093fedfde8
Update ConfigurationStore to always write dummy values for disabled options, including FWRETRACT, DELTA, and SCARA. Update the EEPROM version to “V15.” Also fixes a buffer overrun with axis_scaling in Config_ResetDefault.
4712 lines
156 KiB
C++
4712 lines
156 KiB
C++
/* -*- c++ -*- */
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/*
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Reprap firmware based on Sprinter and grbl.
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Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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This firmware is a mashup between Sprinter and grbl.
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(https://github.com/kliment/Sprinter)
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(https://github.com/simen/grbl/tree)
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It has preliminary support for Matthew Roberts advance algorithm
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http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
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*/
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#include "Marlin.h"
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#ifdef ENABLE_AUTO_BED_LEVELING
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#include "vector_3.h"
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#ifdef AUTO_BED_LEVELING_GRID
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#include "qr_solve.h"
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#endif
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#endif // ENABLE_AUTO_BED_LEVELING
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#include "ultralcd.h"
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#include "planner.h"
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#include "stepper.h"
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#include "temperature.h"
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#include "motion_control.h"
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#include "cardreader.h"
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#include "watchdog.h"
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#include "ConfigurationStore.h"
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#include "language.h"
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#include "pins_arduino.h"
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#include "math.h"
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#ifdef BLINKM
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#include "BlinkM.h"
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#include "Wire.h"
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#endif
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#if NUM_SERVOS > 0
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#include "Servo.h"
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#endif
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#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
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#include <SPI.h>
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#endif
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// look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
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// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
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//Implemented Codes
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//-------------------
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// G0 -> G1
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// G1 - Coordinated Movement X Y Z E
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// G2 - CW ARC
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// G3 - CCW ARC
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// G4 - Dwell S<seconds> or P<milliseconds>
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// G10 - retract filament according to settings of M207
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// G11 - retract recover filament according to settings of M208
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// G28 - Home all Axis
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// G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
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// G30 - Single Z Probe, probes bed at current XY location.
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// G31 - Dock sled (Z_PROBE_SLED only)
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// G32 - Undock sled (Z_PROBE_SLED only)
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// G90 - Use Absolute Coordinates
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// G91 - Use Relative Coordinates
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// G92 - Set current position to coordinates given
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// M Codes
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// M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
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// M1 - Same as M0
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// M17 - Enable/Power all stepper motors
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// M18 - Disable all stepper motors; same as M84
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// M20 - List SD card
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// M21 - Init SD card
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// M22 - Release SD card
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// M23 - Select SD file (M23 filename.g)
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// M24 - Start/resume SD print
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// M25 - Pause SD print
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// M26 - Set SD position in bytes (M26 S12345)
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// M27 - Report SD print status
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// M28 - Start SD write (M28 filename.g)
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// M29 - Stop SD write
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// M30 - Delete file from SD (M30 filename.g)
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// M31 - Output time since last M109 or SD card start to serial
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// M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
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// syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
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// Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
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// The '#' is necessary when calling from within sd files, as it stops buffer prereading
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// 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.
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// M80 - Turn on Power Supply
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// M81 - Turn off Power Supply
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// M82 - Set E codes absolute (default)
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// M83 - Set E codes relative while in Absolute Coordinates (G90) mode
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// M84 - Disable steppers until next move,
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// or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
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// M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
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// M92 - Set axis_steps_per_unit - same syntax as G92
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// M104 - Set extruder target temp
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// M105 - Read current temp
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// M106 - Fan on
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// M107 - Fan off
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// M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
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// Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
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// IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
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// M112 - Emergency stop
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// M114 - Output current position to serial port
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// M115 - Capabilities string
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// M117 - display message
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// M119 - Output Endstop status to serial port
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// M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
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// M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
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// M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
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// M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
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// M140 - Set bed target temp
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// 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.
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// M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
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// Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
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// M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
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// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
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// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
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// M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
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// M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) in mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
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// 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
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// M206 - set additional homing offset
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// M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
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// M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
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// 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.
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// M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
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// M220 S<factor in percent>- set speed factor override percentage
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// M221 S<factor in percent>- set extrude factor override percentage
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// M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
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// M240 - Trigger a camera to take a photograph
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// M250 - Set LCD contrast C<contrast value> (value 0..63)
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// M280 - set servo position absolute. P: servo index, S: angle or microseconds
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// M300 - Play beep sound S<frequency Hz> P<duration ms>
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// M301 - Set PID parameters P I and D
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// M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
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// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
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// M304 - Set bed PID parameters P I and D
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// M400 - Finish all moves
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// M401 - Lower z-probe if present
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// M402 - Raise z-probe if present
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// M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
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// M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
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// M406 - Turn off Filament Sensor extrusion control
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// M407 - Displays measured filament diameter
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// M500 - stores parameters in EEPROM
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// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
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// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
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// M503 - print the current settings (from memory not from EEPROM). Use S0 to leave off headings.
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// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
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// M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
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// M665 - set delta configurations
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// M666 - set delta endstop adjustment
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// M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
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// M907 - Set digital trimpot motor current using axis codes.
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// M908 - Control digital trimpot directly.
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// M350 - Set microstepping mode.
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// M351 - Toggle MS1 MS2 pins directly.
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// ************ SCARA Specific - This can change to suit future G-code regulations
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// M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
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// M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
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// M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
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// M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
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// M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
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// M365 - SCARA calibration: Scaling factor, X, Y, Z axis
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//************* SCARA End ***************
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// M928 - Start SD logging (M928 filename.g) - ended by M29
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// M999 - Restart after being stopped by error
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//Stepper Movement Variables
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//===========================================================================
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//=============================imported variables============================
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//===========================================================================
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//===========================================================================
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//=============================public variables=============================
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//===========================================================================
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#ifdef SDSUPPORT
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CardReader card;
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#endif
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float homing_feedrate[] = HOMING_FEEDRATE;
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bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
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int feedmultiply=100; //100->1 200->2
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int saved_feedmultiply;
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int extrudemultiply=100; //100->1 200->2
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int extruder_multiply[EXTRUDERS] = {100
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#if EXTRUDERS > 1
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, 100
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#if EXTRUDERS > 2
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, 100
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#if EXTRUDERS > 3
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, 100
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#endif
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#endif
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#endif
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};
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bool volumetric_enabled = false;
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float filament_size[EXTRUDERS] = { DEFAULT_NOMINAL_FILAMENT_DIA
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#if EXTRUDERS > 1
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, DEFAULT_NOMINAL_FILAMENT_DIA
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#if EXTRUDERS > 2
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, DEFAULT_NOMINAL_FILAMENT_DIA
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#if EXTRUDERS > 3
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, DEFAULT_NOMINAL_FILAMENT_DIA
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#endif
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#endif
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#endif
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};
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float volumetric_multiplier[EXTRUDERS] = {1.0
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#if EXTRUDERS > 1
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, 1.0
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#if EXTRUDERS > 2
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, 1.0
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#if EXTRUDERS > 3
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, 1.0
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#endif
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#endif
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#endif
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};
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float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
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float add_homing[3]={0,0,0};
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#ifdef DELTA
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float endstop_adj[3]={0,0,0};
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#endif
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float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
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float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
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bool axis_known_position[3] = {false, false, false};
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float zprobe_zoffset;
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// Extruder offset
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#if EXTRUDERS > 1
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#ifndef DUAL_X_CARRIAGE
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#define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
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#else
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#define NUM_EXTRUDER_OFFSETS 3 // supports offsets in XYZ plane
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#endif
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float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
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#if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
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EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
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#endif
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};
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#endif
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uint8_t active_extruder = 0;
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int fanSpeed=0;
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#ifdef SERVO_ENDSTOPS
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int servo_endstops[] = SERVO_ENDSTOPS;
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int servo_endstop_angles[] = SERVO_ENDSTOP_ANGLES;
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#endif
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#ifdef BARICUDA
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int ValvePressure=0;
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int EtoPPressure=0;
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#endif
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#ifdef FWRETRACT
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bool autoretract_enabled=false;
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bool retracted[EXTRUDERS]={false
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#if EXTRUDERS > 1
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, false
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#if EXTRUDERS > 2
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, false
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#if EXTRUDERS > 3
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, false
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#endif
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#endif
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#endif
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};
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bool retracted_swap[EXTRUDERS]={false
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#if EXTRUDERS > 1
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, false
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#if EXTRUDERS > 2
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, false
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#if EXTRUDERS > 3
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, false
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#endif
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#endif
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#endif
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};
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float retract_length = RETRACT_LENGTH;
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float retract_length_swap = RETRACT_LENGTH_SWAP;
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float retract_feedrate = RETRACT_FEEDRATE;
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float retract_zlift = RETRACT_ZLIFT;
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float retract_recover_length = RETRACT_RECOVER_LENGTH;
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float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
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float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
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#endif // FWRETRACT
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#ifdef ULTIPANEL
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#ifdef PS_DEFAULT_OFF
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bool powersupply = false;
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#else
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bool powersupply = true;
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#endif
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#endif
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#ifdef DELTA
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float delta[3] = {0.0, 0.0, 0.0};
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#define SIN_60 0.8660254037844386
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#define COS_60 0.5
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// these are the default values, can be overriden with M665
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float delta_radius= DELTA_RADIUS;
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float delta_tower1_x= -SIN_60*delta_radius; // front left tower
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float delta_tower1_y= -COS_60*delta_radius;
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float delta_tower2_x= SIN_60*delta_radius; // front right tower
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float delta_tower2_y= -COS_60*delta_radius;
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float delta_tower3_x= 0.0; // back middle tower
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float delta_tower3_y= delta_radius;
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float delta_diagonal_rod= DELTA_DIAGONAL_ROD;
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float delta_diagonal_rod_2= sq(delta_diagonal_rod);
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float delta_segments_per_second= DELTA_SEGMENTS_PER_SECOND;
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#endif
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#ifdef SCARA // Build size scaling
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float axis_scaling[3]={1,1,1}; // Build size scaling, default to 1
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#endif
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bool cancel_heatup = false ;
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#ifdef FILAMENT_SENSOR
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//Variables for Filament Sensor input
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float filament_width_nominal=DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
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bool filament_sensor=false; //M405 turns on filament_sensor control, M406 turns it off
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float filament_width_meas=DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter
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signed char measurement_delay[MAX_MEASUREMENT_DELAY+1]; //ring buffer to delay measurement store extruder factor after subtracting 100
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int delay_index1=0; //index into ring buffer
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int delay_index2=-1; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
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float delay_dist=0; //delay distance counter
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int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
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#endif
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const char errormagic[] PROGMEM = "Error:";
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const char echomagic[] PROGMEM = "echo:";
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//===========================================================================
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//=============================Private Variables=============================
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//===========================================================================
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const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
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static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
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#ifndef DELTA
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static float delta[3] = {0.0, 0.0, 0.0};
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#endif
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static float offset[3] = {0.0, 0.0, 0.0};
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static bool home_all_axis = true;
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static float feedrate = 1500.0, next_feedrate, saved_feedrate;
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static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
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static bool relative_mode = false; //Determines Absolute or Relative Coordinates
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static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
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static bool fromsd[BUFSIZE];
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static int bufindr = 0;
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static int bufindw = 0;
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static int buflen = 0;
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//static int i = 0;
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static char serial_char;
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static int serial_count = 0;
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static boolean comment_mode = false;
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static char *strchr_pointer; // just a pointer to find chars in the command string like X, Y, Z, E, etc
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const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
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//static float tt = 0;
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//static float bt = 0;
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//Inactivity shutdown variables
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static unsigned long previous_millis_cmd = 0;
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static unsigned long max_inactive_time = 0;
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static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
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unsigned long starttime=0;
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unsigned long stoptime=0;
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static uint8_t tmp_extruder;
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bool Stopped=false;
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#if NUM_SERVOS > 0
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Servo servos[NUM_SERVOS];
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#endif
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bool CooldownNoWait = true;
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bool target_direction;
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//Insert variables if CHDK is defined
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#ifdef CHDK
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unsigned long chdkHigh = 0;
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boolean chdkActive = false;
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#endif
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//===========================================================================
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//=============================Routines======================================
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//===========================================================================
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void get_arc_coordinates();
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bool setTargetedHotend(int code);
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void serial_echopair_P(const char *s_P, float v)
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{ serialprintPGM(s_P); SERIAL_ECHO(v); }
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void serial_echopair_P(const char *s_P, double v)
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{ serialprintPGM(s_P); SERIAL_ECHO(v); }
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void serial_echopair_P(const char *s_P, unsigned long v)
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{ serialprintPGM(s_P); SERIAL_ECHO(v); }
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#ifdef 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
|
|
|
|
//adds an command to the main command buffer
|
|
//thats really done in a non-safe way.
|
|
//needs overworking someday
|
|
void enquecommand(const char *cmd)
|
|
{
|
|
if(buflen < BUFSIZE)
|
|
{
|
|
//this is dangerous if a mixing of serial and this happens
|
|
strcpy(&(cmdbuffer[bufindw][0]),cmd);
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM(MSG_Enqueing);
|
|
SERIAL_ECHO(cmdbuffer[bufindw]);
|
|
SERIAL_ECHOLNPGM("\"");
|
|
bufindw= (bufindw + 1)%BUFSIZE;
|
|
buflen += 1;
|
|
}
|
|
}
|
|
|
|
void enquecommand_P(const char *cmd)
|
|
{
|
|
if(buflen < BUFSIZE)
|
|
{
|
|
//this is dangerous if a mixing of serial and this happens
|
|
strcpy_P(&(cmdbuffer[bufindw][0]),cmd);
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM(MSG_Enqueing);
|
|
SERIAL_ECHO(cmdbuffer[bufindw]);
|
|
SERIAL_ECHOLNPGM("\"");
|
|
bufindw= (bufindw + 1)%BUFSIZE;
|
|
buflen += 1;
|
|
}
|
|
}
|
|
|
|
void setup_killpin()
|
|
{
|
|
#if defined(KILL_PIN) && KILL_PIN > -1
|
|
SET_INPUT(KILL_PIN);
|
|
WRITE(KILL_PIN,HIGH);
|
|
#endif
|
|
}
|
|
|
|
// Set home pin
|
|
void setup_homepin(void)
|
|
{
|
|
#if defined(HOME_PIN) && HOME_PIN > -1
|
|
SET_INPUT(HOME_PIN);
|
|
WRITE(HOME_PIN,HIGH);
|
|
#endif
|
|
}
|
|
|
|
|
|
void setup_photpin()
|
|
{
|
|
#if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
|
|
SET_OUTPUT(PHOTOGRAPH_PIN);
|
|
WRITE(PHOTOGRAPH_PIN, LOW);
|
|
#endif
|
|
}
|
|
|
|
void setup_powerhold()
|
|
{
|
|
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
|
|
SET_OUTPUT(SUICIDE_PIN);
|
|
WRITE(SUICIDE_PIN, HIGH);
|
|
#endif
|
|
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
|
|
SET_OUTPUT(PS_ON_PIN);
|
|
#if defined(PS_DEFAULT_OFF)
|
|
WRITE(PS_ON_PIN, PS_ON_ASLEEP);
|
|
#else
|
|
WRITE(PS_ON_PIN, PS_ON_AWAKE);
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
void suicide()
|
|
{
|
|
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
|
|
SET_OUTPUT(SUICIDE_PIN);
|
|
WRITE(SUICIDE_PIN, LOW);
|
|
#endif
|
|
}
|
|
|
|
void servo_init()
|
|
{
|
|
#if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
|
|
servos[0].attach(SERVO0_PIN);
|
|
#endif
|
|
#if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
|
|
servos[1].attach(SERVO1_PIN);
|
|
#endif
|
|
#if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
|
|
servos[2].attach(SERVO2_PIN);
|
|
#endif
|
|
#if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
|
|
servos[3].attach(SERVO3_PIN);
|
|
#endif
|
|
#if (NUM_SERVOS >= 5)
|
|
#error "TODO: enter initalisation code for more servos"
|
|
#endif
|
|
|
|
// Set position of Servo Endstops that are defined
|
|
#ifdef SERVO_ENDSTOPS
|
|
for(int8_t i = 0; i < 3; i++)
|
|
{
|
|
if(servo_endstops[i] > -1) {
|
|
servos[servo_endstops[i]].write(servo_endstop_angles[i * 2 + 1]);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
|
|
delay(PROBE_SERVO_DEACTIVATION_DELAY);
|
|
servos[servo_endstops[Z_AXIS]].detach();
|
|
#endif
|
|
}
|
|
|
|
|
|
void setup()
|
|
{
|
|
setup_killpin();
|
|
setup_powerhold();
|
|
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(STRING_VERSION);
|
|
#ifdef STRING_VERSION_CONFIG_H
|
|
#ifdef STRING_CONFIG_H_AUTHOR
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
|
|
SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
|
|
SERIAL_ECHOPGM(MSG_AUTHOR);
|
|
SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
|
|
SERIAL_ECHOPGM("Compiled: ");
|
|
SERIAL_ECHOLNPGM(__DATE__);
|
|
#endif // STRING_CONFIG_H_AUTHOR
|
|
#endif // STRING_VERSION_CONFIG_H
|
|
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);
|
|
for(int8_t i = 0; i < BUFSIZE; i++)
|
|
{
|
|
fromsd[i] = false;
|
|
}
|
|
|
|
// loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
|
|
Config_RetrieveSettings();
|
|
|
|
tp_init(); // Initialize temperature loop
|
|
plan_init(); // Initialize planner;
|
|
watchdog_init();
|
|
st_init(); // Initialize stepper, this enables interrupts!
