From 70871715e46770637623d2ab9488694c5e63f434 Mon Sep 17 00:00:00 2001
From: Denis B <den_at_okob_net>
Date: Mon, 4 Feb 2013 23:05:45 -0500
Subject: [PATCH] Added support for extruder offset handling
The extruder offset can be specified in the configuration
file or adjusted on the fly using the "M218 T# X# Y#" command.
The EEPROM support is not yet merged in.
The "T#" command can take option "F#" that specifies the feedrate
at which the printing head should be re-positioned. If not
specified the re-positioning move is not preformed immediately,
but the coordinates are adjusted for the printer to properly
position the head when the next movement happens.
---
Marlin/Configuration.h | 8 ++++-
Marlin/Marlin_main.cpp | 78 ++++++++++++++++++++++++++++++++++++------
Marlin/language.h | 18 ++++++++++
3 files changed, 93 insertions(+), 11 deletions(-)
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 9d1027a0fe..0ba908b06e 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -286,7 +286,13 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for r retracts
-//
+// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
+// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
+// For the other hotends it is their distance from the extruder 0 hotend.
+// #define EXTRUDER_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis
+// #define EXTRUDER_OFFSET_Y {0.0, 5.00} // (in mm) for each extruder, offset of the hotend on the Y axis
+
+// The speed change that does not require acceleration (i.e. the software might assume it can be done instanteneously)
#define DEFAULT_XYJERK 20.0 // (mm/sec)
#define DEFAULT_ZJERK 0.4 // (mm/sec)
#define DEFAULT_EJERK 5.0 // (mm/sec)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 355e08b9fe..0ea6ccdc91 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -113,6 +113,7 @@
// M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
// M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
// M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
+// M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
// M220 S<factor in percent>- set speed factor override percentage
// M221 S<factor in percent>- set extrude factor override percentage
// M240 - Trigger a camera to take a photograph
@@ -155,6 +156,12 @@ float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
float add_homeing[3]={0,0,0};
float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
+// Extruder offset, only in XY plane
+float extruder_offset[2][EXTRUDERS] = {
+#if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
+ EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
+#endif
+};
uint8_t active_extruder = 0;
int fanSpeed=0;
@@ -1353,7 +1360,6 @@ void process_commands()
retract_recover_feedrate = code_value() ;
}
}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'))
@@ -1372,7 +1378,31 @@ void process_commands()
}
}break;
- #endif
+ #endif // FWRETRACT
+ 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();
+ }
+ 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]);
+ }
+ SERIAL_ECHOLN("");
+ }break;
case 220: // M220 S<factor in percent>- set speed factor override percentage
{
if(code_seen('S'))
@@ -1499,13 +1529,13 @@ void process_commands()
{
Config_PrintSettings();
}
- break;
- #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
- case 540:
- {
- if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
- }
- break;
+ break;
+ #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
+ case 540:
+ {
+ if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
+ }
+ break;
#endif
#ifdef FILAMENTCHANGEENABLE
case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
@@ -1696,7 +1726,32 @@ void process_commands()
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
}
else {
- active_extruder = tmp_extruder;
+ boolean make_move = false;
+ if(code_seen('F')) {
+ make_move = true;
+ next_feedrate = code_value();
+ if(next_feedrate > 0.0) {
+ feedrate = next_feedrate;
+ }
+ }
+ if(tmp_extruder != active_extruder) {
+ // Save current position to return to after applying extruder offset
+ memcpy(destination, current_position, sizeof(destination));
+ // 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;
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ // Move to the old position if 'F' was in the parameters
+ if(make_move && Stopped == false) {
+ prepare_move();
+ }
+ }
SERIAL_ECHO_START;
SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
SERIAL_PROTOCOLLN((int)active_extruder);
@@ -2059,6 +2114,9 @@ bool setTargetedHotend(int code){
case 109:
SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
break;
+ case 218:
+ SERIAL_ECHO(MSG_M218_INVALID_EXTRUDER);
+ break;
}
SERIAL_ECHOLN(tmp_extruder);
return true;
diff --git a/Marlin/language.h b/Marlin/language.h
index 781268aa4e..3268971ff1 100644
--- a/Marlin/language.h
+++ b/Marlin/language.h
@@ -139,6 +139,7 @@
#define MSG_END_FILE_LIST "End file list"
#define MSG_M104_INVALID_EXTRUDER "M104 Invalid extruder "
#define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder "
+ #define MSG_M218_INVALID_EXTRUDER "M218 Invalid extruder "
#define MSG_ERR_NO_THERMISTORS "No thermistors - no temperature"
#define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder "
#define MSG_HEATING "Heating..."
