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https://github.com/MarlinFirmware/Marlin.git
synced 2024-11-27 13:56:24 +00:00
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.
This commit is contained in:
Denis B
parent
49b2ddc8c1
commit
70871715e4
@ -286,7 +286,13 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
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#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
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#define DEFAULT_RETRACT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for r retracts
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//
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// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
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// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
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// For the other hotends it is their distance from the extruder 0 hotend.
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// #define EXTRUDER_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis
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// #define EXTRUDER_OFFSET_Y {0.0, 5.00} // (in mm) for each extruder, offset of the hotend on the Y axis
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// The speed change that does not require acceleration (i.e. the software might assume it can be done instanteneously)
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#define DEFAULT_XYJERK 20.0 // (mm/sec)
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#define DEFAULT_ZJERK 0.4 // (mm/sec)
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#define DEFAULT_EJERK 5.0 // (mm/sec)
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@ -113,6 +113,7 @@
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// M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
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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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// M240 - Trigger a camera to take a photograph
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@ -155,6 +156,12 @@ float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
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float add_homeing[3]={0,0,0};
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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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// Extruder offset, only in XY plane
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float extruder_offset[2][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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uint8_t active_extruder = 0;
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int fanSpeed=0;
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@ -1353,7 +1360,6 @@ void process_commands()
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retract_recover_feedrate = code_value() ;
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}
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}break;
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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.
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{
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if(code_seen('S'))
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@ -1372,7 +1378,31 @@ void process_commands()
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}
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}break;
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#endif
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#endif // FWRETRACT
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case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
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{
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if(setTargetedHotend(218)){
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break;
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}
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if(code_seen('X'))
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{
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extruder_offset[X_AXIS][tmp_extruder] = code_value();
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}
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if(code_seen('Y'))
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{
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extruder_offset[Y_AXIS][tmp_extruder] = code_value();
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}
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SERIAL_ECHO_START;
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SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
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for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
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{
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SERIAL_ECHO(" ");
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SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
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SERIAL_ECHO(",");
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SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
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}
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SERIAL_ECHOLN("");
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}break;
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case 220: // M220 S<factor in percent>- set speed factor override percentage
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{
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if(code_seen('S'))
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@ -1696,7 +1726,32 @@ void process_commands()
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SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
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}
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else {
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boolean make_move = false;
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if(code_seen('F')) {
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make_move = true;
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next_feedrate = code_value();
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if(next_feedrate > 0.0) {
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feedrate = next_feedrate;
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}
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}
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if(tmp_extruder != active_extruder) {
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// Save current position to return to after applying extruder offset
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memcpy(destination, current_position, sizeof(destination));
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// Offset extruder (only by XY)
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int i;
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for(i = 0; i < 2; i++) {
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current_position[i] = current_position[i] -
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extruder_offset[i][active_extruder] +
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extruder_offset[i][tmp_extruder];
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}
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// Set the new active extruder and position
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active_extruder = tmp_extruder;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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// Move to the old position if 'F' was in the parameters
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if(make_move && Stopped == false) {
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prepare_move();
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}
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}
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SERIAL_ECHO_START;
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SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
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SERIAL_PROTOCOLLN((int)active_extruder);
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@ -2059,6 +2114,9 @@ bool setTargetedHotend(int code){
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case 109:
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SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
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break;
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case 218:
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SERIAL_ECHO(MSG_M218_INVALID_EXTRUDER);
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break;
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}
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SERIAL_ECHOLN(tmp_extruder);
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return true;
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@ -139,6 +139,7 @@
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#define MSG_END_FILE_LIST "End file list"
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#define MSG_M104_INVALID_EXTRUDER "M104 Invalid extruder "
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#define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder "
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#define MSG_M218_INVALID_EXTRUDER "M218 Invalid extruder "
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#define MSG_ERR_NO_THERMISTORS "No thermistors - no temperature"
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#define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder "
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#define MSG_HEATING "Heating..."
