file and start SD print
  1767. {
  1768. if(card.sdprinting) {
  1769. st_synchronize();
  1770. }
  1771. starpos = (strchr(strchr_pointer + 4,'*'));
  1772. char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
  1773. if(namestartpos==NULL)
  1774. {
  1775. namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
  1776. }
  1777. else
  1778. namestartpos++; //to skip the '!'
  1779. if(starpos!=NULL)
  1780. *(starpos)='\0';
  1781. bool call_procedure=(code_seen('P'));
  1782. if(strchr_pointer>namestartpos)
  1783. call_procedure=false; //false alert, 'P' found within filename
  1784. if( card.cardOK )
  1785. {
  1786. card.openFile(namestartpos,true,!call_procedure);
  1787. if(code_seen('S'))
  1788. if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
  1789. card.setIndex(code_value_long());
  1790. card.startFileprint();
  1791. if(!call_procedure)
  1792. starttime=millis(); //procedure calls count as normal print time.
  1793. }
  1794. } break;
  1795. case 928: //M928 - Start SD write
  1796. starpos = (strchr(strchr_pointer + 5,'*'));
  1797. if(starpos != NULL){
  1798. char* npos = strchr(cmdbuffer[bufindr], 'N');
  1799. strchr_pointer = strchr(npos,' ') + 1;
  1800. *(starpos) = '\0';
  1801. }
  1802. card.openLogFile(strchr_pointer+5);
  1803. break;
  1804. #endif //SDSUPPORT
  1805. case 31: //M31 take time since the start of the SD print or an M109 command
  1806. {
  1807. stoptime=millis();
  1808. char time[30];
  1809. unsigned long t=(stoptime-starttime)/1000;
  1810. int sec,min;
  1811. min=t/60;
  1812. sec=t%60;
  1813. sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
  1814. SERIAL_ECHO_START;
  1815. SERIAL_ECHOLN(time);
  1816. lcd_setstatus(time);
  1817. autotempShutdown();
  1818. }
  1819. break;
  1820. case 42: //M42 -Change pin status via gcode
  1821. if (code_seen('S'))
  1822. {
  1823. int pin_status = code_value();
  1824. int pin_number = LED_PIN;
  1825. if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
  1826. pin_number = code_value();
  1827. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  1828. {
  1829. if (sensitive_pins[i] == pin_number)
  1830. {
  1831. pin_number = -1;
  1832. break;
  1833. }
  1834. }
  1835. #if defined(FAN_PIN) && FAN_PIN > -1
  1836. if (pin_number == FAN_PIN)
  1837. fanSpeed = pin_status;
  1838. #endif
  1839. if (pin_number > -1)
  1840. {
  1841. pinMode(pin_number, OUTPUT);
  1842. digitalWrite(pin_number, pin_status);
  1843. analogWrite(pin_number, pin_status);
  1844. }
  1845. }
  1846. break;
  1847. // M48 Z-Probe repeatability measurement function.
  1848. //
  1849. // Usage: M48 <n #_samples> <X X_position_for_samples> <Y Y_position_for_samples> <V Verbose_Level> <Engage_probe_for_each_reading> <L legs_of_movement_prior_to_doing_probe>
  1850. //
  1851. // This function assumes the bed has been homed. Specificaly, that a G28 command
  1852. // as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
  1853. // Any information generated by a prior G29 Bed leveling command will be lost and need to be
  1854. // regenerated.
  1855. //
  1856. // The number of samples will default to 10 if not specified. You can use upper or lower case
  1857. // letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
  1858. // N for its communication protocol and will get horribly confused if you send it a capital N.
  1859. //
  1860. #ifdef ENABLE_AUTO_BED_LEVELING
  1861. #ifdef Z_PROBE_REPEATABILITY_TEST
  1862. case 48: // M48 Z-Probe repeatability
  1863. {
  1864. #if Z_MIN_PIN == -1
  1865. #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
  1866. #endif
  1867. double sum=0.0;
  1868. double mean=0.0;
  1869. double sigma=0.0;
  1870. double sample_set[50];
  1871. int verbose_level=1, n=0, j, n_samples = 10, n_legs=0, engage_probe_for_each_reading=0 ;
  1872. double X_current, Y_current, Z_current;
  1873. double X_probe_location, Y_probe_location, Z_start_location, ext_position;
  1874. if (code_seen('V') || code_seen('v')) {
  1875. verbose_level = code_value();
  1876. if (verbose_level<0 || verbose_level>4 ) {
  1877. SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
  1878. goto Sigma_Exit;
  1879. }
  1880. }
  1881. if (verbose_level > 0) {
  1882. SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
  1883. SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
  1884. }
  1885. if (code_seen('n')) {
  1886. n_samples = code_value();
  1887. if (n_samples<4 || n_samples>50 ) {
  1888. SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
  1889. goto Sigma_Exit;
  1890. }
  1891. }
  1892. X_current = X_probe_location = st_get_position_mm(X_AXIS);
  1893. Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
  1894. Z_current = st_get_position_mm(Z_AXIS);
  1895. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  1896. ext_position = st_get_position_mm(E_AXIS);
  1897. if (code_seen('E') || code_seen('e') )
  1898. engage_probe_for_each_reading++;
  1899. if (code_seen('X') || code_seen('x') ) {
  1900. X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
  1901. if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
  1902. SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
  1903. goto Sigma_Exit;
  1904. }
  1905. }
  1906. if (code_seen('Y') || code_seen('y') ) {
  1907. Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
  1908. if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
  1909. SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
  1910. goto Sigma_Exit;
  1911. }
  1912. }
  1913. if (code_seen('L') || code_seen('l') ) {
  1914. n_legs = code_value();
  1915. if ( n_legs==1 )
  1916. n_legs = 2;
  1917. if ( n_legs<0 || n_legs>15 ) {
  1918. SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
  1919. goto Sigma_Exit;
  1920. }
  1921. }
  1922. //
  1923. // Do all the preliminary setup work. First raise the probe.
  1924. //
  1925. st_synchronize();
  1926. plan_bed_level_matrix.set_to_identity();
  1927. plan_buffer_line( X_current, Y_current, Z_start_location,
  1928. ext_position,
  1929. homing_feedrate[Z_AXIS]/60,
  1930. active_extruder);
  1931. st_synchronize();
  1932. //
  1933. // Now get everything to the specified probe point So we can safely do a probe to
  1934. // get us close to the bed. If the Z-Axis is far from the bed, we don't want to
  1935. // use that as a starting point for each probe.
  1936. //
  1937. if (verbose_level > 2)
  1938. SERIAL_PROTOCOL("Positioning probe for the test.\n");
  1939. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  1940. ext_position,
  1941. homing_feedrate[X_AXIS]/60,
  1942. active_extruder);
  1943. st_synchronize();
  1944. current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
  1945. current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
  1946. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  1947. current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
  1948. //
  1949. // OK, do the inital probe to get us close to the bed.
  1950. // Then retrace the right amount and use that in subsequent probes
  1951. //
  1952. engage_z_probe();
  1953. setup_for_endstop_move();
  1954. run_z_probe();
  1955. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  1956. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  1957. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  1958. ext_position,
  1959. homing_feedrate[X_AXIS]/60,
  1960. active_extruder);
  1961. st_synchronize();
  1962. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  1963. if (engage_probe_for_each_reading)
  1964. retract_z_probe();
  1965. for( n=0; n<n_samples; n++) {
  1966. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
  1967. if ( n_legs) {
  1968. double radius=0.0, theta=0.0, x_sweep, y_sweep;
  1969. int rotational_direction, l;
  1970. rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
  1971. radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
  1972. theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
  1973. //SERIAL_ECHOPAIR("starting radius: ",radius);
  1974. //SERIAL_ECHOPAIR(" theta: ",theta);
  1975. //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
  1976. //SERIAL_PROTOCOLLNPGM("");
  1977. for( l=0; l<n_legs-1; l++) {
  1978. if (rotational_direction==1)
  1979. theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  1980. else
  1981. theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  1982. radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
  1983. if ( radius<0.0 )
  1984. radius = -radius;
  1985. X_current = X_probe_location + cos(theta) * radius;
  1986. Y_current = Y_probe_location + sin(theta) * radius;
  1987. if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
  1988. X_current = X_MIN_POS;
  1989. if ( X_current>X_MAX_POS)
  1990. X_current = X_MAX_POS;
  1991. if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
  1992. Y_current = Y_MIN_POS;
  1993. if ( Y_current>Y_MAX_POS)
  1994. Y_current = Y_MAX_POS;
  1995. if (verbose_level>3 ) {
  1996. SERIAL_ECHOPAIR("x: ", X_current);
  1997. SERIAL_ECHOPAIR("y: ", Y_current);
  1998. SERIAL_PROTOCOLLNPGM("");
  1999. }
  2000. do_blocking_move_to( X_current, Y_current, Z_current );
  2001. }
  2002. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
  2003. }
  2004. if (engage_probe_for_each_reading) {
  2005. engage_z_probe();
  2006. delay(1000);
  2007. }
  2008. setup_for_endstop_move();
  2009. run_z_probe();
  2010. sample_set[n] = current_position[Z_AXIS];
  2011. //
  2012. // Get the current mean for the data points we have so far
  2013. //
  2014. sum=0.0;
  2015. for( j=0; j<=n; j++) {
  2016. sum = sum + sample_set[j];
  2017. }
  2018. mean = sum / (double (n+1));
  2019. //
  2020. // Now, use that mean to calculate the standard deviation for the
  2021. // data points we have so far
  2022. //
  2023. sum=0.0;
  2024. for( j=0; j<=n; j++) {
  2025. sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
  2026. }
