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Firmware2/Marlin/Marlin_main.cpp
Scott Lahteine a26d70e932 Apply indentation to gcode_M303, PID_autotune
2016-04-18 19:04:45 -07:00

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
*
* About Marlin
*
* This firmware is a mashup between Sprinter and grbl.
* - https://github.com/kliment/Sprinter
* - https://github.com/simen/grbl/tree
*
* It has preliminary support for Matthew Roberts advance algorithm
* - http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
*/
#include "Marlin.h"
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#include "vector_3.h"
#if ENABLED(AUTO_BED_LEVELING_GRID)
#include "qr_solve.h"
#endif
#endif // AUTO_BED_LEVELING_FEATURE
#if ENABLED(MESH_BED_LEVELING)
#include "mesh_bed_leveling.h"
#endif
#include "ultralcd.h"
#include "planner.h"
#include "stepper.h"
#include "temperature.h"
#include "cardreader.h"
#include "configuration_store.h"
#include "language.h"
#include "pins_arduino.h"
#include "math.h"
#include "buzzer.h"
#if ENABLED(USE_WATCHDOG)
#include "watchdog.h"
#endif
#if ENABLED(BLINKM)
#include "blinkm.h"
#include "Wire.h"
#endif
#if HAS_SERVOS
#include "servo.h"
#endif
#if HAS_DIGIPOTSS
#include <SPI.h>
#endif
#if ENABLED(DAC_STEPPER_CURRENT)
#include "stepper_dac.h"
#endif
#if ENABLED(EXPERIMENTAL_I2CBUS)
#include "twibus.h"
#endif
/**
* Look here for descriptions of G-codes:
* - http://linuxcnc.org/handbook/gcode/g-code.html
* - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
*
* Help us document these G-codes online:
* - https://github.com/MarlinFirmware/Marlin/wiki/G-Code-in-Marlin
* - http://reprap.org/wiki/G-code
*
* -----------------
* Implemented Codes
* -----------------
*
* "G" Codes
*
* G0 -> G1
* G1 - Coordinated Movement X Y Z E
* G2 - CW ARC
* G3 - CCW ARC
* G4 - Dwell S<seconds> or P<milliseconds>
* G10 - retract filament according to settings of M207
* G11 - retract recover filament according to settings of M208
* G28 - Home one or more axes
* G29 - Detailed Z probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
* G30 - Single Z probe, probes bed at current XY location.
* G31 - Dock sled (Z_PROBE_SLED only)
* G32 - Undock sled (Z_PROBE_SLED only)
* G90 - Use Absolute Coordinates
* G91 - Use Relative Coordinates
* G92 - Set current position to coordinates given
*
* "M" Codes
*
* M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
* M1 - Same as M0
* M17 - Enable/Power all stepper motors
* M18 - Disable all stepper motors; same as M84
* M20 - List SD card
* M21 - Init SD card
* M22 - Release SD card
* M23 - Select SD file (M23 filename.g)
* M24 - Start/resume SD print
* M25 - Pause SD print
* M26 - Set SD position in bytes (M26 S12345)
* M27 - Report SD print status
* M28 - Start SD write (M28 filename.g)
* M29 - Stop SD write
* M30 - Delete file from SD (M30 filename.g)
* M31 - Output time since last M109 or SD card start to serial
* M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
* syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
* Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
* The '#' is necessary when calling from within sd files, as it stops buffer prereading
* M33 - Get the longname version of a path
* M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
* M48 - Measure Z_Probe repeatability. M48 [P # of points] [X position] [Y position] [V_erboseness #] [E_ngage Probe] [L # of legs of travel]
* M80 - Turn on Power Supply
* M81 - Turn off Power Supply
* M82 - Set E codes absolute (default)
* M83 - Set E codes relative while in Absolute Coordinates (G90) mode
* M84 - Disable steppers until next move,
* or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
* M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
* M92 - Set axis_steps_per_unit - same syntax as G92
* M104 - Set extruder target temp
* M105 - Read current temp
* M106 - Fan on
* M107 - Fan off
* M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
* Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
* IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
* M110 - Set the current line number
* M111 - Set debug flags with S<mask>. See flag bits defined in Marlin.h.
* M112 - Emergency stop
* M113 - Get or set the timeout interval for Host Keepalive "busy" messages
* M114 - Output current position to serial port
* M115 - Capabilities string
* M117 - Display a message on the controller screen
* M119 - Output Endstop status to serial port
* M120 - Enable endstop detection
* M121 - Disable endstop detection
* M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
* M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
* M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
* M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
* M140 - Set bed target temp
* M145 - Set the heatup state H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
* 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.
* M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
* Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
* M200 - set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).:D<millimeters>-
* M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
* M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
* M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
* M204 - Set default acceleration: P for Printing moves, R for Retract only (no X, Y, Z) moves and T for Travel (non printing) moves (ex. M204 P800 T3000 R9000) in mm/sec^2
* 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
* M206 - Set additional homing offset
* M207 - Set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
* M208 - Set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
* 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.
* M218 - Set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
* M220 - Set speed factor override percentage: S<factor in percent>
* M221 - Set extrude factor override percentage: S<factor in percent>
* M226 - Wait until the specified pin reaches the state required: P<pin number> S<pin state>
* M240 - Trigger a camera to take a photograph
* M250 - Set LCD contrast C<contrast value> (value 0..63)
* M280 - Set servo position absolute. P: servo index, S: angle or microseconds
* M300 - Play beep sound S<frequency Hz> P<duration ms>
* M301 - Set PID parameters P I and D
* M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
* M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
* M304 - Set bed PID parameters P I and D
* M380 - Activate solenoid on active extruder
* M381 - Disable all solenoids
* M400 - Finish all moves
* M401 - Lower Z probe if present
* M402 - Raise Z probe if present
* M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
* M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
* M406 - Turn off Filament Sensor extrusion control
* M407 - Display measured filament diameter
* M410 - Quickstop. Abort all the planned moves
* M420 - Enable/Disable Mesh Leveling (with current values) S1=enable S0=disable
* M421 - Set a single Z coordinate in the Mesh Leveling grid. X<mm> Y<mm> Z<mm>
* M428 - Set the home_offset logically based on the current_position
* M500 - Store parameters in EEPROM
* M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
* M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
* M503 - Print the current settings (from memory not from EEPROM). Use S0 to leave off headings.
* M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
* M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
* M665 - Set delta configurations: L<diagonal rod> R<delta radius> S<segments/s>
* M666 - Set delta endstop adjustment
* M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
* M907 - Set digital trimpot motor current using axis codes.
* M908 - Control digital trimpot directly.
* M909 - DAC_STEPPER_CURRENT: Print digipot/DAC current value
* M910 - DAC_STEPPER_CURRENT: Commit digipot/DAC value to external EEPROM via I2C
* M350 - Set microstepping mode.
* M351 - Toggle MS1 MS2 pins directly.
*
* ************ SCARA Specific - This can change to suit future G-code regulations
* M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
* M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
* M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
* M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
* M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
* M365 - SCARA calibration: Scaling factor, X, Y, Z axis
* ************* SCARA End ***************
*
* ************ Custom codes - This can change to suit future G-code regulations
* M100 - Watch Free Memory (For Debugging Only)
* M851 - Set Z probe's Z offset (mm above extruder -- The value will always be negative)
* M928 - Start SD logging (M928 filename.g) - ended by M29
* M999 - Restart after being stopped by error
*
* "T" Codes
*
* T0-T3 - Select a tool by index (usually an extruder) [ F<mm/min> ]
*
*/
#if ENABLED(M100_FREE_MEMORY_WATCHER)
void gcode_M100();
#endif
#if ENABLED(SDSUPPORT)
CardReader card;
#endif
#if ENABLED(EXPERIMENTAL_I2CBUS)
TWIBus i2c;
#endif
bool Running = true;
uint8_t marlin_debug_flags = DEBUG_NONE;
static float feedrate = 1500.0, saved_feedrate;
float current_position[NUM_AXIS] = { 0.0 };
static float destination[NUM_AXIS] = { 0.0 };
bool axis_known_position[3] = { false };
bool axis_homed[3] = { false };
static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
static char* current_command, *current_command_args;
static int cmd_queue_index_r = 0;
static int cmd_queue_index_w = 0;
static int commands_in_queue = 0;
static char command_queue[BUFSIZE][MAX_CMD_SIZE];
const float homing_feedrate[] = HOMING_FEEDRATE;
bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
int feedrate_multiplier = 100; //100->1 200->2
int saved_feedrate_multiplier;
int extruder_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
bool volumetric_enabled = false;
float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA);
float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
float position_shift[3] = { 0 };
float home_offset[3] = { 0 };
float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
#if FAN_COUNT > 0
int fanSpeeds[FAN_COUNT] = { 0 };
#endif
uint8_t active_extruder = 0;
bool cancel_heatup = false;
const char errormagic[] PROGMEM = "Error:";
const char echomagic[] PROGMEM = "echo:";
const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
static bool relative_mode = false; //Determines Absolute or Relative Coordinates
static int serial_count = 0;
static char* seen_pointer; ///< A pointer to find chars in the command string (X, Y, Z, E, etc.)
const char* queued_commands_P = NULL; /* pointer to the current line in the active sequence of commands, or NULL when none */
const int sensitive_pins[] = SENSITIVE_PINS; ///< Sensitive pin list for M42
// Inactivity shutdown
millis_t previous_cmd_ms = 0;
static millis_t max_inactive_time = 0;
static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
Stopwatch print_job_timer = Stopwatch();
static uint8_t target_extruder;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
int xy_travel_speed = XY_TRAVEL_SPEED;
float zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER;
#endif
#if ENABLED(Z_DUAL_ENDSTOPS) && DISABLED(DELTA)
float z_endstop_adj = 0;
#endif
// Extruder offsets
#if EXTRUDERS > 1
#ifndef EXTRUDER_OFFSET_X
#define EXTRUDER_OFFSET_X { 0 } // X offsets for each extruder
#endif
#ifndef EXTRUDER_OFFSET_Y
#define EXTRUDER_OFFSET_Y { 0 } // Y offsets for each extruder
#endif
float extruder_offset[][EXTRUDERS] = {
EXTRUDER_OFFSET_X,
EXTRUDER_OFFSET_Y
#if ENABLED(DUAL_X_CARRIAGE)
, { 0 } // Z offsets for each extruder
#endif
};
#endif
#if HAS_SERVO_ENDSTOPS
const int servo_endstop_id[] = SERVO_ENDSTOP_IDS;
const int servo_endstop_angle[][2] = SERVO_ENDSTOP_ANGLES;
#endif
#if ENABLED(BARICUDA)
int ValvePressure = 0;
int EtoPPressure = 0;
#endif
#if ENABLED(FWRETRACT)
bool autoretract_enabled = false;
bool retracted[EXTRUDERS] = { false };
bool retracted_swap[EXTRUDERS] = { false };
float retract_length = RETRACT_LENGTH;
float retract_length_swap = RETRACT_LENGTH_SWAP;
float retract_feedrate = RETRACT_FEEDRATE;
float retract_zlift = RETRACT_ZLIFT;
float retract_recover_length = RETRACT_RECOVER_LENGTH;
float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
#endif // FWRETRACT
#if ENABLED(ULTIPANEL) && HAS_POWER_SWITCH
bool powersupply =
#if ENABLED(PS_DEFAULT_OFF)
false
#else
true
#endif
;
#endif
#if ENABLED(DELTA)
#define TOWER_1 X_AXIS
#define TOWER_2 Y_AXIS
#define TOWER_3 Z_AXIS
float delta[3] = { 0 };
#define SIN_60 0.8660254037844386
#define COS_60 0.5
float endstop_adj[3] = { 0 };
// these are the default values, can be overriden with M665
float delta_radius = DELTA_RADIUS;
float delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
float delta_tower1_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1);
float delta_tower2_x = SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
float delta_tower2_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2);
float delta_tower3_x = 0; // back middle tower
float delta_tower3_y = (delta_radius + DELTA_RADIUS_TRIM_TOWER_3);
float delta_diagonal_rod = DELTA_DIAGONAL_ROD;
float delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1;
float delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2;
float delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3;
float delta_diagonal_rod_2_tower_1 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_1);
float delta_diagonal_rod_2_tower_2 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_2);
float delta_diagonal_rod_2_tower_3 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_3);
//float delta_diagonal_rod_2 = sq(delta_diagonal_rod);
float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
int delta_grid_spacing[2] = { 0, 0 };
float bed_level[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
#endif
#else
static bool home_all_axis = true;
#endif
#if ENABLED(SCARA)
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
static float delta[3] = { 0 };
float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
//Variables for Filament Sensor input
float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
bool filament_sensor = false; //M405 turns on filament_sensor control, M406 turns it off
float filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter
int8_t measurement_delay[MAX_MEASUREMENT_DELAY + 1]; //ring buffer to delay measurement store extruder factor after subtracting 100
int filwidth_delay_index1 = 0; //index into ring buffer
int filwidth_delay_index2 = -1; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
#endif
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
static bool filrunoutEnqueued = false;
#endif
static bool send_ok[BUFSIZE];
#if HAS_SERVOS
Servo servo[NUM_SERVOS];
#endif
#ifdef CHDK
millis_t chdkHigh = 0;
boolean chdkActive = false;
#endif
#if ENABLED(PID_ADD_EXTRUSION_RATE)
int lpq_len = 20;
#endif
#if ENABLED(HOST_KEEPALIVE_FEATURE)
// States for managing Marlin and host communication
// Marlin sends messages if blocked or busy
enum MarlinBusyState {
NOT_BUSY, // Not in a handler
IN_HANDLER, // Processing a GCode
IN_PROCESS, // Known to be blocking command input (as in G29)
PAUSED_FOR_USER, // Blocking pending any input
PAUSED_FOR_INPUT // Blocking pending text input (concept)
};
static MarlinBusyState busy_state = NOT_BUSY;
static millis_t next_busy_signal_ms = 0;
uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
#define KEEPALIVE_STATE(n) do{ busy_state = n; }while(0)
#else
#define host_keepalive() ;
#define KEEPALIVE_STATE(n) ;
#endif // HOST_KEEPALIVE_FEATURE
/**
* ***************************************************************************
* ******************************** FUNCTIONS ********************************
* ***************************************************************************
*/
void get_available_commands();
void process_next_command();
void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
bool setTargetedHotend(int code);
void serial_echopair_P(const char* s_P, int v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char* s_P, long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char* s_P, float v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char* s_P, double v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char* s_P, unsigned long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
void gcode_M114();
#if ENABLED(DEBUG_LEVELING_FEATURE)
void print_xyz(const char* prefix, const float x, const float y, const float z) {
SERIAL_ECHO(prefix);
SERIAL_ECHOPAIR(": (", x);
SERIAL_ECHOPAIR(", ", y);
SERIAL_ECHOPAIR(", ", z);
SERIAL_ECHOLNPGM(")");
}
void print_xyz(const char* prefix, const float xyz[]) {
print_xyz(prefix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
}
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
void print_xyz(const char* prefix, const vector_3 &xyz) {
print_xyz(prefix, xyz.x, xyz.y, xyz.z);
}
#endif
#define DEBUG_POS(PREFIX,VAR) do{ SERIAL_ECHOPGM(PREFIX); print_xyz(" > " STRINGIFY(VAR), VAR); }while(0)
#endif
#if ENABLED(DELTA) || ENABLED(SCARA)
inline void sync_plan_position_delta() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_delta", current_position);
#endif
calculate_delta(current_position);
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
}
#endif
#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
float extrude_min_temp = EXTRUDE_MINTEMP;
#endif
#if ENABLED(HAS_Z_MIN_PROBE)
extern volatile bool z_probe_is_active;
#endif
#if ENABLED(SDSUPPORT)
#include "SdFatUtil.h"
int freeMemory() { return SdFatUtil::FreeRam(); }
#else
extern "C" {
extern unsigned int __bss_end;
extern unsigned int __heap_start;
extern void* __brkval;
int freeMemory() {
int free_memory;
if ((int)__brkval == 0)
free_memory = ((int)&free_memory) - ((int)&__bss_end);
else
free_memory = ((int)&free_memory) - ((int)__brkval);
return free_memory;
}
}
#endif //!SDSUPPORT
/**
* Inject the next "immediate" command, when possible.
* Return true if any immediate commands remain to inject.
*/
static bool drain_queued_commands_P() {
if (queued_commands_P != NULL) {
size_t i = 0;
char c, cmd[30];
strncpy_P(cmd, queued_commands_P, sizeof(cmd) - 1);
cmd[sizeof(cmd) - 1] = '\0';
while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
cmd[i] = '\0';
if (enqueue_and_echo_command(cmd)) { // success?
if (c) // newline char?
queued_commands_P += i + 1; // advance to the next command
else
queued_commands_P = NULL; // nul char? no more commands
}
}
return (queued_commands_P != NULL); // return whether any more remain
}
/**
* Record one or many commands to run from program memory.
* Aborts the current queue, if any.
* Note: drain_queued_commands_P() must be called repeatedly to drain the commands afterwards
*/
void enqueue_and_echo_commands_P(const char* pgcode) {
queued_commands_P = pgcode;
drain_queued_commands_P(); // first command executed asap (when possible)
}
/**
* Once a new command is in the ring buffer, call this to commit it
*/
inline void _commit_command(bool say_ok) {
send_ok[cmd_queue_index_w] = say_ok;
cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE;
commands_in_queue++;
}
/**
* Copy a command directly into the main command buffer, from RAM.
* Returns true if successfully adds the command
*/
inline bool _enqueuecommand(const char* cmd, bool say_ok=false) {
if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
strcpy(command_queue[cmd_queue_index_w], cmd);
_commit_command(say_ok);
return true;
}
void enqueue_and_echo_command_now(const char* cmd) {
while (!enqueue_and_echo_command(cmd)) idle();
}
/**
* Enqueue with Serial Echo
*/
bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
if (_enqueuecommand(cmd, say_ok)) {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_Enqueueing);
SERIAL_ECHO(cmd);
SERIAL_ECHOLNPGM("\"");
return true;
}
return false;
}
void setup_killpin() {
#if HAS_KILL
SET_INPUT(KILL_PIN);
WRITE(KILL_PIN, HIGH);
#endif
}
void setup_filrunoutpin() {
#if HAS_FILRUNOUT
pinMode(FILRUNOUT_PIN, INPUT);
#if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
WRITE(FILRUNOUT_PIN, HIGH);
#endif
#endif
}
// Set home pin
void setup_homepin(void) {
#if HAS_HOME
SET_INPUT(HOME_PIN);
WRITE(HOME_PIN, HIGH);
#endif
}
void setup_photpin() {
#if HAS_PHOTOGRAPH
OUT_WRITE(PHOTOGRAPH_PIN, LOW);
#endif
}
void setup_powerhold() {
#if HAS_SUICIDE
OUT_WRITE(SUICIDE_PIN, HIGH);
#endif
#if HAS_POWER_SWITCH
#if ENABLED(PS_DEFAULT_OFF)
OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#else
OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
#endif
#endif
}
void suicide() {
#if HAS_SUICIDE
OUT_WRITE(SUICIDE_PIN, LOW);
#endif
}
void servo_init() {
#if NUM_SERVOS >= 1 && HAS_SERVO_0
servo[0].attach(SERVO0_PIN);
servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
#endif
#if NUM_SERVOS >= 2 && HAS_SERVO_1
servo[1].attach(SERVO1_PIN);
servo[1].detach();
#endif
#if NUM_SERVOS >= 3 && HAS_SERVO_2
servo[2].attach(SERVO2_PIN);
servo[2].detach();
#endif
#if NUM_SERVOS >= 4 && HAS_SERVO_3
servo[3].attach(SERVO3_PIN);
servo[3].detach();
#endif
#if HAS_SERVO_ENDSTOPS
z_probe_is_active = false;
/**
* Set position of all defined Servo Endstops
*
* ** UNSAFE! - NEEDS UPDATE! **
*
* The servo might be deployed and positioned too low to stow
* when starting up the machine or rebooting the board.
* There's no way to know where the nozzle is positioned until
* homing has been done - no homing with z-probe without init!
*
*/
for (int i = 0; i < 3; i++)
if (servo_endstop_id[i] >= 0)
servo[servo_endstop_id[i]].move(servo_endstop_angle[i][1]);
#endif // HAS_SERVO_ENDSTOPS
}
/**
* Stepper Reset (RigidBoard, et.al.)
*/
#if HAS_STEPPER_RESET
void disableStepperDrivers() {
pinMode(STEPPER_RESET_PIN, OUTPUT);
digitalWrite(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
}
void enableStepperDrivers() { pinMode(STEPPER_RESET_PIN, INPUT); } // set to input, which allows it to be pulled high by pullups
#endif
/**
* Marlin entry-point: Set up before the program loop
* - Set up the kill pin, filament runout, power hold
* - Start the serial port
* - Print startup messages and diagnostics
* - Get EEPROM or default settings
* - Initialize managers for:
* • temperature
* • planner
* • watchdog
* • stepper
* • photo pin
* • servos
* • LCD controller
* • Digipot I2C
* • Z probe sled
* • status LEDs
*/
void setup() {
#ifdef DISABLE_JTAG
// Disable JTAG on AT90USB chips to free up pins for IO
MCUCR = 0x80;
MCUCR = 0x80;
#endif
setup_killpin();
setup_filrunoutpin();
setup_powerhold();
#if HAS_STEPPER_RESET
disableStepperDrivers();
#endif
MYSERIAL.begin(BAUDRATE);
SERIAL_PROTOCOLLNPGM("start");
SERIAL_ECHO_START;
// Check startup - does nothing if bootloader sets MCUSR to 0
byte mcu = MCUSR;
if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
MCUSR = 0;
SERIAL_ECHOPGM(MSG_MARLIN);
SERIAL_ECHOLNPGM(" " SHORT_BUILD_VERSION);
#ifdef STRING_DISTRIBUTION_DATE
#ifdef STRING_CONFIG_H_AUTHOR
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
SERIAL_ECHOPGM(MSG_AUTHOR);
SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
SERIAL_ECHOPGM("Compiled: ");
SERIAL_ECHOLNPGM(__DATE__);
#endif // STRING_CONFIG_H_AUTHOR
#endif // STRING_DISTRIBUTION_DATE
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_FREE_MEMORY);
SERIAL_ECHO(freeMemory());
SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
// Send "ok" after commands by default
for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
// loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
Config_RetrieveSettings();
lcd_init();
tp_init(); // Initialize temperature loop
plan_init(); // Initialize planner;
#if ENABLED(DELTA) || ENABLED(SCARA)
// Vital to init kinematic equivalent for X0 Y0 Z0
sync_plan_position_delta();
#endif
#if ENABLED(USE_WATCHDOG)
watchdog_init();
#endif
st_init(); // Initialize stepper, this enables interrupts!
setup_photpin();
servo_init();
#if HAS_CONTROLLERFAN
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
#endif
#if HAS_STEPPER_RESET
enableStepperDrivers();
#endif
#if ENABLED(DIGIPOT_I2C)
digipot_i2c_init();
#endif
#if ENABLED(Z_PROBE_SLED)
pinMode(SLED_PIN, OUTPUT);
digitalWrite(SLED_PIN, LOW); // turn it off
#endif // Z_PROBE_SLED
setup_homepin();
#ifdef STAT_LED_RED
pinMode(STAT_LED_RED, OUTPUT);
digitalWrite(STAT_LED_RED, LOW); // turn it off
#endif
#ifdef STAT_LED_BLUE
pinMode(STAT_LED_BLUE, OUTPUT);
digitalWrite(STAT_LED_BLUE, LOW); // turn it off
#endif
}
/**
* The main Marlin program loop
*
* - Save or log commands to SD
* - Process available commands (if not saving)
* - Call heater manager
* - Call inactivity manager
* - Call endstop manager
* - Call LCD update
*/
void loop() {
if (commands_in_queue < BUFSIZE) get_available_commands();
#if ENABLED(SDSUPPORT)
card.checkautostart(false);
#endif
if (commands_in_queue) {
#if ENABLED(SDSUPPORT)
if (card.saving) {
char* command = command_queue[cmd_queue_index_r];
if (strstr_P(command, PSTR("M29"))) {
// M29 closes the file
card.closefile();
SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
ok_to_send();
}
else {
// Write the string from the read buffer to SD
card.write_command(command);
if (card.logging)
process_next_command(); // The card is saving because it's logging
else
ok_to_send();
}
}
else
process_next_command();
#else
process_next_command();
#endif // SDSUPPORT
commands_in_queue--;
cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
}
checkHitEndstops();
idle();
}
void gcode_line_error(const char* err, bool doFlush = true) {
SERIAL_ERROR_START;
serialprintPGM(err);
SERIAL_ERRORLN(gcode_LastN);
//Serial.println(gcode_N);
if (doFlush) FlushSerialRequestResend();
serial_count = 0;
}
inline void get_serial_commands() {
static char serial_line_buffer[MAX_CMD_SIZE];
static boolean serial_comment_mode = false;
// If the command buffer is empty for too long,
// send "wait" to indicate Marlin is still waiting.