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@ -162,6 +163,7 @@
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#define MSG_M119_REPORT "Reporting endstop status"
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#define MSG_ENDSTOP_HIT "TRIGGERED"
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#define MSG_ENDSTOP_OPEN "open"
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#define MSG_HOTEND_OFFSET "Hotend offsets:"
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#define MSG_SD_CANT_OPEN_SUBDIR "Cannot open subdir"
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#define MSG_SD_INIT_FAIL "SD init fail"
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@ -294,6 +296,7 @@
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#define MSG_END_FILE_LIST "Koniec listy plikow"
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#define MSG_M104_INVALID_EXTRUDER "M104 Niepoprawny ekstruder "
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#define MSG_M105_INVALID_EXTRUDER "M105 Niepoprawny ekstruder "
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#define MSG_M218_INVALID_EXTRUDER "M218 Niepoprawny ekstruder "
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#define MSG_ERR_NO_THERMISTORS "Brak termistorow - brak temperatury :("
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#define MSG_M109_INVALID_EXTRUDER "M109 Niepoprawny ekstruder "
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#define MSG_HEATING "Nagrzewanie ekstrudera..."
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@ -317,6 +320,7 @@
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#define MSG_M119_REPORT "Zgloszenie statusu wylacznikow krancowych"
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#define MSG_ENDSTOP_HIT "WYZWOLONY"
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#define MSG_ENDSTOP_OPEN "otwarty"
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#define MSG_HOTEND_OFFSET "Hotend offsets:"
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#define MSG_SD_CANT_OPEN_SUBDIR "Nie mozna otworzyc podkatalogu"
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#define MSG_SD_INIT_FAIL "Blad inicjalizacji karty SD"
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@ -454,6 +458,7 @@
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#define MSG_END_FILE_LIST "Fin de la liste de fichiers"
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#define MSG_M104_INVALID_EXTRUDER "M104 Extruder invalide"
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#define MSG_M105_INVALID_EXTRUDER "M105 Extruder invalide"
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#define MSG_M218_INVALID_EXTRUDER "M218 Extruder invalide"
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#define MSG_ERR_NO_THERMISTORS "Pas de thermistor, pas de temperature"
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#define MSG_M109_INVALID_EXTRUDER "M109 Extruder invalide "
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#define MSG_HEATING "En chauffe..."
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@ -477,6 +482,7 @@
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#define MSG_M119_REPORT "Affichage du status des fin de course"
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#define MSG_ENDSTOP_HIT "DECLENCHE"
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#define MSG_ENDSTOP_OPEN "OUVERT"
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#define MSG_HOTEND_OFFSET "Hotend offsets:"
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#define MSG_SD_CANT_OPEN_SUBDIR "Impossible d'ouvrir le sous-repertoire"
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#define MSG_SD_INIT_FAIL "Echec de l'initialisation de la SD"
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@ -612,6 +618,7 @@
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#define MSG_END_FILE_LIST "End file list"
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#define MSG_M104_INVALID_EXTRUDER "M104 Invalid extruder "
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#define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder "
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#define MSG_M218_INVALID_EXTRUDER "M218 Invalid extruder "
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#define MSG_ERR_NO_THERMISTORS "No thermistors - no temp"
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#define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder "
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#define MSG_HEATING "Heating..."
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@ -635,6 +642,7 @@
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#define MSG_M119_REPORT "Reporting endstop status"
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#define MSG_ENDSTOP_HIT "TRIGGERED"
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#define MSG_ENDSTOP_OPEN "open"
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#define MSG_HOTEND_OFFSET "Hotend offsets:"
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#define MSG_SD_CANT_OPEN_SUBDIR "Cannot open subdir"
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#define MSG_SD_INIT_FAIL "SD init fail"
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@ -770,6 +778,7 @@
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#define MSG_END_FILE_LIST "Fin de la lista de archivos"
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#define MSG_M104_INVALID_EXTRUDER "M104 Extrusor Invalido "
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#define MSG_M105_INVALID_EXTRUDER "M105 Extrusor Invalido "
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#define MSG_M218_INVALID_EXTRUDER "M218 Extrusor Invalido "
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#define MSG_ERR_NO_THERMISTORS "No hay termistores - no temp"
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#define MSG_M109_INVALID_EXTRUDER "M109 Extrusor Invalido "
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#define MSG_HEATING "Calentando..."
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@ -792,6 +801,7 @@
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#define MSG_M119_REPORT "Comprobando fines de carrera."
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#define MSG_ENDSTOP_HIT "PULSADO"
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#define MSG_ENDSTOP_OPEN "abierto"
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#define MSG_HOTEND_OFFSET "Hotend offsets:"
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#define MSG_SD_CANT_OPEN_SUBDIR "No se pudo abrir la subcarpeta."