  2027. sigma = sqrt( sum / (double (n+1)) );
  2028. if (verbose_level > 1) {
  2029. SERIAL_PROTOCOL(n+1);
  2030. SERIAL_PROTOCOL(" of ");
  2031. SERIAL_PROTOCOL(n_samples);
  2032. SERIAL_PROTOCOLPGM(" z: ");
  2033. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  2034. }
  2035. if (verbose_level > 2) {
  2036. SERIAL_PROTOCOL(" mean: ");
  2037. SERIAL_PROTOCOL_F(mean,6);
  2038. SERIAL_PROTOCOL(" sigma: ");
  2039. SERIAL_PROTOCOL_F(sigma,6);
  2040. }
  2041. if (verbose_level > 0)
  2042. SERIAL_PROTOCOLPGM("\n");
  2043. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  2044. current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
  2045. st_synchronize();
  2046. if (engage_probe_for_each_reading) {
  2047. retract_z_probe();
  2048. delay(1000);
  2049. }
  2050. }
  2051. retract_z_probe();
  2052. delay(1000);
  2053. clean_up_after_endstop_move();
  2054. // enable_endstops(true);
  2055. if (verbose_level > 0) {
  2056. SERIAL_PROTOCOLPGM("Mean: ");
  2057. SERIAL_PROTOCOL_F(mean, 6);
  2058. SERIAL_PROTOCOLPGM("\n");
  2059. }
  2060. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  2061. SERIAL_PROTOCOL_F(sigma, 6);
  2062. SERIAL_PROTOCOLPGM("\n\n");
  2063. Sigma_Exit:
  2064. break;
  2065. }
  2066. #endif // Z_PROBE_REPEATABILITY_TEST
  2067. #endif // ENABLE_AUTO_BED_LEVELING
  2068. case 104: // M104
  2069. if(setTargetedHotend(104)){
  2070. break;
  2071. }
  2072. if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
  2073. #ifdef DUAL_X_CARRIAGE
  2074. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
  2075. setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
  2076. #endif
  2077. setWatch();
  2078. break;
  2079. case 112: // M112 -Emergency Stop
  2080. kill();
  2081. break;
  2082. case 140: // M140 set bed temp
  2083. if (code_seen('S')) setTargetBed(code_value());
  2084. break;
  2085. case 105 : // M105
  2086. if(setTargetedHotend(105)){
  2087. break;
  2088. }
  2089. #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
  2090. SERIAL_PROTOCOLPGM("ok T:");
  2091. SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
  2092. SERIAL_PROTOCOLPGM(" /");
  2093. SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
  2094. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  2095. SERIAL_PROTOCOLPGM(" B:");
  2096. SERIAL_PROTOCOL_F(degBed(),1);
  2097. SERIAL_PROTOCOLPGM(" /");
  2098. SERIAL_PROTOCOL_F(degTargetBed(),1);
  2099. #endif //TEMP_BED_PIN
  2100. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  2101. SERIAL_PROTOCOLPGM(" T");
  2102. SERIAL_PROTOCOL(cur_extruder);
  2103. SERIAL_PROTOCOLPGM(":");
  2104. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  2105. SERIAL_PROTOCOLPGM(" /");
  2106. SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
  2107. }
  2108. #else
  2109. SERIAL_ERROR_START;
  2110. SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
  2111. #endif
  2112. SERIAL_PROTOCOLPGM(" @:");
  2113. #ifdef EXTRUDER_WATTS
  2114. SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
  2115. SERIAL_PROTOCOLPGM("W");
  2116. #else
  2117. SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
  2118. #endif
  2119. SERIAL_PROTOCOLPGM(" B@:");
  2120. #ifdef BED_WATTS
  2121. SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
  2122. SERIAL_PROTOCOLPGM("W");
  2123. #else
  2124. SERIAL_PROTOCOL(getHeaterPower(-1));
  2125. #endif
  2126. #ifdef SHOW_TEMP_ADC_VALUES
  2127. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  2128. SERIAL_PROTOCOLPGM(" ADC B:");
  2129. SERIAL_PROTOCOL_F(degBed(),1);
  2130. SERIAL_PROTOCOLPGM("C->");
  2131. SERIAL_PROTOCOL_F(rawBedTemp()/OVERSAMPLENR,0);
  2132. #endif
  2133. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  2134. SERIAL_PROTOCOLPGM(" T");
  2135. SERIAL_PROTOCOL(cur_extruder);
  2136. SERIAL_PROTOCOLPGM(":");
  2137. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  2138. SERIAL_PROTOCOLPGM("C->");
  2139. SERIAL_PROTOCOL_F(rawHotendTemp(cur_extruder)/OVERSAMPLENR,0);
  2140. }
  2141. #endif
  2142. SERIAL_PROTOCOLLN("");
  2143. return;
  2144. break;
  2145. case 109:
  2146. {// M109 - Wait for extruder heater to reach target.
  2147. if(setTargetedHotend(109)){
  2148. break;
  2149. }
  2150. LCD_MESSAGEPGM(MSG_HEATING);
  2151. #ifdef AUTOTEMP
  2152. autotemp_enabled=false;
  2153. #endif
  2154. if (code_seen('S')) {
  2155. setTargetHotend(code_value(), tmp_extruder);
  2156. #ifdef DUAL_X_CARRIAGE
  2157. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
  2158. setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
  2159. #endif
  2160. CooldownNoWait = true;
  2161. } else if (code_seen('R')) {
  2162. setTargetHotend(code_value(), tmp_extruder);
  2163. #ifdef DUAL_X_CARRIAGE
  2164. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
  2165. setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
  2166. #endif
  2167. CooldownNoWait = false;
  2168. }
  2169. #ifdef AUTOTEMP
  2170. if (code_seen('S')) autotemp_min=code_value();
  2171. if (code_seen('B')) autotemp_max=code_value();
  2172. if (code_seen('F'))
  2173. {
  2174. autotemp_factor=code_value();
  2175. autotemp_enabled=true;
  2176. }
  2177. #endif
  2178. setWatch();
  2179. codenum = millis();
  2180. /* See if we are heating up or cooling down */
  2181. target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
  2182. cancel_heatup = false;
  2183. #ifdef TEMP_RESIDENCY_TIME
  2184. long residencyStart;
  2185. residencyStart = -1;
  2186. /* continue to loop until we have reached the target temp
  2187. _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
  2188. while((!cancel_heatup)&&((residencyStart == -1) ||
  2189. (residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL)))) ) {
  2190. #else
  2191. while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) {
  2192. #endif //TEMP_RESIDENCY_TIME
  2193. if( (millis() - codenum) > 1000UL )
  2194. { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
  2195. SERIAL_PROTOCOLPGM("T:");
  2196. SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
  2197. SERIAL_PROTOCOLPGM(" E:");
  2198. SERIAL_PROTOCOL((int)tmp_extruder);
  2199. #ifdef TEMP_RESIDENCY_TIME
  2200. SERIAL_PROTOCOLPGM(" W:");
  2201. if(residencyStart > -1)
  2202. {
  2203. codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
  2204. SERIAL_PROTOCOLLN( codenum );
  2205. }
  2206. else
  2207. {
  2208. SERIAL_PROTOCOLLN( "?" );
  2209. }
  2210. #else
  2211. SERIAL_PROTOCOLLN("");
  2212. #endif
  2213. codenum = millis();
  2214. }
  2215. manage_heater();
  2216. manage_inactivity();
  2217. lcd_update();
  2218. #ifdef TEMP_RESIDENCY_TIME
  2219. /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
  2220. or when current temp falls outside the hysteresis after target temp was reached */
  2221. if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
  2222. (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
  2223. (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
  2224. {
  2225. residencyStart = millis();
  2226. }
  2227. #endif //TEMP_RESIDENCY_TIME
  2228. }
  2229. LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
  2230. starttime=millis();
  2231. previous_millis_cmd = millis();
  2232. }
  2233. break;
  2234. case 190: // M190 - Wait for bed heater to reach target.
  2235. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  2236. LCD_MESSAGEPGM(MSG_BED_HEATING);
  2237. if (code_seen('S')) {
  2238. setTargetBed(code_value());
  2239. CooldownNoWait = true;
  2240. } else if (code_seen('R')) {
  2241. setTargetBed(code_value());
  2242. CooldownNoWait = false;
  2243. }
  2244. codenum = millis();
  2245. cancel_heatup = false;
  2246. target_direction = isHeatingBed(); // true if heating, false if cooling
  2247. while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
  2248. {
  2249. if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
  2250. {
  2251. float tt=degHotend(active_extruder);
  2252. SERIAL_PROTOCOLPGM("T:");
  2253. SERIAL_PROTOCOL(tt);
  2254. SERIAL_PROTOCOLPGM(" E:");
  2255. SERIAL_PROTOCOL((int)active_extruder);
  2256. SERIAL_PROTOCOLPGM(" B:");
  2257. SERIAL_PROTOCOL_F(degBed(),1);
  2258. SERIAL_PROTOCOLLN("");
  2259. codenum = millis();
  2260. }
  2261. manage_heater();
  2262. manage_inactivity();
  2263. lcd_update();
  2264. }
  2265. LCD_MESSAGEPGM(MSG_BED_DONE);
  2266. previous_millis_cmd = millis();
  2267. #endif
  2268. break;
  2269. #if defined(FAN_PIN) && FAN_PIN > -1
  2270. case 106: //M106 Fan On
  2271. if (code_seen('S')){
  2272. fanSpeed=constrain(code_value(),0,255);
  2273. }
  2274. else {
  2275. fanSpeed=255;
  2276. }
  2277. break;
  2278. case 107: //M107 Fan Off
  2279. fanSpeed = 0;
  2280. break;
  2281. #endif //FAN_PIN
  2282. #ifdef BARICUDA
  2283. // PWM for HEATER_1_PIN
  2284. #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
  2285. case 126: //M126 valve open
  2286. if (code_seen('S')){
  2287. ValvePressure=constrain(code_value(),0,255);
  2288. }
  2289. else {
  2290. ValvePressure=255;
  2291. }
  2292. break;
  2293. case 127: //M127 valve closed
  2294. ValvePressure = 0;
  2295. break;
  2296. #endif //HEATER_1_PIN
  2297. // PWM for HEATER_2_PIN
  2298. #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
  2299. case 128: //M128 valve open
  2300. if (code_seen('S')){
  2301. EtoPPressure=constrain(code_value(),0,255);
  2302. }
  2303. else {
  2304. EtoPPressure=255;
  2305. }
  2306. break;
  2307. case 129: //M129 valve closed
  2308. EtoPPressure = 0;
  2309. break;
  2310. #endif //HEATER_2_PIN
  2311. #endif
  2312. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  2313. case 80: // M80 - Turn on Power Supply
  2314. SET_OUTPUT(PS_ON_PIN); //GND
  2315. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  2316. // If you have a switch on suicide pin, this is useful
  2317. // if you want to start another print with suicide feature after
  2318. // a print without suicide...