#if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
static millis_t last_command_time = 0;
millis_t ms = millis();
if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
SERIAL_ECHOLNPGM(MSG_WAIT);
last_command_time = ms;
}
#endif
/**
* Loop while serial characters are incoming and the queue is not full
*/
while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) {
char serial_char = MYSERIAL.read();
/**
* If the character ends the line
*/
if (serial_char == '\n' || serial_char == '\r') {
serial_comment_mode = false; // end of line == end of comment
if (!serial_count) continue; // skip empty lines
serial_line_buffer[serial_count] = 0; // terminate string
serial_count = 0; //reset buffer
char* command = serial_line_buffer;
while (*command == ' ') command++; // skip any leading spaces
char* npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
char* apos = strchr(command, '*');
if (npos) {
boolean M110 = strstr_P(command, PSTR("M110")) != NULL;
if (M110) {
char* n2pos = strchr(command + 4, 'N');
if (n2pos) npos = n2pos;
}
gcode_N = strtol(npos + 1, NULL, 10);
if (gcode_N != gcode_LastN + 1 && !M110) {
gcode_line_error(PSTR(MSG_ERR_LINE_NO));
return;
}
if (apos) {
byte checksum = 0, count = 0;
while (command[count] != '*') checksum ^= command[count++];
if (strtol(apos + 1, NULL, 10) != checksum) {
gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
return;
}
// if no errors, continue parsing
}
else {
gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
return;
}
gcode_LastN = gcode_N;
// if no errors, continue parsing
}
else if (apos) { // No '*' without 'N'
gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false);
return;
}
// Movement commands alert when stopped
if (IsStopped()) {
char* gpos = strchr(command, 'G');
if (gpos) {
int codenum = strtol(gpos + 1, NULL, 10);
switch (codenum) {
case 0:
case 1:
case 2:
case 3:
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
LCD_MESSAGEPGM(MSG_STOPPED);
break;
}
}
}
// If command was e-stop process now
if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
#if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
last_command_time = ms;
#endif
// Add the command to the queue
_enqueuecommand(serial_line_buffer, true);
}
else if (serial_count >= MAX_CMD_SIZE - 1) {
// Keep fetching, but ignore normal characters beyond the max length
// The command will be injected when EOL is reached
}
else if (serial_char == '\\') { // Handle escapes
if (MYSERIAL.available() > 0) {
// if we have one more character, copy it over
serial_char = MYSERIAL.read();
if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
}
// otherwise do nothing
}
else { // it's not a newline, carriage return or escape char
if (serial_char == ';') serial_comment_mode = true;
if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
}
} // queue has space, serial has data
}
#if ENABLED(SDSUPPORT)
inline void get_sdcard_commands() {
static bool stop_buffering = false,
sd_comment_mode = false;
if (!card.sdprinting) return;
/**
* '#' stops reading from SD to the buffer prematurely, so procedural
* macro calls are possible. If it occurs, stop_buffering is triggered
* and the buffer is run dry; this character _can_ occur in serial com
* due to checksums, however, no checksums are used in SD printing.
*/
if (commands_in_queue == 0) stop_buffering = false;
uint16_t sd_count = 0;
bool card_eof = card.eof();
while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
int16_t n = card.get();
char sd_char = (char)n;
card_eof = card.eof();
if (card_eof || n == -1
|| sd_char == '\n' || sd_char == '\r'
|| ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
) {
if (card_eof) {
SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
print_job_timer.stop();
char time[30];
millis_t t = print_job_timer.duration();
int hours = t / 60 / 60, minutes = (t / 60) % 60;
sprintf_P(time, PSTR("%i " MSG_END_HOUR " %i " MSG_END_MINUTE), hours, minutes);
SERIAL_ECHO_START;
SERIAL_ECHOLN(time);
lcd_setstatus(time, true);
card.printingHasFinished();
card.checkautostart(true);
}
if (sd_char == '#') stop_buffering = true;
sd_comment_mode = false; //for new command
if (!sd_count) continue; //skip empty lines
command_queue[cmd_queue_index_w][sd_count] = '\0'; //terminate string
sd_count = 0; //clear buffer
_commit_command(false);
}
else if (sd_count >= MAX_CMD_SIZE - 1) {
/**
* Keep fetching, but ignore normal characters beyond the max length
* The command will be injected when EOL is reached
*/
}
else {
if (sd_char == ';') sd_comment_mode = true;
if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
}
}
}
#endif // SDSUPPORT
/**
* Add to the circular command queue the next command from:
* - The command-injection queue (queued_commands_P)
* - The active serial input (usually USB)
* - The SD card file being actively printed
*/
void get_available_commands() {
// if any immediate commands remain, don't get other commands yet
if (drain_queued_commands_P()) return;
get_serial_commands();
#if ENABLED(SDSUPPORT)
get_sdcard_commands();
#endif
}
bool code_has_value() {
int i = 1;
char c = seen_pointer[i];
while (c == ' ') c = seen_pointer[++i];
if (c == '-' || c == '+') c = seen_pointer[++i];
if (c == '.') c = seen_pointer[++i];
return NUMERIC(c);
}
float code_value() {
float ret;
char* e = strchr(seen_pointer, 'E');
if (e) {
*e = 0;
ret = strtod(seen_pointer + 1, NULL);
*e = 'E';
}
else
ret = strtod(seen_pointer + 1, NULL);
return ret;
}
long code_value_long() { return strtol(seen_pointer + 1, NULL, 10); }
int16_t code_value_short() { return (int16_t)strtol(seen_pointer + 1, NULL, 10); }
bool code_seen(char code) {
seen_pointer = strchr(current_command_args, code);
return (seen_pointer != NULL); // Return TRUE if the code-letter was found
}
#define DEFINE_PGM_READ_ANY(type, reader) \
static inline type pgm_read_any(const type *p) \
{ return pgm_read_##reader##_near(p); }
DEFINE_PGM_READ_ANY(float, float);
DEFINE_PGM_READ_ANY(signed char, byte);
#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
static const PROGMEM type array##_P[3] = \
{ X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
static inline type array(int axis) \
{ return pgm_read_any(&array##_P[axis]); }
XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM);
XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
#if ENABLED(DUAL_X_CARRIAGE)
#define DXC_FULL_CONTROL_MODE 0
#define DXC_AUTO_PARK_MODE 1
#define DXC_DUPLICATION_MODE 2
static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
static float x_home_pos(int extruder) {
if (extruder == 0)
return base_home_pos(X_AXIS) + home_offset[X_AXIS];
else
/**
* In dual carriage mode the extruder offset provides an override of the
* second X-carriage offset when homed - otherwise X2_HOME_POS is used.
* This allow soft recalibration of the second extruder offset position
* without firmware reflash (through the M218 command).
*/
return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
}
static int x_home_dir(int extruder) {
return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
}
static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
static bool active_extruder_parked = false; // used in mode 1 & 2
static float raised_parked_position[NUM_AXIS]; // used in mode 1
static millis_t delayed_move_time = 0; // used in mode 1
static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
static float duplicate_extruder_temp_offset = 0; // used in mode 2
bool extruder_duplication_enabled = false; // used in mode 2
#endif //DUAL_X_CARRIAGE
/**
* Software endstops can be used to monitor the open end of
* an axis that has a hardware endstop on the other end. Or
* they can prevent axes from moving past endstops and grinding.
*
* To keep doing their job as the coordinate system changes,
* the software endstop positions must be refreshed to remain
* at the same positions relative to the machine.
*/
static void update_software_endstops(AxisEnum axis) {
float offs = home_offset[axis] + position_shift[axis];
#if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS) {
float dual_max_x = max(extruder_offset[X_AXIS][1], X2_MAX_POS);
if (active_extruder != 0) {
min_pos[X_AXIS] = X2_MIN_POS + offs;
max_pos[X_AXIS] = dual_max_x + offs;
return;
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
min_pos[X_AXIS] = base_min_pos(X_AXIS) + offs;
max_pos[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
return;
}
}
else
#endif
{
min_pos[axis] = base_min_pos(axis) + offs;
max_pos[axis] = base_max_pos(axis) + offs;
}
}
static void set_home_offset(AxisEnum axis, float v) {
current_position[axis] += v - home_offset[axis];
home_offset[axis] = v;
update_software_endstops(axis);
}
static void set_axis_is_at_home(AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("set_axis_is_at_home(", axis);
SERIAL_ECHOLNPGM(") >>>");
}
#endif
position_shift[axis] = 0;
#if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS && (active_extruder != 0 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
if (active_extruder != 0)
current_position[X_AXIS] = x_home_pos(active_extruder);
else
current_position[X_AXIS] = base_home_pos(X_AXIS) + home_offset[X_AXIS];
update_software_endstops(X_AXIS);
return;
}
#endif
#if ENABLED(SCARA)
if (axis == X_AXIS || axis == Y_AXIS) {
float homeposition[3];
for (int i = 0; i < 3; i++) homeposition[i] = base_home_pos(i);
// SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
// SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
/**
* Works out real Homeposition angles using inverse kinematics,
* and calculates homing offset using forward kinematics
*/
calculate_delta(homeposition);
// SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]);
// SERIAL_ECHOPGM(" base Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
for (int i = 0; i < 2; i++) delta[i] -= home_offset[i];
// SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(home_offset[X_AXIS]);
// SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(home_offset[Y_AXIS]);
// SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
// SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
calculate_SCARA_forward_Transform(delta);
// SERIAL_ECHOPGM("Delta X="); SERIAL_ECHO(delta[X_AXIS]);
// SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);
current_position[axis] = delta[axis];
/**
* SCARA home positions are based on configuration since the actual
* limits are determined by the inverse kinematic transform.
*/
min_pos[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
max_pos[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
}
else
#endif
{
current_position[axis] = base_home_pos(axis) + home_offset[axis];
update_software_endstops(axis);
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && Z_HOME_DIR < 0
if (axis == Z_AXIS) {
current_position[Z_AXIS] -= zprobe_zoffset;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("> zprobe_zoffset==", zprobe_zoffset);
SERIAL_EOL;
}
#endif
}
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("> home_offset[axis]==", home_offset[axis]);
DEBUG_POS("", current_position);
}
#endif
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis);
SERIAL_ECHOLNPGM(")");
}
#endif
}
/**
* Some planner shorthand inline functions
*/
inline void set_homing_bump_feedrate(AxisEnum axis) {
const int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
int hbd = homing_bump_divisor[axis];
if (hbd < 1) {
hbd = 10;
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
}
feedrate = homing_feedrate[axis] / hbd;
}
//
// line_to_current_position
// Move the planner to the current position from wherever it last moved
// (or from wherever it has been told it is located).
//
inline void line_to_current_position() {
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
}
inline void line_to_z(float zPosition) {
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate / 60, active_extruder);
}
//
// line_to_destination
// Move the planner, not necessarily synced with current_position
//
inline void line_to_destination(float mm_m) {
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], mm_m / 60, active_extruder);
}
inline void line_to_destination() {
line_to_destination(feedrate);
}
/**
* sync_plan_position
* Set planner / stepper positions to the cartesian current_position.
* The stepper code translates these coordinates into step units.
* Allows translation between steps and units (mm) for cartesian & core robots
*/
inline void sync_plan_position() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
#endif
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
static void setup_for_endstop_move() {
saved_feedrate = feedrate;
saved_feedrate_multiplier = feedrate_multiplier;
feedrate_multiplier = 100;
refresh_cmd_timeout();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("setup_for_endstop_move > enable_endstops(true)");
#endif
enable_endstops(true);
}
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if ENABLED(DELTA)
/**
* Calculate delta, start a line, and set current_position to destination
*/
void prepare_move_raw() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_move_raw", destination);
#endif
refresh_cmd_timeout();
calculate_delta(destination);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], (feedrate / 60) * (feedrate_multiplier / 100.0), active_extruder);
set_current_to_destination();
}
#endif
#if ENABLED(AUTO_BED_LEVELING_GRID)
#if DISABLED(DELTA)
static void set_bed_level_equation_lsq(double* plane_equation_coefficients) {
//plan_bed_level_matrix.debug("bed level before");
#if ENABLED(DEBUG_LEVELING_FEATURE)
plan_bed_level_matrix.set_to_identity();
if (DEBUGGING(LEVELING)) {
vector_3 uncorrected_position = plan_get_position();
DEBUG_POS(">>> set_bed_level_equation_lsq", uncorrected_position);
DEBUG_POS(">>> set_bed_level_equation_lsq", current_position);
}
#endif
vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
vector_3 corrected_position = plan_get_position();
current_position[X_AXIS] = corrected_position.x;
current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = corrected_position.z;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< set_bed_level_equation_lsq", corrected_position);
#endif
sync_plan_position();
}
#endif // !DELTA
#else // !AUTO_BED_LEVELING_GRID
static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
plan_bed_level_matrix.set_to_identity();
vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal();
if (planeNormal.z < 0) {
planeNormal.x = -planeNormal.x;
planeNormal.y = -planeNormal.y;
planeNormal.z = -planeNormal.z;
}
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
vector_3 corrected_position = plan_get_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
vector_3 uncorrected_position = corrected_position;
DEBUG_POS("set_bed_level_equation_3pts", uncorrected_position);
}
#endif
current_position[X_AXIS] = corrected_position.x;
current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = corrected_position.z;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("set_bed_level_equation_3pts", corrected_position);
#endif
sync_plan_position();
}
#endif // !AUTO_BED_LEVELING_GRID
static void run_z_probe() {
/**
* To prevent stepper_inactive_time from running out and
* EXTRUDER_RUNOUT_PREVENT from extruding
*/
refresh_cmd_timeout();
#if ENABLED(DELTA)
float start_z = current_position[Z_AXIS];
long start_steps = st_get_position(Z_AXIS);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("run_z_probe (DELTA) 1");
#endif
// move down slowly until you find the bed
feedrate = homing_feedrate[Z_AXIS] / 4;
destination[Z_AXIS] = -10;
prepare_move_raw(); // this will also set_current_to_destination
st_synchronize();
endstops_hit_on_purpose(); // clear endstop hit flags
/**
* We have to let the planner know where we are right now as it
* is not where we said to go.
*/
long stop_steps = st_get_position(Z_AXIS);
float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
current_position[Z_AXIS] = mm;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe (DELTA) 2", current_position);
#endif
sync_plan_position_delta();
#else // !DELTA
plan_bed_level_matrix.set_to_identity();
feedrate = homing_feedrate[Z_AXIS];
// Move down until the Z probe (or endstop?) is triggered
float zPosition = -(Z_MAX_LENGTH + 10);
line_to_z(zPosition);
st_synchronize();
// Tell the planner where we ended up - Get this from the stepper handler
zPosition = st_get_axis_position_mm(Z_AXIS);
plan_set_position(
current_position[X_AXIS], current_position[Y_AXIS], zPosition,
current_position[E_AXIS]
);
// move up the retract distance
zPosition += home_bump_mm(Z_AXIS);
line_to_z(zPosition);
st_synchronize();
endstops_hit_on_purpose(); // clear endstop hit flags
// move back down slowly to find bed
set_homing_bump_feedrate(Z_AXIS);
zPosition -= home_bump_mm(Z_AXIS) * 2;
line_to_z(zPosition);
st_synchronize();
endstops_hit_on_purpose(); // clear endstop hit flags
// Get the current stepper position after bumping an endstop
current_position[Z_AXIS] = st_get_axis_position_mm(Z_AXIS);
sync_plan_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe", current_position);
#endif
#endif // !DELTA
}
/**
* Plan a move to (X, Y, Z) and set the current_position
* The final current_position may not be the one that was requested
*/
static void do_blocking_move_to(float x, float y, float z) {
float oldFeedRate = feedrate;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) print_xyz("do_blocking_move_to", x, y, z);
#endif
#if ENABLED(DELTA)
feedrate = XY_TRAVEL_SPEED;
destination[X_AXIS] = x;
destination[Y_AXIS] = y;
destination[Z_AXIS] = z;
prepare_move_raw(); // this will also set_current_to_destination
st_synchronize();
#else
feedrate = homing_feedrate[Z_AXIS];
current_position[Z_AXIS] = z;
line_to_current_position();
st_synchronize();
feedrate = xy_travel_speed;
current_position[X_AXIS] = x;
current_position[Y_AXIS] = y;
line_to_current_position();
st_synchronize();
#endif
feedrate = oldFeedRate;
}
inline void do_blocking_move_to_xy(float x, float y) {
do_blocking_move_to(x, y, current_position[Z_AXIS]);
}
inline void do_blocking_move_to_x(float x) {
do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]);
}
inline void do_blocking_move_to_z(float z) {
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z);
}
inline void raise_z_after_probing() {
do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
}
static void clean_up_after_endstop_move() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("clean_up_after_endstop_move > ENDSTOPS_ONLY_FOR_HOMING > endstops_not_homing()");
#endif
endstops_not_homing();
feedrate = saved_feedrate;
feedrate_multiplier = saved_feedrate_multiplier;
refresh_cmd_timeout();
}
#if ENABLED(HAS_Z_MIN_PROBE)
static void deploy_z_probe() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("deploy_z_probe", current_position);
#endif
if (z_probe_is_active) return;
#if HAS_SERVO_ENDSTOPS
// Engage Z Servo endstop if enabled
if (servo_endstop_id[Z_AXIS] >= 0) servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][0]);
#elif ENABLED(Z_PROBE_ALLEN_KEY)
feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE;
// If endstop is already false, the Z probe is deployed
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
bool z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
if (z_probe_endstop)
#else
bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if (z_min_endstop)
#endif
{
// Move to the start position to initiate deployment
destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_X;
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_Y;
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_Z;
prepare_move_raw(); // this will also set_current_to_destination
// Move to engage deployment
if (Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE)
feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE;
if (Z_PROBE_ALLEN_KEY_DEPLOY_2_X != Z_PROBE_ALLEN_KEY_DEPLOY_1_X)
destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_X;
if (Z_PROBE_ALLEN_KEY_DEPLOY_2_Y != Z_PROBE_ALLEN_KEY_DEPLOY_1_Y)
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_Y;
if (Z_PROBE_ALLEN_KEY_DEPLOY_2_Z != Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_Z;
prepare_move_raw();
#ifdef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
if (Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE)
feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE;
// Move to trigger deployment
if (Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE)
feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE;
if (Z_PROBE_ALLEN_KEY_DEPLOY_3_X != Z_PROBE_ALLEN_KEY_DEPLOY_2_X)
destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_X;
if (Z_PROBE_ALLEN_KEY_DEPLOY_3_Y != Z_PROBE_ALLEN_KEY_DEPLOY_2_Y)
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_Y;
if (Z_PROBE_ALLEN_KEY_DEPLOY_3_Z != Z_PROBE_ALLEN_KEY_DEPLOY_2_Z)
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_Z;
prepare_move_raw();
#endif
}
// Partially Home X,Y for safety
destination[X_AXIS] = destination[X_AXIS] * 0.75;
destination[Y_AXIS] = destination[Y_AXIS] * 0.75;
prepare_move_raw(); // this will also set_current_to_destination
st_synchronize();
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
if (z_probe_endstop)
#else
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if (z_min_endstop)
#endif
{
if (IsRunning()) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
}
Stop();
}
#endif // Z_PROBE_ALLEN_KEY
#if ENABLED(FIX_MOUNTED_PROBE)
// Noting to be done. Just set z_probe_is_active
#endif
z_probe_is_active = true;
}
static void stow_z_probe(bool doRaise = true) {
#if !(HAS_SERVO_ENDSTOPS && (Z_RAISE_AFTER_PROBING > 0))
UNUSED(doRaise);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("stow_z_probe", current_position);
#endif
if (!z_probe_is_active) return;
#if HAS_SERVO_ENDSTOPS
// Retract Z Servo endstop if enabled
if (servo_endstop_id[Z_AXIS] >= 0) {
#if Z_RAISE_AFTER_PROBING > 0
if (doRaise) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Raise Z (after) by ", Z_RAISE_AFTER_PROBING);
SERIAL_EOL;
SERIAL_ECHO("> SERVO_ENDSTOPS > raise_z_after_probing()");
SERIAL_EOL;
}
#endif
raise_z_after_probing(); // this also updates current_position
st_synchronize();
}
#endif
// Change the Z servo angle
servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][1]);
}
#elif ENABLED(Z_PROBE_ALLEN_KEY)
// Move up for safety
feedrate = Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE;
#if Z_RAISE_AFTER_PROBING > 0
destination[Z_AXIS] = current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING;
prepare_move_raw(); // this will also set_current_to_destination
#endif
// Move to the start position to initiate retraction
destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_X;
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_Y;
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_Z;
prepare_move_raw();
// Move the nozzle down to push the Z probe into retracted position
if (Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE != Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE)
feedrate = Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE;
if (Z_PROBE_ALLEN_KEY_STOW_2_X != Z_PROBE_ALLEN_KEY_STOW_1_X)
destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_X;
if (Z_PROBE_ALLEN_KEY_STOW_2_Y != Z_PROBE_ALLEN_KEY_STOW_1_Y)
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_Y;
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_Z;
prepare_move_raw();
// Move up for safety
if (Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE != Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE)
feedrate = Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE;
if (Z_PROBE_ALLEN_KEY_STOW_3_X != Z_PROBE_ALLEN_KEY_STOW_2_X)
destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_X;
if (Z_PROBE_ALLEN_KEY_STOW_3_Y != Z_PROBE_ALLEN_KEY_STOW_2_Y)
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_Y;
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_Z;
prepare_move_raw();
// Home XY for safety
feedrate = homing_feedrate[X_AXIS] / 2;
destination[X_AXIS] = 0;
destination[Y_AXIS] = 0;
prepare_move_raw(); // this will also set_current_to_destination
st_synchronize();
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
bool z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
if (!z_probe_endstop)
#else
bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if (!z_min_endstop)
#endif
{
if (IsRunning()) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
}
Stop();
}
#endif // Z_PROBE_ALLEN_KEY
#if ENABLED(FIX_MOUNTED_PROBE)
// Nothing to do here. Just clear z_probe_is_active
#endif
z_probe_is_active = false;
}
#endif // HAS_Z_MIN_PROBE
enum ProbeAction {
ProbeStay = 0,
ProbeDeploy = _BV(0),
ProbeStow = _BV(1),
ProbeDeployAndStow = (ProbeDeploy | ProbeStow)
};
// Probe bed height at position (x,y), returns the measured z value
static float probe_pt(float x, float y, float z_before, ProbeAction probe_action = ProbeDeployAndStow, int verbose_level = 1) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("probe_pt >>>");
SERIAL_ECHOPAIR("> ProbeAction:", probe_action);
SERIAL_EOL;
DEBUG_POS("", current_position);
}
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Z Raise to z_before ", z_before);
SERIAL_EOL;
SERIAL_ECHOPAIR("> do_blocking_move_to_z ", z_before);
SERIAL_EOL;
}
#endif
// Move Z up to the z_before height, then move the Z probe to the given XY
do_blocking_move_to_z(z_before); // this also updates current_position
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("> do_blocking_move_to_xy ", x - (X_PROBE_OFFSET_FROM_EXTRUDER));
SERIAL_ECHOPAIR(", ", y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
SERIAL_EOL;
}
#endif
// this also updates current_position
do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
#if DISABLED(Z_PROBE_SLED) && DISABLED(Z_PROBE_ALLEN_KEY)
if (probe_action & ProbeDeploy) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> ProbeDeploy");
#endif
deploy_z_probe();
}
#endif
run_z_probe();
float measured_z = current_position[Z_AXIS];
#if DISABLED(Z_PROBE_SLED) && DISABLED(Z_PROBE_ALLEN_KEY)
if (probe_action & ProbeStow) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> ProbeStow (stow_z_probe will do Z Raise)");
#endif
stow_z_probe();
}
#endif
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM("Bed X: ");
SERIAL_PROTOCOL_F(x, 3);
SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL_F(y, 3);
SERIAL_PROTOCOLPGM(" Z: ");
SERIAL_PROTOCOL_F(measured_z, 3);
SERIAL_EOL;
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
#endif
return measured_z;
}
#if ENABLED(DELTA)
/**
* All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
*/
static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
if (bed_level[x][y] != 0.0) {
return; // Don't overwrite good values.
}
float a = 2 * bed_level[x + xdir][y] - bed_level[x + xdir * 2][y]; // Left to right.
float b = 2 * bed_level[x][y + ydir] - bed_level[x][y + ydir * 2]; // Front to back.
float c = 2 * bed_level[x + xdir][y + ydir] - bed_level[x + xdir * 2][y + ydir * 2]; // Diagonal.
float median = c; // Median is robust (ignores outliers).
if (a < b) {
if (b < c) median = b;
if (c < a) median = a;
}
else { // b <= a
if (c < b) median = b;
if (a < c) median = a;
}
bed_level[x][y] = median;
}
/**
* Fill in the unprobed points (corners of circular print surface)
* using linear extrapolation, away from the center.
*/
static void extrapolate_unprobed_bed_level() {
int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
for (int y = 0; y <= half; y++) {
for (int x = 0; x <= half; x++) {
if (x + y < 3) continue;
extrapolate_one_point(half - x, half - y, x > 1 ? +1 : 0, y > 1 ? +1 : 0);
extrapolate_one_point(half + x, half - y, x > 1 ? -1 : 0, y > 1 ? +1 : 0);
extrapolate_one_point(half - x, half + y, x > 1 ? +1 : 0, y > 1 ? -1 : 0);
extrapolate_one_point(half + x, half + y, x > 1 ? -1 : 0, y > 1 ? -1 : 0);
}
}
}
/**
* Print calibration results for plotting or manual frame adjustment.
*/
static void print_bed_level() {
for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
SERIAL_PROTOCOL_F(bed_level[x][y], 2);
SERIAL_PROTOCOLCHAR(' ');
}
SERIAL_EOL;
}
}
/**
* Reset calibration results to zero.
*/
void reset_bed_level() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
#endif
for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
bed_level[x][y] = 0.0;
}
}
}
#endif // DELTA
#if HAS_SERVO_ENDSTOPS && DISABLED(Z_PROBE_SLED)
void raise_z_for_servo() {
float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_PROBING;
/**
* The zprobe_zoffset is negative any switch below the nozzle, so
* multiply by Z_HOME_DIR (-1) to move enough away from bed for the probe
*/
z_dest += axis_homed[Z_AXIS] ? zprobe_zoffset * Z_HOME_DIR : zpos;
if (zpos < z_dest) do_blocking_move_to_z(z_dest); // also updates current_position
}
#endif
#endif // AUTO_BED_LEVELING_FEATURE
#if ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || ENABLED(AUTO_BED_LEVELING_FEATURE)
static void axis_unhomed_error() {
LCD_MESSAGEPGM(MSG_YX_UNHOMED);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_YX_UNHOMED);
}
#endif
#if ENABLED(Z_PROBE_SLED)
#ifndef SLED_DOCKING_OFFSET
#define SLED_DOCKING_OFFSET 0
#endif
/**
* Method to dock/undock a sled designed by Charles Bell.