|
|
setup_photpin();
|
|
servo_init();
|
|
|
|
|
|
lcd_init();
|
|
_delay_ms(1000); // wait 1sec to display the splash screen
|
|
|
|
#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
|
|
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
|
|
#endif
|
|
|
|
#ifdef DIGIPOT_I2C
|
|
digipot_i2c_init();
|
|
#endif
|
|
#ifdef Z_PROBE_SLED
|
|
pinMode(SERVO0_PIN, OUTPUT);
|
|
digitalWrite(SERVO0_PIN, LOW); // turn it off
|
|
#endif // Z_PROBE_SLED
|
|
setup_homepin();
|
|
}
|
|
|
|
|
|
void loop()
|
|
{
|
|
if(buflen < (BUFSIZE-1))
|
|
get_command();
|
|
#ifdef SDSUPPORT
|
|
card.checkautostart(false);
|
|
#endif
|
|
if(buflen)
|
|
{
|
|
#ifdef SDSUPPORT
|
|
if(card.saving)
|
|
{
|
|
if(strstr_P(cmdbuffer[bufindr], PSTR("M29")) == NULL)
|
|
{
|
|
card.write_command(cmdbuffer[bufindr]);
|
|
if(card.logging)
|
|
{
|
|
process_commands();
|
|
}
|
|
else
|
|
{
|
|
SERIAL_PROTOCOLLNPGM(MSG_OK);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
card.closefile();
|
|
SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
process_commands();
|
|
}
|
|
#else
|
|
process_commands();
|
|
#endif //SDSUPPORT
|
|
buflen = (buflen-1);
|
|
bufindr = (bufindr + 1)%BUFSIZE;
|
|
}
|
|
//check heater every n milliseconds
|
|
manage_heater();
|
|
manage_inactivity();
|
|
checkHitEndstops();
|
|
lcd_update();
|
|
}
|
|
|
|
void get_command()
|
|
{
|
|
while( MYSERIAL.available() > 0 && buflen < BUFSIZE) {
|
|
serial_char = MYSERIAL.read();
|
|
if(serial_char == '\n' ||
|
|
serial_char == '\r' ||
|
|
(serial_char == ':' && comment_mode == false) ||
|
|
serial_count >= (MAX_CMD_SIZE - 1) )
|
|
{
|
|
if(!serial_count) { //if empty line
|
|
comment_mode = false; //for new command
|
|
return;
|
|
}
|
|
cmdbuffer[bufindw][serial_count] = 0; //terminate string
|
|
if(!comment_mode){
|
|
comment_mode = false; //for new command
|
|
fromsd[bufindw] = false;
|
|
if(strchr(cmdbuffer[bufindw], 'N') != NULL)
|
|
{
|
|
strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
|
|
gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
|
|
if(gcode_N != gcode_LastN+1 && (strstr_P(cmdbuffer[bufindw], PSTR("M110")) == NULL) ) {
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERRORPGM(MSG_ERR_LINE_NO);
|
|
SERIAL_ERRORLN(gcode_LastN);
|
|
//Serial.println(gcode_N);
|
|
FlushSerialRequestResend();
|
|
serial_count = 0;
|
|
return;
|
|
}
|
|
|
|
if(strchr(cmdbuffer[bufindw], '*') != NULL)
|
|
{
|
|
byte checksum = 0;
|
|
byte count = 0;
|
|
while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
|
|
strchr_pointer = strchr(cmdbuffer[bufindw], '*');
|
|
|
|
if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH);
|
|
SERIAL_ERRORLN(gcode_LastN);
|
|
FlushSerialRequestResend();
|
|
serial_count = 0;
|
|
return;
|
|
}
|
|
//if no errors, continue parsing
|
|
}
|
|
else
|
|
{
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
|
|
SERIAL_ERRORLN(gcode_LastN);
|
|
FlushSerialRequestResend();
|
|
serial_count = 0;
|
|
return;
|
|
}
|
|
|
|
gcode_LastN = gcode_N;
|
|
//if no errors, continue parsing
|
|
}
|
|
else // if we don't receive 'N' but still see '*'
|
|
{
|
|
if((strchr(cmdbuffer[bufindw], '*') != NULL))
|
|
{
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
|
|
SERIAL_ERRORLN(gcode_LastN);
|
|
serial_count = 0;
|
|
return;
|
|
}
|
|
}
|
|
if((strchr(cmdbuffer[bufindw], 'G') != NULL)){
|
|
strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
|
|
switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
|
|
case 0:
|
|
case 1:
|
|
case 2:
|
|
case 3:
|
|
if (Stopped == true) {
|
|
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
|
|
LCD_MESSAGEPGM(MSG_STOPPED);
|
|
}
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
|
|
}
|
|
|
|
//If command was e-stop process now
|
|
if(strcmp(cmdbuffer[bufindw], "M112") == 0)
|
|
kill();
|
|
|
|
bufindw = (bufindw + 1)%BUFSIZE;
|
|
buflen += 1;
|
|
}
|
|
serial_count = 0; //clear buffer
|
|
}
|
|
else
|
|
{
|
|
if(serial_char == ';') comment_mode = true;
|
|
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
|
|
}
|
|
}
|
|
#ifdef SDSUPPORT
|
|
if(!card.sdprinting || serial_count!=0){
|
|
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 ran dry.
|
|
// this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing
|
|
|
|
static bool stop_buffering=false;
|
|
if(buflen==0) stop_buffering=false;
|
|
|
|
while( !card.eof() && buflen < BUFSIZE && !stop_buffering) {
|
|
int16_t n=card.get();
|
|
serial_char = (char)n;
|
|
if(serial_char == '\n' ||
|
|
serial_char == '\r' ||
|
|
(serial_char == '#' && comment_mode == false) ||
|
|
(serial_char == ':' && comment_mode == false) ||
|
|
serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
|
|
{
|
|
if(card.eof()){
|
|
SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
|
|
stoptime=millis();
|
|
char time[30];
|
|
unsigned long t=(stoptime-starttime)/1000;
|
|
int hours, minutes;
|
|
minutes=(t/60)%60;
|
|
hours=t/60/60;
|
|
sprintf_P(time, PSTR("%i hours %i minutes"),hours, minutes);
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLN(time);
|
|
lcd_setstatus(time);
|
|
card.printingHasFinished();
|
|
card.checkautostart(true);
|
|
|
|
}
|
|
if(serial_char=='#')
|
|
stop_buffering=true;
|
|
|
|
if(!serial_count)
|
|
{
|
|
comment_mode = false; //for new command
|
|
return; //if empty line
|
|
}
|
|
cmdbuffer[bufindw][serial_count] = 0; //terminate string
|
|
// if(!comment_mode){
|
|
fromsd[bufindw] = true;
|
|
buflen += 1;
|
|
bufindw = (bufindw + 1)%BUFSIZE;
|
|
// }
|
|
comment_mode = false; //for new command
|
|
serial_count = 0; //clear buffer
|
|
}
|
|
else
|
|
{
|
|
if(serial_char == ';') comment_mode = true;
|
|
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
|
|
}
|
|
}
|
|
|
|
#endif //SDSUPPORT
|
|
|
|
}
|
|
|
|
|
|
float code_value()
|
|
{
|
|
return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
|
|
}
|
|
|
|
long code_value_long()
|
|
{
|
|
return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
|
|
}
|
|
|
|
bool code_seen(char code)
|
|
{
|
|
strchr_pointer = strchr(cmdbuffer[bufindr], code);
|
|
return (strchr_pointer != NULL); //Return True if a character 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_retract_mm, HOME_RETRACT_MM);
|
|
XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
|
|
|
|
#ifdef DUAL_X_CARRIAGE
|
|
#if EXTRUDERS == 1 || defined(COREXY) \
|
|
|| !defined(X2_ENABLE_PIN) || !defined(X2_STEP_PIN) || !defined(X2_DIR_PIN) \
|
|
|| !defined(X2_HOME_POS) || !defined(X2_MIN_POS) || !defined(X2_MAX_POS) \
|
|
|| !defined(X_MAX_PIN) || X_MAX_PIN < 0
|
|
#error "Missing or invalid definitions for DUAL_X_CARRIAGE mode."
|
|
#endif
|
|
#if X_HOME_DIR != -1 || X2_HOME_DIR != 1
|
|
#error "Please use canonical x-carriage assignment" // the x-carriages are defined by their homing directions
|
|
#endif
|
|
|
|
#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) + add_homing[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 unsigned long 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
|
|
|
|
static void axis_is_at_home(int axis) {
|
|
#ifdef DUAL_X_CARRIAGE
|
|
if (axis == X_AXIS) {
|
|
if (active_extruder != 0) {
|
|
current_position[X_AXIS] = x_home_pos(active_extruder);
|
|
min_pos[X_AXIS] = X2_MIN_POS;
|
|
max_pos[X_AXIS] = max(extruder_offset[X_AXIS][1], X2_MAX_POS);
|
|
return;
|
|
}
|
|
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
|
|
current_position[X_AXIS] = base_home_pos(X_AXIS) + add_homing[X_AXIS];
|
|
min_pos[X_AXIS] = base_min_pos(X_AXIS) + add_homing[X_AXIS];
|
|
max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + add_homing[X_AXIS],
|
|
max(extruder_offset[X_AXIS][1], X2_MAX_POS) - duplicate_extruder_x_offset);
|
|
return;
|
|
}
|
|
}
|
|
#endif
|
|
#ifdef SCARA
|
|
float homeposition[3];
|
|
char i;
|
|
|
|
if (axis < 2)
|
|
{
|
|
|
|
for (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 (i=0; i<2; i++)
|
|
{
|
|
delta[i] -= add_homing[i];
|
|
}
|
|
|
|
// SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(add_homing[X_AXIS]);
|
|
// SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(add_homing[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
|
|
{
|
|
current_position[axis] = base_home_pos(axis) + add_homing[axis];
|
|
min_pos[axis] = base_min_pos(axis) + add_homing[axis];
|
|
max_pos[axis] = base_max_pos(axis) + add_homing[axis];
|
|
}
|
|
#else
|
|
current_position[axis] = base_home_pos(axis) + add_homing[axis];
|
|
min_pos[axis] = base_min_pos(axis) + add_homing[axis];
|
|
max_pos[axis] = base_max_pos(axis) + add_homing[axis];
|
|
#endif
|
|
}
|
|
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
#ifdef AUTO_BED_LEVELING_GRID
|
|
static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
|
|
{
|
|
vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
|
|
planeNormal.debug("planeNormal");
|
|
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
|
|
//bedLevel.debug("bedLevel");
|
|
|
|
//plan_bed_level_matrix.debug("bed level before");
|
|
//vector_3 uncorrected_position = plan_get_position_mm();
|
|
//uncorrected_position.debug("position before");
|
|
|
|
vector_3 corrected_position = plan_get_position();
|
|
// corrected_position.debug("position after");
|
|
current_position[X_AXIS] = corrected_position.x;
|
|
current_position[Y_AXIS] = corrected_position.y;
|
|
current_position[Z_AXIS] = corrected_position.z;
|
|
|
|
// put the bed at 0 so we don't go below it.
|
|
current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
|
|
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
}
|
|
|
|
#else // not 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 from_2_to_1 = (pt1 - pt2).get_normal();
|
|
vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
|
|
vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
|
|
planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
|
|
|
|
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;
|
|
|
|
// put the bed at 0 so we don't go below it.
|
|
current_position[Z_AXIS] = zprobe_zoffset;
|
|
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
|
}
|
|
|
|
#endif // AUTO_BED_LEVELING_GRID
|
|
|
|
static void run_z_probe() {
|
|
plan_bed_level_matrix.set_to_identity();
|
|
feedrate = homing_feedrate[Z_AXIS];
|
|
|
|
// move down until you find the bed
|
|
float zPosition = -10;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
|
|
// we have to let the planner know where we are right now as it is not where we said to go.