  2319. #if defined SUICIDE_PIN && SUICIDE_PIN > -1
  2320. SET_OUTPUT(SUICIDE_PIN);
  2321. WRITE(SUICIDE_PIN, HIGH);
  2322. #endif
  2323. #ifdef ULTIPANEL
  2324. powersupply = true;
  2325. LCD_MESSAGEPGM(WELCOME_MSG);
  2326. lcd_update();
  2327. #endif
  2328. break;
  2329. #endif
  2330. case 81: // M81 - Turn off Power Supply
  2331. disable_heater();
  2332. st_synchronize();
  2333. disable_e0();
  2334. disable_e1();
  2335. disable_e2();
  2336. finishAndDisableSteppers();
  2337. fanSpeed = 0;
  2338. delay(1000); // Wait a little before to switch off
  2339. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  2340. st_synchronize();
  2341. suicide();
  2342. #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
  2343. SET_OUTPUT(PS_ON_PIN);
  2344. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  2345. #endif
  2346. #ifdef ULTIPANEL
  2347. powersupply = false;
  2348. LCD_MESSAGEPGM(MACHINE_NAME" "MSG_OFF".");
  2349. lcd_update();
  2350. #endif
  2351. break;
  2352. case 82:
  2353. axis_relative_modes[3] = false;
  2354. break;
  2355. case 83:
  2356. axis_relative_modes[3] = true;
  2357. break;
  2358. case 18: //compatibility
  2359. case 84: // M84
  2360. if(code_seen('S')){
  2361. stepper_inactive_time = code_value() * 1000;
  2362. }
  2363. else
  2364. {
  2365. bool all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS]))|| (code_seen(axis_codes[E_AXIS])));
  2366. if(all_axis)
  2367. {
  2368. st_synchronize();
  2369. disable_e0();
  2370. disable_e1();
  2371. disable_e2();
  2372. finishAndDisableSteppers();
  2373. }
  2374. else
  2375. {
  2376. st_synchronize();
  2377. if(code_seen('X')) disable_x();
  2378. if(code_seen('Y')) disable_y();
  2379. if(code_seen('Z')) disable_z();
  2380. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  2381. if(code_seen('E')) {
  2382. disable_e0();
  2383. disable_e1();
  2384. disable_e2();
  2385. }
  2386. #endif
  2387. }
  2388. }
  2389. break;
  2390. case 85: // M85
  2391. if(code_seen('S')) {
  2392. max_inactive_time = code_value() * 1000;
  2393. }
  2394. break;
  2395. case 92: // M92
  2396. for(int8_t i=0; i < NUM_AXIS; i++)
  2397. {
  2398. if(code_seen(axis_codes[i]))
  2399. {
  2400. if(i == 3) { // E
  2401. float value = code_value();
  2402. if(value < 20.0) {
  2403. float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
  2404. max_e_jerk *= factor;
  2405. max_feedrate[i] *= factor;
  2406. axis_steps_per_sqr_second[i] *= factor;
  2407. }
  2408. axis_steps_per_unit[i] = value;
  2409. }
  2410. else {
  2411. axis_steps_per_unit[i] = code_value();
  2412. }
  2413. }
  2414. }
  2415. break;
  2416. case 115: // M115
  2417. SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
  2418. break;
  2419. case 117: // M117 display message
  2420. starpos = (strchr(strchr_pointer + 5,'*'));
  2421. if(starpos!=NULL)
  2422. *(starpos)='\0';
  2423. lcd_setstatus(strchr_pointer + 5);
  2424. break;
  2425. case 114: // M114
  2426. SERIAL_PROTOCOLPGM("X:");
  2427. SERIAL_PROTOCOL(current_position[X_AXIS]);
  2428. SERIAL_PROTOCOLPGM(" Y:");
  2429. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  2430. SERIAL_PROTOCOLPGM(" Z:");
  2431. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  2432. SERIAL_PROTOCOLPGM(" E:");
  2433. SERIAL_PROTOCOL(current_position[E_AXIS]);
  2434. SERIAL_PROTOCOLPGM(MSG_COUNT_X);
  2435. SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
  2436. SERIAL_PROTOCOLPGM(" Y:");
  2437. SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
  2438. SERIAL_PROTOCOLPGM(" Z:");
  2439. SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
  2440. SERIAL_PROTOCOLLN("");
  2441. #ifdef SCARA
  2442. SERIAL_PROTOCOLPGM("SCARA Theta:");
  2443. SERIAL_PROTOCOL(delta[X_AXIS]);
  2444. SERIAL_PROTOCOLPGM(" Psi+Theta:");
  2445. SERIAL_PROTOCOL(delta[Y_AXIS]);
  2446. SERIAL_PROTOCOLLN("");
  2447. SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
  2448. SERIAL_PROTOCOL(delta[X_AXIS]+add_homing[X_AXIS]);
  2449. SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
  2450. SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homing[Y_AXIS]);
  2451. SERIAL_PROTOCOLLN("");
  2452. SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
  2453. SERIAL_PROTOCOL(delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]);
  2454. SERIAL_PROTOCOLPGM(" Psi+Theta:");
  2455. SERIAL_PROTOCOL((delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]);
  2456. SERIAL_PROTOCOLLN("");
  2457. SERIAL_PROTOCOLLN("");
  2458. #endif
  2459. break;
  2460. case 120: // M120
  2461. enable_endstops(false) ;
  2462. break;
  2463. case 121: // M121
  2464. enable_endstops(true) ;
  2465. break;
  2466. case 119: // M119
  2467. SERIAL_PROTOCOLLN(MSG_M119_REPORT);
  2468. #if defined(X_MIN_PIN) && X_MIN_PIN > -1
  2469. SERIAL_PROTOCOLPGM(MSG_X_MIN);
  2470. SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  2471. #endif
  2472. #if defined(X_MAX_PIN) && X_MAX_PIN > -1
  2473. SERIAL_PROTOCOLPGM(MSG_X_MAX);
  2474. SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  2475. #endif
  2476. #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
  2477. SERIAL_PROTOCOLPGM(MSG_Y_MIN);
  2478. SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  2479. #endif
  2480. #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
  2481. SERIAL_PROTOCOLPGM(MSG_Y_MAX);
  2482. SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  2483. #endif
  2484. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  2485. SERIAL_PROTOCOLPGM(MSG_Z_MIN);
  2486. SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  2487. #endif
  2488. #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
  2489. SERIAL_PROTOCOLPGM(MSG_Z_MAX);
  2490. SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  2491. #endif
  2492. break;
  2493. //TODO: update for all axis, use for loop
  2494. #ifdef BLINKM
  2495. case 150: // M150
  2496. {
  2497. byte red;
  2498. byte grn;
  2499. byte blu;
  2500. if(code_seen('R')) red = code_value();
  2501. if(code_seen('U')) grn = code_value();
  2502. if(code_seen('B')) blu = code_value();
  2503. SendColors(red,grn,blu);
  2504. }
  2505. break;
  2506. #endif //BLINKM
  2507. case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  2508. {
  2509. tmp_extruder = active_extruder;
  2510. if(code_seen('T')) {
  2511. tmp_extruder = code_value();
  2512. if(tmp_extruder >= EXTRUDERS) {
  2513. SERIAL_ECHO_START;
  2514. SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER);
  2515. break;
  2516. }
  2517. }
  2518. float area = .0;
  2519. if(code_seen('D')) {
  2520. float diameter = (float)code_value();
  2521. if (diameter == 0.0) {
  2522. // setting any extruder filament size disables volumetric on the assumption that
  2523. // slicers either generate in extruder values as cubic mm or as as filament feeds
  2524. // for all extruders
  2525. volumetric_enabled = false;
  2526. } else {
  2527. filament_size[tmp_extruder] = (float)code_value();
  2528. // make sure all extruders have some sane value for the filament size
  2529. filament_size[0] = (filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[0]);
  2530. #if EXTRUDERS > 1
  2531. filament_size[1] = (filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[1]);
  2532. #if EXTRUDERS > 2
  2533. filament_size[2] = (filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[2]);
  2534. #endif
  2535. #endif
  2536. volumetric_enabled = true;
  2537. }
  2538. } else {
  2539. //reserved for setting filament diameter via UFID or filament measuring device
  2540. break;
  2541. }
  2542. calculate_volumetric_multipliers();
  2543. }
  2544. break;
  2545. case 201: // M201
  2546. for(int8_t i=0; i < NUM_AXIS; i++)
  2547. {
  2548. if(code_seen(axis_codes[i]))
  2549. {
  2550. max_acceleration_units_per_sq_second[i] = code_value();
  2551. }
  2552. }
  2553. // 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)
  2554. reset_acceleration_rates();
  2555. break;
  2556. #if 0 // Not used for Sprinter/grbl gen6
  2557. case 202: // M202
  2558. for(int8_t i=0; i < NUM_AXIS; i++) {
  2559. if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
  2560. }
  2561. break;
  2562. #endif
  2563. case 203: // M203 max feedrate mm/sec
  2564. for(int8_t i=0; i < NUM_AXIS; i++) {
  2565. if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
  2566. }
  2567. break;
  2568. case 204: // M204 acclereration S normal moves T filmanent only moves
  2569. {
  2570. if(code_seen('S')) acceleration = code_value() ;
  2571. if(code_seen('T')) retract_acceleration = code_value() ;
  2572. }
  2573. break;
  2574. case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
  2575. {
  2576. if(code_seen('S')) minimumfeedrate = code_value();
  2577. if(code_seen('T')) mintravelfeedrate = code_value();
  2578. if(code_seen('B')) minsegmenttime = code_value() ;
  2579. if(code_seen('X')) max_xy_jerk = code_value() ;
  2580. if(code_seen('Z')) max_z_jerk = code_value() ;
  2581. if(code_seen('E')) max_e_jerk = code_value() ;
  2582. }
  2583. break;
  2584. case 206: // M206 additional homing offset
  2585. for(int8_t i=0; i < 3; i++)
  2586. {
  2587. if(code_seen(axis_codes[i])) add_homing[i] = code_value();
  2588. }
  2589. #ifdef SCARA
  2590. if(code_seen('T')) // Theta
  2591. {
  2592. add_homing[X_AXIS] = code_value() ;
  2593. }
  2594. if(code_seen('P')) // Psi
  2595. {
  2596. add_homing[Y_AXIS] = code_value() ;
  2597. }
  2598. #endif
  2599. break;
  2600. #ifdef DELTA
  2601. case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
  2602. if(code_seen('L')) {
  2603. delta_diagonal_rod= code_value();
  2604. }
  2605. if(code_seen('R')) {
  2606. delta_radius= code_value();
  2607. }
  2608. if(code_seen('S')) {
  2609. delta_segments_per_second= code_value();
  2610. }
  2611. recalc_delta_settings(delta_radius, delta_diagonal_rod);
  2612. break;
  2613. case 666: // M666 set delta endstop adjustemnt
  2614. for(int8_t i=0; i < 3; i++)
  2615. {
  2616. if(code_seen(axis_codes[i])) endstop_adj[i] = code_value();
  2617. }
  2618. break;
  2619. #endif
  2620. #ifdef FWRETRACT
  2621. case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
  2622. {
  2623. if(code_seen('S'))
  2624. {
  2625. retract_length = code_value() ;