*
* dock[in] If true, move to MAX_X and engage the electromagnet
* offset[in] The additional distance to move to adjust docking location
*/
static void dock_sled(bool dock, int offset = 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("dock_sled(", dock);
SERIAL_ECHOLNPGM(")");
}
#endif
if (z_probe_is_active == dock) return;
if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS]) {
axis_unhomed_error();
return;
}
float oldXpos = current_position[X_AXIS]; // save x position
if (dock) {
#if Z_RAISE_AFTER_PROBING > 0
raise_z_after_probing(); // raise Z
#endif
// Dock sled a bit closer to ensure proper capturing
do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1);
digitalWrite(SLED_PIN, LOW); // turn off magnet
}
else {
float z_loc = current_position[Z_AXIS];
if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING;
do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], z_loc); // this also updates current_position
digitalWrite(SLED_PIN, HIGH); // turn on magnet
}
do_blocking_move_to_x(oldXpos); // return to position before docking
z_probe_is_active = dock;
}
#endif // Z_PROBE_SLED
/**
* Home an individual axis
*/
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
static void homeaxis(AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> homeaxis(", axis);
SERIAL_ECHOLNPGM(")");
}
#endif
#define HOMEAXIS_DO(LETTER) \
((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) {
int axis_home_dir =
#if ENABLED(DUAL_X_CARRIAGE)
(axis == X_AXIS) ? x_home_dir(active_extruder) :
#endif
home_dir(axis);
// Set the axis position as setup for the move
current_position[axis] = 0;
sync_plan_position();
#if ENABLED(Z_PROBE_SLED)
#define _Z_SERVO_TEST (axis != Z_AXIS) // deploy Z, servo.move XY
#define _Z_PROBE_SUBTEST false // Z will never be invoked
#define _Z_DEPLOY (dock_sled(false))
#define _Z_STOW (dock_sled(true))
#elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
#define _Z_SERVO_TEST (axis != Z_AXIS) // servo.move XY
#define _Z_PROBE_SUBTEST false // Z will never be invoked
#define _Z_DEPLOY (deploy_z_probe())
#define _Z_STOW (stow_z_probe())
#elif HAS_SERVO_ENDSTOPS
#define _Z_SERVO_TEST true // servo.move X, Y, Z
#define _Z_PROBE_SUBTEST (axis == Z_AXIS) // Z is a probe
#endif
if (axis == Z_AXIS) {
// If there's a Z probe that needs deployment...
#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
// ...and homing Z towards the bed? Deploy it.
if (axis_home_dir < 0) _Z_DEPLOY;
#endif
}
#if HAS_SERVO_ENDSTOPS
// Engage an X or Y Servo endstop if enabled
if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) {
servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][0]);
if (_Z_PROBE_SUBTEST) z_probe_is_active = true;
}
#endif
// Set a flag for Z motor locking
#if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) In_Homing_Process(true);
#endif
// Move towards the endstop until an endstop is triggered
destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
feedrate = homing_feedrate[axis];
line_to_destination();
st_synchronize();
// Set the axis position as setup for the move
current_position[axis] = 0;
sync_plan_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> enable_endstops(false)");
#endif
enable_endstops(false); // Disable endstops while moving away
// Move away from the endstop by the axis HOME_BUMP_MM
destination[axis] = -home_bump_mm(axis) * axis_home_dir;
line_to_destination();
st_synchronize();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> enable_endstops(true)");
#endif
enable_endstops(true); // Enable endstops for next homing move
// Slow down the feedrate for the next move
set_homing_bump_feedrate(axis);
// Move slowly towards the endstop until triggered
destination[axis] = 2 * home_bump_mm(axis) * axis_home_dir;
line_to_destination();
st_synchronize();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> TRIGGER ENDSTOP", current_position);
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) {
float adj = fabs(z_endstop_adj);
bool lockZ1;
if (axis_home_dir > 0) {
adj = -adj;
lockZ1 = (z_endstop_adj > 0);
}
else
lockZ1 = (z_endstop_adj < 0);
if (lockZ1) Lock_z_motor(true); else Lock_z2_motor(true);
sync_plan_position();
// Move to the adjusted endstop height
feedrate = homing_feedrate[axis];
destination[Z_AXIS] = adj;
line_to_destination();
st_synchronize();
if (lockZ1) Lock_z_motor(false); else Lock_z2_motor(false);
In_Homing_Process(false);
} // Z_AXIS
#endif
#if ENABLED(DELTA)
// retrace by the amount specified in endstop_adj
if (endstop_adj[axis] * axis_home_dir < 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> enable_endstops(false)");
#endif
enable_endstops(false); // Disable endstops while moving away
sync_plan_position();
destination[axis] = endstop_adj[axis];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis]);
DEBUG_POS("", destination);
}
#endif
line_to_destination();
st_synchronize();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> enable_endstops(true)");
#endif
enable_endstops(true); // Enable endstops for next homing move
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
else {
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("> endstop_adj * axis_home_dir = ", endstop_adj[axis] * axis_home_dir);
SERIAL_EOL;
}
}
#endif
#endif
// Set the axis position to its home position (plus home offsets)
set_axis_is_at_home(axis);
sync_plan_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
#endif
destination[axis] = current_position[axis];
feedrate = 0.0;
endstops_hit_on_purpose(); // clear endstop hit flags
axis_known_position[axis] = true;
axis_homed[axis] = true;
// Put away the Z probe
#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
if (axis == Z_AXIS && axis_home_dir < 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_STOW));
#endif
_Z_STOW;
}
#endif
// Retract Servo endstop if enabled
#if HAS_SERVO_ENDSTOPS
if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()");
#endif
servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]);
if (_Z_PROBE_SUBTEST) z_probe_is_active = false;
}
#endif
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("<<< homeaxis(", axis);
SERIAL_ECHOLNPGM(")");
}
#endif
}
#if ENABLED(FWRETRACT)
void retract(bool retracting, bool swapping = false) {
if (retracting == retracted[active_extruder]) return;
float oldFeedrate = feedrate;
set_destination_to_current();
if (retracting) {
feedrate = retract_feedrate * 60;
current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
plan_set_e_position(current_position[E_AXIS]);
prepare_move();
if (retract_zlift > 0.01) {
current_position[Z_AXIS] -= retract_zlift;
#if ENABLED(DELTA)
sync_plan_position_delta();
#else
sync_plan_position();
#endif
prepare_move();
}
}
else {
if (retract_zlift > 0.01) {
current_position[Z_AXIS] += retract_zlift;
#if ENABLED(DELTA)
sync_plan_position_delta();
#else
sync_plan_position();
#endif
//prepare_move();
}
feedrate = retract_recover_feedrate * 60;
float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
plan_set_e_position(current_position[E_AXIS]);
prepare_move();
}
feedrate = oldFeedrate;
retracted[active_extruder] = retracting;
} // retract()
#endif // FWRETRACT
/**
* ***************************************************************************
* ***************************** G-CODE HANDLING *****************************
* ***************************************************************************
*/
/**
* Set XYZE destination and feedrate from the current GCode command
*
* - Set destination from included axis codes
* - Set to current for missing axis codes
* - Set the feedrate, if included
*/
void gcode_get_destination() {
for (int i = 0; i < NUM_AXIS; i++) {
if (code_seen(axis_codes[i]))
destination[i] = code_value() + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
else
destination[i] = current_position[i];
}
if (code_seen('F')) {
float next_feedrate = code_value();
if (next_feedrate > 0.0) feedrate = next_feedrate;
}
}
void unknown_command_error() {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
SERIAL_ECHO(current_command);
SERIAL_ECHOPGM("\"\n");
}
#if ENABLED(HOST_KEEPALIVE_FEATURE)
/**
* Output a "busy" message at regular intervals
* while the machine is not accepting commands.
*/
void host_keepalive() {
millis_t ms = millis();
if (host_keepalive_interval && busy_state != NOT_BUSY) {
if (PENDING(ms, next_busy_signal_ms)) return;
switch (busy_state) {
case IN_HANDLER:
case IN_PROCESS:
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_BUSY_PROCESSING);
break;
case PAUSED_FOR_USER:
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_USER);
break;
case PAUSED_FOR_INPUT:
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_INPUT);
break;
default:
break;
}
}
next_busy_signal_ms = ms + host_keepalive_interval * 1000UL;
}
#endif //HOST_KEEPALIVE_FEATURE
/**
* G0, G1: Coordinated movement of X Y Z E axes
*/
inline void gcode_G0_G1() {
if (IsRunning()) {
gcode_get_destination(); // For X Y Z E F
#if ENABLED(FWRETRACT)
if (autoretract_enabled && !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
float echange = destination[E_AXIS] - current_position[E_AXIS];
// Is this move an attempt to retract or recover?
if ((echange < -MIN_RETRACT && !retracted[active_extruder]) || (echange > MIN_RETRACT && retracted[active_extruder])) {
current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations
plan_set_e_position(current_position[E_AXIS]); // AND from the planner
retract(!retracted[active_extruder]);
return;
}
}
#endif //FWRETRACT
prepare_move();
}
}
/**
* G2: Clockwise Arc
* G3: Counterclockwise Arc
*/
inline void gcode_G2_G3(bool clockwise) {
if (IsRunning()) {
#if ENABLED(SF_ARC_FIX)
bool relative_mode_backup = relative_mode;
relative_mode = true;
#endif
gcode_get_destination();
#if ENABLED(SF_ARC_FIX)
relative_mode = relative_mode_backup;
#endif
// Center of arc as offset from current_position
float arc_offset[2] = {
code_seen('I') ? code_value() : 0,
code_seen('J') ? code_value() : 0
};
// Send an arc to the planner
plan_arc(destination, arc_offset, clockwise);
refresh_cmd_timeout();
}
}
/**
* G4: Dwell S<seconds> or P<milliseconds>
*/
inline void gcode_G4() {
millis_t codenum = 0;
if (code_seen('P')) codenum = code_value_long(); // milliseconds to wait
if (code_seen('S')) codenum = code_value() * 1000UL; // seconds to wait
st_synchronize();
refresh_cmd_timeout();
codenum += previous_cmd_ms; // keep track of when we started waiting
if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
while (PENDING(millis(), codenum)) idle();
}
#if ENABLED(FWRETRACT)
/**
* G10 - Retract filament according to settings of M207
* G11 - Recover filament according to settings of M208
*/
inline void gcode_G10_G11(bool doRetract=false) {
#if EXTRUDERS > 1
if (doRetract) {
retracted_swap[active_extruder] = (code_seen('S') && code_value_short() == 1); // checks for swap retract argument
}
#endif
retract(doRetract
#if EXTRUDERS > 1
, retracted_swap[active_extruder]
#endif
);
}
#endif //FWRETRACT
/**
* G28: Home all axes according to settings
*
* Parameters
*
* None Home to all axes with no parameters.
* With QUICK_HOME enabled XY will home together, then Z.
*
* Cartesian parameters
*
* X Home to the X endstop
* Y Home to the Y endstop
* Z Home to the Z endstop
*
*/
inline void gcode_G28() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("gcode_G28 >>>");
#endif
// Wait for planner moves to finish!
st_synchronize();
// For auto bed leveling, clear the level matrix
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
plan_bed_level_matrix.set_to_identity();
#if ENABLED(DELTA)
reset_bed_level();
#endif
#endif
/**
* For mesh bed leveling deactivate the mesh calculations, will be turned
* on again when homing all axis
*/
#if ENABLED(MESH_BED_LEVELING)
uint8_t mbl_was_active = mbl.active;
mbl.active = false;
#endif
setup_for_endstop_move();
/**
* Directly after a reset this is all 0. Later we get a hint if we have
* to raise z or not.
*/
set_destination_to_current();
feedrate = 0.0;
#if ENABLED(DELTA)
/**
* A delta can only safely home all axis at the same time
* all axis have to home at the same time
*/
// Pretend the current position is 0,0,0
for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0;
sync_plan_position();
// Move all carriages up together until the first endstop is hit.
for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * (Z_MAX_LENGTH);
feedrate = 1.732 * homing_feedrate[X_AXIS];
line_to_destination();
st_synchronize();
endstops_hit_on_purpose(); // clear endstop hit flags
// Destination reached
for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i];
// take care of back off and rehome now we are all at the top
HOMEAXIS(X);
HOMEAXIS(Y);
HOMEAXIS(Z);
sync_plan_position_delta();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("(DELTA)", current_position);
#endif
#else // NOT DELTA
bool homeX = code_seen(axis_codes[X_AXIS]),
homeY = code_seen(axis_codes[Y_AXIS]),
homeZ = code_seen(axis_codes[Z_AXIS]);
home_all_axis = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
if (home_all_axis || homeZ) {
HOMEAXIS(Z);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> HOMEAXIS(Z)", current_position);
#endif
}
#elif defined(MIN_Z_HEIGHT_FOR_HOMING) && MIN_Z_HEIGHT_FOR_HOMING > 0
// Raise Z before homing any other axes and z is not already high enough (never lower z)
if (current_position[Z_AXIS] <= MIN_Z_HEIGHT_FOR_HOMING) {
destination[Z_AXIS] = MIN_Z_HEIGHT_FOR_HOMING;
feedrate = max_feedrate[Z_AXIS] * 60; // feedrate (mm/m) = max_feedrate (mm/s)
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Raise Z (before homing) to ", (MIN_Z_HEIGHT_FOR_HOMING));
SERIAL_EOL;
DEBUG_POS("> (home_all_axis || homeZ)", current_position);
DEBUG_POS("> (home_all_axis || homeZ)", destination);
}
#endif
line_to_destination();
st_synchronize();
/**
* Update the current Z position even if it currently not real from
* Z-home otherwise each call to line_to_destination() will want to
* move Z-axis by MIN_Z_HEIGHT_FOR_HOMING.
*/
current_position[Z_AXIS] = destination[Z_AXIS];
}
#endif
#if ENABLED(QUICK_HOME)
if (home_all_axis || (homeX && homeY)) { // First diagonal move
current_position[X_AXIS] = current_position[Y_AXIS] = 0;
#if ENABLED(DUAL_X_CARRIAGE)
int x_axis_home_dir = x_home_dir(active_extruder);
extruder_duplication_enabled = false;
#else
int x_axis_home_dir = home_dir(X_AXIS);
#endif
sync_plan_position();
float mlx = max_length(X_AXIS), mly = max_length(Y_AXIS),
mlratio = mlx > mly ? mly / mlx : mlx / mly;
destination[X_AXIS] = 1.5 * mlx * x_axis_home_dir;
destination[Y_AXIS] = 1.5 * mly * home_dir(Y_AXIS);
feedrate = min(homing_feedrate[X_AXIS], homing_feedrate[Y_AXIS]) * sqrt(mlratio * mlratio + 1);
line_to_destination();
st_synchronize();
set_axis_is_at_home(X_AXIS);
set_axis_is_at_home(Y_AXIS);
sync_plan_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> QUICK_HOME 1", current_position);
#endif
destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS];
line_to_destination();
feedrate = 0.0;
st_synchronize();
endstops_hit_on_purpose(); // clear endstop hit flags
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
#if DISABLED(SCARA)
current_position[Z_AXIS] = destination[Z_AXIS];
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> QUICK_HOME 2", current_position);
#endif
}
#endif // QUICK_HOME
#if ENABLED(HOME_Y_BEFORE_X)
// Home Y
if (home_all_axis || homeY) HOMEAXIS(Y);
#endif
// Home X
if (home_all_axis || homeX) {
#if ENABLED(DUAL_X_CARRIAGE)
int tmp_extruder = active_extruder;
extruder_duplication_enabled = false;
active_extruder = !active_extruder;
HOMEAXIS(X);
inactive_extruder_x_pos = current_position[X_AXIS];
active_extruder = tmp_extruder;
HOMEAXIS(X);
// reset state used by the different modes
memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
delayed_move_time = 0;
active_extruder_parked = true;
#else
HOMEAXIS(X);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
#endif
}
#if DISABLED(HOME_Y_BEFORE_X)
// Home Y
if (home_all_axis || homeY) {
HOMEAXIS(Y);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
#endif
}
#endif
// Home Z last if homing towards the bed
#if Z_HOME_DIR < 0
if (home_all_axis || homeZ) {
#if ENABLED(Z_SAFE_HOMING)
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("> Z_SAFE_HOMING >>>");
}
#endif
if (home_all_axis) {
/**
* At this point we already have Z at MIN_Z_HEIGHT_FOR_HOMING height
* No need to move Z any more as this height should already be safe
* enough to reach Z_SAFE_HOMING XY positions.
* Just make sure the planner is in sync.
*/
sync_plan_position();
/**
* Set the Z probe (or just the nozzle) destination to the safe
* homing point
*/
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - (X_PROBE_OFFSET_FROM_EXTRUDER));
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - (Y_PROBE_OFFSET_FROM_EXTRUDER));
destination[Z_AXIS] = current_position[Z_AXIS]; //z is already at the right height
feedrate = XY_TRAVEL_SPEED;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
DEBUG_POS("> Z_SAFE_HOMING > home_all_axis", current_position);
DEBUG_POS("> Z_SAFE_HOMING > home_all_axis", destination);
}
#endif
// Move in the XY plane
line_to_destination();
st_synchronize();
/**
* Update the current positions for XY, Z is still at least at
* MIN_Z_HEIGHT_FOR_HOMING height, no changes there.
*/
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
// Home the Z axis
HOMEAXIS(Z);
}
else if (homeZ) { // Don't need to Home Z twice
// Let's see if X and Y are homed
if (axis_homed[X_AXIS] && axis_homed[Y_AXIS]) {
/**
* Make sure the Z probe is within the physical limits
* NOTE: This doesn't necessarily ensure the Z probe is also
* within the bed!
*/
float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS];
if ( cpx >= X_MIN_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
&& cpx <= X_MAX_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
&& cpy >= Y_MIN_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)
&& cpy <= Y_MAX_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)) {
// Home the Z axis
HOMEAXIS(Z);
}
else {
LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
}
}
else {
axis_unhomed_error();
}
} // !home_all_axes && homeZ
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
}
#endif
#else // !Z_SAFE_HOMING
HOMEAXIS(Z);
#endif // !Z_SAFE_HOMING
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all_axis || homeZ) > final", current_position);
#endif
} // home_all_axis || homeZ
#endif // Z_HOME_DIR < 0
sync_plan_position();
#endif // else DELTA
#if ENABLED(SCARA)
sync_plan_position_delta();
#endif
#if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
enable_endstops(false);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("ENDSTOPS_ONLY_FOR_HOMING enable_endstops(false)");
}
#endif
#endif
// For mesh leveling move back to Z=0
#if ENABLED(MESH_BED_LEVELING)
if (mbl_was_active && home_all_axis) {
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
sync_plan_position();
mbl.active = 1;
current_position[Z_AXIS] = 0.0;
set_destination_to_current();
feedrate = homing_feedrate[Z_AXIS];
line_to_destination();
st_synchronize();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("mbl_was_active", current_position);
#endif
}
#endif
feedrate = saved_feedrate;
feedrate_multiplier = saved_feedrate_multiplier;
refresh_cmd_timeout();
endstops_hit_on_purpose(); // clear endstop hit flags
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("<<< gcode_G28");
}
#endif
gcode_M114(); // Send end position to RepetierHost
}
#if ENABLED(MESH_BED_LEVELING)
enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet, MeshSetZOffset };
inline void _mbl_goto_xy(float x, float y) {
saved_feedrate = feedrate;
feedrate = homing_feedrate[X_AXIS];
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
#if MIN_Z_HEIGHT_FOR_HOMING > 0
+ MIN_Z_HEIGHT_FOR_HOMING
#endif
;
line_to_current_position();
current_position[X_AXIS] = x + home_offset[X_AXIS];
current_position[Y_AXIS] = y + home_offset[Y_AXIS];
line_to_current_position();
#if MIN_Z_HEIGHT_FOR_HOMING > 0
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
line_to_current_position();
#endif
feedrate = saved_feedrate;
st_synchronize();
}
/**
* G29: Mesh-based Z probe, probes a grid and produces a
* mesh to compensate for variable bed height
*
* Parameters With MESH_BED_LEVELING:
*
* S0 Produce a mesh report
* S1 Start probing mesh points
* S2 Probe the next mesh point
* S3 Xn Yn Zn.nn Manually modify a single point
* S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.
*
* The S0 report the points as below
*
* +----> X-axis 1-n
* |
* |
* v Y-axis 1-n
*
*/
inline void gcode_G29() {
static int probe_point = -1;
MeshLevelingState state = code_seen('S') ? (MeshLevelingState)code_value_short() : MeshReport;
if (state < 0 || state > 4) {
SERIAL_PROTOCOLLNPGM("S out of range (0-4).");
return;
}
int ix, iy;
float z;
switch (state) {
case MeshReport:
if (mbl.active) {
SERIAL_PROTOCOLPGM("Num X,Y: ");
SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
SERIAL_PROTOCOLPGM("\nZ search height: ");
SERIAL_PROTOCOL(MESH_HOME_SEARCH_Z);
SERIAL_PROTOCOLPGM("\nZ offset: ");
SERIAL_PROTOCOL_F(mbl.z_offset, 5);
SERIAL_PROTOCOLLNPGM("\nMeasured points:");
for (int y = 0; y < MESH_NUM_Y_POINTS; y++) {
for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
SERIAL_PROTOCOLPGM(" ");
SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
}
SERIAL_EOL;
}
}
else
SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
break;
case MeshStart:
mbl.reset();
probe_point = 0;
enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
break;
case MeshNext:
if (probe_point < 0) {
SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
return;
}
// For each G29 S2...
if (probe_point == 0) {
// For the intial G29 S2 make Z a positive value (e.g., 4.0)
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
sync_plan_position();
}
else {
// For G29 S2 after adjusting Z.
mbl.set_zigzag_z(probe_point - 1, current_position[Z_AXIS]);
}
// If there's another point to sample, move there with optional lift.
if (probe_point < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) {
mbl.zigzag(probe_point, ix, iy);
_mbl_goto_xy(mbl.get_x(ix), mbl.get_y(iy));
probe_point++;
}
else {
// One last "return to the bed" (as originally coded) at completion
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
#if MIN_Z_HEIGHT_FOR_HOMING > 0
+ MIN_Z_HEIGHT_FOR_HOMING
#endif
;
line_to_current_position();
st_synchronize();
// After recording the last point, activate the mbl and home
SERIAL_PROTOCOLLNPGM("Mesh probing done.");
probe_point = -1;
mbl.active = true;
enqueue_and_echo_commands_P(PSTR("G28"));
}
break;
case MeshSet:
if (code_seen('X')) {
ix = code_value_long() - 1;
if (ix < 0 || ix >= MESH_NUM_X_POINTS) {
SERIAL_PROTOCOLPGM("X out of range (1-" STRINGIFY(MESH_NUM_X_POINTS) ").\n");
return;
}
}
else {
SERIAL_PROTOCOLPGM("X not entered.\n");
return;
}
if (code_seen('Y')) {
iy = code_value_long() - 1;
if (iy < 0 || iy >= MESH_NUM_Y_POINTS) {
SERIAL_PROTOCOLPGM("Y out of range (1-" STRINGIFY(MESH_NUM_Y_POINTS) ").\n");
return;
}
}
else {
SERIAL_PROTOCOLPGM("Y not entered.\n");
return;
}
if (code_seen('Z')) {
z = code_value();
}
else {
SERIAL_PROTOCOLPGM("Z not entered.\n");
return;
}
mbl.z_values[iy][ix] = z;
break;
case MeshSetZOffset:
if (code_seen('Z')) {
z = code_value();
}
else {
SERIAL_PROTOCOLPGM("Z not entered.\n");
return;
}
mbl.z_offset = z;
} // switch(state)
}
#elif ENABLED(AUTO_BED_LEVELING_FEATURE)
void out_of_range_error(const char* p_edge) {
SERIAL_PROTOCOLPGM("?Probe ");
serialprintPGM(p_edge);
SERIAL_PROTOCOLLNPGM(" position out of range.");
}
/**
* G29: Detailed Z probe, probes the bed at 3 or more points.
* Will fail if the printer has not been homed with G28.
*
* Enhanced G29 Auto Bed Leveling Probe Routine
*
* Parameters With AUTO_BED_LEVELING_GRID:
*
* P Set the size of the grid that will be probed (P x P points).
* Not supported by non-linear delta printer bed leveling.
* Example: "G29 P4"
*
* S Set the XY travel speed between probe points (in mm/min)
*
* D Dry-Run mode. Just evaluate the bed Topology - Don't apply
* or clean the rotation Matrix. Useful to check the topology
* after a first run of G29.
*
* V Set the verbose level (0-4). Example: "G29 V3"
*
* T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
* This is useful for manual bed leveling and finding flaws in the bed (to
* assist with part placement).
* Not supported by non-linear delta printer bed leveling.
*
* F Set the Front limit of the probing grid
* B Set the Back limit of the probing grid
* L Set the Left limit of the probing grid
* R Set the Right limit of the probing grid
*
* Global Parameters:
*
* E/e By default G29 will engage the Z probe, test the bed, then disengage.
* Include "E" to engage/disengage the Z probe for each sample.
* There's no extra effect if you have a fixed Z probe.