|
|
zPosition = st_get_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_retract_mm(Z_AXIS);
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
|
|
// move back down slowly to find bed
|
|
feedrate = homing_feedrate[Z_AXIS]/4;
|
|
zPosition -= home_retract_mm(Z_AXIS) * 2;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
|
|
current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
|
|
// make sure the planner knows where we are as it may be a bit different than we last said to move to
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
}
|
|
|
|
static void do_blocking_move_to(float x, float y, float z) {
|
|
float oldFeedRate = feedrate;
|
|
|
|
feedrate = homing_feedrate[Z_AXIS];
|
|
|
|
current_position[Z_AXIS] = z;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
|
|
feedrate = XY_TRAVEL_SPEED;
|
|
|
|
current_position[X_AXIS] = x;
|
|
current_position[Y_AXIS] = y;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
|
|
feedrate = oldFeedRate;
|
|
}
|
|
|
|
static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
|
|
do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
|
|
}
|
|
|
|
static void setup_for_endstop_move() {
|
|
saved_feedrate = feedrate;
|
|
saved_feedmultiply = feedmultiply;
|
|
feedmultiply = 100;
|
|
previous_millis_cmd = millis();
|
|
|
|
enable_endstops(true);
|
|
}
|
|
|
|
static void clean_up_after_endstop_move() {
|
|
#ifdef ENDSTOPS_ONLY_FOR_HOMING
|
|
enable_endstops(false);
|
|
#endif
|
|
|
|
feedrate = saved_feedrate;
|
|
feedmultiply = saved_feedmultiply;
|
|
previous_millis_cmd = millis();
|
|
}
|
|
|
|
static void engage_z_probe() {
|
|
// Engage Z Servo endstop if enabled
|
|
#ifdef SERVO_ENDSTOPS
|
|
if (servo_endstops[Z_AXIS] > -1) {
|
|
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
|
|
servos[servo_endstops[Z_AXIS]].attach(0);
|
|
#endif
|
|
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2]);
|
|
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
|
|
delay(PROBE_SERVO_DEACTIVATION_DELAY);
|
|
servos[servo_endstops[Z_AXIS]].detach();
|
|
#endif
|
|
}
|
|
#endif
|
|
}
|
|
|
|
static void retract_z_probe() {
|
|
// Retract Z Servo endstop if enabled
|
|
#ifdef SERVO_ENDSTOPS
|
|
if (servo_endstops[Z_AXIS] > -1) {
|
|
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
|
|
servos[servo_endstops[Z_AXIS]].attach(0);
|
|
#endif
|
|
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
|
|
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
|
|
delay(PROBE_SERVO_DEACTIVATION_DELAY);
|
|
servos[servo_endstops[Z_AXIS]].detach();
|
|
#endif
|
|
}
|
|
#endif
|
|
}
|
|
|
|
/// Probe bed height at position (x,y), returns the measured z value
|
|
static float probe_pt(float x, float y, float z_before, int retract_action=0) {
|
|
// move to right place
|
|
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
|
|
do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
|
|
|
|
#ifndef Z_PROBE_SLED
|
|
if ((retract_action==0) || (retract_action==1))
|
|
engage_z_probe(); // Engage Z Servo endstop if available
|
|
#endif // Z_PROBE_SLED
|
|
run_z_probe();
|
|
float measured_z = current_position[Z_AXIS];
|
|
#ifndef Z_PROBE_SLED
|
|
if ((retract_action==0) || (retract_action==3))
|
|
retract_z_probe();
|
|
#endif // Z_PROBE_SLED
|
|
|
|
SERIAL_PROTOCOLPGM(MSG_BED);
|
|
SERIAL_PROTOCOLPGM(" x: ");
|
|
SERIAL_PROTOCOL(x);
|
|
SERIAL_PROTOCOLPGM(" y: ");
|
|
SERIAL_PROTOCOL(y);
|
|
SERIAL_PROTOCOLPGM(" z: ");
|
|
SERIAL_PROTOCOL(measured_z);
|
|
SERIAL_PROTOCOLPGM("\n");
|
|
return measured_z;
|
|
}
|
|
|
|
#endif // #ifdef ENABLE_AUTO_BED_LEVELING
|
|
|
|
static void homeaxis(int axis) {
|
|
#define HOMEAXIS_DO(LETTER) \
|
|
((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
|
|
|
|
if (axis==X_AXIS ? HOMEAXIS_DO(X) :
|
|
axis==Y_AXIS ? HOMEAXIS_DO(Y) :
|
|
axis==Z_AXIS ? HOMEAXIS_DO(Z) :
|
|
0) {
|
|
int axis_home_dir = home_dir(axis);
|
|
#ifdef DUAL_X_CARRIAGE
|
|
if (axis == X_AXIS)
|
|
axis_home_dir = x_home_dir(active_extruder);
|
|
#endif
|
|
|
|
current_position[axis] = 0;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
|
|
|
#ifndef Z_PROBE_SLED
|
|
// Engage Servo endstop if enabled
|
|
#ifdef SERVO_ENDSTOPS
|
|
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
|
|
if (axis==Z_AXIS) {
|
|
engage_z_probe();
|
|
}
|
|
else
|
|
#endif
|
|
if (servo_endstops[axis] > -1) {
|
|
servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
|
|
}
|
|
#endif
|
|
#endif // Z_PROBE_SLED
|
|
destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
|
|
feedrate = homing_feedrate[axis];
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
|
|
current_position[axis] = 0;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
destination[axis] = -home_retract_mm(axis) * axis_home_dir;
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
|
|
destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
|
|
#ifdef DELTA
|
|
feedrate = homing_feedrate[axis]/10;
|
|
#else
|
|
feedrate = homing_feedrate[axis]/2 ;
|
|
#endif
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
#ifdef DELTA
|
|
// retrace by the amount specified in endstop_adj
|
|
if (endstop_adj[axis] * axis_home_dir < 0) {
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
destination[axis] = endstop_adj[axis];
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
}
|
|
#endif
|
|
axis_is_at_home(axis);
|
|
destination[axis] = current_position[axis];
|
|
feedrate = 0.0;
|
|
endstops_hit_on_purpose();
|
|
axis_known_position[axis] = true;
|
|
|
|
// Retract Servo endstop if enabled
|
|
#ifdef SERVO_ENDSTOPS
|
|
if (servo_endstops[axis] > -1) {
|
|
servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]);
|
|
}
|
|
#endif
|
|
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
|
|
#ifndef Z_PROBE_SLED
|
|
if (axis==Z_AXIS) retract_z_probe();
|
|
#endif
|
|
#endif
|
|
|
|
}
|
|
}
|
|
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
|
|
|
|
void refresh_cmd_timeout(void)
|
|
{
|
|
previous_millis_cmd = millis();
|
|
}
|
|
|
|
#ifdef FWRETRACT
|
|
void retract(bool retracting, bool swapretract = false) {
|
|
if(retracting && !retracted[active_extruder]) {
|
|
destination[X_AXIS]=current_position[X_AXIS];
|
|
destination[Y_AXIS]=current_position[Y_AXIS];
|
|
destination[Z_AXIS]=current_position[Z_AXIS];
|
|
destination[E_AXIS]=current_position[E_AXIS];
|
|
if (swapretract) {
|
|
current_position[E_AXIS]+=retract_length_swap/volumetric_multiplier[active_extruder];
|
|
} else {
|
|
current_position[E_AXIS]+=retract_length/volumetric_multiplier[active_extruder];
|
|
}
|
|
plan_set_e_position(current_position[E_AXIS]);
|
|
float oldFeedrate = feedrate;
|
|
feedrate=retract_feedrate*60;
|
|
retracted[active_extruder]=true;
|
|
prepare_move();
|
|
if(retract_zlift > 0.01) {
|
|
current_position[Z_AXIS]-=retract_zlift;
|
|
#ifdef DELTA
|
|
calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
|
|
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
|
|
#else
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
#endif
|
|
prepare_move();
|
|
}
|
|
feedrate = oldFeedrate;
|
|
} else if(!retracting && retracted[active_extruder]) {
|
|
destination[X_AXIS]=current_position[X_AXIS];
|
|
destination[Y_AXIS]=current_position[Y_AXIS];
|
|
destination[Z_AXIS]=current_position[Z_AXIS];
|
|
destination[E_AXIS]=current_position[E_AXIS];
|
|
if(retract_zlift > 0.01) {
|
|
current_position[Z_AXIS]+=retract_zlift;
|
|
#ifdef DELTA
|
|
calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
|
|
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
|
|
#else
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
#endif
|
|
//prepare_move();
|
|
}
|
|
if (swapretract) {
|
|
current_position[E_AXIS]-=(retract_length_swap+retract_recover_length_swap)/volumetric_multiplier[active_extruder];
|
|
} else {
|
|
current_position[E_AXIS]-=(retract_length+retract_recover_length)/volumetric_multiplier[active_extruder];
|
|
}
|
|
plan_set_e_position(current_position[E_AXIS]);
|
|
float oldFeedrate = feedrate;
|
|
feedrate=retract_recover_feedrate*60;
|
|
retracted[active_extruder]=false;
|
|
prepare_move();
|
|
feedrate = oldFeedrate;
|
|
}
|
|
} //retract
|
|
#endif //FWRETRACT
|
|
|
|
#ifdef Z_PROBE_SLED
|
|
//
|
|
// 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) {
|
|
int z_loc;
|
|
|
|
if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
|
|
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
|
|
return;
|
|
}
|
|
|
|
if (dock) {
|
|
do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset,
|
|
current_position[Y_AXIS],
|
|
current_position[Z_AXIS]);
|
|
// turn off magnet
|
|
digitalWrite(SERVO0_PIN, LOW);
|
|
} else {
|
|
if (current_position[Z_AXIS] < (Z_RAISE_BEFORE_PROBING + 5))
|
|
z_loc = Z_RAISE_BEFORE_PROBING;
|
|
else
|
|
z_loc = current_position[Z_AXIS];
|
|
do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset,
|
|
Y_PROBE_OFFSET_FROM_EXTRUDER, z_loc);
|
|
// turn on magnet
|
|
digitalWrite(SERVO0_PIN, HIGH);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
void process_commands()
|
|
{
|
|
unsigned long codenum; //throw away variable
|
|
char *starpos = NULL;
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
float x_tmp, y_tmp, z_tmp, real_z;
|
|
#endif
|
|
if(code_seen('G'))
|
|
{
|
|
switch((int)code_value())
|
|
{
|
|
case 0: // G0 -> G1
|
|
case 1: // G1
|
|
if(Stopped == false) {
|
|
get_coordinates(); // For X Y Z E F
|
|
#ifdef FWRETRACT
|
|
if(autoretract_enabled)
|
|
if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
|
|
float echange=destination[E_AXIS]-current_position[E_AXIS];
|
|
if((echange<-MIN_RETRACT && !retracted) || (echange>MIN_RETRACT && retracted)) { //move appears to be an attempt to retract or recover
|
|
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);
|
|
return;
|
|
}
|
|
}
|
|
#endif //FWRETRACT
|
|
prepare_move();
|
|
//ClearToSend();
|
|
}
|
|
break;
|
|
#ifndef SCARA //disable arc support
|
|
case 2: // G2 - CW ARC
|
|
if(Stopped == false) {
|
|
get_arc_coordinates();
|
|
prepare_arc_move(true);
|
|
}
|
|
break;
|
|
case 3: // G3 - CCW ARC
|
|
if(Stopped == false) {
|
|
get_arc_coordinates();
|
|
prepare_arc_move(false);
|
|
}
|
|
break;
|
|
#endif
|
|
case 4: // G4 dwell
|
|
LCD_MESSAGEPGM(MSG_DWELL);
|
|
codenum = 0;
|
|
if(code_seen('P')) codenum = code_value(); // milliseconds to wait
|
|
if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
|
|
|
|
st_synchronize();
|
|
codenum += millis(); // keep track of when we started waiting
|
|
previous_millis_cmd = millis();
|
|
while(millis() < codenum) {
|
|
manage_heater();
|
|
manage_inactivity();
|
|
lcd_update();
|
|
}
|
|
break;
|
|
#ifdef FWRETRACT
|
|
case 10: // G10 retract
|
|
#if EXTRUDERS > 1
|
|
retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
|
|
retract(true,retracted_swap[active_extruder]);
|
|
#else
|
|
retract(true);
|
|
#endif
|
|
break;
|
|
case 11: // G11 retract_recover
|
|
#if EXTRUDERS > 1
|
|
retract(false,retracted_swap[active_extruder]);
|
|
#else
|
|
retract(false);
|
|
#endif
|
|
break;
|
|
#endif //FWRETRACT
|
|
case 28: //G28 Home all Axis one at a time
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
|
|
#endif //ENABLE_AUTO_BED_LEVELING
|
|
|
|
saved_feedrate = feedrate;
|
|
saved_feedmultiply = feedmultiply;
|
|
feedmultiply = 100;
|
|
previous_millis_cmd = millis();
|
|
|
|
enable_endstops(true);
|
|
|
|
for(int8_t i=0; i < NUM_AXIS; i++) {
|
|
destination[i] = current_position[i];
|
|
}
|
|
feedrate = 0.0;
|
|
|
|
#ifdef DELTA
|
|
// A delta can only safely home all axis at the same time
|
|
// all axis have to home at the same time
|
|
|
|
// Move all carriages up together until the first endstop is hit.
|
|
current_position[X_AXIS] = 0;
|
|
current_position[Y_AXIS] = 0;
|
|
current_position[Z_AXIS] = 0;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
|
destination[X_AXIS] = 3 * Z_MAX_LENGTH;
|
|
destination[Y_AXIS] = 3 * Z_MAX_LENGTH;
|
|
destination[Z_AXIS] = 3 * Z_MAX_LENGTH;
|
|
feedrate = 1.732 * homing_feedrate[X_AXIS];
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
endstops_hit_on_purpose();
|
|
|
|
current_position[X_AXIS] = destination[X_AXIS];
|
|
current_position[Y_AXIS] = destination[Y_AXIS];
|
|
current_position[Z_AXIS] = destination[Z_AXIS];
|
|
|
|
// take care of back off and rehome now we are all at the top
|
|
HOMEAXIS(X);
|
|
HOMEAXIS(Y);
|
|
HOMEAXIS(Z);
|
|
|
|
calculate_delta(current_position);
|
|
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
|
|
|
|
#else // NOT DELTA
|
|
|
|
home_all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS])));
|
|
|
|
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
|
|
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
|
|
HOMEAXIS(Z);
|
|
}
|
|
#endif
|
|
|
|
#ifdef QUICK_HOME
|
|
if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) ) //first diagonal move
|
|
{
|
|
current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
|
|
|
|
#ifndef DUAL_X_CARRIAGE
|
|
int x_axis_home_dir = home_dir(X_AXIS);
|
|
#else
|
|
int x_axis_home_dir = x_home_dir(active_extruder);
|
|
extruder_duplication_enabled = false;
|
|
#endif
|
|
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
|
|
feedrate = homing_feedrate[X_AXIS];
|
|
if(homing_feedrate[Y_AXIS]<feedrate)
|
|
feedrate = homing_feedrate[Y_AXIS];
|
|
if (max_length(X_AXIS) > max_length(Y_AXIS)) {
|
|
feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
|
|
} else {
|
|
feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
|
|
}
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
|
|
axis_is_at_home(X_AXIS);
|
|
axis_is_at_home(Y_AXIS);
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
destination[X_AXIS] = current_position[X_AXIS];
|
|
destination[Y_AXIS] = current_position[Y_AXIS];
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
feedrate = 0.0;
|
|
st_synchronize();
|
|
endstops_hit_on_purpose();
|
|
|
|
current_position[X_AXIS] = destination[X_AXIS];
|
|
current_position[Y_AXIS] = destination[Y_AXIS];
|
|
#ifndef SCARA
|
|
current_position[Z_AXIS] = destination[Z_AXIS];
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
|
|
{
|
|
#ifdef 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((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
|
|
HOMEAXIS(Y);
|
|
}
|
|
|
|
if(code_seen(axis_codes[X_AXIS]))
|
|
{
|
|
if(code_value_long() != 0) {
|
|
#ifdef SCARA
|
|
current_position[X_AXIS]=code_value();
|
|
#else
|
|
current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
|
|
#endif
|
|
}
|
|
}
|
|
|
|
if(code_seen(axis_codes[Y_AXIS])) {
|
|
if(code_value_long() != 0) {
|
|
#ifdef SCARA
|
|
current_position[Y_AXIS]=code_value();
|
|
#else
|
|
current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
|
|
#endif
|
|
}
|
|
}
|
|
|
|
#if Z_HOME_DIR < 0 // If homing towards BED do Z last
|
|
#ifndef Z_SAFE_HOMING
|
|
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
|
|
#if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
|
|
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
|
|
feedrate = max_feedrate[Z_AXIS];
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
|
st_synchronize();
|
|
#endif
|
|
HOMEAXIS(Z);
|
|
}
|
|
#else // Z Safe mode activated.
|
|
if(home_all_axis) {
|
|
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] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
|
|
feedrate = XY_TRAVEL_SPEED/60;
|
|
current_position[Z_AXIS] = 0;
|
|
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
|
st_synchronize();
|
|
current_position[X_AXIS] = destination[X_AXIS];
|
|
current_position[Y_AXIS] = destination[Y_AXIS];
|
|
|
|
HOMEAXIS(Z);
|
|
}
|
|
// Let's see if X and Y are homed and probe is inside bed area.
|
|
if(code_seen(axis_codes[Z_AXIS])) {
|
|
if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
|
|
&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
|
|
&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
|
|
&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
|
|
&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
|
|
|
|
current_position[Z_AXIS] = 0;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
|
|
feedrate = max_feedrate[Z_AXIS];
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
|
st_synchronize();
|
|
|
|
HOMEAXIS(Z);
|
|
} else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
|
|
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
|
|
} else {
|
|
LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
|
|
}
|
|
}
|
|
#endif
|
|
#endif
|
|
|
|
|
|
|
|
if(code_seen(axis_codes[Z_AXIS])) {
|
|
if(code_value_long() != 0) {
|
|
current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
|
|
}
|
|
}
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
|
|
current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
|
|
}
|
|
#endif
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
#endif // else DELTA
|
|
|
|
#ifdef SCARA
|
|
calculate_delta(current_position);
|
|
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
|
|
#endif // SCARA
|
|
|
|
#ifdef ENDSTOPS_ONLY_FOR_HOMING
|
|
enable_endstops(false);
|
|
#endif
|
|
|
|
feedrate = saved_feedrate;
|
|
feedmultiply = saved_feedmultiply;
|
|
previous_millis_cmd = millis();
|
|
endstops_hit_on_purpose();
|
|
break;
|
|
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
|
|
{
|
|
#if Z_MIN_PIN == -1
|
|
#error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature!!! Z_MIN_PIN must point to a valid hardware pin."