  2626. }
  2627. if(code_seen('F'))
  2628. {
  2629. retract_feedrate = code_value()/60 ;
  2630. }
  2631. if(code_seen('Z'))
  2632. {
  2633. retract_zlift = code_value() ;
  2634. }
  2635. }break;
  2636. case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  2637. {
  2638. if(code_seen('S'))
  2639. {
  2640. retract_recover_length = code_value() ;
  2641. }
  2642. if(code_seen('F'))
  2643. {
  2644. retract_recover_feedrate = code_value()/60 ;
  2645. }
  2646. }break;
  2647. case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
  2648. {
  2649. if(code_seen('S'))
  2650. {
  2651. int t= code_value() ;
  2652. switch(t)
  2653. {
  2654. case 0:
  2655. {
  2656. autoretract_enabled=false;
  2657. retracted[0]=false;
  2658. #if EXTRUDERS > 1
  2659. retracted[1]=false;
  2660. #endif
  2661. #if EXTRUDERS > 2
  2662. retracted[2]=false;
  2663. #endif
  2664. }break;
  2665. case 1:
  2666. {
  2667. autoretract_enabled=true;
  2668. retracted[0]=false;
  2669. #if EXTRUDERS > 1
  2670. retracted[1]=false;
  2671. #endif
  2672. #if EXTRUDERS > 2
  2673. retracted[2]=false;
  2674. #endif
  2675. }break;
  2676. default:
  2677. SERIAL_ECHO_START;
  2678. SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
  2679. SERIAL_ECHO(cmdbuffer[bufindr]);
  2680. SERIAL_ECHOLNPGM("\"");
  2681. }
  2682. }
  2683. }break;
  2684. #endif // FWRETRACT
  2685. #if EXTRUDERS > 1
  2686. case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  2687. {
  2688. if(setTargetedHotend(218)){
  2689. break;
  2690. }
  2691. if(code_seen('X'))
  2692. {
  2693. extruder_offset[X_AXIS][tmp_extruder] = code_value();
  2694. }
  2695. if(code_seen('Y'))
  2696. {
  2697. extruder_offset[Y_AXIS][tmp_extruder] = code_value();
  2698. }
  2699. #ifdef DUAL_X_CARRIAGE
  2700. if(code_seen('Z'))
  2701. {
  2702. extruder_offset[Z_AXIS][tmp_extruder] = code_value();
  2703. }
  2704. #endif
  2705. SERIAL_ECHO_START;
  2706. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  2707. for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
  2708. {
  2709. SERIAL_ECHO(" ");
  2710. SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
  2711. SERIAL_ECHO(",");
  2712. SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
  2713. #ifdef DUAL_X_CARRIAGE
  2714. SERIAL_ECHO(",");
  2715. SERIAL_ECHO(extruder_offset[Z_AXIS][tmp_extruder]);
  2716. #endif
  2717. }
  2718. SERIAL_ECHOLN("");
  2719. }break;
  2720. #endif
  2721. case 220: // M220 S<factor in percent>- set speed factor override percentage
  2722. {
  2723. if(code_seen('S'))
  2724. {
  2725. feedmultiply = code_value() ;
  2726. }
  2727. }
  2728. break;
  2729. case 221: // M221 S<factor in percent>- set extrude factor override percentage
  2730. {
  2731. if(code_seen('S'))
  2732. {
  2733. int tmp_code = code_value();
  2734. if (code_seen('T'))
  2735. {
  2736. if(setTargetedHotend(221)){
  2737. break;
  2738. }
  2739. extruder_multiply[tmp_extruder] = tmp_code;
  2740. }
  2741. else
  2742. {
  2743. extrudemultiply = tmp_code ;
  2744. }
  2745. }
  2746. }
  2747. break;
  2748. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  2749. {
  2750. if(code_seen('P')){
  2751. int pin_number = code_value(); // pin number
  2752. int pin_state = -1; // required pin state - default is inverted
  2753. if(code_seen('S')) pin_state = code_value(); // required pin state
  2754. if(pin_state >= -1 && pin_state <= 1){
  2755. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  2756. {
  2757. if (sensitive_pins[i] == pin_number)
  2758. {
  2759. pin_number = -1;
  2760. break;
  2761. }
  2762. }
  2763. if (pin_number > -1)
  2764. {
  2765. int target = LOW;
  2766. st_synchronize();
  2767. pinMode(pin_number, INPUT);
  2768. switch(pin_state){
  2769. case 1:
  2770. target = HIGH;
  2771. break;
  2772. case 0:
  2773. target = LOW;
  2774. break;
  2775. case -1:
  2776. target = !digitalRead(pin_number);
  2777. break;
  2778. }
  2779. while(digitalRead(pin_number) != target){
  2780. manage_heater();
  2781. manage_inactivity();
  2782. lcd_update();
  2783. }
  2784. }
  2785. }
  2786. }
  2787. }
  2788. break;
  2789. #if NUM_SERVOS > 0
  2790. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  2791. {
  2792. int servo_index = -1;
  2793. int servo_position = 0;
  2794. if (code_seen('P'))
  2795. servo_index = code_value();
  2796. if (code_seen('S')) {
  2797. servo_position = code_value();
  2798. if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
  2799. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  2800. servos[servo_index].attach(0);
  2801. #endif
  2802. servos[servo_index].write(servo_position);
  2803. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  2804. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  2805. servos[servo_index].detach();
  2806. #endif
  2807. }
  2808. else {
  2809. SERIAL_ECHO_START;
  2810. SERIAL_ECHO("Servo ");
  2811. SERIAL_ECHO(servo_index);
  2812. SERIAL_ECHOLN(" out of range");
  2813. }
  2814. }
  2815. else if (servo_index >= 0) {
  2816. SERIAL_PROTOCOL(MSG_OK);
  2817. SERIAL_PROTOCOL(" Servo ");
  2818. SERIAL_PROTOCOL(servo_index);
  2819. SERIAL_PROTOCOL(": ");
  2820. SERIAL_PROTOCOL(servos[servo_index].read());
  2821. SERIAL_PROTOCOLLN("");
  2822. }
  2823. }
  2824. break;
  2825. #endif // NUM_SERVOS > 0
  2826. #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
  2827. case 300: // M300
  2828. {
  2829. int beepS = code_seen('S') ? code_value() : 110;
  2830. int beepP = code_seen('P') ? code_value() : 1000;
  2831. if (beepS > 0)
  2832. {
  2833. #if BEEPER > 0
  2834. tone(BEEPER, beepS);
  2835. delay(beepP);
  2836. noTone(BEEPER);
  2837. #elif defined(ULTRALCD)
  2838. lcd_buzz(beepS, beepP);
  2839. #elif defined(LCD_USE_I2C_BUZZER)
  2840. lcd_buzz(beepP, beepS);
  2841. #endif
  2842. }
  2843. else
  2844. {
  2845. delay(beepP);
  2846. }
  2847. }
  2848. break;
  2849. #endif // M300
  2850. #ifdef PIDTEMP
  2851. case 301: // M301
  2852. {
  2853. if(code_seen('P')) Kp = code_value();
  2854. if(code_seen('I')) Ki = scalePID_i(code_value());
  2855. if(code_seen('D')) Kd = scalePID_d(code_value());
  2856. #ifdef PID_ADD_EXTRUSION_RATE
  2857. if(code_seen('C')) Kc = code_value();
  2858. #endif
  2859. updatePID();
  2860. SERIAL_PROTOCOL(MSG_OK);
  2861. SERIAL_PROTOCOL(" p:");
  2862. SERIAL_PROTOCOL(Kp);
  2863. SERIAL_PROTOCOL(" i:");
  2864. SERIAL_PROTOCOL(unscalePID_i(Ki));
  2865. SERIAL_PROTOCOL(" d:");
  2866. SERIAL_PROTOCOL(unscalePID_d(Kd));
  2867. #ifdef PID_ADD_EXTRUSION_RATE
  2868. SERIAL_PROTOCOL(" c:");
  2869. //Kc does not have scaling applied above, or in resetting defaults
  2870. SERIAL_PROTOCOL(Kc);
  2871. #endif
  2872. SERIAL_PROTOCOLLN("");
  2873. }
  2874. break;
  2875. #endif //PIDTEMP
  2876. #ifdef PIDTEMPBED
  2877. case 304: // M304
  2878. {
  2879. if(code_seen('P')) bedKp = code_value();
  2880. if(code_seen('I')) bedKi = scalePID_i(code_value());
  2881. if(code_seen('D')) bedKd = scalePID_d(code_value());
  2882. updatePID();
  2883. SERIAL_PROTOCOL(MSG_OK);
  2884. SERIAL_PROTOCOL(" p:");
  2885. SERIAL_PROTOCOL(bedKp);
  2886. SERIAL_PROTOCOL(" i:");
  2887. SERIAL_PROTOCOL(unscalePID_i(bedKi));
  2888. SERIAL_PROTOCOL(" d:");
  2889. SERIAL_PROTOCOL(unscalePID_d(bedKd));
  2890. SERIAL_PROTOCOLLN("");
  2891. }
  2892. break;
  2893. #endif //PIDTEMP
  2894. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  2895. {
  2896. #ifdef CHDK
  2897. SET_OUTPUT(CHDK);
  2898. WRITE(CHDK, HIGH);
  2899. chdkHigh = millis();
  2900. chdkActive = true;
  2901. #else
  2902. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  2903. const uint8_t NUM_PULSES=16;
  2904. const float PULSE_LENGTH=0.01524;
  2905. for(int i=0; i < NUM_PULSES; i++) {
  2906. WRITE(PHOTOGRAPH_PIN, HIGH);
  2907. _delay_ms(PULSE_LENGTH);
  2908. WRITE(PHOTOGRAPH_PIN, LOW);
  2909. _delay_ms(PULSE_LENGTH);
  2910. }
  2911. delay(7.33);
  2912. for(int i=0; i < NUM_PULSES; i++) {
  2913. WRITE(PHOTOGRAPH_PIN, HIGH);
  2914. _delay_ms(PULSE_LENGTH);
  2915. WRITE(PHOTOGRAPH_PIN, LOW);
  2916. _delay_ms(PULSE_LENGTH);
  2917. }
  2918. #endif
  2919. #endif //chdk end if
  2920. }
  2921. break;
  2922. #ifdef DOGLCD
  2923. case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
  2924. {
  2925. if (code_seen('C')) {
  2926. lcd_setcontrast( ((int)code_value())&63 );
  2927. }
  2928. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  2929. SERIAL_PROTOCOL(lcd_contrast);
  2930. SERIAL_PROTOCOLLN("");
  2931. }
  2932. break;
  2933. #endif
  2934. #ifdef PREVENT_DANGEROUS_EXTRUDE
  2935. case 302: // allow cold extrudes, or set the minimum extrude temperature
  2936. {
  2937. float temp = .0;
  2938. if (code_seen('S')) temp=code_value();
  2939. set_extrude_min_temp(temp);
  2940. }
  2941. break;
  2942. #endif
  2943. case 303: // M303 PID autotune
  2944. {
  2945. float temp = 150.0;
  2946. int e=0;
  2947. int c=5;
  2948. if (code_seen('E')) e=code_value();
  2949. if (e<0)
  2950. temp=70;
  2951. if (code_seen('S')) temp=code_value();
  2952. if (code_seen('C')) c=code_value();
  2953. PID_autotune(temp, e, c);
  2954. }
  2955. break;
  2956. #ifdef SCARA
  2957. case 360: // M360 SCARA Theta pos1
  2958. SERIAL_ECHOLN(" Cal: Theta 0 ");
  2959. //SoftEndsEnabled = false; // Ignore soft endstops during calibration
  2960. //SERIAL_ECHOLN(" Soft endstops disabled ");
  2961. if(Stopped == false) {
  2962. //get_coordinates(); // For X Y Z E F
  2963. delta[X_AXIS] = 0;
  2964. delta[Y_AXIS] = 120;
  2965. calculate_SCARA_forward_Transform(delta);
  2966. destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
  2967. destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
  2968. prepare_move();
  2969. //ClearToSend();
  2970. return;
  2971. }
  2972. break;
  2973. case 361: // SCARA Theta pos2
  2974. SERIAL_ECHOLN(" Cal: Theta 90 ");
  2975. //SoftEndsEnabled = false; // Ignore soft endstops during calibration
  2976. //SERIAL_ECHOLN(" Soft endstops disabled ");
  2977. if(Stopped == false) {
  2978. //get_coordinates(); // For X Y Z E F
  2979. delta[X_AXIS] = 90;
  2980. delta[Y_AXIS] = 130;
  2981. calculate_SCARA_forward_Transform(delta);
  2982. destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