* Usage: "G29 E" or "G29 e"
*
*/
inline void gcode_G29() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("gcode_G29 >>>");
DEBUG_POS("", current_position);
}
#endif
// Don't allow auto-leveling without homing first
if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS]) {
axis_unhomed_error();
return;
}
int verbose_level = code_seen('V') ? code_value_short() : 1;
if (verbose_level < 0 || verbose_level > 4) {
SERIAL_ECHOLNPGM("?(V)erbose Level is implausible (0-4).");
return;
}
bool dryrun = code_seen('D'),
deploy_probe_for_each_reading = code_seen('E');
#if ENABLED(AUTO_BED_LEVELING_GRID)
#if DISABLED(DELTA)
bool do_topography_map = verbose_level > 2 || code_seen('T');
#endif
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("G29 Auto Bed Leveling\n");
if (dryrun) SERIAL_ECHOLNPGM("Running in DRY-RUN mode");
}
int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;
#if DISABLED(DELTA)
if (code_seen('P')) auto_bed_leveling_grid_points = code_value_short();
if (auto_bed_leveling_grid_points < 2) {
SERIAL_PROTOCOLPGM("?Number of probed (P)oints is implausible (2 minimum).\n");
return;
}
#endif
xy_travel_speed = code_seen('S') ? code_value_short() : XY_TRAVEL_SPEED;
int left_probe_bed_position = code_seen('L') ? code_value_short() : LEFT_PROBE_BED_POSITION,
right_probe_bed_position = code_seen('R') ? code_value_short() : RIGHT_PROBE_BED_POSITION,
front_probe_bed_position = code_seen('F') ? code_value_short() : FRONT_PROBE_BED_POSITION,
back_probe_bed_position = code_seen('B') ? code_value_short() : BACK_PROBE_BED_POSITION;
bool left_out_l = left_probe_bed_position < MIN_PROBE_X,
left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE),
right_out_r = right_probe_bed_position > MAX_PROBE_X,
right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
front_out_f = front_probe_bed_position < MIN_PROBE_Y,
front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE),
back_out_b = back_probe_bed_position > MAX_PROBE_Y,
back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
if (left_out || right_out || front_out || back_out) {
if (left_out) {
out_of_range_error(PSTR("(L)eft"));
left_probe_bed_position = left_out_l ? MIN_PROBE_X : right_probe_bed_position - (MIN_PROBE_EDGE);
}
if (right_out) {
out_of_range_error(PSTR("(R)ight"));
right_probe_bed_position = right_out_r ? MAX_PROBE_X : left_probe_bed_position + MIN_PROBE_EDGE;
}
if (front_out) {
out_of_range_error(PSTR("(F)ront"));
front_probe_bed_position = front_out_f ? MIN_PROBE_Y : back_probe_bed_position - (MIN_PROBE_EDGE);
}
if (back_out) {
out_of_range_error(PSTR("(B)ack"));
back_probe_bed_position = back_out_b ? MAX_PROBE_Y : front_probe_bed_position + MIN_PROBE_EDGE;
}
return;
}
#endif // AUTO_BED_LEVELING_GRID
if (!dryrun) {
// make sure the bed_level_rotation_matrix is identity or the planner will get it wrong
plan_bed_level_matrix.set_to_identity();
#if ENABLED(DELTA)
reset_bed_level();
#else //!DELTA
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
vector_3 corrected_position = plan_get_position();
DEBUG_POS("BEFORE matrix.set_to_identity", corrected_position);
DEBUG_POS("BEFORE matrix.set_to_identity", current_position);
}
#endif
//vector_3 corrected_position = plan_get_position();
//corrected_position.debug("position before G29");
vector_3 uncorrected_position = plan_get_position();
//uncorrected_position.debug("position during G29");
current_position[X_AXIS] = uncorrected_position.x;
current_position[Y_AXIS] = uncorrected_position.y;
current_position[Z_AXIS] = uncorrected_position.z;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("AFTER matrix.set_to_identity", uncorrected_position);
#endif
sync_plan_position();
#endif // !DELTA
}
#if ENABLED(Z_PROBE_SLED)
dock_sled(false); // engage (un-dock) the Z probe
#elif ENABLED(MECHANICAL_PROBE) || (ENABLED(DELTA) && SERVO_LEVELING)
deploy_z_probe();
#endif
st_synchronize();
setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS];
#if ENABLED(AUTO_BED_LEVELING_GRID)
// probe at the points of a lattice grid
const int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1),
yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
#if ENABLED(DELTA)
delta_grid_spacing[0] = xGridSpacing;
delta_grid_spacing[1] = yGridSpacing;
float zoffset = zprobe_zoffset;
if (code_seen(axis_codes[Z_AXIS])) zoffset += code_value();
#else // !DELTA
/**
* solve the plane equation ax + by + d = z
* A is the matrix with rows [x y 1] for all the probed points
* B is the vector of the Z positions
* the normal vector to the plane is formed by the coefficients of the
* plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
* so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
*/
int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points;
double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
eqnBVector[abl2], // "B" vector of Z points
mean = 0.0;
int8_t indexIntoAB[auto_bed_leveling_grid_points][auto_bed_leveling_grid_points];
#endif // !DELTA
int probePointCounter = 0;
bool zig = (auto_bed_leveling_grid_points & 1) ? true : false; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
for (int yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) {
double yProbe = front_probe_bed_position + yGridSpacing * yCount;
int xStart, xStop, xInc;
if (zig) {
xStart = 0;
xStop = auto_bed_leveling_grid_points;
xInc = 1;
}
else {
xStart = auto_bed_leveling_grid_points - 1;
xStop = -1;
xInc = -1;
}
zig = !zig;
for (int xCount = xStart; xCount != xStop; xCount += xInc) {
double xProbe = left_probe_bed_position + xGridSpacing * xCount;
// raise extruder
float measured_z,
z_before = probePointCounter ? Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS] : Z_RAISE_BEFORE_PROBING + home_offset[Z_AXIS];
if (probePointCounter) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("z_before = (between) ", (Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS]));
SERIAL_EOL;
}
#endif
}
else {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("z_before = (before) ", Z_RAISE_BEFORE_PROBING + home_offset[Z_AXIS]);
SERIAL_EOL;
}
#endif
}
#if ENABLED(DELTA)
// Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
float distance_from_center = sqrt(xProbe * xProbe + yProbe * yProbe);
if (distance_from_center > DELTA_PROBEABLE_RADIUS) continue;
#endif //DELTA
ProbeAction act;
if (deploy_probe_for_each_reading) // G29 E - Stow between probes
act = ProbeDeployAndStow;
else if (yCount == 0 && xCount == xStart)
act = ProbeDeploy;
else if (yCount == auto_bed_leveling_grid_points - 1 && xCount == xStop - xInc)
act = ProbeStow;
else
act = ProbeStay;
measured_z = probe_pt(xProbe, yProbe, z_before, act, verbose_level);
#if DISABLED(DELTA)
mean += measured_z;
eqnBVector[probePointCounter] = measured_z;
eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
eqnAMatrix[probePointCounter + 2 * abl2] = 1;
indexIntoAB[xCount][yCount] = probePointCounter;
#else
bed_level[xCount][yCount] = measured_z + zoffset;
#endif
probePointCounter++;
idle();
} //xProbe
} //yProbe
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
#endif
clean_up_after_endstop_move();
#if ENABLED(DELTA)
if (!dryrun) extrapolate_unprobed_bed_level();
print_bed_level();
#else // !DELTA
// solve lsq problem
double plane_equation_coefficients[3];
qr_solve(plane_equation_coefficients, abl2, 3, eqnAMatrix, eqnBVector);
mean /= abl2;
if (verbose_level) {
SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
SERIAL_PROTOCOLPGM(" b: ");
SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
SERIAL_PROTOCOLPGM(" d: ");
SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
SERIAL_EOL;
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM("Mean of sampled points: ");
SERIAL_PROTOCOL_F(mean, 8);
SERIAL_EOL;
}
}
if (!dryrun) set_bed_level_equation_lsq(plane_equation_coefficients);
// Show the Topography map if enabled
if (do_topography_map) {
SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n");
SERIAL_PROTOCOLPGM(" +--- BACK --+\n");
SERIAL_PROTOCOLPGM(" | |\n");
SERIAL_PROTOCOLPGM(" L | (+) | R\n");
SERIAL_PROTOCOLPGM(" E | | I\n");
SERIAL_PROTOCOLPGM(" F | (-) N (+) | G\n");
SERIAL_PROTOCOLPGM(" T | | H\n");
SERIAL_PROTOCOLPGM(" | (-) | T\n");
SERIAL_PROTOCOLPGM(" | |\n");
SERIAL_PROTOCOLPGM(" O-- FRONT --+\n");
SERIAL_PROTOCOLPGM(" (0,0)\n");
float min_diff = 999;
for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
int ind = indexIntoAB[xx][yy];
float diff = eqnBVector[ind] - mean;
float x_tmp = eqnAMatrix[ind + 0 * abl2],
y_tmp = eqnAMatrix[ind + 1 * abl2],
z_tmp = 0;
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);
NOMORE(min_diff, eqnBVector[ind] - z_tmp);
if (diff >= 0.0)
SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
else
SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOL_F(diff, 5);
} // xx
SERIAL_EOL;
} // yy
SERIAL_EOL;
if (verbose_level > 3) {
SERIAL_PROTOCOLPGM(" \nCorrected Bed Height vs. Bed Topology: \n");
for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
int ind = indexIntoAB[xx][yy];
float x_tmp = eqnAMatrix[ind + 0 * abl2],
y_tmp = eqnAMatrix[ind + 1 * abl2],
z_tmp = 0;
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);
float diff = eqnBVector[ind] - z_tmp - min_diff;
if (diff >= 0.0)
SERIAL_PROTOCOLPGM(" +");
// Include + for column alignment
else
SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOL_F(diff, 5);
} // xx
SERIAL_EOL;
} // yy
SERIAL_EOL;
}
} //do_topography_map
#endif //!DELTA
#else // !AUTO_BED_LEVELING_GRID
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("> 3-point Leveling");
}
#endif
// Actions for each probe
ProbeAction p1, p2, p3;
if (deploy_probe_for_each_reading)
p1 = p2 = p3 = ProbeDeployAndStow;
else
p1 = ProbeDeploy, p2 = ProbeStay, p3 = ProbeStow;
// Probe at 3 arbitrary points
float z_at_pt_1 = probe_pt( ABL_PROBE_PT_1_X + home_offset[X_AXIS],
ABL_PROBE_PT_1_Y + home_offset[Y_AXIS],
Z_RAISE_BEFORE_PROBING + home_offset[Z_AXIS],
p1, verbose_level),
z_at_pt_2 = probe_pt( ABL_PROBE_PT_2_X + home_offset[X_AXIS],
ABL_PROBE_PT_2_Y + home_offset[Y_AXIS],
current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,
p2, verbose_level),
z_at_pt_3 = probe_pt( ABL_PROBE_PT_3_X + home_offset[X_AXIS],
ABL_PROBE_PT_3_Y + home_offset[Y_AXIS],
current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,
p3, verbose_level);
clean_up_after_endstop_move();
if (!dryrun) set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
#endif // !AUTO_BED_LEVELING_GRID
#if ENABLED(DELTA)
// Allen Key Probe for Delta
#if ENABLED(Z_PROBE_ALLEN_KEY) || SERVO_LEVELING
stow_z_probe();
#elif Z_RAISE_AFTER_PROBING > 0
raise_z_after_probing(); // for non Allen Key probes, such as simple mechanical probe
#endif
#else // !DELTA
if (verbose_level > 0)
plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
if (!dryrun) {
/**
* Correct the Z height difference from Z probe position and nozzle tip position.
* The Z height on homing is measured by Z probe, but the Z probe is quite far
* from the nozzle. When the bed is uneven, this height must be corrected.
*/
float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
z_tmp = current_position[Z_AXIS],
real_z = st_get_axis_position_mm(Z_AXIS); //get the real Z (since plan_get_position is now correcting the plane)
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > z_tmp = ", z_tmp);
SERIAL_EOL;
SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > real_z = ", real_z);
SERIAL_EOL;
}
#endif
// Apply the correction sending the Z probe offset
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);
/*
* Get the current Z position and send it to the planner.
*
* >> (z_tmp - real_z) : The rotated current Z minus the uncorrected Z
* (most recent plan_set_position/sync_plan_position)
*
* >> zprobe_zoffset : Z distance from nozzle to Z probe
* (set by default, M851, EEPROM, or Menu)
*
* >> Z_RAISE_AFTER_PROBING : The distance the Z probe will have lifted
* after the last probe
*
* >> Should home_offset[Z_AXIS] be included?
*
*
* Discussion: home_offset[Z_AXIS] was applied in G28 to set the
* starting Z. If Z is not tweaked in G29 -and- the Z probe in G29 is
* not actually "homing" Z... then perhaps it should not be included
* here. The purpose of home_offset[] is to adjust for inaccurate
* endstops, not for reasonably accurate probes. If it were added
* here, it could be seen as a compensating factor for the Z probe.
*/
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("> AFTER apply_rotation_xyz > z_tmp = ", z_tmp);
SERIAL_EOL;
}
#endif
current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z)
#if HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
+ Z_RAISE_AFTER_PROBING
#endif
;
// current_position[Z_AXIS] += home_offset[Z_AXIS]; // The Z probe determines Z=0, not "Z home"
sync_plan_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> corrected Z in G29", current_position);
#endif
}
// Sled assembly for Cartesian bots
#if ENABLED(Z_PROBE_SLED)
dock_sled(true); // dock the sled
#elif Z_RAISE_AFTER_PROBING > 0
// Raise Z axis for non-delta and non servo based probes
#if !defined(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED)
raise_z_after_probing();
#endif
#endif
#endif // !DELTA
#ifdef Z_PROBE_END_SCRIPT
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHO("Z Probe End Script: ");
SERIAL_ECHOLNPGM(Z_PROBE_END_SCRIPT);
}
#endif
enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
#if ENABLED(HAS_Z_MIN_PROBE)
z_probe_is_active = false;
#endif
st_synchronize();
#endif
KEEPALIVE_STATE(IN_HANDLER);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("<<< gcode_G29");
}
#endif
gcode_M114(); // Send end position to RepetierHost
}
#if DISABLED(Z_PROBE_SLED) // could be avoided
/**
* G30: Do a single Z probe at the current XY
*/
inline void gcode_G30() {
#if HAS_SERVO_ENDSTOPS
raise_z_for_servo();
#endif
deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here.
st_synchronize();
// TODO: clear the leveling matrix or the planner will be set incorrectly
setup_for_endstop_move(); // Too late. Must be done before deploying.
feedrate = homing_feedrate[Z_AXIS];
run_z_probe();
SERIAL_PROTOCOLPGM("Bed X: ");
SERIAL_PROTOCOL(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
SERIAL_PROTOCOLPGM(" Z: ");
SERIAL_PROTOCOL(current_position[Z_AXIS] + 0.0001);
SERIAL_EOL;
clean_up_after_endstop_move(); // Too early. must be done after the stowing.
#if HAS_SERVO_ENDSTOPS
raise_z_for_servo();
#endif
stow_z_probe(false); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here.
gcode_M114(); // Send end position to RepetierHost
}
#endif //!Z_PROBE_SLED
#endif //AUTO_BED_LEVELING_FEATURE
/**
* G92: Set current position to given X Y Z E
*/
inline void gcode_G92() {
if (!code_seen(axis_codes[E_AXIS]))
st_synchronize();
bool didXYZ = false;
for (int i = 0; i < NUM_AXIS; i++) {
if (code_seen(axis_codes[i])) {
float p = current_position[i],
v = code_value();
current_position[i] = v;
if (i == E_AXIS)
plan_set_e_position(v);
else {
position_shift[i] += v - p; // Offset the coordinate space
update_software_endstops((AxisEnum)i);
didXYZ = true;
}
}
}
if (didXYZ) {
#if ENABLED(DELTA) || ENABLED(SCARA)
sync_plan_position_delta();
#else
sync_plan_position();
#endif
}
}
#if ENABLED(ULTIPANEL)
/**
* M0: // M0 - Unconditional stop - Wait for user button press on LCD
* M1: // M1 - Conditional stop - Wait for user button press on LCD
*/
inline void gcode_M0_M1() {
char* args = current_command_args;
uint8_t test_value = 12;
SERIAL_ECHOPAIR("TEST", test_value);
millis_t codenum = 0;
bool hasP = false, hasS = false;
if (code_seen('P')) {
codenum = code_value_short(); // milliseconds to wait
hasP = codenum > 0;
}
if (code_seen('S')) {
codenum = code_value() * 1000UL; // seconds to wait
hasS = codenum > 0;
}
if (!hasP && !hasS && *args != '\0')
lcd_setstatus(args, true);
else {
LCD_MESSAGEPGM(MSG_USERWAIT);
#if ENABLED(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
dontExpireStatus();
#endif
}
lcd_ignore_click();
st_synchronize();
refresh_cmd_timeout();
if (codenum > 0) {
codenum += previous_cmd_ms; // wait until this time for a click
KEEPALIVE_STATE(PAUSED_FOR_USER);
while (PENDING(millis(), codenum) && !lcd_clicked()) idle();
KEEPALIVE_STATE(IN_HANDLER);
lcd_ignore_click(false);
}
else {
if (!lcd_detected()) return;
KEEPALIVE_STATE(PAUSED_FOR_USER);
while (!lcd_clicked()) idle();
KEEPALIVE_STATE(IN_HANDLER);
}
if (IS_SD_PRINTING)
LCD_MESSAGEPGM(MSG_RESUMING);
else
LCD_MESSAGEPGM(WELCOME_MSG);
}
#endif // ULTIPANEL
/**
* M17: Enable power on all stepper motors
*/
inline void gcode_M17() {
LCD_MESSAGEPGM(MSG_NO_MOVE);
enable_all_steppers();
}
#if ENABLED(SDSUPPORT)
/**
* M20: List SD card to serial output
*/
inline void gcode_M20() {
SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
card.ls();
SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
}
/**
* M21: Init SD Card
*/
inline void gcode_M21() {
card.initsd();
}
/**
* M22: Release SD Card
*/
inline void gcode_M22() {
card.release();
}
/**
* M23: Open a file
*/
inline void gcode_M23() {
card.openFile(current_command_args, true);
}
/**
* M24: Start SD Print
*/
inline void gcode_M24() {
card.startFileprint();
print_job_timer.start();
}
/**
* M25: Pause SD Print
*/
inline void gcode_M25() {
card.pauseSDPrint();
}
/**
* M26: Set SD Card file index
*/
inline void gcode_M26() {
if (card.cardOK && code_seen('S'))
card.setIndex(code_value_short());
}
/**
* M27: Get SD Card status
*/
inline void gcode_M27() {
card.getStatus();
}
/**
* M28: Start SD Write
*/
inline void gcode_M28() {
card.openFile(current_command_args, false);
}
/**
* M29: Stop SD Write
* Processed in write to file routine above
*/
inline void gcode_M29() {
// card.saving = false;
}
/**
* M30 <filename>: Delete SD Card file
*/
inline void gcode_M30() {
if (card.cardOK) {
card.closefile();
card.removeFile(current_command_args);
}
}
#endif //SDSUPPORT
/**
* M31: Get the time since the start of SD Print (or last M109)
*/
inline void gcode_M31() {
millis_t t = print_job_timer.duration();
int min = t / 60, sec = t % 60;
char time[30];
sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
SERIAL_ECHO_START;
SERIAL_ECHOLN(time);
lcd_setstatus(time);
autotempShutdown();
}
#if ENABLED(SDSUPPORT)
/**
* M32: Select file and start SD Print
*/
inline void gcode_M32() {
if (card.sdprinting)
st_synchronize();
char* namestartpos = strchr(current_command_args, '!'); // Find ! to indicate filename string start.
if (!namestartpos)
namestartpos = current_command_args; // Default name position, 4 letters after the M
else
namestartpos++; //to skip the '!'
bool call_procedure = code_seen('P') && (seen_pointer < namestartpos);
if (card.cardOK) {
card.openFile(namestartpos, true, call_procedure);
if (code_seen('S') && seen_pointer < namestartpos) // "S" (must occur _before_ the filename!)
card.setIndex(code_value_short());
card.startFileprint();
// Procedure calls count as normal print time.
if (!call_procedure) print_job_timer.start();
}
}
#if ENABLED(LONG_FILENAME_HOST_SUPPORT)
/**
* M33: Get the long full path of a file or folder
*
* Parameters:
* <dospath> Case-insensitive DOS-style path to a file or folder
*
* Example:
* M33 miscel~1/armchair/armcha~1.gco
*
* Output:
* /Miscellaneous/Armchair/Armchair.gcode
*/
inline void gcode_M33() {
card.printLongPath(current_command_args);
}
#endif
/**
* M928: Start SD Write
*/
inline void gcode_M928() {
card.openLogFile(current_command_args);
}
#endif // SDSUPPORT
/**
* M42: Change pin status via GCode
*
* P<pin> Pin number (LED if omitted)
* S<byte> Pin status from 0 - 255
*/
inline void gcode_M42() {
if (code_seen('S')) {
int pin_status = code_value_short();
if (pin_status < 0 || pin_status > 255) return;
int pin_number = code_seen('P') ? code_value_short() : LED_PIN;
if (pin_number < 0) return;
for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
if (pin_number == sensitive_pins[i]) return;
pinMode(pin_number, OUTPUT);
digitalWrite(pin_number, pin_status);
analogWrite(pin_number, pin_status);
#if FAN_COUNT > 0
switch (pin_number) {
#if HAS_FAN0
case FAN_PIN: fanSpeeds[0] = pin_status; break;
#endif
#if HAS_FAN1
case FAN1_PIN: fanSpeeds[1] = pin_status; break;
#endif
#if HAS_FAN2
case FAN2_PIN: fanSpeeds[2] = pin_status; break;
#endif
}
#endif
} // code_seen('S')
}
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
/**
* This is redundant since the SanityCheck.h already checks for a valid
* Z_MIN_PROBE_PIN, but here for clarity.
*/
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
#if !HAS_Z_PROBE
#error You must define Z_MIN_PROBE_PIN to enable Z probe repeatability calculation.
#endif
#elif !HAS_Z_MIN
#error You must define Z_MIN_PIN to enable Z probe repeatability calculation.
#endif
/**
* M48: Z probe repeatability measurement function.
*
* Usage:
* M48 <P#> <X#> <Y#> <V#> <E> <L#>
* P = Number of sampled points (4-50, default 10)
* X = Sample X position
* Y = Sample Y position
* V = Verbose level (0-4, default=1)
* E = Engage Z probe for each reading
* L = Number of legs of movement before probe
* S = Schizoid (Or Star if you prefer)
*
* This function assumes the bed has been homed. Specifically, that a G28 command
* as been issued prior to invoking the M48 Z probe repeatability measurement function.
* Any information generated by a prior G29 Bed leveling command will be lost and need to be
* regenerated.
*/
inline void gcode_M48() {
if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_AXIS]) {
axis_unhomed_error();
return;
}
double sum = 0.0, mean = 0.0, sigma = 0.0, sample_set[50];
int8_t verbose_level = 1, n_samples = 10, n_legs = 0, schizoid_flag = 0;
if (code_seen('V')) {
verbose_level = code_value_short();
if (verbose_level < 0 || verbose_level > 4) {
SERIAL_PROTOCOLPGM("?Verbose Level not plausible (0-4).\n");
return;
}
}
if (verbose_level > 0)
SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test\n");
if (code_seen('P')) {
n_samples = code_value_short();
if (n_samples < 4 || n_samples > 50) {
SERIAL_PROTOCOLPGM("?Sample size not plausible (4-50).\n");
return;
}
}
float X_current = current_position[X_AXIS],
Y_current = current_position[Y_AXIS],
Z_current = current_position[Z_AXIS],
X_probe_location = X_current + X_PROBE_OFFSET_FROM_EXTRUDER,
Y_probe_location = Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER,
Z_start_location = Z_current + Z_RAISE_BEFORE_PROBING;
bool deploy_probe_for_each_reading = code_seen('E');
if (code_seen('X')) {
X_probe_location = code_value();
#if DISABLED(DELTA)
if (X_probe_location < MIN_PROBE_X || X_probe_location > MAX_PROBE_X) {
out_of_range_error(PSTR("X"));
return;
}
#endif
}
if (code_seen('Y')) {
Y_probe_location = code_value();
#if DISABLED(DELTA)
if (Y_probe_location < MIN_PROBE_Y || Y_probe_location > MAX_PROBE_Y) {
out_of_range_error(PSTR("Y"));
return;
}
#endif
}
#if ENABLED(DELTA)
if (sqrt(X_probe_location * X_probe_location + Y_probe_location * Y_probe_location) > DELTA_PROBEABLE_RADIUS) {
SERIAL_PROTOCOLPGM("? (X,Y) location outside of probeable radius.\n");
return;
}
#endif
bool seen_L = code_seen('L');
if (seen_L) {
n_legs = code_value_short();
if (n_legs < 0 || n_legs > 15) {
SERIAL_PROTOCOLPGM("?Number of legs in movement not plausible (0-15).\n");
return;
}
if (n_legs == 1) n_legs = 2;
}
if (code_seen('S')) {
schizoid_flag++;
if (!seen_L) n_legs = 7;
}
/**
* Now get everything to the specified probe point So we can safely do a
* probe to get us close to the bed. If the Z-Axis is far from the bed,
* we don't want to use that as a starting point for each probe.
*/
if (verbose_level > 2)
SERIAL_PROTOCOLPGM("Positioning the probe...\n");
#if ENABLED(DELTA)
// we don't do bed level correction in M48 because we want the raw data when we probe
reset_bed_level();
#else
// we don't do bed level correction in M48 because we want the raw data when we probe
plan_bed_level_matrix.set_to_identity();
#endif
if (Z_start_location < Z_RAISE_BEFORE_PROBING * 2.0)
do_blocking_move_to_z(Z_start_location);
do_blocking_move_to_xy(X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER), Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER));
/**
* OK, do the initial probe to get us close to the bed.
* Then retrace the right amount and use that in subsequent probes
*/
setup_for_endstop_move();
probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING,
deploy_probe_for_each_reading ? ProbeDeployAndStow : ProbeDeploy,
verbose_level);
raise_z_after_probing();
for (uint8_t n = 0; n < n_samples; n++) {
randomSeed(millis());
delay(500);
if (n_legs) {
float radius, angle = random(0.0, 360.0);
int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
radius = random(
#if ENABLED(DELTA)
DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3
#else
5, X_MAX_LENGTH / 8
#endif
);
if (verbose_level > 3) {
SERIAL_ECHOPAIR("Starting radius: ", radius);
SERIAL_ECHOPAIR(" angle: ", angle);
delay(100);
if (dir > 0)
SERIAL_ECHO(" Direction: Counter Clockwise \n");
else
SERIAL_ECHO(" Direction: Clockwise \n");
delay(100);
}
for (uint8_t l = 0; l < n_legs - 1; l++) {
double delta_angle;
if (schizoid_flag)
// The points of a 5 point star are 72 degrees apart. We need to
// skip a point and go to the next one on the star.
delta_angle = dir * 2.0 * 72.0;
else
// If we do this line, we are just trying to move further
// around the circle.
delta_angle = dir * (float) random(25, 45);
angle += delta_angle;
while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
angle -= 360.0; // Arduino documentation says the trig functions should not be given values
while (angle < 0.0) // outside of this range. It looks like they behave correctly with
angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
#if DISABLED(DELTA)
X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
#else
// If we have gone out too far, we can do a simple fix and scale the numbers
// back in closer to the origin.
while (sqrt(X_current * X_current + Y_current * Y_current) > DELTA_PROBEABLE_RADIUS) {
X_current /= 1.25;
Y_current /= 1.25;
if (verbose_level > 3) {
SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
SERIAL_ECHOPAIR(", ", Y_current);
SERIAL_EOL;
delay(50);
}
}
#endif
if (verbose_level > 3) {
SERIAL_PROTOCOL("Going to:");
SERIAL_ECHOPAIR("x: ", X_current);
SERIAL_ECHOPAIR("y: ", Y_current);
SERIAL_ECHOPAIR(" z: ", current_position[Z_AXIS]);
SERIAL_EOL;
delay(55);
}
do_blocking_move_to_xy(X_current, Y_current);
} // n_legs loop
} // n_legs
/**
* We don't really have to do this move, but if we don't we can see a
* funny shift in the Z Height because the user might not have the
* Z_RAISE_BEFORE_PROBING height identical to the Z_RAISE_BETWEEN_PROBING
* height. This gets us back to the probe location at the same height that
* we have been running around the circle at.