|
|
#endif
|
|
|
|
// Prevent user from running a G29 without first homing in X and Y
|
|
if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
|
|
{
|
|
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
|
|
break; // abort G29, since we don't know where we are
|
|
}
|
|
|
|
#ifdef Z_PROBE_SLED
|
|
dock_sled(false);
|
|
#endif // Z_PROBE_SLED
|
|
st_synchronize();
|
|
// make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
|
|
//vector_3 corrected_position = plan_get_position_mm();
|
|
//corrected_position.debug("position before G29");
|
|
plan_bed_level_matrix.set_to_identity();
|
|
vector_3 uncorrected_position = plan_get_position();
|
|
//uncorrected_position.debug("position durring G29");
|
|
current_position[X_AXIS] = uncorrected_position.x;
|
|
current_position[Y_AXIS] = uncorrected_position.y;
|
|
current_position[Z_AXIS] = uncorrected_position.z;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
setup_for_endstop_move();
|
|
|
|
feedrate = homing_feedrate[Z_AXIS];
|
|
#ifdef AUTO_BED_LEVELING_GRID
|
|
// probe at the points of a lattice grid
|
|
|
|
int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
|
|
int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
|
|
|
|
|
|
// 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
|
|
|
|
// "A" matrix of the linear system of equations
|
|
double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
|
|
// "B" vector of Z points
|
|
double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
|
|
|
|
|
|
int probePointCounter = 0;
|
|
bool zig = true;
|
|
|
|
for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
|
|
{
|
|
int xProbe, xInc;
|
|
if (zig)
|
|
{
|
|
xProbe = LEFT_PROBE_BED_POSITION;
|
|
//xEnd = RIGHT_PROBE_BED_POSITION;
|
|
xInc = xGridSpacing;
|
|
zig = false;
|
|
} else // zag
|
|
{
|
|
xProbe = RIGHT_PROBE_BED_POSITION;
|
|
//xEnd = LEFT_PROBE_BED_POSITION;
|
|
xInc = -xGridSpacing;
|
|
zig = true;
|
|
}
|
|
|
|
for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
|
|
{
|
|
float z_before;
|
|
if (probePointCounter == 0)
|
|
{
|
|
// raise before probing
|
|
z_before = Z_RAISE_BEFORE_PROBING;
|
|
} else
|
|
{
|
|
// raise extruder
|
|
z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
|
|
}
|
|
|
|
float measured_z;
|
|
//Enhanced G29 - Do not retract servo between probes
|
|
if (code_seen('E') || code_seen('e') )
|
|
{
|
|
if ((yProbe==FRONT_PROBE_BED_POSITION) && (xCount==0))
|
|
{
|
|
measured_z = probe_pt(xProbe, yProbe, z_before,1);
|
|
} else if ((yProbe==FRONT_PROBE_BED_POSITION + (yGridSpacing * (AUTO_BED_LEVELING_GRID_POINTS-1))) && (xCount == AUTO_BED_LEVELING_GRID_POINTS-1))
|
|
{
|
|
measured_z = probe_pt(xProbe, yProbe, z_before,3);
|
|
} else {
|
|
measured_z = probe_pt(xProbe, yProbe, z_before,2);
|
|
}
|
|
} else {
|
|
measured_z = probe_pt(xProbe, yProbe, z_before);
|
|
}
|
|
|
|
eqnBVector[probePointCounter] = measured_z;
|
|
|
|
eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
|
|
eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
|
|
eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
|
|
probePointCounter++;
|
|
xProbe += xInc;
|
|
}
|
|
}
|
|
clean_up_after_endstop_move();
|
|
|
|
// solve lsq problem
|
|
double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
|
|
|
|
SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
|
|
SERIAL_PROTOCOL(plane_equation_coefficients[0]);
|
|
SERIAL_PROTOCOLPGM(" b: ");
|
|
SERIAL_PROTOCOL(plane_equation_coefficients[1]);
|
|
SERIAL_PROTOCOLPGM(" d: ");
|
|
SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
|
|
|
|
|
|
set_bed_level_equation_lsq(plane_equation_coefficients);
|
|
|
|
free(plane_equation_coefficients);
|
|
|
|
#else // AUTO_BED_LEVELING_GRID not defined
|
|
|
|
// Probe at 3 arbitrary points
|
|
// Enhanced G29
|
|
|
|
float z_at_pt_1,z_at_pt_2,z_at_pt_3;
|
|
|
|
if (code_seen('E') || code_seen('e') )
|
|
{
|
|
// probe 1
|
|
z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING,1);
|
|
// probe 2
|
|
z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,2);
|
|
// probe 3
|
|
z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,3);
|
|
}
|
|
else
|
|
{
|
|
// probe 1
|
|
float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
|
|
|
|
// probe 2
|
|
float z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
|
|
|
|
// probe 3
|
|
float z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
|
|
}
|
|
clean_up_after_endstop_move();
|
|
|
|
set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
|
|
|
|
|
|
#endif // AUTO_BED_LEVELING_GRID
|
|
st_synchronize();
|
|
|
|
// The following code correct the Z height difference from z-probe position and hotend tip position.
|
|
// The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
|
|
// When the bed is uneven, this height must be corrected.
|
|
real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
|
|
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];
|
|
|
|
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
|
|
current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
#ifdef Z_PROBE_SLED
|
|
dock_sled(true, -SLED_DOCKING_OFFSET); // correct for over travel.
|
|
#endif // Z_PROBE_SLED
|
|
}
|
|
break;
|
|
#ifndef Z_PROBE_SLED
|
|
case 30: // G30 Single Z Probe
|
|
{
|
|
engage_z_probe(); // Engage Z Servo endstop if available
|
|
st_synchronize();
|
|
// TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
|
|
setup_for_endstop_move();
|
|
|
|
feedrate = homing_feedrate[Z_AXIS];
|
|
|
|
run_z_probe();
|
|
SERIAL_PROTOCOLPGM(MSG_BED);
|
|
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("\n");
|
|
|
|
clean_up_after_endstop_move();
|
|
retract_z_probe(); // Retract Z Servo endstop if available
|
|
}
|
|
break;
|
|
#else
|
|
case 31: // dock the sled
|
|
dock_sled(true);
|
|
break;
|
|
case 32: // undock the sled
|
|
dock_sled(false);
|
|
break;
|
|
#endif // Z_PROBE_SLED
|
|
#endif // ENABLE_AUTO_BED_LEVELING
|
|
case 90: // G90
|
|
relative_mode = false;
|
|
break;
|
|
case 91: // G91
|
|
relative_mode = true;
|
|
break;
|
|
case 92: // G92
|
|
if(!code_seen(axis_codes[E_AXIS]))
|
|
st_synchronize();
|
|
for(int8_t i=0; i < NUM_AXIS; i++) {
|
|
if(code_seen(axis_codes[i])) {
|
|
if(i == E_AXIS) {
|
|
current_position[i] = code_value();
|
|
plan_set_e_position(current_position[E_AXIS]);
|
|
}
|
|
else {
|
|
#ifdef SCARA
|
|
if (i == X_AXIS || i == Y_AXIS) {
|
|
current_position[i] = code_value();
|
|
}
|
|
else {
|
|
current_position[i] = code_value()+add_homing[i];
|
|
}
|
|
#else
|
|
current_position[i] = code_value()+add_homing[i];
|
|
#endif
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
|
|
else if(code_seen('M'))
|
|
{
|
|
switch( (int)code_value() )
|
|
{
|
|
#ifdef 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
|
|
{
|
|
char *src = strchr_pointer + 2;
|
|
|
|
codenum = 0;
|
|
|
|
bool hasP = false, hasS = false;
|
|
if (code_seen('P')) {
|
|
codenum = code_value(); // milliseconds to wait
|
|
hasP = codenum > 0;
|
|
}
|
|
if (code_seen('S')) {
|
|
codenum = code_value() * 1000; // seconds to wait
|
|
hasS = codenum > 0;
|
|
}
|
|
starpos = strchr(src, '*');
|
|
if (starpos != NULL) *(starpos) = '\0';
|
|
while (*src == ' ') ++src;
|
|
if (!hasP && !hasS && *src != '\0') {
|
|
lcd_setstatus(src);
|
|
} else {
|
|
LCD_MESSAGEPGM(MSG_USERWAIT);
|
|
}
|
|
|
|
lcd_ignore_click();
|
|
st_synchronize();
|
|
previous_millis_cmd = millis();
|
|
if (codenum > 0){
|
|
codenum += millis(); // keep track of when we started waiting
|
|
while(millis() < codenum && !lcd_clicked()){
|
|
manage_heater();
|
|
manage_inactivity();
|
|
lcd_update();
|
|
}
|
|
lcd_ignore_click(false);
|
|
}else{
|
|
if (!lcd_detected())
|
|
break;
|
|
while(!lcd_clicked()){
|
|
manage_heater();
|
|
manage_inactivity();
|
|
lcd_update();
|
|
}
|
|
}
|
|
if (IS_SD_PRINTING)
|
|
LCD_MESSAGEPGM(MSG_RESUMING);
|
|
else
|
|
LCD_MESSAGEPGM(WELCOME_MSG);
|
|
}
|
|
break;
|
|
#endif
|
|
case 17:
|
|
LCD_MESSAGEPGM(MSG_NO_MOVE);
|
|
enable_x();
|
|
enable_y();
|
|
enable_z();
|
|
enable_e0();
|
|
enable_e1();
|
|
enable_e2();
|
|
break;
|
|
|
|
#ifdef SDSUPPORT
|
|
case 20: // M20 - list SD card
|
|
SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
|
|
card.ls();
|
|
SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
|
|
break;
|
|
case 21: // M21 - init SD card
|
|
|
|
card.initsd();
|
|
|
|
break;
|
|
case 22: //M22 - release SD card
|
|
card.release();
|
|
|
|
break;
|
|
case 23: //M23 - Select file
|
|
starpos = (strchr(strchr_pointer + 4,'*'));
|
|
if(starpos!=NULL)
|
|
*(starpos)='\0';
|
|
card.openFile(strchr_pointer + 4,true);
|
|
break;
|
|
case 24: //M24 - Start SD print
|
|
card.startFileprint();
|
|
starttime=millis();
|
|
break;
|
|
case 25: //M25 - Pause SD print
|
|
card.pauseSDPrint();
|
|
break;
|
|
case 26: //M26 - Set SD index
|
|
if(card.cardOK && code_seen('S')) {
|
|
card.setIndex(code_value_long());
|
|
}
|
|
break;
|
|
case 27: //M27 - Get SD status
|
|
card.getStatus();
|
|
break;
|
|
case 28: //M28 - Start SD write
|
|
starpos = (strchr(strchr_pointer + 4,'*'));
|
|
if(starpos != NULL){
|
|
char* npos = strchr(cmdbuffer[bufindr], 'N');
|
|
strchr_pointer = strchr(npos,' ') + 1;
|
|
*(starpos) = '\0';
|
|
}
|
|
card.openFile(strchr_pointer+4,false);
|
|
break;
|
|
case 29: //M29 - Stop SD write
|
|
//processed in write to file routine above
|
|
//card,saving = false;
|
|
break;
|
|
case 30: //M30 <filename> Delete File
|
|
if (card.cardOK){
|
|
card.closefile();
|
|
starpos = (strchr(strchr_pointer + 4,'*'));
|
|
if(starpos != NULL){
|
|
char* npos = strchr(cmdbuffer[bufindr], 'N');
|
|
strchr_pointer = strchr(npos,' ') + 1;
|
|
*(starpos) = '\0';
|
|
}
|
|
card.removeFile(strchr_pointer + 4);
|
|
}
|
|
break;
|
|
case 32: //M32 - Select file and start SD print
|
|
{
|
|
if(card.sdprinting) {
|
|
st_synchronize();
|
|
|
|
}
|
|
starpos = (strchr(strchr_pointer + 4,'*'));
|
|
|
|
char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
|
|
if(namestartpos==NULL)
|
|
{
|
|
namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
|
|
}
|
|
else
|
|
namestartpos++; //to skip the '!'
|
|
|
|
if(starpos!=NULL)
|
|
*(starpos)='\0';
|
|
|
|
bool call_procedure=(code_seen('P'));
|
|
|
|
if(strchr_pointer>namestartpos)
|
|
call_procedure=false; //false alert, 'P' found within filename
|
|
|
|
if( card.cardOK )
|
|
{
|
|
card.openFile(namestartpos,true,!call_procedure);
|
|
if(code_seen('S'))
|
|
if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
|
|
card.setIndex(code_value_long());
|
|
card.startFileprint();
|
|
if(!call_procedure)
|
|
starttime=millis(); //procedure calls count as normal print time.
|
|
}
|
|
} break;
|
|
case 928: //M928 - Start SD write
|
|
starpos = (strchr(strchr_pointer + 5,'*'));
|
|
if(starpos != NULL){
|
|
char* npos = strchr(cmdbuffer[bufindr], 'N');
|
|
strchr_pointer = strchr(npos,' ') + 1;
|
|
*(starpos) = '\0';
|
|
}
|
|
card.openLogFile(strchr_pointer+5);
|
|
break;
|
|
|
|
#endif //SDSUPPORT
|
|
|
|
case 31: //M31 take time since the start of the SD print or an M109 command
|
|
{
|
|
stoptime=millis();
|
|
char time[30];
|
|
unsigned long t=(stoptime-starttime)/1000;
|
|
int sec,min;
|
|
min=t/60;
|
|
sec=t%60;
|
|
sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLN(time);
|
|
lcd_setstatus(time);
|
|
autotempShutdown();
|
|
}
|
|
break;
|
|
case 42: //M42 -Change pin status via gcode
|
|
if (code_seen('S'))
|
|
{
|
|
int pin_status = code_value();
|
|
int pin_number = LED_PIN;
|
|
if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
|
|
pin_number = code_value();
|
|
for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
|
|
{
|
|
if (sensitive_pins[i] == pin_number)
|
|
{
|
|
pin_number = -1;
|
|
break;
|
|
}
|
|
}
|
|
#if defined(FAN_PIN) && FAN_PIN > -1
|
|
if (pin_number == FAN_PIN)
|
|
fanSpeed = pin_status;
|
|
#endif
|
|
if (pin_number > -1)
|
|
{
|
|
pinMode(pin_number, OUTPUT);
|
|
digitalWrite(pin_number, pin_status);
|
|
analogWrite(pin_number, pin_status);
|
|
}
|
|
}
|
|
break;
|
|
|
|
// M48 Z-Probe repeatability measurement function.
|
|
//
|
|
// Usage: M48 <n #_samples> <X X_position_for_samples> <Y Y_position_for_samples> <V Verbose_Level> <Engage_probe_for_each_reading> <L legs_of_movement_prior_to_doing_probe>
|
|
//
|
|
// This function assumes the bed has been homed. Specificaly, 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.
|
|
//
|
|
// The number of samples will default to 10 if not specified. You can use upper or lower case
|
|
// letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
|
|
// N for its communication protocol and will get horribly confused if you send it a capital N.
|
|
//
|
|
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
#ifdef Z_PROBE_REPEATABILITY_TEST
|
|
|
|
case 48: // M48 Z-Probe repeatability
|
|
{
|
|
#if Z_MIN_PIN == -1
|
|
#error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
|
|
#endif
|
|
|
|
double sum=0.0;
|
|
double mean=0.0;
|
|
double sigma=0.0;
|
|
double sample_set[50];
|
|
int verbose_level=1, n=0, j, n_samples = 10, n_legs=0, engage_probe_for_each_reading=0 ;
|
|
double X_current, Y_current, Z_current;
|
|
double X_probe_location, Y_probe_location, Z_start_location, ext_position;
|
|
|
|
if (code_seen('V') || code_seen('v')) {
|
|
verbose_level = code_value();
|
|
if (verbose_level<0 || verbose_level>4 ) {
|
|
SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
|
|
goto Sigma_Exit;
|
|
}
|
|
}
|
|
|
|
if (verbose_level > 0) {
|
|
SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
|
|
SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
|
|
}
|
|
|
|
if (code_seen('n')) {
|
|
n_samples = code_value();
|
|
if (n_samples<4 || n_samples>50 ) {
|
|
SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
|
|
goto Sigma_Exit;
|
|
}
|
|
}
|
|
|
|
X_current = X_probe_location = st_get_position_mm(X_AXIS);
|
|
Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
|
|
Z_current = st_get_position_mm(Z_AXIS);
|
|
Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
|
|
ext_position = st_get_position_mm(E_AXIS);
|
|
|
|
if (code_seen('E') || code_seen('e') )
|
|
engage_probe_for_each_reading++;
|
|
|
|
if (code_seen('X') || code_seen('x') ) {
|
|
X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
|
|
if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
|
|
SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
|
|
goto Sigma_Exit;
|
|
}
|
|
}
|
|
|
|
if (code_seen('Y') || code_seen('y') ) {
|
|
Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
|
|
if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
|
|
SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
|
|
goto Sigma_Exit;
|
|
}
|
|
}
|
|
|
|
if (code_seen('L') || code_seen('l') ) {
|
|
n_legs = code_value();
|
|
if ( n_legs==1 )
|
|
n_legs = 2;
|
|
if ( n_legs<0 || n_legs>15 ) {
|
|
SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
|
|
goto Sigma_Exit;
|
|
}
|
|
}
|
|
|
|
//
|
|
// Do all the preliminary setup work. First raise the probe.