  2983. destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
  2984. prepare_move();
  2985. //ClearToSend();
  2986. return;
  2987. }
  2988. break;
  2989. case 362: // SCARA Psi pos1
  2990. SERIAL_ECHOLN(" Cal: Psi 0 ");
  2991. //SoftEndsEnabled = false; // Ignore soft endstops during calibration
  2992. //SERIAL_ECHOLN(" Soft endstops disabled ");
  2993. if(Stopped == false) {
  2994. //get_coordinates(); // For X Y Z E F
  2995. delta[X_AXIS] = 60;
  2996. delta[Y_AXIS] = 180;
  2997. calculate_SCARA_forward_Transform(delta);
  2998. destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
  2999. destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
  3000. prepare_move();
  3001. //ClearToSend();
  3002. return;
  3003. }
  3004. break;
  3005. case 363: // SCARA Psi pos2
  3006. SERIAL_ECHOLN(" Cal: Psi 90 ");
  3007. //SoftEndsEnabled = false; // Ignore soft endstops during calibration
  3008. //SERIAL_ECHOLN(" Soft endstops disabled ");
  3009. if(Stopped == false) {
  3010. //get_coordinates(); // For X Y Z E F
  3011. delta[X_AXIS] = 50;
  3012. delta[Y_AXIS] = 90;
  3013. calculate_SCARA_forward_Transform(delta);
  3014. destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
  3015. destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
  3016. prepare_move();
  3017. //ClearToSend();
  3018. return;
  3019. }
  3020. break;
  3021. case 364: // SCARA Psi pos3 (90 deg to Theta)
  3022. SERIAL_ECHOLN(" Cal: Theta-Psi 90 ");
  3023. // SoftEndsEnabled = false; // Ignore soft endstops during calibration
  3024. //SERIAL_ECHOLN(" Soft endstops disabled ");
  3025. if(Stopped == false) {
  3026. //get_coordinates(); // For X Y Z E F
  3027. delta[X_AXIS] = 45;
  3028. delta[Y_AXIS] = 135;
  3029. calculate_SCARA_forward_Transform(delta);
  3030. destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
  3031. destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
  3032. prepare_move();
  3033. //ClearToSend();
  3034. return;
  3035. }
  3036. break;
  3037. case 365: // M364 Set SCARA scaling for X Y Z
  3038. for(int8_t i=0; i < 3; i++)
  3039. {
  3040. if(code_seen(axis_codes[i]))
  3041. {
  3042. axis_scaling[i] = code_value();
  3043. }
  3044. }
  3045. break;
  3046. #endif
  3047. case 400: // M400 finish all moves
  3048. {
  3049. st_synchronize();
  3050. }
  3051. break;
  3052. #if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
  3053. case 401:
  3054. {
  3055. engage_z_probe(); // Engage Z Servo endstop if available
  3056. }
  3057. break;
  3058. case 402:
  3059. {
  3060. retract_z_probe(); // Retract Z Servo endstop if enabled
  3061. }
  3062. break;
  3063. #endif
  3064. #ifdef FILAMENT_SENSOR
  3065. case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
  3066. {
  3067. #if (FILWIDTH_PIN > -1)
  3068. if(code_seen('N')) filament_width_nominal=code_value();
  3069. else{
  3070. SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
  3071. SERIAL_PROTOCOLLN(filament_width_nominal);
  3072. }
  3073. #endif
  3074. }
  3075. break;
  3076. case 405: //M405 Turn on filament sensor for control
  3077. {
  3078. if(code_seen('D')) meas_delay_cm=code_value();
  3079. if(meas_delay_cm> MAX_MEASUREMENT_DELAY)
  3080. meas_delay_cm = MAX_MEASUREMENT_DELAY;
  3081. if(delay_index2 == -1) //initialize the ring buffer if it has not been done since startup
  3082. {
  3083. int temp_ratio = widthFil_to_size_ratio();
  3084. for (delay_index1=0; delay_index1<(MAX_MEASUREMENT_DELAY+1); ++delay_index1 ){
  3085. measurement_delay[delay_index1]=temp_ratio-100; //subtract 100 to scale within a signed byte
  3086. }
  3087. delay_index1=0;
  3088. delay_index2=0;
  3089. }
  3090. filament_sensor = true ;
  3091. //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  3092. //SERIAL_PROTOCOL(filament_width_meas);
  3093. //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
  3094. //SERIAL_PROTOCOL(extrudemultiply);
  3095. }
  3096. break;
  3097. case 406: //M406 Turn off filament sensor for control
  3098. {
  3099. filament_sensor = false ;
  3100. }
  3101. break;
  3102. case 407: //M407 Display measured filament diameter
  3103. {
  3104. SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  3105. SERIAL_PROTOCOLLN(filament_width_meas);
  3106. }
  3107. break;
  3108. #endif
  3109. case 500: // M500 Store settings in EEPROM
  3110. {
  3111. Config_StoreSettings();
  3112. }
  3113. break;
  3114. case 501: // M501 Read settings from EEPROM
  3115. {
  3116. Config_RetrieveSettings();
  3117. }
  3118. break;
  3119. case 502: // M502 Revert to default settings
  3120. {
  3121. Config_ResetDefault();
  3122. }
  3123. break;
  3124. case 503: // M503 print settings currently in memory
  3125. {
  3126. Config_PrintSettings();
  3127. }
  3128. break;
  3129. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  3130. case 540:
  3131. {
  3132. if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
  3133. }
  3134. break;
  3135. #endif
  3136. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  3137. case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
  3138. {
  3139. float value;
  3140. if (code_seen('Z'))
  3141. {
  3142. value = code_value();
  3143. if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
  3144. {
  3145. zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
  3146. SERIAL_ECHO_START;
  3147. SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK);
  3148. SERIAL_PROTOCOLLN("");
  3149. }
  3150. else
  3151. {
  3152. SERIAL_ECHO_START;
  3153. SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
  3154. SERIAL_ECHOPGM(MSG_Z_MIN);
  3155. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  3156. SERIAL_ECHOPGM(MSG_Z_MAX);
  3157. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  3158. SERIAL_PROTOCOLLN("");
  3159. }
  3160. }
  3161. else
  3162. {
  3163. SERIAL_ECHO_START;
  3164. SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " : ");
  3165. SERIAL_ECHO(-zprobe_zoffset);
  3166. SERIAL_PROTOCOLLN("");
  3167. }
  3168. break;
  3169. }
  3170. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  3171. #ifdef FILAMENTCHANGEENABLE
  3172. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  3173. {
  3174. float target[4];
  3175. float lastpos[4];
  3176. target[X_AXIS]=current_position[X_AXIS];
  3177. target[Y_AXIS]=current_position[Y_AXIS];
  3178. target[Z_AXIS]=current_position[Z_AXIS];
  3179. target[E_AXIS]=current_position[E_AXIS];
  3180. lastpos[X_AXIS]=current_position[X_AXIS];
  3181. lastpos[Y_AXIS]=current_position[Y_AXIS];
  3182. lastpos[Z_AXIS]=current_position[Z_AXIS];
  3183. lastpos[E_AXIS]=current_position[E_AXIS];
  3184. //retract by E
  3185. if(code_seen('E'))
  3186. {
  3187. target[E_AXIS]+= code_value();
  3188. }
  3189. else
  3190. {
  3191. #ifdef FILAMENTCHANGE_FIRSTRETRACT
  3192. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  3193. #endif
  3194. }
  3195. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
  3196. //lift Z
  3197. if(code_seen('Z'))
  3198. {
  3199. target[Z_AXIS]+= code_value();
  3200. }
  3201. else
  3202. {
  3203. #ifdef FILAMENTCHANGE_ZADD
  3204. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  3205. #endif
  3206. }
  3207. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
  3208. //move xy
  3209. if(code_seen('X'))
  3210. {
  3211. target[X_AXIS]+= code_value();
  3212. }
  3213. else
  3214. {
  3215. #ifdef FILAMENTCHANGE_XPOS
  3216. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  3217. #endif
  3218. }
  3219. if(code_seen('Y'))
  3220. {
  3221. target[Y_AXIS]= code_value();
  3222. }
  3223. else
  3224. {
  3225. #ifdef FILAMENTCHANGE_YPOS
  3226. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  3227. #endif
  3228. }
  3229. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
  3230. if(code_seen('L'))
  3231. {
  3232. target[E_AXIS]+= code_value();
  3233. }
  3234. else
  3235. {
  3236. #ifdef FILAMENTCHANGE_FINALRETRACT
  3237. target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
  3238. #endif
  3239. }
  3240. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
  3241. //finish moves
  3242. st_synchronize();
  3243. //disable extruder steppers so filament can be removed
  3244. disable_e0();
  3245. disable_e1();
  3246. disable_e2();
  3247. delay(100);
  3248. LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
  3249. uint8_t cnt=0;
  3250. while(!lcd_clicked()){
  3251. cnt++;
  3252. manage_heater();
  3253. manage_inactivity(true);
  3254. lcd_update();
  3255. if(cnt==0)
  3256. {
  3257. #if BEEPER > 0
  3258. SET_OUTPUT(BEEPER);
  3259. WRITE(BEEPER,HIGH);
  3260. delay(3);
  3261. WRITE(BEEPER,LOW);
  3262. delay(3);
  3263. #else
  3264. #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
  3265. lcd_buzz(1000/6,100);
  3266. #else
  3267. lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
  3268. #endif
  3269. #endif
  3270. }
  3271. }
  3272. //return to normal
  3273. if(code_seen('L'))
  3274. {
  3275. target[E_AXIS]+= -code_value();
  3276. }
  3277. else
  3278. {
  3279. #ifdef FILAMENTCHANGE_FINALRETRACT
  3280. target[E_AXIS]+=(-1)*FILAMENTCHANGE_FINALRETRACT ;
  3281. #endif
  3282. }
  3283. current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
  3284. plan_set_e_position(current_position[E_AXIS]);
  3285. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //should do nothing
  3286. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //move xy back
  3287. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //move z back
  3288. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], feedrate/60, active_extruder); //final untretract
  3289. }
  3290. break;
  3291. #endif //FILAMENTCHANGEENABLE
  3292. #ifdef DUAL_X_CARRIAGE
  3293. case 605: // Set dual x-carriage movement mode:
  3294. // M605 S0: Full control mode. The slicer has full control over x-carriage movement
  3295. // M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
  3296. // M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
  3297. // millimeters x-offset and an optional differential hotend temperature of
  3298. // mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
  3299. // the first with a spacing of 100mm in the x direction and 2 degrees hotter.