*/
do_blocking_move_to_xy(X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER), Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER));
if (deploy_probe_for_each_reading)
sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeDeployAndStow, verbose_level);
else {
if (n == n_samples - 1)
sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeStow, verbose_level); else
sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeStay, verbose_level);
}
/**
* Get the current mean for the data points we have so far
*/
sum = 0.0;
for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
mean = sum / (n + 1);
/**
* Now, use that mean to calculate the standard deviation for the
* data points we have so far
*/
sum = 0.0;
for (uint8_t j = 0; j <= n; j++) {
float ss = sample_set[j] - mean;
sum += ss * ss;
}
sigma = sqrt(sum / (n + 1));
if (verbose_level > 1) {
SERIAL_PROTOCOL(n + 1);
SERIAL_PROTOCOLPGM(" of ");
SERIAL_PROTOCOL((int)n_samples);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
delay(50);
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM(" mean: ");
SERIAL_PROTOCOL_F(mean, 6);
SERIAL_PROTOCOLPGM(" sigma: ");
SERIAL_PROTOCOL_F(sigma, 6);
}
}
if (verbose_level > 0) SERIAL_EOL;
delay(50);
do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
} // End of probe loop code
// raise_z_after_probing();
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("Mean: ");
SERIAL_PROTOCOL_F(mean, 6);
SERIAL_EOL;
delay(25);
}
SERIAL_PROTOCOLPGM("Standard Deviation: ");
SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_EOL; SERIAL_EOL;
delay(25);
clean_up_after_endstop_move();
gcode_M114(); // Send end position to RepetierHost
}
#endif // AUTO_BED_LEVELING_FEATURE && Z_MIN_PROBE_REPEATABILITY_TEST
/**
* M75: Start print timer
*/
inline void gcode_M75() {
print_job_timer.start();
}
/**
* M76: Pause print timer
*/
inline void gcode_M76() {
print_job_timer.pause();
}
/**
* M77: Stop print timer
*/
inline void gcode_M77() {
print_job_timer.stop();
}
/**
* M104: Set hot end temperature
*/
inline void gcode_M104() {
if (setTargetedHotend(104)) return;
if (DEBUGGING(DRYRUN)) return;
if (code_seen('S')) {
float temp = code_value();
setTargetHotend(temp, target_extruder);
#if ENABLED(DUAL_X_CARRIAGE)
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
setTargetHotend1(temp == 0.0 ? 0.0 : temp + duplicate_extruder_temp_offset);
#endif
/**
* We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
* stand by mode, for instance in a dual extruder setup, without affecting
* the running print timer.
*/
if (temp <= (EXTRUDE_MINTEMP)/2) {
print_job_timer.stop();
LCD_MESSAGEPGM(WELCOME_MSG);
}
/**
* We do not check if the timer is already running because this check will
* be done for us inside the Stopwatch::start() method thus a running timer
* will not restart.
*/
else print_job_timer.start();
if (temp > degHotend(target_extruder)) LCD_MESSAGEPGM(MSG_HEATING);
}
}
#if HAS_TEMP_HOTEND || HAS_TEMP_BED
void print_heaterstates() {
#if HAS_TEMP_HOTEND
SERIAL_PROTOCOLPGM(" T:");
SERIAL_PROTOCOL_F(degHotend(target_extruder), 1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetHotend(target_extruder), 1);
#endif
#if HAS_TEMP_BED
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL_F(degBed(), 1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetBed(), 1);
#endif
#if EXTRUDERS > 1
for (int8_t e = 0; e < EXTRUDERS; ++e) {
SERIAL_PROTOCOLPGM(" T");
SERIAL_PROTOCOL(e);
SERIAL_PROTOCOLCHAR(':');
SERIAL_PROTOCOL_F(degHotend(e), 1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetHotend(e), 1);
}
#endif
#if HAS_TEMP_BED
SERIAL_PROTOCOLPGM(" B@:");
#ifdef BED_WATTS
SERIAL_PROTOCOL(((BED_WATTS) * getHeaterPower(-1)) / 127);
SERIAL_PROTOCOLCHAR('W');
#else
SERIAL_PROTOCOL(getHeaterPower(-1));
#endif
#endif
SERIAL_PROTOCOLPGM(" @:");
#ifdef EXTRUDER_WATTS
SERIAL_PROTOCOL(((EXTRUDER_WATTS) * getHeaterPower(target_extruder)) / 127);
SERIAL_PROTOCOLCHAR('W');
#else
SERIAL_PROTOCOL(getHeaterPower(target_extruder));
#endif
#if EXTRUDERS > 1
for (int8_t e = 0; e < EXTRUDERS; ++e) {
SERIAL_PROTOCOLPGM(" @");
SERIAL_PROTOCOL(e);
SERIAL_PROTOCOLCHAR(':');
#ifdef EXTRUDER_WATTS
SERIAL_PROTOCOL(((EXTRUDER_WATTS) * getHeaterPower(e)) / 127);
SERIAL_PROTOCOLCHAR('W');
#else
SERIAL_PROTOCOL(getHeaterPower(e));
#endif
}
#endif
#if ENABLED(SHOW_TEMP_ADC_VALUES)
#if HAS_TEMP_BED
SERIAL_PROTOCOLPGM(" ADC B:");
SERIAL_PROTOCOL_F(degBed(), 1);
SERIAL_PROTOCOLPGM("C->");
SERIAL_PROTOCOL_F(rawBedTemp() / OVERSAMPLENR, 0);
#endif
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
SERIAL_PROTOCOLPGM(" T");
SERIAL_PROTOCOL(cur_extruder);
SERIAL_PROTOCOLCHAR(':');
SERIAL_PROTOCOL_F(degHotend(cur_extruder), 1);
SERIAL_PROTOCOLPGM("C->");
SERIAL_PROTOCOL_F(rawHotendTemp(cur_extruder) / OVERSAMPLENR, 0);
}
#endif
}
#endif
/**
* M105: Read hot end and bed temperature
*/
inline void gcode_M105() {
if (setTargetedHotend(105)) return;
#if HAS_TEMP_HOTEND || HAS_TEMP_BED
SERIAL_PROTOCOLPGM(MSG_OK);
print_heaterstates();
#else // !HAS_TEMP_HOTEND && !HAS_TEMP_BED
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
#endif
SERIAL_EOL;
}
#if FAN_COUNT > 0
/**
* M106: Set Fan Speed
*
* S<int> Speed between 0-255
* P<index> Fan index, if more than one fan
*/
inline void gcode_M106() {
uint16_t s = code_seen('S') ? code_value_short() : 255,
p = code_seen('P') ? code_value_short() : 0;
NOMORE(s, 255);
if (p < FAN_COUNT) fanSpeeds[p] = s;
}
/**
* M107: Fan Off
*/
inline void gcode_M107() {
uint16_t p = code_seen('P') ? code_value_short() : 0;
if (p < FAN_COUNT) fanSpeeds[p] = 0;
}
#endif // FAN_COUNT > 0
/**
* M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
* Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
*/
inline void gcode_M109() {
if (setTargetedHotend(109)) return;
if (DEBUGGING(DRYRUN)) return;
bool no_wait_for_cooling = code_seen('S');
if (no_wait_for_cooling || code_seen('R')) {
float temp = code_value();
setTargetHotend(temp, target_extruder);
#if ENABLED(DUAL_X_CARRIAGE)
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
setTargetHotend1(temp == 0.0 ? 0.0 : temp + duplicate_extruder_temp_offset);
#endif
/**
* We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
* stand by mode, for instance in a dual extruder setup, without affecting
* the running print timer.
*/
if (temp <= (EXTRUDE_MINTEMP)/2) {
print_job_timer.stop();
LCD_MESSAGEPGM(WELCOME_MSG);
}
/**
* We do not check if the timer is already running because this check will
* be done for us inside the Stopwatch::start() method thus a running timer
* will not restart.
*/
else print_job_timer.start();
if (temp > degHotend(target_extruder)) LCD_MESSAGEPGM(MSG_HEATING);
}
#if ENABLED(AUTOTEMP)
autotemp_enabled = code_seen('F');
if (autotemp_enabled) autotemp_factor = code_value();
if (code_seen('S')) autotemp_min = code_value();
if (code_seen('B')) autotemp_max = code_value();
#endif
bool wants_to_cool = isCoolingHotend(target_extruder);
// Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
if (no_wait_for_cooling && wants_to_cool) return;
// Prevents a wait-forever situation if R is misused i.e. M109 R0
// Try to calculate a ballpark safe margin by halving EXTRUDE_MINTEMP
if (wants_to_cool && degTargetHotend(target_extruder) < (EXTRUDE_MINTEMP)/2) return;
#if TEMP_RESIDENCY_TIME > 0
millis_t residency_start_ms = 0;
// Loop until the temperature has stabilized
#define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL))
#else
// Loop until the temperature is very close target
#define TEMP_CONDITIONS (wants_to_cool ? isCoolingHotend(target_extruder) : isHeatingHotend(target_extruder))
#endif //TEMP_RESIDENCY_TIME > 0
cancel_heatup = false;
millis_t now, next_temp_ms = 0;
do {
now = millis();
if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting
next_temp_ms = now + 1000UL;
#if HAS_TEMP_HOTEND || HAS_TEMP_BED
print_heaterstates();
#endif
#if TEMP_RESIDENCY_TIME > 0
SERIAL_PROTOCOLPGM(" W:");
if (residency_start_ms) {
long rem = (((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
SERIAL_PROTOCOLLN(rem);
}
else {
SERIAL_PROTOCOLLNPGM("?");
}
#else
SERIAL_EOL;
#endif
}
idle();
refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
#if TEMP_RESIDENCY_TIME > 0
float temp_diff = fabs(degTargetHotend(target_extruder) - degHotend(target_extruder));
if (!residency_start_ms) {
// Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
if (temp_diff < TEMP_WINDOW) residency_start_ms = millis();
}
else if (temp_diff > TEMP_HYSTERESIS) {
// Restart the timer whenever the temperature falls outside the hysteresis.
residency_start_ms = millis();
}
#endif //TEMP_RESIDENCY_TIME > 0
} while (!cancel_heatup && TEMP_CONDITIONS);
LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
}
#if HAS_TEMP_BED
/**
* M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
* Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
*/
inline void gcode_M190() {
if (DEBUGGING(DRYRUN)) return;
LCD_MESSAGEPGM(MSG_BED_HEATING);
bool no_wait_for_cooling = code_seen('S');
if (no_wait_for_cooling || code_seen('R')) setTargetBed(code_value());
bool wants_to_cool = isCoolingBed();
// Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
if (no_wait_for_cooling && wants_to_cool) return;
#if TEMP_BED_RESIDENCY_TIME > 0
millis_t residency_start_ms = 0;
// Loop until the temperature has stabilized
#define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL))
#else
// Loop until the temperature is very close target
#define TEMP_BED_CONDITIONS (wants_to_cool ? isCoolingBed() : isHeatingBed())
#endif //TEMP_BED_RESIDENCY_TIME > 0
cancel_heatup = false;
millis_t now, next_temp_ms = 0;
// Wait for temperature to come close enough
do {
now = millis();
if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up.
next_temp_ms = now + 1000UL;
print_heaterstates();
#if TEMP_BED_RESIDENCY_TIME > 0
SERIAL_PROTOCOLPGM(" W:");
if (residency_start_ms) {
long rem = (((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
SERIAL_PROTOCOLLN(rem);
}
else {
SERIAL_PROTOCOLLNPGM("?");
}
#else
SERIAL_EOL;
#endif
}
idle();
refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
#if TEMP_BED_RESIDENCY_TIME > 0
float temp_diff = fabs(degBed() - degTargetBed());
if (!residency_start_ms) {
// Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = millis();
}
else if (temp_diff > TEMP_BED_HYSTERESIS) {
// Restart the timer whenever the temperature falls outside the hysteresis.
residency_start_ms = millis();
}
#endif //TEMP_BED_RESIDENCY_TIME > 0
} while (!cancel_heatup && TEMP_BED_CONDITIONS);
LCD_MESSAGEPGM(MSG_BED_DONE);
}
#endif // HAS_TEMP_BED
/**
* M110: Set Current Line Number
*/
inline void gcode_M110() {
if (code_seen('N')) gcode_N = code_value_long();
}
/**
* M111: Set the debug level
*/
inline void gcode_M111() {
marlin_debug_flags = code_seen('S') ? code_value_short() : DEBUG_NONE;
const static char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO;
const static char str_debug_2[] PROGMEM = MSG_DEBUG_INFO;
const static char str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS;
const static char str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN;
const static char str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION;
#if ENABLED(DEBUG_LEVELING_FEATURE)
const static char str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING;
#endif
const static char* const debug_strings[] PROGMEM = {
str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16,
#if ENABLED(DEBUG_LEVELING_FEATURE)
str_debug_32
#endif
};
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_DEBUG_PREFIX);
if (marlin_debug_flags) {
uint8_t comma = 0;
for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
if (TEST(marlin_debug_flags, i)) {
if (comma++) SERIAL_CHAR(',');
serialprintPGM((char*)pgm_read_word(&(debug_strings[i])));
}
}
}
else {
SERIAL_ECHOPGM(MSG_DEBUG_OFF);
}
SERIAL_EOL;
}
/**
* M112: Emergency Stop
*/
inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
#if ENABLED(HOST_KEEPALIVE_FEATURE)
/**
* M113: Get or set Host Keepalive interval (0 to disable)
*
* S<seconds> Optional. Set the keepalive interval.
*/
inline void gcode_M113() {
if (code_seen('S')) {
host_keepalive_interval = (uint8_t)code_value_short();
NOMORE(host_keepalive_interval, 60);
}
else {
SERIAL_ECHO_START;
SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
SERIAL_EOL;
}
}
#endif
#if ENABLED(BARICUDA)
#if HAS_HEATER_1
/**
* M126: Heater 1 valve open
*/
inline void gcode_M126() { ValvePressure = code_seen('S') ? constrain(code_value(), 0, 255) : 255; }
/**
* M127: Heater 1 valve close
*/
inline void gcode_M127() { ValvePressure = 0; }
#endif
#if HAS_HEATER_2
/**
* M128: Heater 2 valve open
*/
inline void gcode_M128() { EtoPPressure = code_seen('S') ? constrain(code_value(), 0, 255) : 255; }
/**
* M129: Heater 2 valve close
*/
inline void gcode_M129() { EtoPPressure = 0; }
#endif
#endif //BARICUDA
/**
* M140: Set bed temperature
*/
inline void gcode_M140() {
if (DEBUGGING(DRYRUN)) return;
if (code_seen('S')) setTargetBed(code_value());
}
#if ENABLED(ULTIPANEL)
/**
* M145: Set the heatup state for a material in the LCD menu
* S<material> (0=PLA, 1=ABS)
* H<hotend temp>
* B<bed temp>
* F<fan speed>
*/
inline void gcode_M145() {
int8_t material = code_seen('S') ? code_value_short() : 0;
if (material < 0 || material > 1) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
}
else {
int v;
switch (material) {
case 0:
if (code_seen('H')) {
v = code_value_short();
plaPreheatHotendTemp = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
}
if (code_seen('F')) {
v = code_value_short();
plaPreheatFanSpeed = constrain(v, 0, 255);
}
#if TEMP_SENSOR_BED != 0
if (code_seen('B')) {
v = code_value_short();
plaPreheatHPBTemp = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
}
#endif
break;
case 1:
if (code_seen('H')) {
v = code_value_short();
absPreheatHotendTemp = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
}
if (code_seen('F')) {
v = code_value_short();
absPreheatFanSpeed = constrain(v, 0, 255);
}
#if TEMP_SENSOR_BED != 0
if (code_seen('B')) {
v = code_value_short();
absPreheatHPBTemp = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
}
#endif
break;
}
}
}
#endif
#if HAS_POWER_SWITCH
/**
* M80: Turn on Power Supply
*/
inline void gcode_M80() {
OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND
/**
* If you have a switch on suicide pin, this is useful
* if you want to start another print with suicide feature after
* a print without suicide...
*/
#if HAS_SUICIDE
OUT_WRITE(SUICIDE_PIN, HIGH);
#endif
#if ENABLED(ULTIPANEL)
powersupply = true;
LCD_MESSAGEPGM(WELCOME_MSG);
lcd_update();
#endif
}
#endif // HAS_POWER_SWITCH
/**
* M81: Turn off Power, including Power Supply, if there is one.
*
* This code should ALWAYS be available for EMERGENCY SHUTDOWN!
*/
inline void gcode_M81() {
disable_all_heaters();
finishAndDisableSteppers();
#if FAN_COUNT > 0
#if FAN_COUNT > 1
for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
#else
fanSpeeds[0] = 0;
#endif
#endif
delay(1000); // Wait 1 second before switching off
#if HAS_SUICIDE
st_synchronize();
suicide();
#elif HAS_POWER_SWITCH
OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#endif
#if ENABLED(ULTIPANEL)
#if HAS_POWER_SWITCH
powersupply = false;
#endif
LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
lcd_update();
#endif
}
/**
* M82: Set E codes absolute (default)
*/
inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
/**
* M83: Set E codes relative while in Absolute Coordinates (G90) mode
*/
inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; }
/**
* M18, M84: Disable all stepper motors
*/
inline void gcode_M18_M84() {
if (code_seen('S')) {
stepper_inactive_time = code_value() * 1000UL;
}
else {
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])));
if (all_axis) {
finishAndDisableSteppers();
}
else {
st_synchronize();
if (code_seen('X')) disable_x();
if (code_seen('Y')) disable_y();
if (code_seen('Z')) disable_z();
#if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
if (code_seen('E')) {
disable_e0();
disable_e1();
disable_e2();
disable_e3();
}
#endif
}
}
}
/**
* M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
*/
inline void gcode_M85() {
if (code_seen('S')) max_inactive_time = code_value() * 1000UL;
}
/**
* M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
* (Follows the same syntax as G92)
*/
inline void gcode_M92() {
for (int8_t i = 0; i < NUM_AXIS; i++) {
if (code_seen(axis_codes[i])) {
if (i == E_AXIS) {
float value = code_value();
if (value < 20.0) {
float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
max_e_jerk *= factor;
max_feedrate[i] *= factor;
axis_steps_per_sqr_second[i] *= factor;
}
axis_steps_per_unit[i] = value;
}
else {
axis_steps_per_unit[i] = code_value();
}
}
}
}
/**
* M114: Output current position to serial port
*/
inline void gcode_M114() {
SERIAL_PROTOCOLPGM("X:");
SERIAL_PROTOCOL(current_position[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y:");
SERIAL_PROTOCOL(current_position[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z:");
SERIAL_PROTOCOL(current_position[Z_AXIS]);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL(current_position[E_AXIS]);
CRITICAL_SECTION_START;
extern volatile long count_position[NUM_AXIS];
long xpos = count_position[X_AXIS],
ypos = count_position[Y_AXIS],
zpos = count_position[Z_AXIS];
CRITICAL_SECTION_END;
#if ENABLED(COREXY) || ENABLED(COREXZ)
SERIAL_PROTOCOLPGM(MSG_COUNT_A);
#else
SERIAL_PROTOCOLPGM(MSG_COUNT_X);
#endif
SERIAL_PROTOCOL(xpos);
#if ENABLED(COREXY)
SERIAL_PROTOCOLPGM(" B:");
#else
SERIAL_PROTOCOLPGM(" Y:");
#endif
SERIAL_PROTOCOL(ypos);
#if ENABLED(COREXZ)
SERIAL_PROTOCOLPGM(" C:");
#else
SERIAL_PROTOCOLPGM(" Z:");
#endif
SERIAL_PROTOCOL(zpos);
SERIAL_EOL;
#if ENABLED(SCARA)
SERIAL_PROTOCOLPGM("SCARA Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:");
SERIAL_PROTOCOL(delta[Y_AXIS]);
SERIAL_EOL;
SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS] + home_offset[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
SERIAL_PROTOCOL(delta[Y_AXIS] - delta[X_AXIS] - 90 + home_offset[Y_AXIS]);
SERIAL_EOL;
SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS] / 90 * axis_steps_per_unit[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:");
SERIAL_PROTOCOL((delta[Y_AXIS] - delta[X_AXIS]) / 90 * axis_steps_per_unit[Y_AXIS]);
SERIAL_EOL; SERIAL_EOL;
#endif
}
/**
* M115: Capabilities string
*/
inline void gcode_M115() {
SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
}
/**
* M117: Set LCD Status Message
*/
inline void gcode_M117() {
lcd_setstatus(current_command_args);
}
/**
* M119: Output endstop states to serial output
*/
inline void gcode_M119() {
SERIAL_PROTOCOLLN(MSG_M119_REPORT);
#if HAS_X_MIN
SERIAL_PROTOCOLPGM(MSG_X_MIN);
SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
#endif
#if HAS_X_MAX
SERIAL_PROTOCOLPGM(MSG_X_MAX);
SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
#endif
#if HAS_Y_MIN
SERIAL_PROTOCOLPGM(MSG_Y_MIN);
SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
#endif
#if HAS_Y_MAX
SERIAL_PROTOCOLPGM(MSG_Y_MAX);
SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
#endif
#if HAS_Z_MIN
SERIAL_PROTOCOLPGM(MSG_Z_MIN);
SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
#endif
#if HAS_Z_MAX
SERIAL_PROTOCOLPGM(MSG_Z_MAX);
SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
#endif
#if HAS_Z2_MAX
SERIAL_PROTOCOLPGM(MSG_Z2_MAX);
SERIAL_PROTOCOLLN(((READ(Z2_MAX_PIN)^Z2_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
#endif
#if HAS_Z_PROBE
SERIAL_PROTOCOLPGM(MSG_Z_PROBE);
SERIAL_PROTOCOLLN(((READ(Z_MIN_PROBE_PIN)^Z_MIN_PROBE_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
#endif
}
/**
* M120: Enable endstops and set non-homing endstop state to "enabled"
*/
inline void gcode_M120() { enable_endstops_globally(true); }
/**
* M121: Disable endstops and set non-homing endstop state to "disabled"
*/
inline void gcode_M121() { enable_endstops_globally(false); }
#if ENABLED(BLINKM)
/**
* M150: Set Status LED Color - Use R-U-B for R-G-B
*/
inline void gcode_M150() {
SendColors(
code_seen('R') ? (byte)code_value_short() : 0,
code_seen('U') ? (byte)code_value_short() : 0,
code_seen('B') ? (byte)code_value_short() : 0
);
}
#endif // BLINKM
#if ENABLED(EXPERIMENTAL_I2CBUS)
/**
* M155: Send data to a I2C slave device
*
* This is a PoC, the formating and arguments for the GCODE will
* change to be more compatible, the current proposal is:
*
* M155 A<slave device address base 10> ; Sets the I2C slave address the data will be sent to
*
* M155 B<byte-1 value in base 10>
* M155 B<byte-2 value in base 10>
* M155 B<byte-3 value in base 10>
*
* M155 S1 ; Send the buffered data and reset the buffer
* M155 R1 ; Reset the buffer without sending data
*
*/
inline void gcode_M155() {
// Set the target address
if (code_seen('A'))
i2c.address((uint8_t) code_value_short());
// Add a new byte to the buffer
else if (code_seen('B'))
i2c.addbyte((int) code_value_short());
// Flush the buffer to the bus
else if (code_seen('S')) i2c.send();
// Reset and rewind the buffer
else if (code_seen('R')) i2c.reset();
}
/**
* M156: Request X bytes from I2C slave device
*
* Usage: M156 A<slave device address base 10> B<number of bytes>
*/
inline void gcode_M156() {
uint8_t addr = code_seen('A') ? code_value_short() : 0;
int bytes = code_seen('B') ? code_value_short() : 0;
if (addr && bytes) {
i2c.address(addr);
i2c.reqbytes(bytes);
}
}
#endif //EXPERIMENTAL_I2CBUS
/**
* M200: Set filament diameter and set E axis units to cubic millimeters
*
* T<extruder> - Optional extruder number. Current extruder if omitted.
* D<mm> - Diameter of the filament. Use "D0" to set units back to millimeters.