@@ -162,6 +163,7 @@
#define MSG_M119_REPORT "Reporting endstop status"
#define MSG_ENDSTOP_HIT "TRIGGERED"
#define MSG_ENDSTOP_OPEN "open"
+ #define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_SD_CANT_OPEN_SUBDIR "Cannot open subdir"
#define MSG_SD_INIT_FAIL "SD init fail"
@@ -294,6 +296,7 @@
#define MSG_END_FILE_LIST "Koniec listy plikow"
#define MSG_M104_INVALID_EXTRUDER "M104 Niepoprawny ekstruder "
#define MSG_M105_INVALID_EXTRUDER "M105 Niepoprawny ekstruder "
+ #define MSG_M218_INVALID_EXTRUDER "M218 Niepoprawny ekstruder "
#define MSG_ERR_NO_THERMISTORS "Brak termistorow - brak temperatury :("
#define MSG_M109_INVALID_EXTRUDER "M109 Niepoprawny ekstruder "
#define MSG_HEATING "Nagrzewanie ekstrudera..."
@@ -317,6 +320,7 @@
#define MSG_M119_REPORT "Zgloszenie statusu wylacznikow krancowych"
#define MSG_ENDSTOP_HIT "WYZWOLONY"
#define MSG_ENDSTOP_OPEN "otwarty"
+ #define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_SD_CANT_OPEN_SUBDIR "Nie mozna otworzyc podkatalogu"
#define MSG_SD_INIT_FAIL "Blad inicjalizacji karty SD"
@@ -454,6 +458,7 @@
#define MSG_END_FILE_LIST "Fin de la liste de fichiers"
#define MSG_M104_INVALID_EXTRUDER "M104 Extruder invalide"
#define MSG_M105_INVALID_EXTRUDER "M105 Extruder invalide"
+#define MSG_M218_INVALID_EXTRUDER "M218 Extruder invalide"
#define MSG_ERR_NO_THERMISTORS "Pas de thermistor, pas de temperature"
#define MSG_M109_INVALID_EXTRUDER "M109 Extruder invalide "
#define MSG_HEATING "En chauffe..."
@@ -477,6 +482,7 @@
#define MSG_M119_REPORT "Affichage du status des fin de course"
#define MSG_ENDSTOP_HIT "DECLENCHE"
#define MSG_ENDSTOP_OPEN "OUVERT"
+#define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_SD_CANT_OPEN_SUBDIR "Impossible d'ouvrir le sous-repertoire"
#define MSG_SD_INIT_FAIL "Echec de l'initialisation de la SD"
@@ -612,6 +618,7 @@
#define MSG_END_FILE_LIST "End file list"
#define MSG_M104_INVALID_EXTRUDER "M104 Invalid extruder "
#define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder "
+ #define MSG_M218_INVALID_EXTRUDER "M218 Invalid extruder "
#define MSG_ERR_NO_THERMISTORS "No thermistors - no temp"
#define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder "
#define MSG_HEATING "Heating..."
@@ -635,6 +642,7 @@
#define MSG_M119_REPORT "Reporting endstop status"
#define MSG_ENDSTOP_HIT "TRIGGERED"
#define MSG_ENDSTOP_OPEN "open"
+ #define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_SD_CANT_OPEN_SUBDIR "Cannot open subdir"
#define MSG_SD_INIT_FAIL "SD init fail"
@@ -770,6 +778,7 @@
#define MSG_END_FILE_LIST "Fin de la lista de archivos"
#define MSG_M104_INVALID_EXTRUDER "M104 Extrusor Invalido "
#define MSG_M105_INVALID_EXTRUDER "M105 Extrusor Invalido "
+#define MSG_M218_INVALID_EXTRUDER "M218 Extrusor Invalido "
#define MSG_ERR_NO_THERMISTORS "No hay termistores - no temp"
#define MSG_M109_INVALID_EXTRUDER "M109 Extrusor Invalido "
#define MSG_HEATING "Calentando..."
@@ -792,6 +801,7 @@
#define MSG_M119_REPORT "Comprobando fines de carrera."
#define MSG_ENDSTOP_HIT "PULSADO"
#define MSG_ENDSTOP_OPEN "abierto"
+#define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_SD_CANT_OPEN_SUBDIR "No se pudo abrir la subcarpeta."