  3300. //
  3301. // Note: the X axis should be homed after changing dual x-carriage mode.
  3302. {
  3303. st_synchronize();
  3304. if (code_seen('S'))
  3305. dual_x_carriage_mode = code_value();
  3306. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE)
  3307. {
  3308. if (code_seen('X'))
  3309. duplicate_extruder_x_offset = max(code_value(),X2_MIN_POS - x_home_pos(0));
  3310. if (code_seen('R'))
  3311. duplicate_extruder_temp_offset = code_value();
  3312. SERIAL_ECHO_START;
  3313. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  3314. SERIAL_ECHO(" ");
  3315. SERIAL_ECHO(extruder_offset[X_AXIS][0]);
  3316. SERIAL_ECHO(",");
  3317. SERIAL_ECHO(extruder_offset[Y_AXIS][0]);
  3318. SERIAL_ECHO(" ");
  3319. SERIAL_ECHO(duplicate_extruder_x_offset);
  3320. SERIAL_ECHO(",");
  3321. SERIAL_ECHOLN(extruder_offset[Y_AXIS][1]);
  3322. }
  3323. else if (dual_x_carriage_mode != DXC_FULL_CONTROL_MODE && dual_x_carriage_mode != DXC_AUTO_PARK_MODE)
  3324. {
  3325. dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  3326. }
  3327. active_extruder_parked = false;
  3328. extruder_duplication_enabled = false;
  3329. delayed_move_time = 0;
  3330. }
  3331. break;
  3332. #endif //DUAL_X_CARRIAGE
  3333. case 907: // M907 Set digital trimpot motor current using axis codes.
  3334. {
  3335. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  3336. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_current(i,code_value());
  3337. if(code_seen('B')) digipot_current(4,code_value());
  3338. if(code_seen('S')) for(int i=0;i<=4;i++) digipot_current(i,code_value());
  3339. #endif
  3340. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  3341. if(code_seen('X')) digipot_current(0, code_value());
  3342. #endif
  3343. #ifdef MOTOR_CURRENT_PWM_Z_PIN
  3344. if(code_seen('Z')) digipot_current(1, code_value());
  3345. #endif
  3346. #ifdef MOTOR_CURRENT_PWM_E_PIN
  3347. if(code_seen('E')) digipot_current(2, code_value());
  3348. #endif
  3349. #ifdef DIGIPOT_I2C
  3350. // this one uses actual amps in floating point
  3351. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value());
  3352. // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
  3353. 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());
  3354. #endif
  3355. }
  3356. break;
  3357. case 908: // M908 Control digital trimpot directly.
  3358. {
  3359. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  3360. uint8_t channel,current;
  3361. if(code_seen('P')) channel=code_value();
  3362. if(code_seen('S')) current=code_value();
  3363. digitalPotWrite(channel, current);
  3364. #endif
  3365. }
  3366. break;
  3367. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  3368. {
  3369. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  3370. if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
  3371. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
  3372. if(code_seen('B')) microstep_mode(4,code_value());
  3373. microstep_readings();
  3374. #endif
  3375. }
  3376. break;
  3377. case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  3378. {
  3379. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  3380. if(code_seen('S')) switch((int)code_value())
  3381. {
  3382. case 1:
  3383. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
  3384. if(code_seen('B')) microstep_ms(4,code_value(),-1);
  3385. break;
  3386. case 2:
  3387. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
  3388. if(code_seen('B')) microstep_ms(4,-1,code_value());
  3389. break;
  3390. }
  3391. microstep_readings();
  3392. #endif
  3393. }
  3394. break;
  3395. case 999: // M999: Restart after being stopped
  3396. Stopped = false;
  3397. lcd_reset_alert_level();
  3398. gcode_LastN = Stopped_gcode_LastN;
  3399. FlushSerialRequestResend();
  3400. break;
  3401. }
  3402. }
  3403. else if(code_seen('T'))
  3404. {
  3405. tmp_extruder = code_value();
  3406. if(tmp_extruder >= EXTRUDERS) {
  3407. SERIAL_ECHO_START;
  3408. SERIAL_ECHO("T");
  3409. SERIAL_ECHO(tmp_extruder);
  3410. SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
  3411. }
  3412. else {
  3413. boolean make_move = false;
  3414. if(code_seen('F')) {
  3415. make_move = true;
  3416. next_feedrate = code_value();
  3417. if(next_feedrate > 0.0) {
  3418. feedrate = next_feedrate;
  3419. }
  3420. }
  3421. #if EXTRUDERS > 1
  3422. if(tmp_extruder != active_extruder) {
  3423. // Save current position to return to after applying extruder offset
  3424. memcpy(destination, current_position, sizeof(destination));
  3425. #ifdef DUAL_X_CARRIAGE
  3426. if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && Stopped == false &&
  3427. (delayed_move_time != 0 || current_position[X_AXIS] != x_home_pos(active_extruder)))
  3428. {
  3429. // Park old head: 1) raise 2) move to park position 3) lower
  3430. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
  3431. current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
  3432. plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
  3433. current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
  3434. plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
  3435. current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
  3436. st_synchronize();
  3437. }
  3438. // apply Y & Z extruder offset (x offset is already used in determining home pos)
  3439. current_position[Y_AXIS] = current_position[Y_AXIS] -
  3440. extruder_offset[Y_AXIS][active_extruder] +
  3441. extruder_offset[Y_AXIS][tmp_extruder];
  3442. current_position[Z_AXIS] = current_position[Z_AXIS] -
  3443. extruder_offset[Z_AXIS][active_extruder] +
  3444. extruder_offset[Z_AXIS][tmp_extruder];
  3445. active_extruder = tmp_extruder;
  3446. // This function resets the max/min values - the current position may be overwritten below.
  3447. axis_is_at_home(X_AXIS);
  3448. if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE)
  3449. {
  3450. current_position[X_AXIS] = inactive_extruder_x_pos;
  3451. inactive_extruder_x_pos = destination[X_AXIS];
  3452. }
  3453. else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE)
  3454. {
  3455. active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
  3456. if (active_extruder == 0 || active_extruder_parked)
  3457. current_position[X_AXIS] = inactive_extruder_x_pos;
  3458. else
  3459. current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
  3460. inactive_extruder_x_pos = destination[X_AXIS];
  3461. extruder_duplication_enabled = false;
  3462. }
  3463. else
  3464. {
  3465. // record raised toolhead position for use by unpark
  3466. memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
  3467. raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
  3468. active_extruder_parked = true;
  3469. delayed_move_time = 0;
  3470. }
  3471. #else
  3472. // Offset extruder (only by XY)
  3473. int i;
  3474. for(i = 0; i < 2; i++) {
  3475. current_position[i] = current_position[i] -
  3476. extruder_offset[i][active_extruder] +
  3477. extruder_offset[i][tmp_extruder];
  3478. }
  3479. // Set the new active extruder and position
  3480. active_extruder = tmp_extruder;
  3481. #endif //else DUAL_X_CARRIAGE
  3482. #ifdef DELTA
  3483. calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
  3484. //sent position to plan_set_position();
  3485. plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],current_position[E_AXIS]);
  3486. #else
  3487. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3488. #endif
  3489. // Move to the old position if 'F' was in the parameters
  3490. if(make_move && Stopped == false) {
  3491. prepare_move();
  3492. }
  3493. }
  3494. #endif
  3495. SERIAL_ECHO_START;
  3496. SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
  3497. SERIAL_PROTOCOLLN((int)active_extruder);
  3498. }
  3499. }
  3500. else
  3501. {
  3502. SERIAL_ECHO_START;
  3503. SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
  3504. SERIAL_ECHO(cmdbuffer[bufindr]);
  3505. SERIAL_ECHOLNPGM("\"");
  3506. }
  3507. ClearToSend();
  3508. }
  3509. void FlushSerialRequestResend()
  3510. {
  3511. //char cmdbuffer[bufindr][100]="Resend:";
  3512. MYSERIAL.flush();
  3513. SERIAL_PROTOCOLPGM(MSG_RESEND);
  3514. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  3515. ClearToSend();
  3516. }
  3517. void ClearToSend()
  3518. {
  3519. previous_millis_cmd = millis();
  3520. #ifdef SDSUPPORT
  3521. if(fromsd[bufindr])
  3522. return;
  3523. #endif //SDSUPPORT
  3524. SERIAL_PROTOCOLLNPGM(MSG_OK);
  3525. }
  3526. void get_coordinates()
  3527. {
  3528. bool seen[4]={false,false,false,false};
  3529. for(int8_t i=0; i < NUM_AXIS; i++) {
  3530. if(code_seen(axis_codes[i]))
  3531. {
  3532. destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
  3533. seen[i]=true;
  3534. }
  3535. else destination[i] = current_position[i]; //Are these else lines really needed?