*/
inline void gcode_M200() {
if (setTargetedHotend(200)) return;
if (code_seen('D')) {
float diameter = code_value();
// setting any extruder filament size disables volumetric on the assumption that
// slicers either generate in extruder values as cubic mm or as as filament feeds
// for all extruders
volumetric_enabled = (diameter != 0.0);
if (volumetric_enabled) {
filament_size[target_extruder] = diameter;
// make sure all extruders have some sane value for the filament size
for (int i = 0; i < EXTRUDERS; i++)
if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
}
}
else {
//reserved for setting filament diameter via UFID or filament measuring device
return;
}
calculate_volumetric_multipliers();
}
/**
* M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
*/
inline void gcode_M201() {
for (int8_t i = 0; i < NUM_AXIS; i++) {
if (code_seen(axis_codes[i])) {
max_acceleration_units_per_sq_second[i] = code_value();
}
}
// 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)
reset_acceleration_rates();
}
#if 0 // Not used for Sprinter/grbl gen6
inline void gcode_M202() {
for (int8_t i = 0; i < NUM_AXIS; i++) {
if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
}
}
#endif
/**
* M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
*/
inline void gcode_M203() {
for (int8_t i = 0; i < NUM_AXIS; i++) {
if (code_seen(axis_codes[i])) {
max_feedrate[i] = code_value();
}
}
}
/**
* M204: Set Accelerations in mm/sec^2 (M204 P1200 R3000 T3000)
*
* P = Printing moves
* R = Retract only (no X, Y, Z) moves
* T = Travel (non printing) moves
*
* Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
*/
inline void gcode_M204() {
if (code_seen('S')) { // Kept for legacy compatibility. Should NOT BE USED for new developments.
travel_acceleration = acceleration = code_value();
SERIAL_ECHOPAIR("Setting Print and Travel Acceleration: ", acceleration);
SERIAL_EOL;
}
if (code_seen('P')) {
acceleration = code_value();
SERIAL_ECHOPAIR("Setting Print Acceleration: ", acceleration);
SERIAL_EOL;
}
if (code_seen('R')) {
retract_acceleration = code_value();
SERIAL_ECHOPAIR("Setting Retract Acceleration: ", retract_acceleration);
SERIAL_EOL;
}
if (code_seen('T')) {
travel_acceleration = code_value();
SERIAL_ECHOPAIR("Setting Travel Acceleration: ", travel_acceleration);
SERIAL_EOL;
}
}
/**
* M205: Set Advanced Settings
*
* S = Min Feed Rate (mm/s)
* T = Min Travel Feed Rate (mm/s)
* B = Min Segment Time (µs)
* X = Max XY Jerk (mm/s/s)
* Z = Max Z Jerk (mm/s/s)
* E = Max E Jerk (mm/s/s)
*/
inline void gcode_M205() {
if (code_seen('S')) minimumfeedrate = code_value();
if (code_seen('T')) mintravelfeedrate = code_value();
if (code_seen('B')) minsegmenttime = code_value();
if (code_seen('X')) max_xy_jerk = code_value();
if (code_seen('Z')) max_z_jerk = code_value();
if (code_seen('E')) max_e_jerk = code_value();
}
/**
* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
*/
inline void gcode_M206() {
for (int8_t i = X_AXIS; i <= Z_AXIS; i++)
if (code_seen(axis_codes[i]))
set_home_offset((AxisEnum)i, code_value());
#if ENABLED(SCARA)
if (code_seen('T')) set_home_offset(X_AXIS, code_value()); // Theta
if (code_seen('P')) set_home_offset(Y_AXIS, code_value()); // Psi
#endif
sync_plan_position();
}
#if ENABLED(DELTA)
/**
* M665: Set delta configurations
*
* L = diagonal rod
* R = delta radius
* S = segments per second
* A = Alpha (Tower 1) diagonal rod trim
* B = Beta (Tower 2) diagonal rod trim
* C = Gamma (Tower 3) diagonal rod trim
*/
inline void gcode_M665() {
if (code_seen('L')) delta_diagonal_rod = code_value();
if (code_seen('R')) delta_radius = code_value();
if (code_seen('S')) delta_segments_per_second = code_value();
if (code_seen('A')) delta_diagonal_rod_trim_tower_1 = code_value();
if (code_seen('B')) delta_diagonal_rod_trim_tower_2 = code_value();
if (code_seen('C')) delta_diagonal_rod_trim_tower_3 = code_value();
recalc_delta_settings(delta_radius, delta_diagonal_rod);
}
/**
* M666: Set delta endstop adjustment
*/
inline void gcode_M666() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM(">>> gcode_M666");
}
#endif
for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
if (code_seen(axis_codes[i])) {
endstop_adj[i] = code_value();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("endstop_adj[");
SERIAL_ECHO(axis_codes[i]);
SERIAL_ECHOPAIR("] = ", endstop_adj[i]);
SERIAL_EOL;
}
#endif
}
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("<<< gcode_M666");
}
#endif
}
#elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
/**
* M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
*/
inline void gcode_M666() {
if (code_seen('Z')) z_endstop_adj = code_value();
SERIAL_ECHOPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj);
SERIAL_EOL;
}
#endif // !DELTA && Z_DUAL_ENDSTOPS
#if ENABLED(FWRETRACT)
/**
* M207: Set firmware retraction values
*
* S[+mm] retract_length
* W[+mm] retract_length_swap (multi-extruder)
* F[mm/min] retract_feedrate
* Z[mm] retract_zlift
*/
inline void gcode_M207() {
if (code_seen('S')) retract_length = code_value();
if (code_seen('F')) retract_feedrate = code_value() / 60;
if (code_seen('Z')) retract_zlift = code_value();
#if EXTRUDERS > 1
if (code_seen('W')) retract_length_swap = code_value();
#endif
}
/**
* M208: Set firmware un-retraction values
*
* S[+mm] retract_recover_length (in addition to M207 S*)
* W[+mm] retract_recover_length_swap (multi-extruder)
* F[mm/min] retract_recover_feedrate
*/
inline void gcode_M208() {
if (code_seen('S')) retract_recover_length = code_value();
if (code_seen('F')) retract_recover_feedrate = code_value() / 60;
#if EXTRUDERS > 1
if (code_seen('W')) retract_recover_length_swap = code_value();
#endif
}
/**
* M209: Enable automatic retract (M209 S1)
* detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
*/
inline void gcode_M209() {
if (code_seen('S')) {
int t = code_value_short();
switch (t) {
case 0:
autoretract_enabled = false;
break;
case 1:
autoretract_enabled = true;
break;
default:
unknown_command_error();
return;
}
for (int i = 0; i < EXTRUDERS; i++) retracted[i] = false;
}
}
#endif // FWRETRACT
#if EXTRUDERS > 1
/**
* M218 - set hotend offset (in mm)
*
* T<tool>
* X<xoffset>
* Y<yoffset>
* Z<zoffset> - Available with DUAL_X_CARRIAGE
*/
inline void gcode_M218() {
if (setTargetedHotend(218)) return;
if (code_seen('X')) extruder_offset[X_AXIS][target_extruder] = code_value();
if (code_seen('Y')) extruder_offset[Y_AXIS][target_extruder] = code_value();
#if ENABLED(DUAL_X_CARRIAGE)
if (code_seen('Z')) extruder_offset[Z_AXIS][target_extruder] = code_value();
#endif
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
for (int e = 0; e < EXTRUDERS; e++) {
SERIAL_CHAR(' ');
SERIAL_ECHO(extruder_offset[X_AXIS][e]);
SERIAL_CHAR(',');
SERIAL_ECHO(extruder_offset[Y_AXIS][e]);
#if ENABLED(DUAL_X_CARRIAGE)
SERIAL_CHAR(',');
SERIAL_ECHO(extruder_offset[Z_AXIS][e]);
#endif
}
SERIAL_EOL;
}
#endif // EXTRUDERS > 1
/**
* M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
*/
inline void gcode_M220() {
if (code_seen('S')) feedrate_multiplier = code_value();
}
/**
* M221: Set extrusion percentage (M221 T0 S95)
*/
inline void gcode_M221() {
if (code_seen('S')) {
int sval = code_value();
if (setTargetedHotend(221)) return;
extruder_multiplier[target_extruder] = sval;
}
}
/**
* M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
*/
inline void gcode_M226() {
if (code_seen('P')) {
int pin_number = code_value();
int pin_state = code_seen('S') ? code_value() : -1; // required pin state - default is inverted
if (pin_state >= -1 && pin_state <= 1) {
for (uint8_t i = 0; i < COUNT(sensitive_pins); i++) {
if (sensitive_pins[i] == pin_number) {
pin_number = -1;
break;
}
}
if (pin_number > -1) {
int target = LOW;
st_synchronize();
pinMode(pin_number, INPUT);
switch (pin_state) {
case 1:
target = HIGH;
break;
case 0:
target = LOW;
break;
case -1:
target = !digitalRead(pin_number);
break;
}
while (digitalRead(pin_number) != target) idle();
} // pin_number > -1
} // pin_state -1 0 1
} // code_seen('P')
}
#if HAS_SERVOS
/**
* M280: Get or set servo position. P<index> S<angle>
*/
inline void gcode_M280() {
int servo_index = code_seen('P') ? code_value_short() : -1;
int servo_position = 0;
if (code_seen('S')) {
servo_position = code_value_short();
if (servo_index >= 0 && servo_index < NUM_SERVOS)
servo[servo_index].move(servo_position);
else {
SERIAL_ERROR_START;
SERIAL_ERROR("Servo ");
SERIAL_ERROR(servo_index);
SERIAL_ERRORLN(" out of range");
}
}
else if (servo_index >= 0) {
SERIAL_ECHO_START;
SERIAL_ECHO(" Servo ");
SERIAL_ECHO(servo_index);
SERIAL_ECHO(": ");
SERIAL_ECHOLN(servo[servo_index].read());
}
}
#endif // HAS_SERVOS
#if HAS_BUZZER
/**
* M300: Play beep sound S<frequency Hz> P<duration ms>
*/
inline void gcode_M300() {
uint16_t beepS = code_seen('S') ? code_value_short() : 110;
uint32_t beepP = code_seen('P') ? code_value_long() : 1000;
if (beepP > 5000) beepP = 5000; // limit to 5 seconds
buzz(beepP, beepS);
}
#endif // HAS_BUZZER
#if ENABLED(PIDTEMP)
/**
* M301: Set PID parameters P I D (and optionally C, L)
*
* P[float] Kp term
* I[float] Ki term (unscaled)
* D[float] Kd term (unscaled)
*
* With PID_ADD_EXTRUSION_RATE:
*
* C[float] Kc term
* L[float] LPQ length
*/
inline void gcode_M301() {
// multi-extruder PID patch: M301 updates or prints a single extruder's PID values
// default behaviour (omitting E parameter) is to update for extruder 0 only
int e = code_seen('E') ? code_value() : 0; // extruder being updated
if (e < EXTRUDERS) { // catch bad input value
if (code_seen('P')) PID_PARAM(Kp, e) = code_value();
if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value());
if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value());
#if ENABLED(PID_ADD_EXTRUSION_RATE)
if (code_seen('C')) PID_PARAM(Kc, e) = code_value();
if (code_seen('L')) lpq_len = code_value();
NOMORE(lpq_len, LPQ_MAX_LEN);
#endif
updatePID();
SERIAL_ECHO_START;
#if ENABLED(PID_PARAMS_PER_EXTRUDER)
SERIAL_ECHO(" e:"); // specify extruder in serial output
SERIAL_ECHO(e);
#endif // PID_PARAMS_PER_EXTRUDER
SERIAL_ECHO(" p:");
SERIAL_ECHO(PID_PARAM(Kp, e));
SERIAL_ECHO(" i:");
SERIAL_ECHO(unscalePID_i(PID_PARAM(Ki, e)));
SERIAL_ECHO(" d:");
SERIAL_ECHO(unscalePID_d(PID_PARAM(Kd, e)));
#if ENABLED(PID_ADD_EXTRUSION_RATE)
SERIAL_ECHO(" c:");
//Kc does not have scaling applied above, or in resetting defaults
SERIAL_ECHO(PID_PARAM(Kc, e));
#endif
SERIAL_EOL;
}
else {
SERIAL_ERROR_START;
SERIAL_ERRORLN(MSG_INVALID_EXTRUDER);
}
}
#endif // PIDTEMP
#if ENABLED(PIDTEMPBED)
inline void gcode_M304() {
if (code_seen('P')) bedKp = code_value();
if (code_seen('I')) bedKi = scalePID_i(code_value());
if (code_seen('D')) bedKd = scalePID_d(code_value());
updatePID();
SERIAL_ECHO_START;
SERIAL_ECHO(" p:");
SERIAL_ECHO(bedKp);
SERIAL_ECHO(" i:");
SERIAL_ECHO(unscalePID_i(bedKi));
SERIAL_ECHO(" d:");
SERIAL_ECHOLN(unscalePID_d(bedKd));
}
#endif // PIDTEMPBED
#if defined(CHDK) || HAS_PHOTOGRAPH
/**
* M240: Trigger a camera by emulating a Canon RC-1
* See http://www.doc-diy.net/photo/rc-1_hacked/
*/
inline void gcode_M240() {
#ifdef CHDK
OUT_WRITE(CHDK, HIGH);
chdkHigh = millis();
chdkActive = true;
#elif HAS_PHOTOGRAPH
const uint8_t NUM_PULSES = 16;
const float PULSE_LENGTH = 0.01524;
for (int i = 0; i < NUM_PULSES; i++) {
WRITE(PHOTOGRAPH_PIN, HIGH);
_delay_ms(PULSE_LENGTH);
WRITE(PHOTOGRAPH_PIN, LOW);
_delay_ms(PULSE_LENGTH);
}
delay(7.33);
for (int i = 0; i < NUM_PULSES; i++) {
WRITE(PHOTOGRAPH_PIN, HIGH);
_delay_ms(PULSE_LENGTH);
WRITE(PHOTOGRAPH_PIN, LOW);
_delay_ms(PULSE_LENGTH);
}
#endif // !CHDK && HAS_PHOTOGRAPH
}
#endif // CHDK || PHOTOGRAPH_PIN
#if ENABLED(HAS_LCD_CONTRAST)
/**
* M250: Read and optionally set the LCD contrast
*/
inline void gcode_M250() {
if (code_seen('C')) lcd_setcontrast(code_value_short() & 0x3F);
SERIAL_PROTOCOLPGM("lcd contrast value: ");
SERIAL_PROTOCOL(lcd_contrast);
SERIAL_EOL;
}
#endif // HAS_LCD_CONTRAST
#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
void set_extrude_min_temp(float temp) { extrude_min_temp = temp; }
/**
* M302: Allow cold extrudes, or set the minimum extrude S<temperature>.
*/
inline void gcode_M302() {
set_extrude_min_temp(code_seen('S') ? code_value() : 0);
}
#endif // PREVENT_DANGEROUS_EXTRUDE
/**
* M303: PID relay autotune
*
* S<temperature> sets the target temperature. (default 150C)
* E<extruder> (-1 for the bed) (default 0)
* C<cycles>
* U<bool> with a non-zero value will apply the result to current settings
*/
inline void gcode_M303() {
#if ENABLED(PIDTEMP)
int e = code_seen('E') ? code_value_short() : 0;
int c = code_seen('C') ? code_value_short() : 5;
bool u = code_seen('U') && code_value_short() != 0;
float temp = code_seen('S') ? code_value() : (e < 0 ? 70.0 : 150.0);
if (e >= 0 && e < EXTRUDERS)
target_extruder = e;
KEEPALIVE_STATE(NOT_BUSY); // don't send "busy: processing" messages during autotune output
PID_autotune(temp, e, c, u);
KEEPALIVE_STATE(IN_HANDLER);
#else
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
#endif
}
#if ENABLED(SCARA)
bool SCARA_move_to_cal(uint8_t delta_x, uint8_t delta_y) {
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if (IsRunning()) {
//gcode_get_destination(); // For X Y Z E F
delta[X_AXIS] = delta_x;
delta[Y_AXIS] = delta_y;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS] / axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS] / axis_scaling[Y_AXIS];
prepare_move();
//ok_to_send();
return true;
}
return false;
}
/**
* M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
*/
inline bool gcode_M360() {
SERIAL_ECHOLN(" Cal: Theta 0 ");
return SCARA_move_to_cal(0, 120);
}
/**
* M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
*/
inline bool gcode_M361() {
SERIAL_ECHOLN(" Cal: Theta 90 ");
return SCARA_move_to_cal(90, 130);
}
/**
* M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
*/
inline bool gcode_M362() {
SERIAL_ECHOLN(" Cal: Psi 0 ");
return SCARA_move_to_cal(60, 180);
}
/**
* M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
*/
inline bool gcode_M363() {
SERIAL_ECHOLN(" Cal: Psi 90 ");
return SCARA_move_to_cal(50, 90);
}
/**
* M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
*/
inline bool gcode_M364() {
SERIAL_ECHOLN(" Cal: Theta-Psi 90 ");
return SCARA_move_to_cal(45, 135);
}
/**
* M365: SCARA calibration: Scaling factor, X, Y, Z axis
*/
inline void gcode_M365() {
for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
if (code_seen(axis_codes[i])) {
axis_scaling[i] = code_value();
}
}
}
#endif // SCARA
#if ENABLED(EXT_SOLENOID)
void enable_solenoid(uint8_t num) {
switch (num) {
case 0:
OUT_WRITE(SOL0_PIN, HIGH);
break;
#if HAS_SOLENOID_1
case 1:
OUT_WRITE(SOL1_PIN, HIGH);
break;
#endif
#if HAS_SOLENOID_2
case 2:
OUT_WRITE(SOL2_PIN, HIGH);
break;
#endif
#if HAS_SOLENOID_3
case 3:
OUT_WRITE(SOL3_PIN, HIGH);
break;
#endif
default:
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
break;
}
}
void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
void disable_all_solenoids() {
OUT_WRITE(SOL0_PIN, LOW);
OUT_WRITE(SOL1_PIN, LOW);
OUT_WRITE(SOL2_PIN, LOW);
OUT_WRITE(SOL3_PIN, LOW);
}
/**
* M380: Enable solenoid on the active extruder
*/
inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
/**
* M381: Disable all solenoids
*/
inline void gcode_M381() { disable_all_solenoids(); }
#endif // EXT_SOLENOID
/**
* M400: Finish all moves
*/
inline void gcode_M400() { st_synchronize(); }
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY))
/**
* M401: Engage Z Servo endstop if available
*/
inline void gcode_M401() {
#if HAS_SERVO_ENDSTOPS
raise_z_for_servo();
#endif
deploy_z_probe();
}
/**
* M402: Retract Z Servo endstop if enabled
*/
inline void gcode_M402() {
#if HAS_SERVO_ENDSTOPS
raise_z_for_servo();
#endif
stow_z_probe(false);
}
#endif // AUTO_BED_LEVELING_FEATURE && (HAS_SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
#if ENABLED(FILAMENT_WIDTH_SENSOR)
/**
* M404: Display or set the nominal filament width (3mm, 1.75mm ) W<3.0>
*/
inline void gcode_M404() {
if (code_seen('W')) {
filament_width_nominal = code_value();
}
else {
SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
SERIAL_PROTOCOLLN(filament_width_nominal);
}
}
/**
* M405: Turn on filament sensor for control
*/
inline void gcode_M405() {
if (code_seen('D')) meas_delay_cm = code_value();
NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY);
if (filwidth_delay_index2 == -1) { // Initialize the ring buffer if not done since startup
int temp_ratio = widthFil_to_size_ratio();
for (uint8_t i = 0; i < COUNT(measurement_delay); ++i)
measurement_delay[i] = temp_ratio - 100; // Subtract 100 to scale within a signed byte
filwidth_delay_index1 = filwidth_delay_index2 = 0;
}
filament_sensor = true;
//SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
//SERIAL_PROTOCOL(filament_width_meas);
//SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
//SERIAL_PROTOCOL(extruder_multiplier[active_extruder]);
}
/**
* M406: Turn off filament sensor for control
*/
inline void gcode_M406() { filament_sensor = false; }
/**
* M407: Get measured filament diameter on serial output
*/
inline void gcode_M407() {
SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
SERIAL_PROTOCOLLN(filament_width_meas);
}
#endif // FILAMENT_WIDTH_SENSOR
/**
* M410: Quickstop - Abort all planned moves
*
* This will stop the carriages mid-move, so most likely they
* will be out of sync with the stepper position after this.
*/
inline void gcode_M410() { quickStop(); }
#if ENABLED(MESH_BED_LEVELING)
/**
* M420: Enable/Disable Mesh Bed Leveling
*/
inline void gcode_M420() { if (code_seen('S') && code_has_value()) mbl.active = !!code_value_short(); }
/**
* M421: Set a single Mesh Bed Leveling Z coordinate
*/
inline void gcode_M421() {
float x = 0, y = 0, z = 0;
bool err = false, hasX, hasY, hasZ;
if ((hasX = code_seen('X'))) x = code_value();
if ((hasY = code_seen('Y'))) y = code_value();
if ((hasZ = code_seen('Z'))) z = code_value();
if (!hasX || !hasY || !hasZ) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_M421_REQUIRES_XYZ);
err = true;
}
if (x >= MESH_NUM_X_POINTS || y >= MESH_NUM_Y_POINTS) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_MESH_INDEX_OOB);
err = true;
}
if (!err) mbl.set_z(mbl.select_x_index(x), mbl.select_y_index(y), z);
}
#endif
/**
* M428: Set home_offset based on the distance between the
* current_position and the nearest "reference point."
* If an axis is past center its endstop position
* is the reference-point. Otherwise it uses 0. This allows
* the Z offset to be set near the bed when using a max endstop.
*
* M428 can't be used more than 2cm away from 0 or an endstop.
*
* Use M206 to set these values directly.
*/
inline void gcode_M428() {
bool err = false;
for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
if (axis_homed[i]) {
float base = (current_position[i] > (min_pos[i] + max_pos[i]) / 2) ? base_home_pos(i) : 0,
diff = current_position[i] - base;
if (diff > -20 && diff < 20) {
set_home_offset((AxisEnum)i, home_offset[i] - diff);
}
else {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
LCD_ALERTMESSAGEPGM("Err: Too far!");
#if HAS_BUZZER
buzz(200, 40);
#endif
err = true;
break;
}
}
}
if (!err) {
sync_plan_position();
LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
#if HAS_BUZZER
buzz(200, 659);
buzz(200, 698);
#endif
}
}
/**
* M500: Store settings in EEPROM
*/
inline void gcode_M500() {
Config_StoreSettings();
}
/**
* M501: Read settings from EEPROM
*/
inline void gcode_M501() {
Config_RetrieveSettings();
}
/**
* M502: Revert to default settings
*/
inline void gcode_M502() {
Config_ResetDefault();
}
/**
* M503: print settings currently in memory
*/
inline void gcode_M503() {
Config_PrintSettings(code_seen('S') && code_value() == 0);
}
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
/**
* M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
*/
inline void gcode_M540() {
if (code_seen('S')) abort_on_endstop_hit = (code_value() > 0);
}
#endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
#ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
inline void gcode_SET_Z_PROBE_OFFSET() {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
SERIAL_CHAR(' ');
if (code_seen('Z')) {
float value = code_value();
if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
zprobe_zoffset = value;
SERIAL_ECHO(zprobe_zoffset);
}
else {
SERIAL_ECHOPGM(MSG_Z_MIN);
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
SERIAL_ECHOPGM(MSG_Z_MAX);
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
}
}
else {
SERIAL_ECHOPAIR(": ", zprobe_zoffset);
}
SERIAL_EOL;
}
#endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
#if ENABLED(FILAMENTCHANGEENABLE)
/**
* M600: Pause for filament change
*
* E[distance] - Retract the filament this far (negative value)
* Z[distance] - Move the Z axis by this distance
* X[position] - Move to this X position, with Y
* Y[position] - Move to this Y position, with X
* L[distance] - Retract distance for removal (manual reload)
*
* Default values are used for omitted arguments.
*
*/
inline void gcode_M600() {
if (degHotend(active_extruder) < extrude_min_temp) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
return;
}
float lastpos[NUM_AXIS];
#if ENABLED(DELTA)
float fr60 = feedrate / 60;
#endif
for (int i = 0; i < NUM_AXIS; i++)
lastpos[i] = destination[i] = current_position[i];
#if ENABLED(DELTA)
#define RUNPLAN calculate_delta(destination); \
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], fr60, active_extruder);
#else
#define RUNPLAN line_to_destination();
#endif
//retract by E
if (code_seen('E')) destination[E_AXIS] += code_value();
#ifdef FILAMENTCHANGE_FIRSTRETRACT
else destination[E_AXIS] += FILAMENTCHANGE_FIRSTRETRACT;
#endif
RUNPLAN;
//lift Z
if (code_seen('Z')) destination[Z_AXIS] += code_value();
#ifdef FILAMENTCHANGE_ZADD
else destination[Z_AXIS] += FILAMENTCHANGE_ZADD;
#endif
RUNPLAN;
//move xy
if (code_seen('X')) destination[X_AXIS] = code_value();
#ifdef FILAMENTCHANGE_XPOS
else destination[X_AXIS] = FILAMENTCHANGE_XPOS;
#endif
if (code_seen('Y')) destination[Y_AXIS] = code_value();
#ifdef FILAMENTCHANGE_YPOS
else destination[Y_AXIS] = FILAMENTCHANGE_YPOS;
#endif
RUNPLAN;
if (code_seen('L')) destination[E_AXIS] += code_value();
#ifdef FILAMENTCHANGE_FINALRETRACT
else destination[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
#endif
RUNPLAN;
//finish moves
st_synchronize();
//disable extruder steppers so filament can be removed
disable_e0();
disable_e1();
disable_e2();
disable_e3();
delay(100);
LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
#if DISABLED(AUTO_FILAMENT_CHANGE)
millis_t next_tick = 0;
#endif
KEEPALIVE_STATE(PAUSED_FOR_USER);
while (!lcd_clicked()) {
#if DISABLED(AUTO_FILAMENT_CHANGE)
millis_t ms = millis();
if (ELAPSED(ms, next_tick)) {
lcd_quick_feedback();
next_tick = ms + 2500UL; // feedback every 2.5s while waiting
}
idle(true);
#else
current_position[E_AXIS] += AUTO_FILAMENT_CHANGE_LENGTH;
destination[E_AXIS] = current_position[E_AXIS];
line_to_destination(AUTO_FILAMENT_CHANGE_FEEDRATE);
st_synchronize();
#endif
} // while(!lcd_clicked)
KEEPALIVE_STATE(IN_HANDLER);
lcd_quick_feedback(); // click sound feedback
#if ENABLED(AUTO_FILAMENT_CHANGE)
current_position[E_AXIS] = 0;
st_synchronize();
#endif
//return to normal
if (code_seen('L')) destination[E_AXIS] -= code_value();
#ifdef FILAMENTCHANGE_FINALRETRACT
else destination[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
#endif
current_position[E_AXIS] = destination[E_AXIS]; //the long retract of L is compensated by manual filament feeding
plan_set_e_position(current_position[E_AXIS]);
RUNPLAN; //should do nothing
lcd_reset_alert_level();
#if ENABLED(DELTA)
// Move XYZ to starting position, then E
calculate_delta(lastpos);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], fr60, active_extruder);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder);
#else
// Move XY to starting position, then Z, then E
destination[X_AXIS] = lastpos[X_AXIS];
destination[Y_AXIS] = lastpos[Y_AXIS];
line_to_destination();
destination[Z_AXIS] = lastpos[Z_AXIS];
line_to_destination();
destination[E_AXIS] = lastpos[E_AXIS];
line_to_destination();
#endif
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
filrunoutEnqueued = false;
#endif
}
#endif // FILAMENTCHANGEENABLE
#if ENABLED(DUAL_X_CARRIAGE)
/**
* M605: Set dual x-carriage movement mode
*
* M605 S0: Full control mode. The slicer has full control over x-carriage movement
* M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
* M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
* millimeters x-offset and an optional differential hotend temperature of
* mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
* the first with a spacing of 100mm in the x direction and 2 degrees hotter.