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#define MSG_SD_INIT_FAIL "Fallo al iniciar la SD"
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@ -921,6 +931,7 @@
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#define MSG_END_FILE_LIST "Конец списка файлов"
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#define MSG_M104_INVALID_EXTRUDER "M104 ошибка экструдера "
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#define MSG_M105_INVALID_EXTRUDER "M105 ошибка экструдера "
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#define MSG_M218_INVALID_EXTRUDER "M218 ошибка экструдера "
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#define MSG_ERR_NO_THERMISTORS "Нет термистра - нет температуры"
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#define MSG_M109_INVALID_EXTRUDER "M109 ошибка экструдера "
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#define MSG_HEATING "Нагрев... "
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@ -944,6 +955,7 @@
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#define MSG_M119_REPORT "Статус концевиков"
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#define MSG_ENDSTOP_HIT "Срабатывание концевика"
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#define MSG_ENDSTOP_OPEN "Концевик освобожден"
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#define MSG_HOTEND_OFFSET "Hotend offsets:"
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#define MSG_SD_CANT_OPEN_SUBDIR "Не открыть папку"
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#define MSG_SD_INIT_FAIL "Ошибка инициализации SD"
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#define MSG_SD_VOL_INIT_FAIL "Ошибка инициализации раздела"
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@ -1080,6 +1092,7 @@
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#define MSG_END_FILE_LIST "Fine Lista File"
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#define MSG_M104_INVALID_EXTRUDER "M104 Estrusore non valido "
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#define MSG_M105_INVALID_EXTRUDER "M105 Estrusore non valido "
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#define MSG_M218_INVALID_EXTRUDER "M218 Estrusore non valido "
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#define MSG_ERR_NO_THERMISTORS "Nessun Termistore - nessuna temperatura"
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#define MSG_M109_INVALID_EXTRUDER "M109 Estrusore non valido "
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#define MSG_HEATING "Riscaldamento..."
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@ -1103,6 +1116,7 @@
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#define MSG_M119_REPORT "Segnalazione stato degli endstop"
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#define MSG_ENDSTOP_HIT "INNESCATO"
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#define MSG_ENDSTOP_OPEN "aperto"
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#define MSG_HOTEND_OFFSET "Hotend offsets:"
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#define MSG_SD_CANT_OPEN_SUBDIR "Impossibile aprire sottocartella"
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#define MSG_SD_INIT_FAIL "Fallita Inizializzazione SD"
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@ -1242,6 +1256,7 @@
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#define MSG_END_FILE_LIST "Fim da lista de arquivos"
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#define MSG_M104_INVALID_EXTRUDER "M104 Extrusor inválido "
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#define MSG_M105_INVALID_EXTRUDER "M105 Extrusor inválido "
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#define MSG_M218_INVALID_EXTRUDER "M218 Extrusor inválido "
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#define MSG_ERR_NO_THERMISTORS "Nao ha termistor - no temp"
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#define MSG_M109_INVALID_EXTRUDER "M109 Extrusor inválido "
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#define MSG_HEATING "Aquecendo..."
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@ -1265,6 +1280,7 @@
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#define MSG_M119_REPORT "Relatando estado do ponto final"
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#define MSG_ENDSTOP_HIT "PULSADO"
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#define MSG_ENDSTOP_OPEN "Aberto"
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#define MSG_HOTEND_OFFSET "Hotend offsets:"
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#define MSG_SD_CANT_OPEN_SUBDIR "Nao pode abrir sub diretorio"
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#define MSG_SD_INIT_FAIL "Falha ao iniciar SD"
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@ -1399,6 +1415,7 @@
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#define MSG_END_FILE_LIST "Tiedostolistauksen loppu"
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#define MSG_M104_INVALID_EXTRUDER "M104 Virheellinen suutin "
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#define MSG_M105_INVALID_EXTRUDER "M105 Virheellinen suutin "
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#define MSG_M218_INVALID_EXTRUDER "M218 Virheellinen suutin "
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#define MSG_ERR_NO_THERMISTORS "Ei termistoreja - ei lampotiloja"
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#define MSG_M109_INVALID_EXTRUDER "M109 Virheellinen suutin "
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#define MSG_HEATING "Lammitan..."
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@ -1422,6 +1439,7 @@
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#define MSG_M119_REPORT "Rajakytkimien tilaraportti"
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#define MSG_ENDSTOP_HIT "AKTIIVISENA"
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#define MSG_ENDSTOP_OPEN "avoinna"
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#define MSG_HOTEND_OFFSET "Hotend offsets:"
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#define MSG_SD_CANT_OPEN_SUBDIR "Alihakemistoa ei voitu avata"
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#define MSG_SD_INIT_FAIL "SD alustus epaonnistui"
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