  3536. }
  3537. if(code_seen('F')) {
  3538. next_feedrate = code_value();
  3539. if(next_feedrate > 0.0) feedrate = next_feedrate;
  3540. }
  3541. }
  3542. void get_arc_coordinates()
  3543. {
  3544. #ifdef SF_ARC_FIX
  3545. bool relative_mode_backup = relative_mode;
  3546. relative_mode = true;
  3547. #endif
  3548. get_coordinates();
  3549. #ifdef SF_ARC_FIX
  3550. relative_mode=relative_mode_backup;
  3551. #endif
  3552. if(code_seen('I')) {
  3553. offset[0] = code_value();
  3554. }
  3555. else {
  3556. offset[0] = 0.0;
  3557. }
  3558. if(code_seen('J')) {
  3559. offset[1] = code_value();
  3560. }
  3561. else {
  3562. offset[1] = 0.0;
  3563. }
  3564. }
  3565. void clamp_to_software_endstops(float target[3])
  3566. {
  3567. if (min_software_endstops) {
  3568. if (target[X_AXIS] < min_pos[X_AXIS]) target[X_AXIS] = min_pos[X_AXIS];
  3569. if (target[Y_AXIS] < min_pos[Y_AXIS]) target[Y_AXIS] = min_pos[Y_AXIS];
  3570. float negative_z_offset = 0;
  3571. #ifdef ENABLE_AUTO_BED_LEVELING
  3572. if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
  3573. if (add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + add_homing[Z_AXIS];
  3574. #endif
  3575. if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
  3576. }
  3577. if (max_software_endstops) {
  3578. if (target[X_AXIS] > max_pos[X_AXIS]) target[X_AXIS] = max_pos[X_AXIS];
  3579. if (target[Y_AXIS] > max_pos[Y_AXIS]) target[Y_AXIS] = max_pos[Y_AXIS];
  3580. if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
  3581. }
  3582. }
  3583. #ifdef DELTA
  3584. void recalc_delta_settings(float radius, float diagonal_rod)
  3585. {
  3586. delta_tower1_x= -SIN_60*radius; // front left tower
  3587. delta_tower1_y= -COS_60*radius;
  3588. delta_tower2_x= SIN_60*radius; // front right tower
  3589. delta_tower2_y= -COS_60*radius;
  3590. delta_tower3_x= 0.0; // back middle tower
  3591. delta_tower3_y= radius;
  3592. delta_diagonal_rod_2= sq(diagonal_rod);
  3593. }
  3594. void calculate_delta(float cartesian[3])
  3595. {
  3596. delta[X_AXIS] = sqrt(delta_diagonal_rod_2
  3597. - sq(delta_tower1_x-cartesian[X_AXIS])
  3598. - sq(delta_tower1_y-cartesian[Y_AXIS])
  3599. ) + cartesian[Z_AXIS];
  3600. delta[Y_AXIS] = sqrt(delta_diagonal_rod_2
  3601. - sq(delta_tower2_x-cartesian[X_AXIS])
  3602. - sq(delta_tower2_y-cartesian[Y_AXIS])
  3603. ) + cartesian[Z_AXIS];
  3604. delta[Z_AXIS] = sqrt(delta_diagonal_rod_2
  3605. - sq(delta_tower3_x-cartesian[X_AXIS])
  3606. - sq(delta_tower3_y-cartesian[Y_AXIS])
  3607. ) + cartesian[Z_AXIS];
  3608. /*
  3609. SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
  3610. SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
  3611. SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
  3612. SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
  3613. SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
  3614. SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
  3615. */
  3616. }
  3617. #endif
  3618. void prepare_move()
  3619. {
  3620. clamp_to_software_endstops(destination);
  3621. previous_millis_cmd = millis();
  3622. #ifdef SCARA //for now same as delta-code
  3623. float difference[NUM_AXIS];
  3624. for (int8_t i=0; i < NUM_AXIS; i++) {
  3625. difference[i] = destination[i] - current_position[i];
  3626. }
  3627. float cartesian_mm = sqrt( sq(difference[X_AXIS]) +
  3628. sq(difference[Y_AXIS]) +
  3629. sq(difference[Z_AXIS]));
  3630. if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
  3631. if (cartesian_mm < 0.000001) { return; }
  3632. float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
  3633. int steps = max(1, int(scara_segments_per_second * seconds));
  3634. //SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
  3635. //SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
  3636. //SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
  3637. for (int s = 1; s <= steps; s++) {
  3638. float fraction = float(s) / float(steps);
  3639. for(int8_t i=0; i < NUM_AXIS; i++) {
  3640. destination[i] = current_position[i] + difference[i] * fraction;
  3641. }
  3642. calculate_delta(destination);
  3643. //SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
  3644. //SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
  3645. //SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]);
  3646. //SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]);
  3647. //SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
  3648. //SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
  3649. plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
  3650. destination[E_AXIS], feedrate*feedmultiply/60/100.0,
  3651. active_extruder);
  3652. }
  3653. #endif // SCARA
  3654. #ifdef DELTA
  3655. float difference[NUM_AXIS];
  3656. for (int8_t i=0; i < NUM_AXIS; i++) {
  3657. difference[i] = destination[i] - current_position[i];
  3658. }
  3659. float cartesian_mm = sqrt(sq(difference[X_AXIS]) +
  3660. sq(difference[Y_AXIS]) +
  3661. sq(difference[Z_AXIS]));
  3662. if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
  3663. if (cartesian_mm < 0.000001) { return; }
  3664. float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
  3665. int steps = max(1, int(delta_segments_per_second * seconds));
  3666. // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
  3667. // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
  3668. // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
  3669. for (int s = 1; s <= steps; s++) {
  3670. float fraction = float(s) / float(steps);
  3671. for(int8_t i=0; i < NUM_AXIS; i++) {
  3672. destination[i] = current_position[i] + difference[i] * fraction;
  3673. }
  3674. calculate_delta(destination);
  3675. plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
  3676. destination[E_AXIS], feedrate*feedmultiply/60/100.0,
  3677. active_extruder);
  3678. }
  3679. #endif // DELTA
  3680. #ifdef DUAL_X_CARRIAGE
  3681. if (active_extruder_parked)
  3682. {
  3683. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0)
  3684. {
  3685. // move duplicate extruder into correct duplication position.
  3686. plan_set_position(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3687. plan_buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset, current_position[Y_AXIS], current_position[Z_AXIS],
  3688. current_position[E_AXIS], max_feedrate[X_AXIS], 1);
  3689. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3690. st_synchronize();
  3691. extruder_duplication_enabled = true;
  3692. active_extruder_parked = false;
  3693. }
  3694. else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) // handle unparking of head
  3695. {
  3696. if (current_position[E_AXIS] == destination[E_AXIS])
  3697. {
  3698. // this is a travel move - skit it but keep track of current position (so that it can later
  3699. // be used as start of first non-travel move)
  3700. if (delayed_move_time != 0xFFFFFFFFUL)
  3701. {
  3702. memcpy(current_position, destination, sizeof(current_position));
  3703. if (destination[Z_AXIS] > raised_parked_position[Z_AXIS])
  3704. raised_parked_position[Z_AXIS] = destination[Z_AXIS];
  3705. delayed_move_time = millis();
  3706. return;
  3707. }
  3708. }
  3709. delayed_move_time = 0;
  3710. // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
  3711. plan_buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
  3712. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS],
  3713. current_position[E_AXIS], min(max_feedrate[X_AXIS],max_feedrate[Y_AXIS]), active_extruder);
  3714. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
  3715. current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
  3716. active_extruder_parked = false;
  3717. }
  3718. }
  3719. #endif //DUAL_X_CARRIAGE
  3720. #if ! (defined DELTA || defined SCARA)
  3721. // Do not use feedmultiply for E or Z only moves
  3722. if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
  3723. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  3724. }
  3725. else {
  3726. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
  3727. }
  3728. #endif // !(DELTA || SCARA)
  3729. for(int8_t i=0; i < NUM_AXIS; i++) {
  3730. current_position[i] = destination[i];
  3731. }
  3732. }
  3733. void prepare_arc_move(char isclockwise) {
  3734. float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
  3735. // Trace the arc
  3736. mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
  3737. // As far as the parser is concerned, the position is now == target. In reality the
  3738. // motion control system might still be processing the action and the real tool position
  3739. // in any intermediate location.
  3740. for(int8_t i=0; i < NUM_AXIS; i++) {
  3741. current_position[i] = destination[i];
  3742. }
  3743. previous_millis_cmd = millis();
  3744. }
  3745. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  3746. #if defined(FAN_PIN)
  3747. #if CONTROLLERFAN_PIN == FAN_PIN
  3748. #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
  3749. #endif
  3750. #endif
  3751. unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
  3752. unsigned long lastMotorCheck = 0;
  3753. void controllerFan()
  3754. {
  3755. if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
  3756. {
  3757. lastMotorCheck = millis();
  3758. if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
  3759. #if EXTRUDERS > 2
  3760. || !READ(E2_ENABLE_PIN)
  3761. #endif
  3762. #if EXTRUDER > 1
  3763. #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  3764. || !READ(X2_ENABLE_PIN)
  3765. #endif
  3766. || !READ(E1_ENABLE_PIN)
  3767. #endif
  3768. || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
  3769. {
  3770. lastMotor = millis(); //... set time to NOW so the fan will turn on
  3771. }
  3772. if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
  3773. {
  3774. digitalWrite(CONTROLLERFAN_PIN, 0);
  3775. analogWrite(CONTROLLERFAN_PIN, 0);
  3776. }
  3777. else
  3778. {
  3779. // allows digital or PWM fan output to be used (see M42 handling)
  3780. digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  3781. analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  3782. }
  3783. }
  3784. }
  3785. #endif
  3786. #ifdef SCARA
  3787. void calculate_SCARA_forward_Transform(float f_scara[3])
  3788. {
  3789. // Perform forward kinematics, and place results in delta[3]
  3790. // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
  3791. float x_sin, x_cos, y_sin, y_cos;
  3792. //SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]);
  3793. //SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]);
  3794. x_sin = sin(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1;
  3795. x_cos = cos(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1;
  3796. y_sin = sin(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2;
  3797. y_cos = cos(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2;
  3798. // SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin);
  3799. // SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos);
  3800. // SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin);
  3801. // SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos);
  3802. delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta
  3803. delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi
  3804. //SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
  3805. //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
  3806. }
  3807. void calculate_delta(float cartesian[3]){
  3808. //reverse kinematics.