*
* Note: the X axis should be homed after changing dual x-carriage mode.
*/
inline void gcode_M605() {
st_synchronize();
if (code_seen('S')) dual_x_carriage_mode = code_value();
switch (dual_x_carriage_mode) {
case DXC_DUPLICATION_MODE:
if (code_seen('X')) duplicate_extruder_x_offset = max(code_value(), X2_MIN_POS - x_home_pos(0));
if (code_seen('R')) duplicate_extruder_temp_offset = code_value();
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
SERIAL_CHAR(' ');
SERIAL_ECHO(extruder_offset[X_AXIS][0]);
SERIAL_CHAR(',');
SERIAL_ECHO(extruder_offset[Y_AXIS][0]);
SERIAL_CHAR(' ');
SERIAL_ECHO(duplicate_extruder_x_offset);
SERIAL_CHAR(',');
SERIAL_ECHOLN(extruder_offset[Y_AXIS][1]);
break;
case DXC_FULL_CONTROL_MODE:
case DXC_AUTO_PARK_MODE:
break;
default:
dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
break;
}
active_extruder_parked = false;
extruder_duplication_enabled = false;
delayed_move_time = 0;
}
#endif // DUAL_X_CARRIAGE
/**
* M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
*/
inline void gcode_M907() {
#if HAS_DIGIPOTSS
for (int i = 0; i < NUM_AXIS; i++)
if (code_seen(axis_codes[i])) digipot_current(i, code_value());
if (code_seen('B')) digipot_current(4, code_value());
if (code_seen('S')) for (int i = 0; i <= 4; i++) digipot_current(i, code_value());
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
if (code_seen('X')) digipot_current(0, code_value());
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
if (code_seen('Z')) digipot_current(1, code_value());
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
if (code_seen('E')) digipot_current(2, code_value());
#endif
#if ENABLED(DIGIPOT_I2C)
// this one uses actual amps in floating point
for (int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value());
// for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
for (int i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (code_seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, code_value());
#endif
#if ENABLED(DAC_STEPPER_CURRENT)
if (code_seen('S')) {
float dac_percent = code_value();
for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
}
for (uint8_t i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) dac_current_percent(i, code_value());
#endif
}
#if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
/**
* M908: Control digital trimpot directly (M908 P<pin> S<current>)
*/
inline void gcode_M908() {
#if HAS_DIGIPOTSS
digitalPotWrite(
code_seen('P') ? code_value() : 0,
code_seen('S') ? code_value() : 0
);
#endif
#ifdef DAC_STEPPER_CURRENT
dac_current_raw(
code_seen('P') ? code_value_long() : -1,
code_seen('S') ? code_value_short() : 0
);
#endif
}
#if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
inline void gcode_M909() { dac_print_values(); }
inline void gcode_M910() { dac_commit_eeprom(); }
#endif
#endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
#if HAS_MICROSTEPS
// M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
inline void gcode_M350() {
if (code_seen('S')) for (int i = 0; i <= 4; i++) microstep_mode(i, code_value());
for (int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) microstep_mode(i, (uint8_t)code_value());
if (code_seen('B')) microstep_mode(4, code_value());
microstep_readings();
}
/**
* M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
* S# determines MS1 or MS2, X# sets the pin high/low.
*/
inline void gcode_M351() {
if (code_seen('S')) switch (code_value_short()) {
case 1:
for (int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) microstep_ms(i, code_value(), -1);
if (code_seen('B')) microstep_ms(4, code_value(), -1);
break;
case 2:
for (int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) microstep_ms(i, -1, code_value());
if (code_seen('B')) microstep_ms(4, -1, code_value());
break;
}
microstep_readings();
}
#endif // HAS_MICROSTEPS
/**
* M999: Restart after being stopped
*/
inline void gcode_M999() {
Running = true;
lcd_reset_alert_level();
// gcode_LastN = Stopped_gcode_LastN;
FlushSerialRequestResend();
}
/**
* T0-T3: Switch tool, usually switching extruders
*
* F[mm/min] Set the movement feedrate
*/
inline void gcode_T(uint8_t tmp_extruder) {
if (tmp_extruder >= EXTRUDERS) {
SERIAL_ECHO_START;
SERIAL_CHAR('T');
SERIAL_PROTOCOL_F(tmp_extruder, DEC);
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
}
else {
target_extruder = tmp_extruder;
#if EXTRUDERS > 1
bool make_move = false;
#endif
if (code_seen('F')) {
#if EXTRUDERS > 1
make_move = true;
#endif
float next_feedrate = code_value();
if (next_feedrate > 0.0) feedrate = next_feedrate;
}
#if EXTRUDERS > 1
if (tmp_extruder != active_extruder) {
// Save current position to return to after applying extruder offset
set_destination_to_current();
#if ENABLED(DUAL_X_CARRIAGE)
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() &&
(delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder))) {
// Park old head: 1) raise 2) move to park position 3) lower
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
st_synchronize();
}
// apply Y & Z extruder offset (x offset is already used in determining home pos)
current_position[Y_AXIS] -= extruder_offset[Y_AXIS][active_extruder] - extruder_offset[Y_AXIS][tmp_extruder];
current_position[Z_AXIS] -= extruder_offset[Z_AXIS][active_extruder] - extruder_offset[Z_AXIS][tmp_extruder];
active_extruder = tmp_extruder;
// This function resets the max/min values - the current position may be overwritten below.
set_axis_is_at_home(X_AXIS);
if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE) {
current_position[X_AXIS] = inactive_extruder_x_pos;
inactive_extruder_x_pos = destination[X_AXIS];
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
if (active_extruder == 0 || active_extruder_parked)
current_position[X_AXIS] = inactive_extruder_x_pos;
else
current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
inactive_extruder_x_pos = destination[X_AXIS];
extruder_duplication_enabled = false;
}
else {
// record raised toolhead position for use by unpark
memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
active_extruder_parked = true;
delayed_move_time = 0;
}
#else // !DUAL_X_CARRIAGE
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
// Offset extruder, make sure to apply the bed level rotation matrix
vector_3 tmp_offset_vec = vector_3(extruder_offset[X_AXIS][tmp_extruder],
extruder_offset[Y_AXIS][tmp_extruder],
0),
act_offset_vec = vector_3(extruder_offset[X_AXIS][active_extruder],
extruder_offset[Y_AXIS][active_extruder],
0),
offset_vec = tmp_offset_vec - act_offset_vec;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM(">>> gcode_T");
tmp_offset_vec.debug("tmp_offset_vec");
act_offset_vec.debug("act_offset_vec");
offset_vec.debug("offset_vec (BEFORE)");
DEBUG_POS("BEFORE rotation", current_position);
}
#endif
offset_vec.apply_rotation(plan_bed_level_matrix.transpose(plan_bed_level_matrix));
current_position[X_AXIS] += offset_vec.x;
current_position[Y_AXIS] += offset_vec.y;
current_position[Z_AXIS] += offset_vec.z;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
offset_vec.debug("offset_vec (AFTER)");
DEBUG_POS("AFTER rotation", current_position);
SERIAL_ECHOLNPGM("<<< gcode_T");
}
#endif
#else // !AUTO_BED_LEVELING_FEATURE
// Offset extruder (only by XY)
for (int i=X_AXIS; i<=Y_AXIS; i++)
current_position[i] += extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder];
#endif // !AUTO_BED_LEVELING_FEATURE
// Set the new active extruder and position
active_extruder = tmp_extruder;
#endif // !DUAL_X_CARRIAGE
#if ENABLED(DELTA)
sync_plan_position_delta();
#else
sync_plan_position();
#endif
// Move to the old position if 'F' was in the parameters
if (make_move && IsRunning()) prepare_move();
}
#if ENABLED(EXT_SOLENOID)
st_synchronize();
disable_all_solenoids();
enable_solenoid_on_active_extruder();
#endif // EXT_SOLENOID
#endif // EXTRUDERS > 1
SERIAL_ECHO_START;
SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
SERIAL_PROTOCOLLN((int)active_extruder);
}
}
/**
* Process a single command and dispatch it to its handler
* This is called from the main loop()
*/
void process_next_command() {
current_command = command_queue[cmd_queue_index_r];
if (DEBUGGING(ECHO)) {
SERIAL_ECHO_START;
SERIAL_ECHOLN(current_command);
}
// Sanitize the current command:
// - Skip leading spaces
// - Bypass N[-0-9][0-9]*[ ]*
// - Overwrite * with nul to mark the end
while (*current_command == ' ') ++current_command;
if (*current_command == 'N' && NUMERIC_SIGNED(current_command[1])) {
current_command += 2; // skip N[-0-9]
while (NUMERIC(*current_command)) ++current_command; // skip [0-9]*
while (*current_command == ' ') ++current_command; // skip [ ]*
}
char* starpos = strchr(current_command, '*'); // * should always be the last parameter
if (starpos) while (*starpos == ' ' || *starpos == '*') *starpos-- = '\0'; // nullify '*' and ' '
char *cmd_ptr = current_command;
// Get the command code, which must be G, M, or T
char command_code = *cmd_ptr++;
// Skip spaces to get the numeric part
while (*cmd_ptr == ' ') cmd_ptr++;
uint16_t codenum = 0; // define ahead of goto
// Bail early if there's no code
bool code_is_good = NUMERIC(*cmd_ptr);
if (!code_is_good) goto ExitUnknownCommand;
// Get and skip the code number
do {
codenum = (codenum * 10) + (*cmd_ptr - '0');
cmd_ptr++;
} while (NUMERIC(*cmd_ptr));
// Skip all spaces to get to the first argument, or nul
while (*cmd_ptr == ' ') cmd_ptr++;
// The command's arguments (if any) start here, for sure!
current_command_args = cmd_ptr;
KEEPALIVE_STATE(IN_HANDLER);
// Handle a known G, M, or T
switch (command_code) {
case 'G': switch (codenum) {
// G0, G1
case 0:
case 1:
gcode_G0_G1();
break;
// G2, G3
#if DISABLED(SCARA)
case 2: // G2 - CW ARC
case 3: // G3 - CCW ARC
gcode_G2_G3(codenum == 2);
break;
#endif
// G4 Dwell
case 4:
gcode_G4();
break;
#if ENABLED(FWRETRACT)
case 10: // G10: retract
case 11: // G11: retract_recover
gcode_G10_G11(codenum == 10);
break;
#endif //FWRETRACT
case 28: // G28: Home all axes, one at a time
gcode_G28();
break;
#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
case 29: // G29 Detailed Z probe, probes the bed at 3 or more points.
gcode_G29();
break;
#endif
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if DISABLED(Z_PROBE_SLED)
case 30: // G30 Single Z probe
gcode_G30();
break;
#else // Z_PROBE_SLED
case 31: // G31: dock the sled
case 32: // G32: undock the sled
dock_sled(codenum == 31);
break;
#endif // Z_PROBE_SLED
#endif // AUTO_BED_LEVELING_FEATURE
case 90: // G90
relative_mode = false;
break;
case 91: // G91
relative_mode = true;
break;
case 92: // G92
gcode_G92();
break;
}
break;
case 'M': switch (codenum) {
#if ENABLED(ULTIPANEL)
case 0: // M0 - Unconditional stop - Wait for user button press on LCD
case 1: // M1 - Conditional stop - Wait for user button press on LCD
gcode_M0_M1();
break;
#endif // ULTIPANEL
case 17:
gcode_M17();
break;
#if ENABLED(SDSUPPORT)
case 20: // M20 - list SD card
gcode_M20(); break;
case 21: // M21 - init SD card
gcode_M21(); break;
case 22: //M22 - release SD card
gcode_M22(); break;
case 23: //M23 - Select file
gcode_M23(); break;
case 24: //M24 - Start SD print
gcode_M24(); break;
case 25: //M25 - Pause SD print
gcode_M25(); break;
case 26: //M26 - Set SD index
gcode_M26(); break;
case 27: //M27 - Get SD status
gcode_M27(); break;
case 28: //M28 - Start SD write
gcode_M28(); break;
case 29: //M29 - Stop SD write
gcode_M29(); break;
case 30: //M30 <filename> Delete File
gcode_M30(); break;
case 32: //M32 - Select file and start SD print
gcode_M32(); break;
#if ENABLED(LONG_FILENAME_HOST_SUPPORT)
case 33: //M33 - Get the long full path to a file or folder
gcode_M33(); break;
#endif // LONG_FILENAME_HOST_SUPPORT
case 928: //M928 - Start SD write
gcode_M928(); break;
#endif //SDSUPPORT
case 31: //M31 take time since the start of the SD print or an M109 command
gcode_M31();
break;
case 42: //M42 -Change pin status via gcode
gcode_M42();
break;
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
case 48: // M48 Z probe repeatability
gcode_M48();
break;
#endif // AUTO_BED_LEVELING_FEATURE && Z_MIN_PROBE_REPEATABILITY_TEST
case 75: // Start print timer
gcode_M75();
break;
case 76: // Pause print timer
gcode_M76();
break;
case 77: // Stop print timer
gcode_M77();
break;
#if ENABLED(M100_FREE_MEMORY_WATCHER)
case 100:
gcode_M100();
break;
#endif
case 104: // M104
gcode_M104();
break;
case 110: // M110: Set Current Line Number
gcode_M110();
break;
case 111: // M111: Set debug level
gcode_M111();
break;
case 112: // M112: Emergency Stop
gcode_M112();
break;
#if ENABLED(HOST_KEEPALIVE_FEATURE)
case 113: // M113: Set Host Keepalive interval
gcode_M113();
break;
#endif
case 140: // M140: Set bed temp
gcode_M140();
break;
case 105: // M105: Read current temperature
gcode_M105();
KEEPALIVE_STATE(NOT_BUSY);
return; // "ok" already printed
case 109: // M109: Wait for temperature
gcode_M109();
break;
#if HAS_TEMP_BED
case 190: // M190: Wait for bed heater to reach target
gcode_M190();
break;
#endif // HAS_TEMP_BED
#if FAN_COUNT > 0
case 106: // M106: Fan On
gcode_M106();
break;
case 107: // M107: Fan Off
gcode_M107();
break;
#endif // FAN_COUNT > 0
#if ENABLED(BARICUDA)
// PWM for HEATER_1_PIN
#if HAS_HEATER_1
case 126: // M126: valve open
gcode_M126();
break;
case 127: // M127: valve closed
gcode_M127();
break;
#endif // HAS_HEATER_1
// PWM for HEATER_2_PIN
#if HAS_HEATER_2
case 128: // M128: valve open
gcode_M128();
break;
case 129: // M129: valve closed
gcode_M129();
break;
#endif // HAS_HEATER_2
#endif // BARICUDA
#if HAS_POWER_SWITCH
case 80: // M80: Turn on Power Supply
gcode_M80();
break;
#endif // HAS_POWER_SWITCH
case 81: // M81: Turn off Power, including Power Supply, if possible
gcode_M81();
break;
case 82:
gcode_M82();
break;
case 83:
gcode_M83();
break;
case 18: // (for compatibility)
case 84: // M84
gcode_M18_M84();
break;
case 85: // M85
gcode_M85();
break;
case 92: // M92: Set the steps-per-unit for one or more axes
gcode_M92();
break;
case 115: // M115: Report capabilities
gcode_M115();
break;
case 117: // M117: Set LCD message text, if possible
gcode_M117();
break;
case 114: // M114: Report current position
gcode_M114();
break;
case 120: // M120: Enable endstops
gcode_M120();
break;
case 121: // M121: Disable endstops
gcode_M121();
break;
case 119: // M119: Report endstop states
gcode_M119();
break;
#if ENABLED(ULTIPANEL)
case 145: // M145: Set material heatup parameters
gcode_M145();
break;
#endif
#if ENABLED(BLINKM)
case 150: // M150
gcode_M150();
break;
#endif //BLINKM
#if ENABLED(EXPERIMENTAL_I2CBUS)
case 155:
gcode_M155();
break;
case 156:
gcode_M156();
break;
#endif //EXPERIMENTAL_I2CBUS
case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
gcode_M200();
break;
case 201: // M201
gcode_M201();
break;
#if 0 // Not used for Sprinter/grbl gen6
case 202: // M202
gcode_M202();
break;
#endif
case 203: // M203 max feedrate mm/sec
gcode_M203();
break;
case 204: // M204 acclereration S normal moves T filmanent only moves
gcode_M204();
break;
case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
gcode_M205();
break;
case 206: // M206 additional homing offset
gcode_M206();
break;
#if ENABLED(DELTA)
case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
gcode_M665();
break;
#endif
#if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS)
case 666: // M666 set delta / dual endstop adjustment
gcode_M666();
break;
#endif
#if ENABLED(FWRETRACT)
case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
gcode_M207();
break;
case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
gcode_M208();
break;
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.
gcode_M209();
break;
#endif // FWRETRACT
#if EXTRUDERS > 1
case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
gcode_M218();
break;
#endif
case 220: // M220 S<factor in percent>- set speed factor override percentage
gcode_M220();
break;
case 221: // M221 S<factor in percent>- set extrude factor override percentage
gcode_M221();
break;
case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
gcode_M226();
break;
#if HAS_SERVOS
case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
gcode_M280();
break;
#endif // HAS_SERVOS
#if HAS_BUZZER
case 300: // M300 - Play beep tone
gcode_M300();
break;
#endif // HAS_BUZZER
#if ENABLED(PIDTEMP)
case 301: // M301
gcode_M301();
break;
#endif // PIDTEMP
#if ENABLED(PIDTEMPBED)
case 304: // M304
gcode_M304();
break;
#endif // PIDTEMPBED
#if defined(CHDK) || HAS_PHOTOGRAPH
case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
gcode_M240();
break;
#endif // CHDK || PHOTOGRAPH_PIN
#if ENABLED(HAS_LCD_CONTRAST)
case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
gcode_M250();
break;
#endif // HAS_LCD_CONTRAST
#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
case 302: // allow cold extrudes, or set the minimum extrude temperature
gcode_M302();
break;
#endif // PREVENT_DANGEROUS_EXTRUDE
case 303: // M303 PID autotune
gcode_M303();
break;
#if ENABLED(SCARA)
case 360: // M360 SCARA Theta pos1
if (gcode_M360()) return;
break;
case 361: // M361 SCARA Theta pos2
if (gcode_M361()) return;
break;
case 362: // M362 SCARA Psi pos1
if (gcode_M362()) return;
break;
case 363: // M363 SCARA Psi pos2
if (gcode_M363()) return;
break;
case 364: // M364 SCARA Psi pos3 (90 deg to Theta)
if (gcode_M364()) return;
break;
case 365: // M365 Set SCARA scaling for X Y Z
gcode_M365();
break;
#endif // SCARA
case 400: // M400 finish all moves
gcode_M400();
break;
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && (HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY)) && DISABLED(Z_PROBE_SLED)
case 401:
gcode_M401();
break;
case 402:
gcode_M402();
break;
#endif // AUTO_BED_LEVELING_FEATURE && (HAS_SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
#if ENABLED(FILAMENT_WIDTH_SENSOR)
case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
gcode_M404();
break;
case 405: //M405 Turn on filament sensor for control
gcode_M405();
break;
case 406: //M406 Turn off filament sensor for control
gcode_M406();
break;
case 407: //M407 Display measured filament diameter
gcode_M407();
break;
#endif // ENABLED(FILAMENT_WIDTH_SENSOR)
case 410: // M410 quickstop - Abort all the planned moves.
gcode_M410();
break;
#if ENABLED(MESH_BED_LEVELING)
case 420: // M420 Enable/Disable Mesh Bed Leveling
gcode_M420();
break;
case 421: // M421 Set a Mesh Bed Leveling Z coordinate
gcode_M421();
break;
#endif
case 428: // M428 Apply current_position to home_offset
gcode_M428();
break;
case 500: // M500 Store settings in EEPROM
gcode_M500();
break;
case 501: // M501 Read settings from EEPROM
gcode_M501();
break;
case 502: // M502 Revert to default settings
gcode_M502();
break;
case 503: // M503 print settings currently in memory
gcode_M503();
break;
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
case 540:
gcode_M540();
break;
#endif
#ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
gcode_SET_Z_PROBE_OFFSET();
break;
#endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
#if ENABLED(FILAMENTCHANGEENABLE)
case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
gcode_M600();
break;
#endif // FILAMENTCHANGEENABLE
#if ENABLED(DUAL_X_CARRIAGE)
case 605:
gcode_M605();
break;
#endif // DUAL_X_CARRIAGE
case 907: // M907 Set digital trimpot motor current using axis codes.
gcode_M907();
break;
#if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
case 908: // M908 Control digital trimpot directly.
gcode_M908();
break;
#if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
case 909: // M909 Print digipot/DAC current value
gcode_M909();
break;
case 910: // M910 Commit digipot/DAC value to external EEPROM
gcode_M910();
break;
#endif
#endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
#if HAS_MICROSTEPS
case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
gcode_M350();
break;
case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
gcode_M351();
break;
#endif // HAS_MICROSTEPS
case 999: // M999: Restart after being Stopped
gcode_M999();
break;
}
break;
case 'T':
gcode_T(codenum);
break;
default: code_is_good = false;
}
KEEPALIVE_STATE(NOT_BUSY);
ExitUnknownCommand:
// Still unknown command? Throw an error
if (!code_is_good) unknown_command_error();
ok_to_send();
}
void FlushSerialRequestResend() {
//char command_queue[cmd_queue_index_r][100]="Resend:";
MYSERIAL.flush();
SERIAL_PROTOCOLPGM(MSG_RESEND);
SERIAL_PROTOCOLLN(gcode_LastN + 1);
ok_to_send();
}
void ok_to_send() {
refresh_cmd_timeout();
if (!send_ok[cmd_queue_index_r]) return;
SERIAL_PROTOCOLPGM(MSG_OK);
#if ENABLED(ADVANCED_OK)
char* p = command_queue[cmd_queue_index_r];
if (*p == 'N') {
SERIAL_PROTOCOL(' ');
SERIAL_ECHO(*p++);
while (NUMERIC_SIGNED(*p))
SERIAL_ECHO(*p++);
}
SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - movesplanned() - 1));
SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
#endif
SERIAL_EOL;
}
void clamp_to_software_endstops(float target[3]) {
if (min_software_endstops) {
NOLESS(target[X_AXIS], min_pos[X_AXIS]);
NOLESS(target[Y_AXIS], min_pos[Y_AXIS]);
float negative_z_offset = 0;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
if (zprobe_zoffset < 0) negative_z_offset += zprobe_zoffset;
if (home_offset[Z_AXIS] < 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("> clamp_to_software_endstops > Add home_offset[Z_AXIS]:", home_offset[Z_AXIS]);
SERIAL_EOL;
}
#endif
negative_z_offset += home_offset[Z_AXIS];
}
#endif
NOLESS(target[Z_AXIS], min_pos[Z_AXIS] + negative_z_offset);
}
if (max_software_endstops) {
NOMORE(target[X_AXIS], max_pos[X_AXIS]);
NOMORE(target[Y_AXIS], max_pos[Y_AXIS]);
NOMORE(target[Z_AXIS], max_pos[Z_AXIS]);
}
}
#if ENABLED(DELTA)
void recalc_delta_settings(float radius, float diagonal_rod) {
delta_tower1_x = -SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
delta_tower1_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1);
delta_tower2_x = SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
delta_tower2_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2);
delta_tower3_x = 0.0; // back middle tower
delta_tower3_y = (radius + DELTA_RADIUS_TRIM_TOWER_3);
delta_diagonal_rod_2_tower_1 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_1);
delta_diagonal_rod_2_tower_2 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_2);
delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3);
}
void calculate_delta(float cartesian[3]) {
delta[TOWER_1] = sqrt(delta_diagonal_rod_2_tower_1
- sq(delta_tower1_x - cartesian[X_AXIS])
- sq(delta_tower1_y - cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
delta[TOWER_2] = sqrt(delta_diagonal_rod_2_tower_2
- sq(delta_tower2_x - cartesian[X_AXIS])
- sq(delta_tower2_y - cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
delta[TOWER_3] = sqrt(delta_diagonal_rod_2_tower_3
- sq(delta_tower3_x - cartesian[X_AXIS])
- sq(delta_tower3_y - cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
/**
SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
SERIAL_ECHOPGM("delta a="); SERIAL_ECHO(delta[TOWER_1]);
SERIAL_ECHOPGM(" b="); SERIAL_ECHO(delta[TOWER_2]);
SERIAL_ECHOPGM(" c="); SERIAL_ECHOLN(delta[TOWER_3]);
*/
}
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
// Adjust print surface height by linear interpolation over the bed_level array.
void adjust_delta(float cartesian[3]) {
if (delta_grid_spacing[0] == 0 || delta_grid_spacing[1] == 0) return; // G29 not done!