#define MSG_SD_INIT_FAIL "Fallo al iniciar la SD"
@@ -921,6 +931,7 @@
#define MSG_END_FILE_LIST "Конец списка файлов"
#define MSG_M104_INVALID_EXTRUDER "M104 ошибка экструдера "
#define MSG_M105_INVALID_EXTRUDER "M105 ошибка экструдера "
+#define MSG_M218_INVALID_EXTRUDER "M218 ошибка экструдера "
#define MSG_ERR_NO_THERMISTORS "Нет термистра - нет температуры"
#define MSG_M109_INVALID_EXTRUDER "M109 ошибка экструдера "
#define MSG_HEATING "Нагрев... "
@@ -944,6 +955,7 @@
#define MSG_M119_REPORT "Статус концевиков"
#define MSG_ENDSTOP_HIT "Срабатывание концевика"
#define MSG_ENDSTOP_OPEN "Концевик освобожден"
+#define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_SD_CANT_OPEN_SUBDIR "Не открыть папку"
#define MSG_SD_INIT_FAIL "Ошибка инициализации SD"
#define MSG_SD_VOL_INIT_FAIL "Ошибка инициализации раздела"
@@ -1080,6 +1092,7 @@
#define MSG_END_FILE_LIST "Fine Lista File"
#define MSG_M104_INVALID_EXTRUDER "M104 Estrusore non valido "
#define MSG_M105_INVALID_EXTRUDER "M105 Estrusore non valido "
+ #define MSG_M218_INVALID_EXTRUDER "M218 Estrusore non valido "
#define MSG_ERR_NO_THERMISTORS "Nessun Termistore - nessuna temperatura"
#define MSG_M109_INVALID_EXTRUDER "M109 Estrusore non valido "
#define MSG_HEATING "Riscaldamento..."
@@ -1103,6 +1116,7 @@
#define MSG_M119_REPORT "Segnalazione stato degli endstop"
#define MSG_ENDSTOP_HIT "INNESCATO"
#define MSG_ENDSTOP_OPEN "aperto"
+ #define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_SD_CANT_OPEN_SUBDIR "Impossibile aprire sottocartella"
#define MSG_SD_INIT_FAIL "Fallita Inizializzazione SD"
@@ -1242,6 +1256,7 @@
#define MSG_END_FILE_LIST "Fim da lista de arquivos"
#define MSG_M104_INVALID_EXTRUDER "M104 Extrusor inválido "
#define MSG_M105_INVALID_EXTRUDER "M105 Extrusor inválido "
+ #define MSG_M218_INVALID_EXTRUDER "M218 Extrusor inválido "
#define MSG_ERR_NO_THERMISTORS "Nao ha termistor - no temp"
#define MSG_M109_INVALID_EXTRUDER "M109 Extrusor inválido "
#define MSG_HEATING "Aquecendo..."
@@ -1265,6 +1280,7 @@
#define MSG_M119_REPORT "Relatando estado do ponto final"
#define MSG_ENDSTOP_HIT "PULSADO"
#define MSG_ENDSTOP_OPEN "Aberto"
+ #define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_SD_CANT_OPEN_SUBDIR "Nao pode abrir sub diretorio"
#define MSG_SD_INIT_FAIL "Falha ao iniciar SD"
@@ -1399,6 +1415,7 @@
#define MSG_END_FILE_LIST "Tiedostolistauksen loppu"
#define MSG_M104_INVALID_EXTRUDER "M104 Virheellinen suutin "
#define MSG_M105_INVALID_EXTRUDER "M105 Virheellinen suutin "
+ #define MSG_M218_INVALID_EXTRUDER "M218 Virheellinen suutin "
#define MSG_ERR_NO_THERMISTORS "Ei termistoreja - ei lampotiloja"
#define MSG_M109_INVALID_EXTRUDER "M109 Virheellinen suutin "
#define MSG_HEATING "Lammitan..."
@@ -1422,6 +1439,7 @@
#define MSG_M119_REPORT "Rajakytkimien tilaraportti"
#define MSG_ENDSTOP_HIT "AKTIIVISENA"
#define MSG_ENDSTOP_OPEN "avoinna"
+ #define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_SD_CANT_OPEN_SUBDIR "Alihakemistoa ei voitu avata"
#define MSG_SD_INIT_FAIL "SD alustus epaonnistui"