  3809. // Perform reversed kinematics, and place results in delta[3]
  3810. // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
  3811. float SCARA_pos[2];
  3812. static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi;
  3813. SCARA_pos[X_AXIS] = cartesian[X_AXIS] * axis_scaling[X_AXIS] - SCARA_offset_x; //Translate SCARA to standard X Y
  3814. SCARA_pos[Y_AXIS] = cartesian[Y_AXIS] * axis_scaling[Y_AXIS] - SCARA_offset_y; // With scaling factor.
  3815. #if (Linkage_1 == Linkage_2)
  3816. SCARA_C2 = ( ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) ) / (2 * (float)L1_2) ) - 1;
  3817. #else
  3818. SCARA_C2 = ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2 ) / 45000;
  3819. #endif
  3820. SCARA_S2 = sqrt( 1 - sq(SCARA_C2) );
  3821. SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2;
  3822. SCARA_K2 = Linkage_2 * SCARA_S2;
  3823. SCARA_theta = ( atan2(SCARA_pos[X_AXIS],SCARA_pos[Y_AXIS])-atan2(SCARA_K1, SCARA_K2) ) * -1;
  3824. SCARA_psi = atan2(SCARA_S2,SCARA_C2);
  3825. delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG; // Multiply by 180/Pi - theta is support arm angle
  3826. delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG; // - equal to sub arm angle (inverted motor)
  3827. delta[Z_AXIS] = cartesian[Z_AXIS];
  3828. /*
  3829. SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
  3830. SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
  3831. SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
  3832. SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]);
  3833. SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]);
  3834. SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
  3835. SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
  3836. SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
  3837. SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2);
  3838. SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2);
  3839. SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta);
  3840. SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi);
  3841. SERIAL_ECHOLN(" ");*/
  3842. }
  3843. #endif
  3844. #ifdef TEMP_STAT_LEDS
  3845. static bool blue_led = false;
  3846. static bool red_led = false;
  3847. static uint32_t stat_update = 0;
  3848. void handle_status_leds(void) {
  3849. float max_temp = 0.0;
  3850. if(millis() > stat_update) {
  3851. stat_update += 500; // Update every 0.5s
  3852. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  3853. max_temp = max(max_temp, degHotend(cur_extruder));
  3854. max_temp = max(max_temp, degTargetHotend(cur_extruder));
  3855. }
  3856. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  3857. max_temp = max(max_temp, degTargetBed());
  3858. max_temp = max(max_temp, degBed());
  3859. #endif
  3860. if((max_temp > 55.0) && (red_led == false)) {
  3861. digitalWrite(STAT_LED_RED, 1);
  3862. digitalWrite(STAT_LED_BLUE, 0);
  3863. red_led = true;
  3864. blue_led = false;
  3865. }
  3866. if((max_temp < 54.0) && (blue_led == false)) {
  3867. digitalWrite(STAT_LED_RED, 0);
  3868. digitalWrite(STAT_LED_BLUE, 1);
  3869. red_led = false;
  3870. blue_led = true;
  3871. }
  3872. }
  3873. }
  3874. #endif
  3875. void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
  3876. {
  3877. #if defined(KILL_PIN) && KILL_PIN > -1
  3878. static int killCount = 0; // make the inactivity button a bit less responsive
  3879. const int KILL_DELAY = 10000;
  3880. #endif
  3881. #if defined(HOME_PIN) && HOME_PIN > -1
  3882. static int homeDebounceCount = 0; // poor man's debouncing count
  3883. const int HOME_DEBOUNCE_DELAY = 10000;
  3884. #endif
  3885. if(buflen < (BUFSIZE-1))
  3886. get_command();
  3887. if( (millis() - previous_millis_cmd) > max_inactive_time )
  3888. if(max_inactive_time)
  3889. kill();
  3890. if(stepper_inactive_time) {
  3891. if( (millis() - previous_millis_cmd) > stepper_inactive_time )
  3892. {
  3893. if(blocks_queued() == false && ignore_stepper_queue == false) {
  3894. disable_x();
  3895. disable_y();
  3896. disable_z();
  3897. disable_e0();
  3898. disable_e1();
  3899. disable_e2();
  3900. }
  3901. }
  3902. }
  3903. #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
  3904. if (chdkActive && (millis() - chdkHigh > CHDK_DELAY))
  3905. {
  3906. chdkActive = false;
  3907. WRITE(CHDK, LOW);
  3908. }
  3909. #endif
  3910. #if defined(KILL_PIN) && KILL_PIN > -1
  3911. // Check if the kill button was pressed and wait just in case it was an accidental
  3912. // key kill key press
  3913. // -------------------------------------------------------------------------------
  3914. if( 0 == READ(KILL_PIN) )
  3915. {
  3916. killCount++;
  3917. }
  3918. else if (killCount > 0)
  3919. {
  3920. killCount--;
  3921. }
  3922. // Exceeded threshold and we can confirm that it was not accidental
  3923. // KILL the machine
  3924. // ----------------------------------------------------------------
  3925. if ( killCount >= KILL_DELAY)
  3926. {
  3927. kill();
  3928. }
  3929. #endif
  3930. #if defined(HOME_PIN) && HOME_PIN > -1
  3931. // Check to see if we have to home, use poor man's debouncer
  3932. // ---------------------------------------------------------
  3933. if ( 0 == READ(HOME_PIN) )
  3934. {
  3935. if (homeDebounceCount == 0)
  3936. {
  3937. enquecommand_P((PSTR("G28")));
  3938. homeDebounceCount++;
  3939. LCD_ALERTMESSAGEPGM(MSG_AUTO_HOME);
  3940. }
  3941. else if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
  3942. {
  3943. homeDebounceCount++;
  3944. }
  3945. else
  3946. {
  3947. homeDebounceCount = 0;
  3948. }
  3949. }
  3950. #endif
  3951. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  3952. controllerFan(); //Check if fan should be turned on to cool stepper drivers down
  3953. #endif
  3954. #ifdef EXTRUDER_RUNOUT_PREVENT
  3955. if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
  3956. if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
  3957. {
  3958. bool oldstatus=READ(E0_ENABLE_PIN);
  3959. enable_e0();
  3960. float oldepos=current_position[E_AXIS];
  3961. float oldedes=destination[E_AXIS];
  3962. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  3963. destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
  3964. EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
  3965. current_position[E_AXIS]=oldepos;
  3966. destination[E_AXIS]=oldedes;
  3967. plan_set_e_position(oldepos);
  3968. previous_millis_cmd=millis();
  3969. st_synchronize();
  3970. WRITE(E0_ENABLE_PIN,oldstatus);
  3971. }
  3972. #endif
  3973. #if defined(DUAL_X_CARRIAGE)
  3974. // handle delayed move timeout
  3975. if (delayed_move_time != 0 && (millis() - delayed_move_time) > 1000 && Stopped == false)
  3976. {
  3977. // travel moves have been received so enact them
  3978. delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
  3979. memcpy(destination,current_position,sizeof(destination));
  3980. prepare_move();
  3981. }
  3982. #endif
  3983. #ifdef TEMP_STAT_LEDS
  3984. handle_status_leds();
  3985. #endif
  3986. check_axes_activity();
  3987. }
  3988. void kill()
  3989. {
  3990. cli(); // Stop interrupts
  3991. disable_heater();
  3992. disable_x();
  3993. disable_y();
  3994. disable_z();
  3995. disable_e0();
  3996. disable_e1();
  3997. disable_e2();
  3998. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  3999. pinMode(PS_ON_PIN,INPUT);
  4000. #endif
  4001. SERIAL_ERROR_START;
  4002. SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
  4003. LCD_ALERTMESSAGEPGM(MSG_KILLED);
  4004. // FMC small patch to update the LCD before ending
  4005. sei(); // enable interrupts
  4006. for ( int i=5; i--; lcd_update())
  4007. {
  4008. delay(200);
  4009. }
  4010. cli(); // disable interrupts
  4011. suicide();
  4012. while(1) { /* Intentionally left empty */ } // Wait for reset
  4013. }
  4014. void Stop()
  4015. {
  4016. disable_heater();
  4017. if(Stopped == false) {
  4018. Stopped = true;
  4019. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  4020. SERIAL_ERROR_START;
  4021. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  4022. LCD_MESSAGEPGM(MSG_STOPPED);
  4023. }
  4024. }
  4025. bool IsStopped() { return Stopped; };
  4026. #ifdef FAST_PWM_FAN
  4027. void setPwmFrequency(uint8_t pin, int val)
  4028. {
  4029. val &= 0x07;
  4030. switch(digitalPinToTimer(pin))
  4031. {
  4032. #if defined(TCCR0A)
  4033. case TIMER0A:
  4034. case TIMER0B:
  4035. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  4036. // TCCR0B |= val;
  4037. break;
  4038. #endif
  4039. #if defined(TCCR1A)
  4040. case TIMER1A:
  4041. case TIMER1B:
  4042. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  4043. // TCCR1B |= val;
  4044. break;
  4045. #endif
  4046. #if defined(TCCR2)
  4047. case TIMER2:
  4048. case TIMER2:
  4049. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  4050. TCCR2 |= val;
  4051. break;
  4052. #endif
  4053. #if defined(TCCR2A)
  4054. case TIMER2A:
  4055. case TIMER2B:
  4056. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  4057. TCCR2B |= val;
  4058. break;
  4059. #endif
  4060. #if defined(TCCR3A)
  4061. case TIMER3A:
  4062. case TIMER3B:
  4063. case TIMER3C:
  4064. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  4065. TCCR3B |= val;
  4066. break;
  4067. #endif
  4068. #if defined(TCCR4A)
  4069. case TIMER4A:
  4070. case TIMER4B:
  4071. case TIMER4C:
  4072. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  4073. TCCR4B |= val;
  4074. break;
  4075. #endif
  4076. #if defined(TCCR5A)
  4077. case TIMER5A:
  4078. case TIMER5B:
  4079. case TIMER5C:
  4080. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  4081. TCCR5B |= val;
  4082. break;
  4083. #endif
  4084. }
  4085. }
  4086. #endif //FAST_PWM_FAN
  4087. bool setTargetedHotend(int code){
  4088. tmp_extruder = active_extruder;
  4089. if(code_seen('T')) {
  4090. tmp_extruder = code_value();
  4091. if(tmp_extruder >= EXTRUDERS) {
  4092. SERIAL_ECHO_START;
  4093. switch(code){
  4094. case 104:
  4095. SERIAL_ECHO(MSG_M104_INVALID_EXTRUDER);
  4096. break;
  4097. case 105:
  4098. SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER);
  4099. break;
  4100. case 109:
  4101. SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
  4102. break;
  4103. case 218:
  4104. SERIAL_ECHO(MSG_M218_INVALID_EXTRUDER);
  4105. break;
  4106. case 221:
  4107. SERIAL_ECHO(MSG_M221_INVALID_EXTRUDER);
  4108. break;
  4109. }
  4110. SERIAL_ECHOLN(tmp_extruder);
  4111. return true;
  4112. }
  4113. }
  4114. return false;
  4115. }
  4116. float calculate_volumetric_multiplier(float diameter) {
  4117. float area = .0;
  4118. float radius = .0;
  4119. radius = diameter * .5;
  4120. if (! volumetric_enabled || radius == 0) {
  4121. area = 1;
  4122. }
  4123. else {
  4124. area = M_PI * pow(radius, 2);
  4125. }
  4126. return 1.0 / area;
  4127. }
  4128. void calculate_volumetric_multipliers() {
  4129. volumetric_multiplier[0] = calculate_volumetric_multiplier(filament_size[0]);
  4130. #if EXTRUDERS > 1
  4131. volumetric_multiplier[1] = calculate_volumetric_multiplier(filament_size[1]);
  4132. #if EXTRUDERS > 2
  4133. volumetric_multiplier[2] = calculate_volumetric_multiplier(filament_size[2]);
  4134. #endif
  4135. #endif
  4136. }