int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
float h1 = 0.001 - half, h2 = half - 0.001,
grid_x = max(h1, min(h2, cartesian[X_AXIS] / delta_grid_spacing[0])),
grid_y = max(h1, min(h2, cartesian[Y_AXIS] / delta_grid_spacing[1]));
int floor_x = floor(grid_x), floor_y = floor(grid_y);
float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y,
z1 = bed_level[floor_x + half][floor_y + half],
z2 = bed_level[floor_x + half][floor_y + half + 1],
z3 = bed_level[floor_x + half + 1][floor_y + half],
z4 = bed_level[floor_x + half + 1][floor_y + half + 1],
left = (1 - ratio_y) * z1 + ratio_y * z2,
right = (1 - ratio_y) * z3 + ratio_y * z4,
offset = (1 - ratio_x) * left + ratio_x * right;
delta[X_AXIS] += offset;
delta[Y_AXIS] += offset;
delta[Z_AXIS] += offset;
/**
SERIAL_ECHOPGM("grid_x="); SERIAL_ECHO(grid_x);
SERIAL_ECHOPGM(" grid_y="); SERIAL_ECHO(grid_y);
SERIAL_ECHOPGM(" floor_x="); SERIAL_ECHO(floor_x);
SERIAL_ECHOPGM(" floor_y="); SERIAL_ECHO(floor_y);
SERIAL_ECHOPGM(" ratio_x="); SERIAL_ECHO(ratio_x);
SERIAL_ECHOPGM(" ratio_y="); SERIAL_ECHO(ratio_y);
SERIAL_ECHOPGM(" z1="); SERIAL_ECHO(z1);
SERIAL_ECHOPGM(" z2="); SERIAL_ECHO(z2);
SERIAL_ECHOPGM(" z3="); SERIAL_ECHO(z3);
SERIAL_ECHOPGM(" z4="); SERIAL_ECHO(z4);
SERIAL_ECHOPGM(" left="); SERIAL_ECHO(left);
SERIAL_ECHOPGM(" right="); SERIAL_ECHO(right);
SERIAL_ECHOPGM(" offset="); SERIAL_ECHOLN(offset);
*/
}
#endif // AUTO_BED_LEVELING_FEATURE
#endif // DELTA
#if ENABLED(MESH_BED_LEVELING)
// This function is used to split lines on mesh borders so each segment is only part of one mesh area
void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_rate, const uint8_t& extruder, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
if (!mbl.active) {
plan_buffer_line(x, y, z, e, feed_rate, extruder);
set_current_to_destination();
return;
}
int pix = mbl.select_x_index(current_position[X_AXIS] - home_offset[X_AXIS]);
int piy = mbl.select_y_index(current_position[Y_AXIS] - home_offset[Y_AXIS]);
int ix = mbl.select_x_index(x - home_offset[X_AXIS]);
int iy = mbl.select_y_index(y - home_offset[Y_AXIS]);
pix = min(pix, MESH_NUM_X_POINTS - 2);
piy = min(piy, MESH_NUM_Y_POINTS - 2);
ix = min(ix, MESH_NUM_X_POINTS - 2);
iy = min(iy, MESH_NUM_Y_POINTS - 2);
if (pix == ix && piy == iy) {
// Start and end on same mesh square
plan_buffer_line(x, y, z, e, feed_rate, extruder);
set_current_to_destination();
return;
}
float nx, ny, nz, ne, normalized_dist;
if (ix > pix && TEST(x_splits, ix)) {
nx = mbl.get_x(ix) + home_offset[X_AXIS];
normalized_dist = (nx - current_position[X_AXIS]) / (x - current_position[X_AXIS]);
ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist;
nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
CBI(x_splits, ix);
}
else if (ix < pix && TEST(x_splits, pix)) {
nx = mbl.get_x(pix) + home_offset[X_AXIS];
normalized_dist = (nx - current_position[X_AXIS]) / (x - current_position[X_AXIS]);
ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist;
nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
CBI(x_splits, pix);
}
else if (iy > piy && TEST(y_splits, iy)) {
ny = mbl.get_y(iy) + home_offset[Y_AXIS];
normalized_dist = (ny - current_position[Y_AXIS]) / (y - current_position[Y_AXIS]);
nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist;
nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
CBI(y_splits, iy);
}
else if (iy < piy && TEST(y_splits, piy)) {
ny = mbl.get_y(piy) + home_offset[Y_AXIS];
normalized_dist = (ny - current_position[Y_AXIS]) / (y - current_position[Y_AXIS]);
nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist;
nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
CBI(y_splits, piy);
}
else {
// Already split on a border
plan_buffer_line(x, y, z, e, feed_rate, extruder);
set_current_to_destination();
return;
}
// Do the split and look for more borders
destination[X_AXIS] = nx;
destination[Y_AXIS] = ny;
destination[Z_AXIS] = nz;
destination[E_AXIS] = ne;
mesh_plan_buffer_line(nx, ny, nz, ne, feed_rate, extruder, x_splits, y_splits);
destination[X_AXIS] = x;
destination[Y_AXIS] = y;
destination[Z_AXIS] = z;
destination[E_AXIS] = e;
mesh_plan_buffer_line(x, y, z, e, feed_rate, extruder, x_splits, y_splits);
}
#endif // MESH_BED_LEVELING
#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
inline void prevent_dangerous_extrude(float& curr_e, float& dest_e) {
if (DEBUGGING(DRYRUN)) return;
float de = dest_e - curr_e;
if (de) {
if (degHotend(active_extruder) < extrude_min_temp) {
curr_e = dest_e; // Behave as if the move really took place, but ignore E part
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
}
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
if (labs(de) > EXTRUDE_MAXLENGTH) {
curr_e = dest_e; // Behave as if the move really took place, but ignore E part
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
}
#endif
}
}
#endif // PREVENT_DANGEROUS_EXTRUDE
#if ENABLED(DELTA) || ENABLED(SCARA)
inline bool prepare_move_delta(float target[NUM_AXIS]) {
float difference[NUM_AXIS];
for (int8_t i = 0; i < NUM_AXIS; i++) difference[i] = target[i] - current_position[i];
float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
if (cartesian_mm < 0.000001) return false;
float seconds = 6000 * cartesian_mm / feedrate / feedrate_multiplier;
int steps = max(1, int(delta_segments_per_second * seconds));
// SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
// SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
// SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
for (int s = 1; s <= steps; s++) {
float fraction = float(s) / float(steps);
for (int8_t i = 0; i < NUM_AXIS; i++)
target[i] = current_position[i] + difference[i] * fraction;
calculate_delta(target);
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
adjust_delta(target);
#endif
//SERIAL_ECHOPGM("target[X_AXIS]="); SERIAL_ECHOLN(target[X_AXIS]);
//SERIAL_ECHOPGM("target[Y_AXIS]="); SERIAL_ECHOLN(target[Y_AXIS]);
//SERIAL_ECHOPGM("target[Z_AXIS]="); SERIAL_ECHOLN(target[Z_AXIS]);
//SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]);
//SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
//SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feedrate / 60 * feedrate_multiplier / 100.0, active_extruder);
}
return true;
}
#endif // DELTA || SCARA
#if ENABLED(SCARA)
inline bool prepare_move_scara(float target[NUM_AXIS]) { return prepare_move_delta(target); }
#endif
#if ENABLED(DUAL_X_CARRIAGE)
inline bool prepare_move_dual_x_carriage() {
if (active_extruder_parked) {
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
// move duplicate extruder into correct duplication position.
plan_set_position(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
plan_buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset,
current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], max_feedrate[X_AXIS], 1);
sync_plan_position();
st_synchronize();
extruder_duplication_enabled = true;
active_extruder_parked = false;
}
else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) { // handle unparking of head
if (current_position[E_AXIS] == destination[E_AXIS]) {
// This is a travel move (with no extrusion)
// Skip it, but keep track of the current position
// (so it can be used as the start of the next non-travel move)
if (delayed_move_time != 0xFFFFFFFFUL) {
set_current_to_destination();
NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
delayed_move_time = millis();
return false;
}
}
delayed_move_time = 0;
// unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
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);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], min(max_feedrate[X_AXIS], max_feedrate[Y_AXIS]), active_extruder);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
active_extruder_parked = false;
}
}
return true;
}
#endif // DUAL_X_CARRIAGE
#if DISABLED(DELTA) && DISABLED(SCARA)
inline bool prepare_move_cartesian() {
// Do not use feedrate_multiplier for E or Z only moves
if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
line_to_destination();
}
else {
#if ENABLED(MESH_BED_LEVELING)
mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate / 60) * (feedrate_multiplier / 100.0), active_extruder);
return false;
#else
line_to_destination(feedrate * feedrate_multiplier / 100.0);
#endif
}
return true;
}
#endif // !DELTA && !SCARA
/**
* Prepare a single move and get ready for the next one
*
* (This may call plan_buffer_line several times to put
* smaller moves into the planner for DELTA or SCARA.)
*/
void prepare_move() {
clamp_to_software_endstops(destination);
refresh_cmd_timeout();
#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]);
#endif
#if ENABLED(SCARA)
if (!prepare_move_scara(destination)) return;
#elif ENABLED(DELTA)
if (!prepare_move_delta(destination)) return;
#endif
#if ENABLED(DUAL_X_CARRIAGE)
if (!prepare_move_dual_x_carriage()) return;
#endif
#if DISABLED(DELTA) && DISABLED(SCARA)
if (!prepare_move_cartesian()) return;
#endif
set_current_to_destination();
}
/**
* Plan an arc in 2 dimensions
*
* The arc is approximated by generating many small linear segments.
* The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
* Arcs should only be made relatively large (over 5mm), as larger arcs with
* larger segments will tend to be more efficient. Your slicer should have
* options for G2/G3 arc generation. In future these options may be GCode tunable.
*/
void plan_arc(
float target[NUM_AXIS], // Destination position
float* offset, // Center of rotation relative to current_position
uint8_t clockwise // Clockwise?
) {
float radius = hypot(offset[X_AXIS], offset[Y_AXIS]),
center_X = current_position[X_AXIS] + offset[X_AXIS],
center_Y = current_position[Y_AXIS] + offset[Y_AXIS],
linear_travel = target[Z_AXIS] - current_position[Z_AXIS],
extruder_travel = target[E_AXIS] - current_position[E_AXIS],
r_X = -offset[X_AXIS], // Radius vector from center to current location
r_Y = -offset[Y_AXIS],
rt_X = target[X_AXIS] - center_X,
rt_Y = target[Y_AXIS] - center_Y;
// CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
float angular_travel = atan2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y);
if (angular_travel < 0) angular_travel += RADIANS(360);
if (clockwise) angular_travel -= RADIANS(360);
// Make a circle if the angular rotation is 0
if (angular_travel == 0 && current_position[X_AXIS] == target[X_AXIS] && current_position[Y_AXIS] == target[Y_AXIS])
angular_travel += RADIANS(360);
float mm_of_travel = hypot(angular_travel * radius, fabs(linear_travel));
if (mm_of_travel < 0.001) return;
uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT));
if (segments == 0) segments = 1;
float theta_per_segment = angular_travel / segments;
float linear_per_segment = linear_travel / segments;
float extruder_per_segment = extruder_travel / segments;
/**
* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
* and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
* r_T = [cos(phi) -sin(phi);
* sin(phi) cos(phi] * r ;
*
* For arc generation, the center of the circle is the axis of rotation and the radius vector is
* defined from the circle center to the initial position. Each line segment is formed by successive
* vector rotations. This requires only two cos() and sin() computations to form the rotation
* matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
* all double numbers are single precision on the Arduino. (True double precision will not have
* round off issues for CNC applications.) Single precision error can accumulate to be greater than
* tool precision in some cases. Therefore, arc path correction is implemented.
*
* Small angle approximation may be used to reduce computation overhead further. This approximation
* holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
* theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
* to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
* numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
* issue for CNC machines with the single precision Arduino calculations.
*
* This approximation also allows plan_arc to immediately insert a line segment into the planner
* without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
* a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
* This is important when there are successive arc motions.
*/
// Vector rotation matrix values
float cos_T = 1 - 0.5 * theta_per_segment * theta_per_segment; // Small angle approximation
float sin_T = theta_per_segment;
float arc_target[NUM_AXIS];
float sin_Ti, cos_Ti, r_new_Y;
uint16_t i;
int8_t count = 0;
// Initialize the linear axis
arc_target[Z_AXIS] = current_position[Z_AXIS];
// Initialize the extruder axis
arc_target[E_AXIS] = current_position[E_AXIS];
float feed_rate = feedrate * feedrate_multiplier / 60 / 100.0;
for (i = 1; i < segments; i++) { // Iterate (segments-1) times
if (++count < N_ARC_CORRECTION) {
// Apply vector rotation matrix to previous r_X / 1
r_new_Y = r_X * sin_T + r_Y * cos_T;
r_X = r_X * cos_T - r_Y * sin_T;
r_Y = r_new_Y;
}
else {
// Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
// Compute exact location by applying transformation matrix from initial radius vector(=-offset).
// To reduce stuttering, the sin and cos could be computed at different times.
// For now, compute both at the same time.
cos_Ti = cos(i * theta_per_segment);
sin_Ti = sin(i * theta_per_segment);
r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti;
r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti;
count = 0;
}
// Update arc_target location
arc_target[X_AXIS] = center_X + r_X;
arc_target[Y_AXIS] = center_Y + r_Y;
arc_target[Z_AXIS] += linear_per_segment;
arc_target[E_AXIS] += extruder_per_segment;
clamp_to_software_endstops(arc_target);
#if ENABLED(DELTA) || ENABLED(SCARA)
calculate_delta(arc_target);
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
adjust_delta(arc_target);
#endif
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder);
#else
plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder);
#endif
}
// Ensure last segment arrives at target location.
#if ENABLED(DELTA) || ENABLED(SCARA)
calculate_delta(target);
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
adjust_delta(target);
#endif
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feed_rate, active_extruder);
#else
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, active_extruder);
#endif
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position
// in any intermediate location.
set_current_to_destination();
}
#if HAS_CONTROLLERFAN
void controllerFan() {
static millis_t lastMotorOn = 0; // Last time a motor was turned on
static millis_t nextMotorCheck = 0; // Last time the state was checked
millis_t ms = millis();
if (ELAPSED(ms, nextMotorCheck)) {
nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s
if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || soft_pwm_bed > 0
|| E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
#if EXTRUDERS > 1
|| E1_ENABLE_READ == E_ENABLE_ON
#if HAS_X2_ENABLE
|| X2_ENABLE_READ == X_ENABLE_ON
#endif
#if EXTRUDERS > 2
|| E2_ENABLE_READ == E_ENABLE_ON
#if EXTRUDERS > 3
|| E3_ENABLE_READ == E_ENABLE_ON
#endif
#endif
#endif
) {
lastMotorOn = ms; //... set time to NOW so the fan will turn on
}
// Fan off if no steppers have been enabled for CONTROLLERFAN_SECS seconds
uint8_t speed = (!lastMotorOn || ELAPSED(ms, lastMotorOn + (CONTROLLERFAN_SECS) * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
// allows digital or PWM fan output to be used (see M42 handling)
digitalWrite(CONTROLLERFAN_PIN, speed);
analogWrite(CONTROLLERFAN_PIN, speed);
}
}
#endif // HAS_CONTROLLERFAN
#if ENABLED(SCARA)
void calculate_SCARA_forward_Transform(float f_scara[3]) {
// Perform forward kinematics, and place results in delta[3]
// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
float x_sin, x_cos, y_sin, y_cos;
//SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]);
//SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]);
x_sin = sin(f_scara[X_AXIS] / SCARA_RAD2DEG) * Linkage_1;
x_cos = cos(f_scara[X_AXIS] / SCARA_RAD2DEG) * Linkage_1;
y_sin = sin(f_scara[Y_AXIS] / SCARA_RAD2DEG) * Linkage_2;
y_cos = cos(f_scara[Y_AXIS] / SCARA_RAD2DEG) * Linkage_2;
//SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin);
//SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos);
//SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin);
//SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos);
delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta
delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi
//SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
//SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
}
void calculate_delta(float cartesian[3]) {
//reverse kinematics.
// Perform reversed kinematics, and place results in delta[3]
// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
float SCARA_pos[2];
static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi;
SCARA_pos[X_AXIS] = cartesian[X_AXIS] * axis_scaling[X_AXIS] - SCARA_offset_x; //Translate SCARA to standard X Y
SCARA_pos[Y_AXIS] = cartesian[Y_AXIS] * axis_scaling[Y_AXIS] - SCARA_offset_y; // With scaling factor.
#if (Linkage_1 == Linkage_2)
SCARA_C2 = ((sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS])) / (2 * (float)L1_2)) - 1;
#else
SCARA_C2 = (sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2) / 45000;
#endif
SCARA_S2 = sqrt(1 - sq(SCARA_C2));
SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2;
SCARA_K2 = Linkage_2 * SCARA_S2;
SCARA_theta = (atan2(SCARA_pos[X_AXIS], SCARA_pos[Y_AXIS]) - atan2(SCARA_K1, SCARA_K2)) * -1;
SCARA_psi = atan2(SCARA_S2, SCARA_C2);
delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG; // Multiply by 180/Pi - theta is support arm angle
delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG; // - equal to sub arm angle (inverted motor)
delta[Z_AXIS] = cartesian[Z_AXIS];
/**
SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]);
SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]);
SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2);
SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2);
SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta);
SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi);
SERIAL_EOL;
*/
}
#endif // SCARA
#if ENABLED(TEMP_STAT_LEDS)
static bool red_led = false;
static millis_t next_status_led_update_ms = 0;
void handle_status_leds(void) {
float max_temp = 0.0;
if (ELAPSED(millis(), next_status_led_update_ms)) {
next_status_led_update_ms += 500; // Update every 0.5s
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder)
max_temp = max(max(max_temp, degHotend(cur_extruder)), degTargetHotend(cur_extruder));
#if HAS_TEMP_BED
max_temp = max(max(max_temp, degTargetBed()), degBed());
#endif
bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
if (new_led != red_led) {
red_led = new_led;
digitalWrite(STAT_LED_RED, new_led ? HIGH : LOW);
digitalWrite(STAT_LED_BLUE, new_led ? LOW : HIGH);
}
}
}
#endif
void enable_all_steppers() {
enable_x();
enable_y();
enable_z();
enable_e0();
enable_e1();
enable_e2();
enable_e3();
}
void disable_all_steppers() {
disable_x();
disable_y();
disable_z();
disable_e0();
disable_e1();
disable_e2();
disable_e3();
}
/**
* Standard idle routine keeps the machine alive
*/
void idle(
#if ENABLED(FILAMENTCHANGEENABLE)
bool no_stepper_sleep/*=false*/
#endif
) {
manage_heater();
manage_inactivity(
#if ENABLED(FILAMENTCHANGEENABLE)
no_stepper_sleep
#endif
);
host_keepalive();
lcd_update();
}
/**
* Manage several activities:
* - Check for Filament Runout
* - Keep the command buffer full
* - Check for maximum inactive time between commands
* - Check for maximum inactive time between stepper commands
* - Check if pin CHDK needs to go LOW
* - Check for KILL button held down
* - Check for HOME button held down
* - Check if cooling fan needs to be switched on
* - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
*/
void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
#if HAS_FILRUNOUT
if (IS_SD_PRINTING && !(READ(FILRUNOUT_PIN) ^ FIL_RUNOUT_INVERTING))
filrunout();
#endif
if (commands_in_queue < BUFSIZE) get_available_commands();
millis_t ms = millis();
if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) kill(PSTR(MSG_KILLED));
if (stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
&& !ignore_stepper_queue && !blocks_queued()) {
#if ENABLED(DISABLE_INACTIVE_X)
disable_x();
#endif
#if ENABLED(DISABLE_INACTIVE_Y)
disable_y();
#endif
#if ENABLED(DISABLE_INACTIVE_Z)
disable_z();
#endif
#if ENABLED(DISABLE_INACTIVE_E)
disable_e0();
disable_e1();
disable_e2();
disable_e3();
#endif
}
#ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
if (chdkActive && PENDING(ms, chdkHigh + CHDK_DELAY)) {
chdkActive = false;
WRITE(CHDK, LOW);
}
#endif
#if HAS_KILL
// Check if the kill button was pressed and wait just in case it was an accidental
// key kill key press
// -------------------------------------------------------------------------------
static int killCount = 0; // make the inactivity button a bit less responsive
const int KILL_DELAY = 750;
if (!READ(KILL_PIN))
killCount++;
else if (killCount > 0)
killCount--;
// Exceeded threshold and we can confirm that it was not accidental
// KILL the machine
// ----------------------------------------------------------------
if (killCount >= KILL_DELAY) kill(PSTR(MSG_KILLED));
#endif
#if HAS_HOME
// Check to see if we have to home, use poor man's debouncer
// ---------------------------------------------------------
static int homeDebounceCount = 0; // poor man's debouncing count
const int HOME_DEBOUNCE_DELAY = 2500;
if (!READ(HOME_PIN)) {
if (!homeDebounceCount) {
enqueue_and_echo_commands_P(PSTR("G28"));
LCD_MESSAGEPGM(MSG_AUTO_HOME);
}
if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
homeDebounceCount++;
else
homeDebounceCount = 0;
}
#endif
#if HAS_CONTROLLERFAN
controllerFan(); // Check if fan should be turned on to cool stepper drivers down
#endif
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL))
if (degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
bool oldstatus;
switch (active_extruder) {
case 0:
oldstatus = E0_ENABLE_READ;
enable_e0();
break;
#if EXTRUDERS > 1
case 1:
oldstatus = E1_ENABLE_READ;
enable_e1();
break;
#if EXTRUDERS > 2
case 2:
oldstatus = E2_ENABLE_READ;
enable_e2();
break;
#if EXTRUDERS > 3
case 3:
oldstatus = E3_ENABLE_READ;
enable_e3();
break;
#endif
#endif
#endif
}
float oldepos = current_position[E_AXIS], oldedes = destination[E_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
destination[E_AXIS] + (EXTRUDER_RUNOUT_EXTRUDE) * (EXTRUDER_RUNOUT_ESTEPS) / axis_steps_per_unit[E_AXIS],
(EXTRUDER_RUNOUT_SPEED) / 60. * (EXTRUDER_RUNOUT_ESTEPS) / axis_steps_per_unit[E_AXIS], active_extruder);
current_position[E_AXIS] = oldepos;
destination[E_AXIS] = oldedes;
plan_set_e_position(oldepos);
previous_cmd_ms = ms; // refresh_cmd_timeout()
st_synchronize();
switch (active_extruder) {
case 0:
E0_ENABLE_WRITE(oldstatus);
break;
#if EXTRUDERS > 1
case 1:
E1_ENABLE_WRITE(oldstatus);
break;
#if EXTRUDERS > 2
case 2:
E2_ENABLE_WRITE(oldstatus);
break;
#if EXTRUDERS > 3
case 3:
E3_ENABLE_WRITE(oldstatus);
break;
#endif
#endif
#endif
}
}
#endif
#if ENABLED(DUAL_X_CARRIAGE)
// handle delayed move timeout
if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
// travel moves have been received so enact them
delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
set_destination_to_current();
prepare_move();
}
#endif
#if ENABLED(TEMP_STAT_LEDS)
handle_status_leds();
#endif
check_axes_activity();
}
void kill(const char* lcd_msg) {
#if ENABLED(ULTRA_LCD)
lcd_setalertstatuspgm(lcd_msg);
#else
UNUSED(lcd_msg);
#endif
cli(); // Stop interrupts
disable_all_heaters();
disable_all_steppers();
#if HAS_POWER_SWITCH
pinMode(PS_ON_PIN, INPUT);
#endif
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
// FMC small patch to update the LCD before ending
sei(); // enable interrupts
for (int i = 5; i--; lcd_update()) delay(200); // Wait a short time
cli(); // disable interrupts
suicide();
while (1) {
#if ENABLED(USE_WATCHDOG)
watchdog_reset();
#endif
} // Wait for reset
}
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
void filrunout() {
if (!filrunoutEnqueued) {
filrunoutEnqueued = true;
enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
st_synchronize();
}
}
#endif // FILAMENT_RUNOUT_SENSOR
#if ENABLED(FAST_PWM_FAN)
void setPwmFrequency(uint8_t pin, int val) {
val &= 0x07;
switch (digitalPinToTimer(pin)) {
#if defined(TCCR0A)
case TIMER0A:
case TIMER0B:
// TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
// TCCR0B |= val;
break;
#endif
#if defined(TCCR1A)
case TIMER1A:
case TIMER1B:
// TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
// TCCR1B |= val;
break;
#endif
#if defined(TCCR2)
case TIMER2:
case TIMER2:
TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
TCCR2 |= val;
break;
#endif
#if defined(TCCR2A)
case TIMER2A:
case TIMER2B:
TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
TCCR2B |= val;
break;
#endif
#if defined(TCCR3A)
case TIMER3A:
case TIMER3B:
case TIMER3C:
TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
TCCR3B |= val;
break;
#endif
#if defined(TCCR4A)
case TIMER4A:
case TIMER4B:
case TIMER4C:
TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
TCCR4B |= val;
break;
#endif
#if defined(TCCR5A)
case TIMER5A:
case TIMER5B:
case TIMER5C:
TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
TCCR5B |= val;
break;
#endif
}
}
#endif // FAST_PWM_FAN
void Stop() {
disable_all_heaters();
if (IsRunning()) {
Running = false;
Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
LCD_MESSAGEPGM(MSG_STOPPED);
}
}
/**
* Set target_extruder from the T parameter or the active_extruder
*
* Returns TRUE if the target is invalid
*/
bool setTargetedHotend(int code) {
target_extruder = active_extruder;
if (code_seen('T')) {
target_extruder = code_value_short();
if (target_extruder >= EXTRUDERS) {
SERIAL_ECHO_START;
SERIAL_CHAR('M');
SERIAL_ECHO(code);
SERIAL_ECHOPGM(" " MSG_INVALID_EXTRUDER " ");
SERIAL_ECHOLN((int)target_extruder);
return true;
}
}
return false;
}
float calculate_volumetric_multiplier(float diameter) {
if (!volumetric_enabled || diameter == 0) return 1.0;
float d2 = diameter * 0.5;
return 1.0 / (M_PI * d2 * d2);
}
void calculate_volumetric_multipliers() {
for (int i = 0; i < EXTRUDERS; i++)
volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
}
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