|
|
//
|
|
|
|
st_synchronize();
|
|
plan_bed_level_matrix.set_to_identity();
|
|
plan_buffer_line( X_current, Y_current, Z_start_location,
|
|
ext_position,
|
|
homing_feedrate[Z_AXIS]/60,
|
|
active_extruder);
|
|
st_synchronize();
|
|
|
|
//
|
|
// 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_PROTOCOL("Positioning probe for the test.\n");
|
|
|
|
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
|
|
ext_position,
|
|
homing_feedrate[X_AXIS]/60,
|
|
active_extruder);
|
|
st_synchronize();
|
|
|
|
current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
|
|
current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
|
|
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
|
|
current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
|
|
|
|
//
|
|
// OK, do the inital probe to get us close to the bed.
|
|
// Then retrace the right amount and use that in subsequent probes
|
|
//
|
|
|
|
engage_z_probe();
|
|
|
|
setup_for_endstop_move();
|
|
run_z_probe();
|
|
|
|
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
|
|
Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
|
|
|
|
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
|
|
ext_position,
|
|
homing_feedrate[X_AXIS]/60,
|
|
active_extruder);
|
|
st_synchronize();
|
|
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
|
|
|
|
if (engage_probe_for_each_reading)
|
|
retract_z_probe();
|
|
|
|
for( n=0; n<n_samples; n++) {
|
|
|
|
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
|
|
|
|
if ( n_legs) {
|
|
double radius=0.0, theta=0.0, x_sweep, y_sweep;
|
|
int rotational_direction, l;
|
|
|
|
rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
|
|
radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
|
|
theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
|
|
|
|
//SERIAL_ECHOPAIR("starting radius: ",radius);
|
|
//SERIAL_ECHOPAIR(" theta: ",theta);
|
|
//SERIAL_ECHOPAIR(" direction: ",rotational_direction);
|
|
//SERIAL_PROTOCOLLNPGM("");
|
|
|
|
for( l=0; l<n_legs-1; l++) {
|
|
if (rotational_direction==1)
|
|
theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
|
|
else
|
|
theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
|
|
|
|
radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
|
|
if ( radius<0.0 )
|
|
radius = -radius;
|
|
|
|
X_current = X_probe_location + cos(theta) * radius;
|
|
Y_current = Y_probe_location + sin(theta) * radius;
|
|
|
|
if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
|
|
X_current = X_MIN_POS;
|
|
if ( X_current>X_MAX_POS)
|
|
X_current = X_MAX_POS;
|
|
|
|
if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
|
|
Y_current = Y_MIN_POS;
|
|
if ( Y_current>Y_MAX_POS)
|
|
Y_current = Y_MAX_POS;
|
|
|
|
if (verbose_level>3 ) {
|
|
SERIAL_ECHOPAIR("x: ", X_current);
|
|
SERIAL_ECHOPAIR("y: ", Y_current);
|
|
SERIAL_PROTOCOLLNPGM("");
|
|
}
|
|
|
|
do_blocking_move_to( X_current, Y_current, Z_current );
|
|
}
|
|
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
|
|
}
|
|
|
|
if (engage_probe_for_each_reading) {
|
|
engage_z_probe();
|
|
delay(1000);
|
|
}
|
|
|
|
setup_for_endstop_move();
|
|
run_z_probe();
|
|
|
|
sample_set[n] = current_position[Z_AXIS];
|
|
|
|
//
|
|
// Get the current mean for the data points we have so far
|
|
//
|
|
sum=0.0;
|
|
for( j=0; j<=n; j++) {
|
|
sum = sum + sample_set[j];
|
|
}
|
|
mean = sum / (double (n+1));
|
|
//
|
|
// Now, use that mean to calculate the standard deviation for the
|
|
// data points we have so far
|
|
//
|
|
|
|
sum=0.0;
|
|
for( j=0; j<=n; j++) {
|
|
sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
|
|
}
|
|
sigma = sqrt( sum / (double (n+1)) );
|
|
|
|
if (verbose_level > 1) {
|
|
SERIAL_PROTOCOL(n+1);
|
|
SERIAL_PROTOCOL(" of ");
|
|
SERIAL_PROTOCOL(n_samples);
|
|
SERIAL_PROTOCOLPGM(" z: ");
|
|
SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
|
|
}
|
|
|
|
if (verbose_level > 2) {
|
|
SERIAL_PROTOCOL(" mean: ");
|
|
SERIAL_PROTOCOL_F(mean,6);
|
|
|
|
SERIAL_PROTOCOL(" sigma: ");
|
|
SERIAL_PROTOCOL_F(sigma,6);
|
|
}
|
|
|
|
if (verbose_level > 0)
|
|
SERIAL_PROTOCOLPGM("\n");
|
|
|
|
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
|
|
current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
|
|
st_synchronize();
|
|
|
|
if (engage_probe_for_each_reading) {
|
|
retract_z_probe();
|
|
delay(1000);
|
|
}
|
|
}
|
|
|
|
retract_z_probe();
|
|
delay(1000);
|
|
|
|
clean_up_after_endstop_move();
|
|
|
|
// enable_endstops(true);
|
|
|
|
if (verbose_level > 0) {
|
|
SERIAL_PROTOCOLPGM("Mean: ");
|
|
SERIAL_PROTOCOL_F(mean, 6);
|
|
SERIAL_PROTOCOLPGM("\n");
|
|
}
|
|
|
|
SERIAL_PROTOCOLPGM("Standard Deviation: ");
|
|
SERIAL_PROTOCOL_F(sigma, 6);
|
|
SERIAL_PROTOCOLPGM("\n\n");
|
|
|
|
Sigma_Exit:
|
|
break;
|
|
}
|
|
#endif // Z_PROBE_REPEATABILITY_TEST
|
|
#endif // ENABLE_AUTO_BED_LEVELING
|
|
|
|
case 104: // M104
|
|
if(setTargetedHotend(104)){
|
|
break;
|
|
}
|
|
if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
|
|
#ifdef DUAL_X_CARRIAGE
|
|
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
|
|
setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
|
|
#endif
|
|
setWatch();
|
|
break;
|
|
case 112: // M112 -Emergency Stop
|
|
kill();
|
|
break;
|
|
case 140: // M140 set bed temp
|
|
if (code_seen('S')) setTargetBed(code_value());
|
|
break;
|
|
case 105 : // M105
|
|
if(setTargetedHotend(105)){
|
|
break;
|
|
}
|
|
#if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
|
|
SERIAL_PROTOCOLPGM("ok T:");
|
|
SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
|
|
SERIAL_PROTOCOLPGM(" /");
|
|
SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
|
|
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
|
|
SERIAL_PROTOCOLPGM(" B:");
|
|
SERIAL_PROTOCOL_F(degBed(),1);
|
|
SERIAL_PROTOCOLPGM(" /");
|
|
SERIAL_PROTOCOL_F(degTargetBed(),1);
|
|
#endif //TEMP_BED_PIN
|
|
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
|
|
SERIAL_PROTOCOLPGM(" T");
|
|
SERIAL_PROTOCOL(cur_extruder);
|
|
SERIAL_PROTOCOLPGM(":");
|
|
SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
|
|
SERIAL_PROTOCOLPGM(" /");
|
|
SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
|
|
}
|
|
#else
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
|
|
#endif
|
|
|
|
SERIAL_PROTOCOLPGM(" @:");
|
|
#ifdef EXTRUDER_WATTS
|
|
SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
|
|
SERIAL_PROTOCOLPGM("W");
|
|
#else
|
|
SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
|
|
#endif
|
|
|
|
SERIAL_PROTOCOLPGM(" B@:");
|
|
#ifdef BED_WATTS
|
|
SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
|
|
SERIAL_PROTOCOLPGM("W");
|
|
#else
|
|
SERIAL_PROTOCOL(getHeaterPower(-1));
|
|
#endif
|
|
|
|
#ifdef SHOW_TEMP_ADC_VALUES
|
|
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
|
|
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_PROTOCOLPGM(":");
|
|
SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
|
|
SERIAL_PROTOCOLPGM("C->");
|
|
SERIAL_PROTOCOL_F(rawHotendTemp(cur_extruder)/OVERSAMPLENR,0);
|
|
}
|
|
#endif
|
|
|
|
SERIAL_PROTOCOLLN("");
|
|
return;
|
|
break;
|
|
case 109:
|
|
{// M109 - Wait for extruder heater to reach target.
|
|
if(setTargetedHotend(109)){
|
|
break;
|
|
}
|
|
LCD_MESSAGEPGM(MSG_HEATING);
|
|
#ifdef AUTOTEMP
|
|
autotemp_enabled=false;
|
|
#endif
|
|
if (code_seen('S')) {
|
|
setTargetHotend(code_value(), tmp_extruder);
|
|
#ifdef DUAL_X_CARRIAGE
|
|
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
|
|
setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
|
|
#endif
|
|
CooldownNoWait = true;
|
|
} else if (code_seen('R')) {
|
|
setTargetHotend(code_value(), tmp_extruder);
|
|
#ifdef DUAL_X_CARRIAGE
|
|
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
|
|
setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
|
|
#endif
|
|
CooldownNoWait = false;
|
|
}
|
|
#ifdef AUTOTEMP
|
|
if (code_seen('S')) autotemp_min=code_value();
|
|
if (code_seen('B')) autotemp_max=code_value();
|
|
if (code_seen('F'))
|
|
{
|
|
autotemp_factor=code_value();
|
|
autotemp_enabled=true;
|
|
}
|
|
#endif
|
|
|
|
setWatch();
|
|
codenum = millis();
|
|
|
|
/* See if we are heating up or cooling down */
|
|
target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
|
|
|
|
cancel_heatup = false;
|
|
|
|
#ifdef TEMP_RESIDENCY_TIME
|
|
long residencyStart;
|
|
residencyStart = -1;
|
|
/* continue to loop until we have reached the target temp
|
|
_and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
|
|
while((!cancel_heatup)&&((residencyStart == -1) ||
|
|
(residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL)))) ) {
|
|
#else
|
|
while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) {
|
|
#endif //TEMP_RESIDENCY_TIME
|
|
if( (millis() - codenum) > 1000UL )
|
|
{ //Print Temp Reading and remaining time every 1 second while heating up/cooling down
|
|
SERIAL_PROTOCOLPGM("T:");
|
|
SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
|
|
SERIAL_PROTOCOLPGM(" E:");
|
|
SERIAL_PROTOCOL((int)tmp_extruder);
|
|
#ifdef TEMP_RESIDENCY_TIME
|
|
SERIAL_PROTOCOLPGM(" W:");
|
|
if(residencyStart > -1)
|
|
{
|
|
codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
|
|
SERIAL_PROTOCOLLN( codenum );
|
|
}
|
|
else
|
|
{
|
|
SERIAL_PROTOCOLLN( "?" );
|
|
}
|
|
#else
|
|
SERIAL_PROTOCOLLN("");
|
|
#endif
|
|
codenum = millis();
|
|
}
|
|
manage_heater();
|
|
manage_inactivity();
|
|
lcd_update();
|
|
#ifdef TEMP_RESIDENCY_TIME
|
|
/* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
|
|
or when current temp falls outside the hysteresis after target temp was reached */
|
|
if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
|
|
(residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
|
|
(residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
|
|
{
|
|
residencyStart = millis();
|
|
}
|
|
#endif //TEMP_RESIDENCY_TIME
|
|
}
|
|
LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
|
|
starttime=millis();
|
|
previous_millis_cmd = millis();
|
|
}
|
|
break;
|
|
case 190: // M190 - Wait for bed heater to reach target.
|
|
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
|
|
LCD_MESSAGEPGM(MSG_BED_HEATING);
|
|
if (code_seen('S')) {
|
|
setTargetBed(code_value());
|
|
CooldownNoWait = true;
|
|
} else if (code_seen('R')) {
|
|
setTargetBed(code_value());
|
|
CooldownNoWait = false;
|
|
}
|
|
codenum = millis();
|
|
|
|
cancel_heatup = false;
|
|
target_direction = isHeatingBed(); // true if heating, false if cooling
|
|
|
|
while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
|
|
{
|
|
if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
|
|
{
|
|
float tt=degHotend(active_extruder);
|
|
SERIAL_PROTOCOLPGM("T:");
|
|
SERIAL_PROTOCOL(tt);
|
|
SERIAL_PROTOCOLPGM(" E:");
|
|
SERIAL_PROTOCOL((int)active_extruder);
|
|
SERIAL_PROTOCOLPGM(" B:");
|
|
SERIAL_PROTOCOL_F(degBed(),1);
|
|
SERIAL_PROTOCOLLN("");
|
|
codenum = millis();
|
|
}
|
|
manage_heater();
|
|
manage_inactivity();
|
|
lcd_update();
|
|
}
|
|
LCD_MESSAGEPGM(MSG_BED_DONE);
|
|
previous_millis_cmd = millis();
|
|
#endif
|
|
break;
|
|
|
|
#if defined(FAN_PIN) && FAN_PIN > -1
|
|
case 106: //M106 Fan On
|
|
if (code_seen('S')){
|
|
fanSpeed=constrain(code_value(),0,255);
|
|
}
|
|
else {
|
|
fanSpeed=255;
|
|
}
|
|
break;
|
|
case 107: //M107 Fan Off
|
|
fanSpeed = 0;
|
|
break;
|
|
#endif //FAN_PIN
|
|
#ifdef BARICUDA
|
|
// PWM for HEATER_1_PIN
|
|
#if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
|
|
case 126: //M126 valve open
|
|
if (code_seen('S')){
|
|
ValvePressure=constrain(code_value(),0,255);
|
|
}
|
|
else {
|
|
ValvePressure=255;
|
|
}
|
|
break;
|
|
case 127: //M127 valve closed
|
|
ValvePressure = 0;
|
|
break;
|
|
#endif //HEATER_1_PIN
|
|
|
|
// PWM for HEATER_2_PIN
|
|
#if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
|
|
case 128: //M128 valve open
|
|
if (code_seen('S')){
|
|
EtoPPressure=constrain(code_value(),0,255);
|
|
}
|
|
else {
|
|
EtoPPressure=255;
|
|
}
|
|
break;
|
|
case 129: //M129 valve closed
|
|
EtoPPressure = 0;
|
|
break;
|
|
#endif //HEATER_2_PIN
|
|
#endif
|
|
|
|
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
|
|
case 80: // M80 - Turn on Power Supply
|
|
SET_OUTPUT(PS_ON_PIN); //GND
|
|
WRITE(PS_ON_PIN, PS_ON_AWAKE);
|
|
|
|
// 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 defined SUICIDE_PIN && SUICIDE_PIN > -1
|
|
SET_OUTPUT(SUICIDE_PIN);
|
|
WRITE(SUICIDE_PIN, HIGH);
|
|
#endif
|
|
|
|
#ifdef ULTIPANEL
|
|
powersupply = true;
|
|
LCD_MESSAGEPGM(WELCOME_MSG);
|
|
lcd_update();
|
|
#endif
|
|
break;
|
|
#endif
|
|
|
|
case 81: // M81 - Turn off Power Supply
|
|
disable_heater();
|
|
st_synchronize();
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
finishAndDisableSteppers();
|
|
fanSpeed = 0;
|
|
delay(1000); // Wait a little before to switch off
|
|
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
|
|
st_synchronize();
|
|
suicide();
|
|
#elif defined(PS_ON_PIN) && PS_ON_PIN > -1
|
|
SET_OUTPUT(PS_ON_PIN);
|
|
WRITE(PS_ON_PIN, PS_ON_ASLEEP);
|
|
#endif
|
|
#ifdef ULTIPANEL
|
|
powersupply = false;
|
|
LCD_MESSAGEPGM(MACHINE_NAME" "MSG_OFF".");
|
|
lcd_update();
|
|
#endif
|
|
break;
|
|
|
|
case 82:
|
|
axis_relative_modes[3] = false;
|
|
break;
|
|
case 83:
|
|
axis_relative_modes[3] = true;
|
|
break;
|
|
case 18: //compatibility
|
|
case 84: // M84
|
|
if(code_seen('S')){
|
|
stepper_inactive_time = code_value() * 1000;
|
|
}
|
|
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)
|
|
{
|
|
st_synchronize();
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
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();
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
break;
|
|
case 85: // M85
|
|
if(code_seen('S')) {
|
|
max_inactive_time = code_value() * 1000;
|
|
}
|
|
break;
|
|
case 92: // M92
|
|
for(int8_t i=0; i < NUM_AXIS; i++)
|
|
{
|
|
if(code_seen(axis_codes[i]))
|
|
{
|
|
if(i == 3) { // E
|
|
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();
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
case 115: // M115
|
|
SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
|
|
break;
|
|
case 117: // M117 display message
|
|
starpos = (strchr(strchr_pointer + 5,'*'));
|
|
if(starpos!=NULL)
|
|
*(starpos)='\0';
|
|
lcd_setstatus(strchr_pointer + 5);
|
|
break;
|
|
case 114: // 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]);
|
|
|
|
SERIAL_PROTOCOLPGM(MSG_COUNT_X);
|
|
SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
|
|
SERIAL_PROTOCOLPGM(" Y:");
|
|
SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
|
|
SERIAL_PROTOCOLPGM(" Z:");
|
|
SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
|
|
|
|
SERIAL_PROTOCOLLN("");
|
|
#ifdef SCARA
|
|
SERIAL_PROTOCOLPGM("SCARA Theta:");
|
|
SERIAL_PROTOCOL(delta[X_AXIS]);
|
|
SERIAL_PROTOCOLPGM(" Psi+Theta:");
|
|
SERIAL_PROTOCOL(delta[Y_AXIS]);
|
|
SERIAL_PROTOCOLLN("");
|
|
|
|
SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
|
|
SERIAL_PROTOCOL(delta[X_AXIS]+add_homing[X_AXIS]);
|
|
SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
|
|
SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homing[Y_AXIS]);
|
|
SERIAL_PROTOCOLLN("");
|
|
|
|
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_PROTOCOLLN("");
|
|
SERIAL_PROTOCOLLN("");
|
|
#endif
|
|
break;
|
|
case 120: // M120
|
|
enable_endstops(false) ;
|
|
break;
|
|
case 121: // M121
|
|
enable_endstops(true) ;
|
|
break;
|
|
case 119: // M119
|
|
SERIAL_PROTOCOLLN(MSG_M119_REPORT);
|
|
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
|
|
SERIAL_PROTOCOLPGM(MSG_X_MIN);
|
|
SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
|
|
#endif
|
|
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
|
|
SERIAL_PROTOCOLPGM(MSG_X_MAX);
|
|
SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
|
|
#endif
|
|
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
|
|
SERIAL_PROTOCOLPGM(MSG_Y_MIN);
|
|
SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
|
|
#endif
|
|
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
|
|
SERIAL_PROTOCOLPGM(MSG_Y_MAX);
|
|
SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
|
|
#endif
|
|
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
|
|
SERIAL_PROTOCOLPGM(MSG_Z_MIN);
|
|
SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
|
|
#endif
|
|
#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
|
|
SERIAL_PROTOCOLPGM(MSG_Z_MAX);
|
|
SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
|
|
#endif
|
|
break;
|
|
//TODO: update for all axis, use for loop
|
|
#ifdef BLINKM
|
|
case 150: // M150
|
|
{
|
|
byte red;
|
|
byte grn;
|
|
byte blu;
|
|
|
|
if(code_seen('R')) red = code_value();
|
|
if(code_seen('U')) grn = code_value();
|
|
if(code_seen('B')) blu = code_value();
|
|
|
|
SendColors(red,grn,blu);
|
|
}
|
|
break;
|
|
#endif //BLINKM
|
|
case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
|
|
{
|
|
|
|
tmp_extruder = active_extruder;
|
|
if(code_seen('T')) {
|
|
tmp_extruder = code_value();
|
|
if(tmp_extruder >= EXTRUDERS) {
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER);
|
|
break;
|
|
}
|
|
}
|
|
|
|
float area = .0;
|
|
if(code_seen('D')) {
|
|
float diameter = (float)code_value();
|
|
if (diameter == 0.0) {
|
|
// 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 = false;
|
|
} else {
|
|
filament_size[tmp_extruder] = (float)code_value();
|
|
// make sure all extruders have some sane value for the filament size
|
|
filament_size[0] = (filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[0]);
|
|
#if EXTRUDERS > 1
|
|
filament_size[1] = (filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[1]);
|
|
#if EXTRUDERS > 2
|
|
filament_size[2] = (filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[2]);
|
|
#if EXTRUDERS > 3
|
|
filament_size[3] = (filament_size[3] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[3]);
|
|
#endif //EXTRUDERS > 3
|
|
#endif //EXTRUDERS > 2
|
|
#endif //EXTRUDERS > 1
|
|
volumetric_enabled = true;
|
|
}
|
|
} else {
|
|
//reserved for setting filament diameter via UFID or filament measuring device
|
|
break;
|
|
}
|
|
calculate_volumetric_multipliers();
|
|
}
|
|
break;
|
|
case 201: // 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();
|
|
break;
|
|
#if 0 // Not used for Sprinter/grbl gen6
|
|
case 202: // 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];
|
|
}
|
|
break;
|
|
#endif
|
|
case 203: // M203 max feedrate mm/sec
|
|
for(int8_t i=0; i < NUM_AXIS; i++) {
|
|
if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
|
|
}
|
|
break;
|
|
case 204: // M204 acclereration S normal moves T filmanent only moves
|
|
{
|
|
if(code_seen('S')) acceleration = code_value() ;
|
|
if(code_seen('T')) retract_acceleration = code_value() ;
|
|
}
|
|
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
|
|
{
|
|
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() ;
|
|
}
|
|
break;
|
|
case 206: // M206 additional homing offset
|
|
for(int8_t i=0; i < 3; i++)
|
|
{
|
|
if(code_seen(axis_codes[i])) add_homing[i] = code_value();
|
|
}
|
|
#ifdef SCARA
|
|
if(code_seen('T')) // Theta
|
|
{
|
|
add_homing[X_AXIS] = code_value() ;
|
|
}
|
|
if(code_seen('P')) // Psi
|
|
{
|
|
add_homing[Y_AXIS] = code_value() ;
|
|
}
|
|
#endif
|
|
break;
|
|
#ifdef DELTA
|
|
case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
|
|
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();
|
|
}
|
|
|
|
recalc_delta_settings(delta_radius, delta_diagonal_rod);
|
|
break;
|
|
case 666: // M666 set delta endstop adjustemnt
|
|
for(int8_t i=0; i < 3; i++)
|
|
{
|
|
if(code_seen(axis_codes[i])) endstop_adj[i] = code_value();
|
|
}
|
|
break;
|
|
#endif
|
|
#ifdef FWRETRACT
|
|
case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
|
|
{
|
|
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() ;
|
|
}
|
|
}break;
|
|
case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
|
|
{
|
|
if(code_seen('S'))
|
|
{
|
|
retract_recover_length = code_value() ;
|
|
}
|
|
if(code_seen('F'))
|
|
{
|
|
retract_recover_feedrate = code_value()/60 ;
|
|
}
|
|
}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.
|
|
{
|
|
if(code_seen('S'))
|
|
{
|
|
int t= code_value() ;
|
|
switch(t)
|
|
{
|
|
case 0:
|
|
{
|
|
autoretract_enabled=false;
|
|
retracted[0]=false;
|
|
#if EXTRUDERS > 1
|
|
retracted[1]=false;
|
|
#endif
|
|
#if EXTRUDERS > 2
|
|
retracted[2]=false;
|
|
#endif
|
|
#if EXTRUDERS > 3
|
|
retracted[3]=false;
|
|
#endif
|
|
}break;
|
|
case 1:
|
|
{
|
|
autoretract_enabled=true;
|
|
retracted[0]=false;
|
|
#if EXTRUDERS > 1
|
|
retracted[1]=false;
|
|
#endif
|
|
#if EXTRUDERS > 2
|
|
retracted[2]=false;
|
|
#endif
|
|
#if EXTRUDERS > 3
|
|
retracted[3]=false;
|
|
#endif
|
|
}break;
|
|
default:
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
|
|
SERIAL_ECHO(cmdbuffer[bufindr]);
|
|
SERIAL_ECHOLNPGM("\"");
|
|
}
|
|
}
|
|
|
|
}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>
|
|
{
|
|
if(setTargetedHotend(218)){
|
|
break;
|
|
}
|
|
if(code_seen('X'))
|
|
{
|
|
extruder_offset[X_AXIS][tmp_extruder] = code_value();
|
|
}
|
|
if(code_seen('Y'))
|
|
{
|
|
extruder_offset[Y_AXIS][tmp_extruder] = code_value();
|
|
}
|
|
#ifdef DUAL_X_CARRIAGE
|
|
if(code_seen('Z'))
|
|
{
|
|
extruder_offset[Z_AXIS][tmp_extruder] = code_value();
|
|
}
|
|
#endif
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
|
|
for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
|
|
{
|
|
SERIAL_ECHO(" ");
|
|
SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
|
|
SERIAL_ECHO(",");
|
|
SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
|
|
#ifdef DUAL_X_CARRIAGE
|
|
SERIAL_ECHO(",");
|
|
SERIAL_ECHO(extruder_offset[Z_AXIS][tmp_extruder]);
|
|
#endif
|
|
}
|
|
SERIAL_ECHOLN("");
|
|
}break;
|
|
#endif
|
|
case 220: // M220 S<factor in percent>- set speed factor override percentage
|
|
{
|
|
if(code_seen('S'))
|
|
{
|
|
feedmultiply = code_value() ;
|
|
}
|
|
}
|
|
break;
|
|
case 221: // M221 S<factor in percent>- set extrude factor override percentage
|
|
{
|
|
if(code_seen('S'))
|
|
{
|
|
int tmp_code = code_value();
|
|
if (code_seen('T'))
|
|
{
|
|
if(setTargetedHotend(221)){
|
|
break;
|
|
}
|
|
extruder_multiply[tmp_extruder] = tmp_code;
|
|
}
|
|
else
|
|
{
|
|
extrudemultiply = tmp_code ;
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
|
|
case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
|
|
{
|
|
if(code_seen('P')){
|
|
int pin_number = code_value(); // pin number
|
|
int pin_state = -1; // required pin state - default is inverted
|
|
|
|
if(code_seen('S')) pin_state = code_value(); // required pin state
|
|
|
|
if(pin_state >= -1 && pin_state <= 1){
|
|
|
|
for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); 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){
|
|
manage_heater();
|
|
manage_inactivity();
|
|
lcd_update();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
|
|
#if NUM_SERVOS > 0
|
|
case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
|
|
{
|
|
int servo_index = -1;
|
|
int servo_position = 0;
|
|
if (code_seen('P'))
|
|
servo_index = code_value();
|
|
if (code_seen('S')) {
|
|
servo_position = code_value();
|
|
if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
|
|
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
|
|
servos[servo_index].attach(0);
|
|
#endif
|
|
servos[servo_index].write(servo_position);
|
|
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
|
|
delay(PROBE_SERVO_DEACTIVATION_DELAY);
|
|
servos[servo_index].detach();
|
|
#endif
|
|
}
|
|
else {
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHO("Servo ");
|
|
SERIAL_ECHO(servo_index);
|
|
SERIAL_ECHOLN(" out of range");
|
|
}
|
|
}
|
|
else if (servo_index >= 0) {
|
|
SERIAL_PROTOCOL(MSG_OK);
|
|
SERIAL_PROTOCOL(" Servo ");
|
|
SERIAL_PROTOCOL(servo_index);
|
|
SERIAL_PROTOCOL(": ");
|
|
SERIAL_PROTOCOL(servos[servo_index].read());
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
}
|
|
break;
|
|
#endif // NUM_SERVOS > 0
|
|
|
|
#if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
|
|
case 300: // M300
|
|
{
|
|
int beepS = code_seen('S') ? code_value() : 110;
|
|
int beepP = code_seen('P') ? code_value() : 1000;
|
|
if (beepS > 0)
|
|
{
|
|
#if BEEPER > 0
|
|
tone(BEEPER, beepS);
|
|
delay(beepP);
|
|
noTone(BEEPER);
|
|
#elif defined(ULTRALCD)
|
|
lcd_buzz(beepS, beepP);
|
|
#elif defined(LCD_USE_I2C_BUZZER)
|
|
lcd_buzz(beepP, beepS);
|
|
#endif
|
|
}
|
|
else
|
|
{
|
|
delay(beepP);
|
|
}
|
|
}
|
|
break;
|
|
#endif // M300
|
|
|
|
#ifdef PIDTEMP
|
|
case 301: // 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 = 0; // extruder being updated
|
|
if (code_seen('E'))
|
|
{
|
|
e = (int)code_value();
|
|
}
|
|
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());
|
|
#ifdef PID_ADD_EXTRUSION_RATE
|
|
if (code_seen('C')) PID_PARAM(Kc,e) = code_value();
|
|
#endif
|
|
|
|
updatePID();
|
|
SERIAL_PROTOCOL(MSG_OK);
|
|
#ifdef PID_PARAMS_PER_EXTRUDER
|
|
SERIAL_PROTOCOL(" e:"); // specify extruder in serial output
|
|
SERIAL_PROTOCOL(e);
|
|
#endif // PID_PARAMS_PER_EXTRUDER
|
|
SERIAL_PROTOCOL(" p:");
|
|
SERIAL_PROTOCOL(PID_PARAM(Kp,e));
|
|
SERIAL_PROTOCOL(" i:");
|
|
SERIAL_PROTOCOL(unscalePID_i(PID_PARAM(Ki,e)));
|
|
SERIAL_PROTOCOL(" d:");
|
|
SERIAL_PROTOCOL(unscalePID_d(PID_PARAM(Kd,e)));
|
|
#ifdef PID_ADD_EXTRUSION_RATE
|
|
SERIAL_PROTOCOL(" c:");
|
|
//Kc does not have scaling applied above, or in resetting defaults
|
|
SERIAL_PROTOCOL(PID_PARAM(Kc,e));
|
|
#endif
|
|
SERIAL_PROTOCOLLN("");
|
|
|
|
}
|
|
else
|
|
{
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
|
|
}
|
|
|
|
}
|
|
break;
|
|
#endif //PIDTEMP
|
|
#ifdef PIDTEMPBED
|
|
case 304: // 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_PROTOCOL(MSG_OK);
|
|
SERIAL_PROTOCOL(" p:");
|
|
SERIAL_PROTOCOL(bedKp);
|
|
SERIAL_PROTOCOL(" i:");
|
|
SERIAL_PROTOCOL(unscalePID_i(bedKi));
|
|
SERIAL_PROTOCOL(" d:");
|
|
SERIAL_PROTOCOL(unscalePID_d(bedKd));
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
break;
|
|
#endif //PIDTEMP
|
|
case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
|
|
{
|
|
#ifdef CHDK
|
|
|
|
SET_OUTPUT(CHDK);
|
|
WRITE(CHDK, HIGH);
|
|
chdkHigh = millis();
|
|
chdkActive = true;
|
|
|
|
#else
|
|
|
|
#if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
|
|
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
|
|
#endif //chdk end if
|
|
}
|
|
break;
|
|
#ifdef DOGLCD
|
|
case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
|
|
{
|
|
if (code_seen('C')) {
|
|
lcd_setcontrast( ((int)code_value())&63 );
|
|
}
|
|
SERIAL_PROTOCOLPGM("lcd contrast value: ");
|
|
SERIAL_PROTOCOL(lcd_contrast);
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
break;
|
|
#endif
|
|
#ifdef PREVENT_DANGEROUS_EXTRUDE
|
|
case 302: // allow cold extrudes, or set the minimum extrude temperature
|
|
{
|
|
float temp = .0;
|
|
if (code_seen('S')) temp=code_value();
|
|
set_extrude_min_temp(temp);
|
|
}
|
|
break;
|
|
#endif
|
|
case 303: // M303 PID autotune
|
|
{
|
|
float temp = 150.0;
|
|
int e=0;
|
|
int c=5;
|
|
if (code_seen('E')) e=code_value();
|
|
if (e<0)
|
|
temp=70;
|
|
if (code_seen('S')) temp=code_value();
|
|
if (code_seen('C')) c=code_value();
|
|
PID_autotune(temp, e, c);
|
|
}
|
|
break;
|
|
#ifdef SCARA
|
|
case 360: // M360 SCARA Theta pos1
|
|
SERIAL_ECHOLN(" Cal: Theta 0 ");
|
|
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
|
|
//SERIAL_ECHOLN(" Soft endstops disabled ");
|
|
if(Stopped == false) {
|
|
//get_coordinates(); // For X Y Z E F
|
|
delta[X_AXIS] = 0;
|
|
delta[Y_AXIS] = 120;
|
|
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();
|
|
//ClearToSend();
|
|
return;
|
|
}
|
|
break;
|
|
|
|
case 361: // SCARA Theta pos2
|
|
SERIAL_ECHOLN(" Cal: Theta 90 ");
|
|
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
|
|
//SERIAL_ECHOLN(" Soft endstops disabled ");
|
|
if(Stopped == false) {
|
|
//get_coordinates(); // For X Y Z E F
|
|
delta[X_AXIS] = 90;
|
|
delta[Y_AXIS] = 130;
|
|
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();
|
|
//ClearToSend();
|
|
return;
|
|
}
|
|
break;
|
|
case 362: // SCARA Psi pos1
|
|
SERIAL_ECHOLN(" Cal: Psi 0 ");
|
|
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
|
|
//SERIAL_ECHOLN(" Soft endstops disabled ");
|
|
if(Stopped == false) {
|
|
//get_coordinates(); // For X Y Z E F
|
|
delta[X_AXIS] = 60;
|
|
delta[Y_AXIS] = 180;
|
|
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();
|
|
//ClearToSend();
|
|
return;
|
|
}
|
|
break;
|
|
case 363: // SCARA Psi pos2
|
|
SERIAL_ECHOLN(" Cal: Psi 90 ");
|
|
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
|
|
//SERIAL_ECHOLN(" Soft endstops disabled ");
|
|
if(Stopped == false) {
|
|
//get_coordinates(); // For X Y Z E F
|
|
delta[X_AXIS] = 50;
|
|
delta[Y_AXIS] = 90;
|
|
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();
|
|
//ClearToSend();
|
|
return;
|
|
}
|
|
break;
|
|
case 364: // SCARA Psi pos3 (90 deg to Theta)
|
|
SERIAL_ECHOLN(" Cal: Theta-Psi 90 ");
|
|
// SoftEndsEnabled = false; // Ignore soft endstops during calibration
|
|
//SERIAL_ECHOLN(" Soft endstops disabled ");
|
|
if(Stopped == false) {
|
|
//get_coordinates(); // For X Y Z E F
|
|
delta[X_AXIS] = 45;
|
|
delta[Y_AXIS] = 135;
|
|
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();
|
|
//ClearToSend();
|
|
return;
|
|
}
|
|
break;
|
|
case 365: // M364 Set SCARA scaling for X Y Z
|
|
for(int8_t i=0; i < 3; i++)
|
|
{
|
|
if(code_seen(axis_codes[i]))
|
|
{
|
|
|
|
axis_scaling[i] = code_value();
|
|
|
|
}
|
|
}
|
|
break;
|
|
#endif
|
|
case 400: // M400 finish all moves
|
|
{
|
|
st_synchronize();
|
|
}
|
|
break;
|
|
#if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
|
|
case 401:
|
|
{
|
|
engage_z_probe(); // Engage Z Servo endstop if available
|
|
}
|
|
break;
|
|
|
|
case 402:
|
|
{
|
|
retract_z_probe(); // Retract Z Servo endstop if enabled
|
|
}
|
|
break;
|
|
#endif
|
|
|
|
#ifdef FILAMENT_SENSOR
|
|
case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
|
|
{
|
|
#if (FILWIDTH_PIN > -1)
|
|
if(code_seen('N')) filament_width_nominal=code_value();
|
|
else{
|
|
SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
|
|
SERIAL_PROTOCOLLN(filament_width_nominal);
|
|
}
|
|
#endif
|
|
}
|
|
break;
|
|
|
|
case 405: //M405 Turn on filament sensor for control
|
|
{
|
|
|
|
|
|
if(code_seen('D')) meas_delay_cm=code_value();
|
|
|
|
if(meas_delay_cm> MAX_MEASUREMENT_DELAY)
|
|
meas_delay_cm = MAX_MEASUREMENT_DELAY;
|
|
|
|
if(delay_index2 == -1) //initialize the ring buffer if it has not been done since startup
|
|
{
|
|
int temp_ratio = widthFil_to_size_ratio();
|
|
|
|
for (delay_index1=0; delay_index1<(MAX_MEASUREMENT_DELAY+1); ++delay_index1 ){
|
|
measurement_delay[delay_index1]=temp_ratio-100; //subtract 100 to scale within a signed byte
|
|
}
|
|
delay_index1=0;
|
|
delay_index2=0;
|
|
}
|
|
|
|
filament_sensor = true ;
|
|
|
|
//SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
|
|
//SERIAL_PROTOCOL(filament_width_meas);
|
|
//SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
|
|
//SERIAL_PROTOCOL(extrudemultiply);
|
|
}
|
|
break;
|
|
|
|
case 406: //M406 Turn off filament sensor for control
|
|
{
|
|
filament_sensor = false ;
|
|
}
|
|
break;
|
|
|
|
case 407: //M407 Display measured filament diameter
|
|
{
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
|
|
SERIAL_PROTOCOLLN(filament_width_meas);
|
|
}
|
|
break;
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
case 500: // M500 Store settings in EEPROM
|
|
{
|
|
Config_StoreSettings();
|
|
}
|
|
break;
|
|
case 501: // M501 Read settings from EEPROM
|
|
{
|
|
Config_RetrieveSettings();
|
|
}
|
|
break;
|
|
case 502: // M502 Revert to default settings
|
|
{
|
|
Config_ResetDefault();
|
|
}
|
|
break;
|
|
case 503: // M503 print settings currently in memory
|
|
{
|
|
Config_PrintSettings(code_seen('S') && code_value == 0);
|
|
}
|
|
break;
|
|
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
|
|
case 540:
|
|
{
|
|
if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
|
|
}
|
|
break;
|
|
#endif
|
|
|
|
#ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
|
|
case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
|
|
{
|
|
float value;
|
|
if (code_seen('Z'))
|
|
{
|
|
value = code_value();
|
|
if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
|
|
{
|
|
zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK);
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
else
|
|
{
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
|
|
SERIAL_ECHOPGM(MSG_Z_MIN);
|
|
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
|
|
SERIAL_ECHOPGM(MSG_Z_MAX);
|
|
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
}
|
|
else
|
|
{
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " : ");
|
|
SERIAL_ECHO(-zprobe_zoffset);
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
break;
|
|
}
|
|
#endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
|
|
|
|
#ifdef FILAMENTCHANGEENABLE
|
|
case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
|
|
{
|
|
float target[4];
|
|
float lastpos[4];
|
|
target[X_AXIS]=current_position[X_AXIS];
|
|
target[Y_AXIS]=current_position[Y_AXIS];
|
|
target[Z_AXIS]=current_position[Z_AXIS];
|
|
target[E_AXIS]=current_position[E_AXIS];
|
|
lastpos[X_AXIS]=current_position[X_AXIS];
|
|
lastpos[Y_AXIS]=current_position[Y_AXIS];
|
|
lastpos[Z_AXIS]=current_position[Z_AXIS];
|
|
lastpos[E_AXIS]=current_position[E_AXIS];
|
|
//retract by E
|
|
if(code_seen('E'))
|
|
{
|
|
target[E_AXIS]+= code_value();
|
|
}
|
|
else
|
|
{
|
|
#ifdef FILAMENTCHANGE_FIRSTRETRACT
|
|
target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
|
|
#endif
|
|
}
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
|
|
|
|
//lift Z
|
|
if(code_seen('Z'))
|
|
{
|
|
target[Z_AXIS]+= code_value();
|
|
}
|
|
else
|
|
{
|
|
#ifdef FILAMENTCHANGE_ZADD
|
|
target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
|
|
#endif
|
|
}
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
|
|
|
|
//move xy
|
|
if(code_seen('X'))
|
|
{
|
|
target[X_AXIS]+= code_value();
|
|
}
|
|
else
|
|
{
|
|
#ifdef FILAMENTCHANGE_XPOS
|
|
target[X_AXIS]= FILAMENTCHANGE_XPOS ;
|
|
#endif
|
|
}
|
|
if(code_seen('Y'))
|
|
{
|
|
target[Y_AXIS]= code_value();
|
|
}
|
|
else
|
|
{
|
|
#ifdef FILAMENTCHANGE_YPOS
|
|
target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
|
|
#endif
|
|
}
|
|
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
|
|
|
|
if(code_seen('L'))
|
|
{
|
|
target[E_AXIS]+= code_value();
|
|
}
|
|
else
|
|
{
|
|
#ifdef FILAMENTCHANGE_FINALRETRACT
|
|
target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
|
|
#endif
|
|
}
|
|
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
|
|
|
|
//finish moves
|
|
st_synchronize();
|
|
//disable extruder steppers so filament can be removed
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
delay(100);
|
|
LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
|
|
uint8_t cnt=0;
|
|
while(!lcd_clicked()){
|
|
cnt++;
|
|
manage_heater();
|
|
manage_inactivity(true);
|
|
lcd_update();
|
|
if(cnt==0)
|
|
{
|
|
#if BEEPER > 0
|
|
SET_OUTPUT(BEEPER);
|
|
|
|
WRITE(BEEPER,HIGH);
|
|
delay(3);
|
|
WRITE(BEEPER,LOW);
|
|
delay(3);
|
|
#else
|
|
#if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
|
|
lcd_buzz(1000/6,100);
|
|
#else
|
|
lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
|
|
#endif
|
|
#endif
|
|
}
|
|
}
|
|
|
|
//return to normal
|
|
if(code_seen('L'))
|
|
{
|
|
target[E_AXIS]+= -code_value();
|
|
}
|
|
else
|
|
{
|
|
#ifdef FILAMENTCHANGE_FINALRETRACT
|
|
target[E_AXIS]+=(-1)*FILAMENTCHANGE_FINALRETRACT ;
|
|
#endif
|
|
}
|
|
current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
|
|
plan_set_e_position(current_position[E_AXIS]);
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //should do nothing
|
|
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //move xy back
|
|
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //move z back
|
|
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], feedrate/60, active_extruder); //final untretract
|
|
}
|
|
break;
|
|
#endif //FILAMENTCHANGEENABLE
|
|
#ifdef DUAL_X_CARRIAGE
|
|
case 605: // 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.
|
|
{
|
|
st_synchronize();
|
|
|
|
if (code_seen('S'))
|
|
dual_x_carriage_mode = code_value();
|
|
|
|
if (dual_x_carriage_mode == 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_ECHO(" ");
|
|
SERIAL_ECHO(extruder_offset[X_AXIS][0]);
|
|
SERIAL_ECHO(",");
|
|
SERIAL_ECHO(extruder_offset[Y_AXIS][0]);
|
|
SERIAL_ECHO(" ");
|
|
SERIAL_ECHO(duplicate_extruder_x_offset);
|
|
SERIAL_ECHO(",");
|
|
SERIAL_ECHOLN(extruder_offset[Y_AXIS][1]);
|
|
}
|
|
else if (dual_x_carriage_mode != DXC_FULL_CONTROL_MODE && dual_x_carriage_mode != DXC_AUTO_PARK_MODE)
|
|
{
|
|
dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
|
|
}
|
|
|
|
active_extruder_parked = false;
|
|
extruder_duplication_enabled = false;
|
|
delayed_move_time = 0;
|
|
}
|
|
break;
|
|
#endif //DUAL_X_CARRIAGE
|
|
|
|
case 907: // M907 Set digital trimpot motor current using axis codes.
|
|
{
|
|
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
|
|
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
|
|
#ifdef MOTOR_CURRENT_PWM_XY_PIN
|
|
if(code_seen('X')) digipot_current(0, code_value());
|
|
#endif
|
|
#ifdef MOTOR_CURRENT_PWM_Z_PIN
|
|
if(code_seen('Z')) digipot_current(1, code_value());
|
|
#endif
|
|
#ifdef MOTOR_CURRENT_PWM_E_PIN
|
|
if(code_seen('E')) digipot_current(2, code_value());
|
|
#endif
|
|
#ifdef 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
|
|
}
|
|
break;
|
|
case 908: // M908 Control digital trimpot directly.
|
|
{
|
|
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
|
|
uint8_t channel,current;
|
|
if(code_seen('P')) channel=code_value();
|
|
if(code_seen('S')) current=code_value();
|
|
digitalPotWrite(channel, current);
|
|
#endif
|
|
}
|
|
break;
|
|
case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
|
|
{
|
|
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
|
|
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();
|
|
#endif
|
|
}
|
|
break;
|
|
case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
|
|
{
|
|
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
|
|
if(code_seen('S')) switch((int)code_value())
|
|
{
|
|
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
|
|
}
|
|
break;
|
|
case 999: // M999: Restart after being stopped
|
|
Stopped = false;
|
|
lcd_reset_alert_level();
|
|
gcode_LastN = Stopped_gcode_LastN;
|
|
FlushSerialRequestResend();
|
|
break;
|
|
}
|
|
}
|
|
|
|
else if(code_seen('T'))
|
|
{
|
|
tmp_extruder = code_value();
|
|
if(tmp_extruder >= EXTRUDERS) {
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHO("T");
|
|
SERIAL_ECHO(tmp_extruder);
|
|
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
|
|
}
|
|
else {
|
|
boolean make_move = false;
|
|
if(code_seen('F')) {
|
|
make_move = true;
|
|
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
|
|
memcpy(destination, current_position, sizeof(destination));
|
|
#ifdef DUAL_X_CARRIAGE
|
|
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && Stopped == false &&
|
|
(delayed_move_time != 0 || 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] = current_position[Y_AXIS] -
|
|
extruder_offset[Y_AXIS][active_extruder] +
|
|
extruder_offset[Y_AXIS][tmp_extruder];
|
|
current_position[Z_AXIS] = 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.
|
|
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
|
|
// Offset extruder (only by XY)
|
|
int i;
|
|
for(i = 0; i < 2; i++) {
|
|
current_position[i] = current_position[i] -
|
|
extruder_offset[i][active_extruder] +
|
|
extruder_offset[i][tmp_extruder];
|
|
}
|
|
// Set the new active extruder and position
|
|
active_extruder = tmp_extruder;
|
|
#endif //else DUAL_X_CARRIAGE
|
|
#ifdef DELTA
|
|
|
|
calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
|
|
//sent position to plan_set_position();
|
|
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],current_position[E_AXIS]);
|
|
|
|
#else
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
|
#endif
|
|
// Move to the old position if 'F' was in the parameters
|
|
if(make_move && Stopped == false) {
|
|
prepare_move();
|
|
}
|
|
}
|
|
#endif
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
|
|
SERIAL_PROTOCOLLN((int)active_extruder);
|
|
}
|
|
}
|
|
|
|
else
|
|
{
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
|
|
SERIAL_ECHO(cmdbuffer[bufindr]);
|
|
SERIAL_ECHOLNPGM("\"");
|
|
}
|
|
|
|
ClearToSend();
|
|
}
|
|
|
|
void FlushSerialRequestResend()
|
|
{
|
|
//char cmdbuffer[bufindr][100]="Resend:";
|
|
MYSERIAL.flush();
|
|
SERIAL_PROTOCOLPGM(MSG_RESEND);
|
|
SERIAL_PROTOCOLLN(gcode_LastN + 1);
|
|
ClearToSend();
|
|
}
|
|
|
|
void ClearToSend()
|
|
{
|
|
previous_millis_cmd = millis();
|
|
#ifdef SDSUPPORT
|
|
if(fromsd[bufindr])
|
|
return;
|
|
#endif //SDSUPPORT
|
|
SERIAL_PROTOCOLLNPGM(MSG_OK);
|
|
}
|
|
|
|
void get_coordinates()
|
|
{
|
|
bool seen[4]={false,false,false,false};
|
|
for(int8_t i=0; i < NUM_AXIS; i++) {
|
|
if(code_seen(axis_codes[i]))
|
|
{
|
|
destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
|
|
seen[i]=true;
|
|
}
|
|
else destination[i] = current_position[i]; //Are these else lines really needed?
|
|
}
|
|
if(code_seen('F')) {
|
|
next_feedrate = code_value();
|
|
if(next_feedrate > 0.0) feedrate = next_feedrate;
|
|
}
|
|
}
|
|
|
|
void get_arc_coordinates()
|
|
{
|
|
#ifdef SF_ARC_FIX
|
|
bool relative_mode_backup = relative_mode;
|
|
relative_mode = true;
|
|
#endif
|
|
get_coordinates();
|
|
#ifdef SF_ARC_FIX
|
|
relative_mode=relative_mode_backup;
|
|
#endif
|
|
|
|
if(code_seen('I')) {
|
|
offset[0] = code_value();
|
|
}
|
|
else {
|
|
offset[0] = 0.0;
|
|
}
|
|
if(code_seen('J')) {
|
|
offset[1] = code_value();
|
|
}
|
|
else {
|
|
offset[1] = 0.0;
|
|
}
|
|
}
|
|
|
|
void clamp_to_software_endstops(float target[3])
|
|
{
|
|
if (min_software_endstops) {
|
|
if (target[X_AXIS] < min_pos[X_AXIS]) target[X_AXIS] = min_pos[X_AXIS];
|
|
if (target[Y_AXIS] < min_pos[Y_AXIS]) target[Y_AXIS] = min_pos[Y_AXIS];
|
|
|
|
float negative_z_offset = 0;
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
|
|
if (add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + add_homing[Z_AXIS];
|
|
#endif
|
|
|
|
if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
|
|
}
|
|
|
|
if (max_software_endstops) {
|
|
if (target[X_AXIS] > max_pos[X_AXIS]) target[X_AXIS] = max_pos[X_AXIS];
|
|
if (target[Y_AXIS] > max_pos[Y_AXIS]) target[Y_AXIS] = max_pos[Y_AXIS];
|
|
if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
|
|
}
|
|
}
|
|
|
|
#ifdef DELTA
|
|
void recalc_delta_settings(float radius, float diagonal_rod)
|
|
{
|
|
delta_tower1_x= -SIN_60*radius; // front left tower
|
|
delta_tower1_y= -COS_60*radius;
|
|
delta_tower2_x= SIN_60*radius; // front right tower
|
|
delta_tower2_y= -COS_60*radius;
|
|
delta_tower3_x= 0.0; // back middle tower
|
|
delta_tower3_y= radius;
|
|
delta_diagonal_rod_2= sq(diagonal_rod);
|
|
}
|
|
|
|
void calculate_delta(float cartesian[3])
|
|
{
|
|
delta[X_AXIS] = sqrt(delta_diagonal_rod_2
|
|
- sq(delta_tower1_x-cartesian[X_AXIS])
|
|
- sq(delta_tower1_y-cartesian[Y_AXIS])
|
|
) + cartesian[Z_AXIS];
|
|
delta[Y_AXIS] = sqrt(delta_diagonal_rod_2
|
|
- sq(delta_tower2_x-cartesian[X_AXIS])
|
|
- sq(delta_tower2_y-cartesian[Y_AXIS])
|
|
) + cartesian[Z_AXIS];
|
|
delta[Z_AXIS] = sqrt(delta_diagonal_rod_2
|
|
- 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 x="); SERIAL_ECHO(delta[X_AXIS]);
|
|
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
|
|
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
|
|
*/
|
|
}
|
|
#endif
|
|
|
|
void prepare_move()
|
|
{
|
|
clamp_to_software_endstops(destination);
|
|
previous_millis_cmd = millis();
|
|
|
|
#ifdef SCARA //for now same as delta-code
|
|
|
|
float difference[NUM_AXIS];
|
|
for (int8_t i=0; i < NUM_AXIS; i++) {
|
|
difference[i] = destination[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; }
|
|
float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
|
|
int steps = max(1, int(scara_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++) {
|
|
destination[i] = current_position[i] + difference[i] * fraction;
|
|
}
|
|
|
|
|
|
calculate_delta(destination);
|
|
//SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
|
|
//SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
|
|
//SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[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],
|
|
destination[E_AXIS], feedrate*feedmultiply/60/100.0,
|
|
active_extruder);
|
|
}
|
|
#endif // SCARA
|
|
|
|
#ifdef DELTA
|
|
float difference[NUM_AXIS];
|
|
for (int8_t i=0; i < NUM_AXIS; i++) {
|
|
difference[i] = destination[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; }
|
|
float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
|
|
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++) {
|
|
destination[i] = current_position[i] + difference[i] * fraction;
|
|
}
|
|
calculate_delta(destination);
|
|
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
|
|
destination[E_AXIS], feedrate*feedmultiply/60/100.0,
|
|
active_extruder);
|
|
}
|
|
|
|
#endif // DELTA
|
|
|
|
#ifdef 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);
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
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 - skit it but keep track of current position (so that it can later
|
|
// be used as start of first non-travel move)
|
|
if (delayed_move_time != 0xFFFFFFFFUL)
|
|
{
|
|
memcpy(current_position, destination, sizeof(current_position));
|
|
if (destination[Z_AXIS] > raised_parked_position[Z_AXIS])
|
|
raised_parked_position[Z_AXIS] = destination[Z_AXIS];
|
|
delayed_move_time = millis();
|
|
return;
|
|
}
|
|
}
|
|
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;
|
|
}
|
|
}
|
|
#endif //DUAL_X_CARRIAGE
|
|
|
|
#if ! (defined DELTA || defined SCARA)
|
|
// Do not use feedmultiply for E or Z only moves
|
|
if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
}
|
|
else {
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
|
|
}
|
|
#endif // !(DELTA || SCARA)
|
|
|
|
for(int8_t i=0; i < NUM_AXIS; i++) {
|
|
current_position[i] = destination[i];
|
|
}
|
|
}
|
|
|
|
void prepare_arc_move(char isclockwise) {
|
|
float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
|
|
|
|
// Trace the arc
|
|
mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
|
|
|
|
// As far as the parser is concerned, the position is now == target. In reality the
|
|
// motion control system might still be processing the action and the real tool position
|
|
// in any intermediate location.
|
|
for(int8_t i=0; i < NUM_AXIS; i++) {
|
|
current_position[i] = destination[i];
|
|
}
|
|
previous_millis_cmd = millis();
|
|
}
|
|
|
|
#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
|
|
|
|
#if defined(FAN_PIN)
|
|
#if CONTROLLERFAN_PIN == FAN_PIN
|
|
#error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
|
|
#endif
|
|
#endif
|
|
|
|
unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
|
|
unsigned long lastMotorCheck = 0;
|
|
|
|
void controllerFan()
|
|
{
|
|
if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
|
|
{
|
|
lastMotorCheck = millis();
|
|
|
|
if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
|
|
#if EXTRUDERS > 2
|
|
|| !READ(E2_ENABLE_PIN)
|
|
#endif
|
|
#if EXTRUDER > 1
|
|
#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
|
|
|| !READ(X2_ENABLE_PIN)
|
|
#endif
|
|
|| !READ(E1_ENABLE_PIN)
|
|
#endif
|
|
|| !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
|
|
{
|
|
lastMotor = millis(); //... set time to NOW so the fan will turn on
|
|
}
|
|
|
|
if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
|
|
{
|
|
digitalWrite(CONTROLLERFAN_PIN, 0);
|
|
analogWrite(CONTROLLERFAN_PIN, 0);
|
|
}
|
|
else
|
|
{
|
|
// allows digital or PWM fan output to be used (see M42 handling)
|
|
digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
|
|
analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#ifdef 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_ECHOLN(" ");*/
|
|
}
|
|
|
|
#endif
|
|
|
|
#ifdef TEMP_STAT_LEDS
|
|
static bool blue_led = false;
|
|
static bool red_led = false;
|
|
static uint32_t stat_update = 0;
|
|
|
|
void handle_status_leds(void) {
|
|
float max_temp = 0.0;
|
|
if(millis() > stat_update) {
|
|
stat_update += 500; // Update every 0.5s
|
|
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
|
|
max_temp = max(max_temp, degHotend(cur_extruder));
|
|
max_temp = max(max_temp, degTargetHotend(cur_extruder));
|
|
}
|
|
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
|
|
max_temp = max(max_temp, degTargetBed());
|
|
max_temp = max(max_temp, degBed());
|
|
#endif
|
|
if((max_temp > 55.0) && (red_led == false)) {
|
|
digitalWrite(STAT_LED_RED, 1);
|
|
digitalWrite(STAT_LED_BLUE, 0);
|
|
red_led = true;
|
|
blue_led = false;
|
|
}
|
|
if((max_temp < 54.0) && (blue_led == false)) {
|
|
digitalWrite(STAT_LED_RED, 0);
|
|
digitalWrite(STAT_LED_BLUE, 1);
|
|
red_led = false;
|
|
blue_led = true;
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
|
|
{
|
|
|
|
#if defined(KILL_PIN) && KILL_PIN > -1
|
|
static int killCount = 0; // make the inactivity button a bit less responsive
|
|
const int KILL_DELAY = 10000;
|
|
#endif
|
|
|
|
#if defined(HOME_PIN) && HOME_PIN > -1
|
|
static int homeDebounceCount = 0; // poor man's debouncing count
|
|
const int HOME_DEBOUNCE_DELAY = 10000;
|
|
#endif
|
|
|
|
|
|
if(buflen < (BUFSIZE-1))
|
|
get_command();
|
|
|
|
if( (millis() - previous_millis_cmd) > max_inactive_time )
|
|
if(max_inactive_time)
|
|
kill();
|
|
if(stepper_inactive_time) {
|
|
if( (millis() - previous_millis_cmd) > stepper_inactive_time )
|
|
{
|
|
if(blocks_queued() == false && ignore_stepper_queue == false) {
|
|
disable_x();
|
|
disable_y();
|
|
disable_z();
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
}
|
|
}
|
|
}
|
|
|
|
#ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
|
|
if (chdkActive && (millis() - chdkHigh > CHDK_DELAY))
|
|
{
|
|
chdkActive = false;
|
|
WRITE(CHDK, LOW);
|
|
}
|
|
#endif
|
|
|
|
#if defined(KILL_PIN) && KILL_PIN > -1
|
|
|
|
// Check if the kill button was pressed and wait just in case it was an accidental
|
|
// key kill key press
|
|
// -------------------------------------------------------------------------------
|
|
if( 0 == 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();
|
|
}
|
|
#endif
|
|
|
|
#if defined(HOME_PIN) && HOME_PIN > -1
|
|
// Check to see if we have to home, use poor man's debouncer
|
|
// ---------------------------------------------------------
|
|
if ( 0 == READ(HOME_PIN) )
|
|
{
|
|
if (homeDebounceCount == 0)
|
|
{
|
|
enquecommand_P((PSTR("G28")));
|
|
homeDebounceCount++;
|
|
LCD_ALERTMESSAGEPGM(MSG_AUTO_HOME);
|
|
}
|
|
else if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
|
|
{
|
|
homeDebounceCount++;
|
|
}
|
|
else
|
|
{
|
|
homeDebounceCount = 0;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
|
|
controllerFan(); //Check if fan should be turned on to cool stepper drivers down
|
|
#endif
|
|
#ifdef EXTRUDER_RUNOUT_PREVENT
|
|
if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
|
|
if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
|
|
{
|
|
bool oldstatus=READ(E0_ENABLE_PIN);
|
|
enable_e0();
|
|
float oldepos=current_position[E_AXIS];
|
|
float 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_millis_cmd=millis();
|
|
st_synchronize();
|
|
WRITE(E0_ENABLE_PIN,oldstatus);
|
|
}
|
|
#endif
|
|
#if defined(DUAL_X_CARRIAGE)
|
|
// handle delayed move timeout
|
|
if (delayed_move_time != 0 && (millis() - delayed_move_time) > 1000 && Stopped == false)
|
|
{
|
|
// travel moves have been received so enact them
|
|
delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
|
|
memcpy(destination,current_position,sizeof(destination));
|
|
prepare_move();
|
|
}
|
|
#endif
|
|
#ifdef TEMP_STAT_LEDS
|
|
handle_status_leds();
|
|
#endif
|
|
check_axes_activity();
|
|
}
|
|
|
|
void kill()
|
|
{
|
|
cli(); // Stop interrupts
|
|
disable_heater();
|
|
|
|
disable_x();
|
|
disable_y();
|
|
disable_z();
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
|
|
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
|
|
pinMode(PS_ON_PIN,INPUT);
|
|
#endif
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
|
|
LCD_ALERTMESSAGEPGM(MSG_KILLED);
|
|
|
|
// FMC small patch to update the LCD before ending
|
|
sei(); // enable interrupts
|
|
for ( int i=5; i--; lcd_update())
|
|
{
|
|
delay(200);
|
|
}
|
|
cli(); // disable interrupts
|
|
suicide();
|
|
while(1) { /* Intentionally left empty */ } // Wait for reset
|
|
}
|
|
|
|
void Stop()
|
|
{
|
|
disable_heater();
|
|
if(Stopped == false) {
|
|
Stopped = true;
|
|
Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
|
|
LCD_MESSAGEPGM(MSG_STOPPED);
|
|
}
|
|
}
|
|
|
|
bool IsStopped() { return Stopped; };
|
|
|
|
#ifdef 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
|
|
|
|
bool setTargetedHotend(int code){
|
|
tmp_extruder = active_extruder;
|
|
if(code_seen('T')) {
|
|
tmp_extruder = code_value();
|
|
if(tmp_extruder >= EXTRUDERS) {
|
|
SERIAL_ECHO_START;
|
|
switch(code){
|
|
case 104:
|
|
SERIAL_ECHO(MSG_M104_INVALID_EXTRUDER);
|
|
break;
|
|
case 105:
|
|
SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER);
|
|
break;
|
|
case 109:
|
|
SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
|
|
break;
|
|
case 218:
|
|
SERIAL_ECHO(MSG_M218_INVALID_EXTRUDER);
|
|
break;
|
|
case 221:
|
|
SERIAL_ECHO(MSG_M221_INVALID_EXTRUDER);
|
|
break;
|
|
}
|
|
SERIAL_ECHOLN(tmp_extruder);
|
|
return true;
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
|
|
|
|
float calculate_volumetric_multiplier(float diameter) {
|
|
float area = .0;
|
|
float radius = .0;
|
|
|
|
radius = diameter * .5;
|
|
if (! volumetric_enabled || radius == 0) {
|
|
area = 1;
|
|
}
|
|
else {
|
|
area = M_PI * pow(radius, 2);
|
|
}
|
|
|
|
return 1.0 / area;
|
|
}
|
|
|
|
void calculate_volumetric_multipliers() {
|
|
volumetric_multiplier[0] = calculate_volumetric_multiplier(filament_size[0]);
|
|
#if EXTRUDERS > 1
|
|
volumetric_multiplier[1] = calculate_volumetric_multiplier(filament_size[1]);
|
|
#if EXTRUDERS > 2
|
|
volumetric_multiplier[2] = calculate_volumetric_multiplier(filament_size[2]);
|
|
#if EXTRUDERS > 3
|
|
volumetric_multiplier[3] = calculate_volumetric_multiplier(filament_size[3]);
|
|
#endif //EXTRUDERS > 3
|
|
#endif //EXTRUDERS > 2
|
|
#endif //EXTRUDERS > 1
|
|
}
|
|
|