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MarlinFirmware/Marlin/Marlin_main.cpp
Scott Lahteine 6960cd8e28 Apply lowercase to some common methods
2019-09-02 05:38:24 -05:00

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* About Marlin
*
* This firmware is a mashup between Sprinter and grbl.
* - https://github.com/kliment/Sprinter
* - https://github.com/grbl/grbl
*/
/**
* -----------------
* G-Codes in Marlin
* -----------------
*
* Helpful G-code references:
* - http://linuxcnc.org/handbook/gcode/g-code.html
* - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
*
* Help to document Marlin's G-codes online:
* - http://reprap.org/wiki/G-code
* - https://github.com/MarlinFirmware/MarlinDocumentation
*
* -----------------
*
* "G" Codes
*
* G0 -> G1
* G1 - Coordinated Movement X Y Z E
* G2 - CW ARC
* G3 - CCW ARC
* G4 - Dwell S<seconds> or P<milliseconds>
* G5 - Cubic B-spline with XYZE destination and IJPQ offsets
* G6 - Direct stepper move (Requires UNREGISTERED_MOVE_SUPPORT). Hangprinter defaults to relative moves. Others default to absolute moves.
* G10 - Retract filament according to settings of M207 (Requires FWRETRACT)
* G11 - Retract recover filament according to settings of M208 (Requires FWRETRACT)
* G12 - Clean tool (Requires NOZZLE_CLEAN_FEATURE)
* G17 - Select Plane XY (Requires CNC_WORKSPACE_PLANES)
* G18 - Select Plane ZX (Requires CNC_WORKSPACE_PLANES)
* G19 - Select Plane YZ (Requires CNC_WORKSPACE_PLANES)
* G20 - Set input units to inches (Requires INCH_MODE_SUPPORT)
* G21 - Set input units to millimeters (Requires INCH_MODE_SUPPORT)
* G26 - Mesh Validation Pattern (Requires G26_MESH_VALIDATION)
* G27 - Park Nozzle (Requires NOZZLE_PARK_FEATURE)
* G28 - Home one or more axes
* G29 - Start or continue the bed leveling probe procedure (Requires bed leveling)
* G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
* G31 - Dock sled (Z_PROBE_SLED only)
* G32 - Undock sled (Z_PROBE_SLED only)
* G33 - Delta Auto-Calibration (Requires DELTA_AUTO_CALIBRATION)
* G38 - Probe in any direction using the Z_MIN_PROBE (Requires G38_PROBE_TARGET)
* G42 - Coordinated move to a mesh point (Requires MESH_BED_LEVELING, AUTO_BED_LEVELING_BLINEAR, or AUTO_BED_LEVELING_UBL)
* G90 - Use Absolute Coordinates
* G91 - Use Relative Coordinates
* G92 - Set current position to coordinates given
* G95 - Set torque mode (Requires MECHADUINO_I2C_COMMANDS enabled)
* G96 - Set encoder reference point (Requires MECHADUINO_I2C_COMMANDS enabled)
*
* "M" Codes
*
* M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
* M1 -> M0
* M3 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to clockwise
* M4 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to counter-clockwise
* M5 - Turn laser/spindle off
* M17 - Enable/Power all stepper motors
* M18 - Disable all stepper motors; same as M84
* M20 - List SD card. (Requires SDSUPPORT)
* M21 - Init SD card. (Requires SDSUPPORT)
* M22 - Release SD card. (Requires SDSUPPORT)
* M23 - Select SD file: "M23 /path/file.gco". (Requires SDSUPPORT)
* M24 - Start/resume SD print. (Requires SDSUPPORT)
* M25 - Pause SD print. (Requires SDSUPPORT)
* M26 - Set SD position in bytes: "M26 S12345". (Requires SDSUPPORT)
* M27 - Report SD print status. (Requires SDSUPPORT)
* OR, with 'S<seconds>' set the SD status auto-report interval. (Requires AUTO_REPORT_SD_STATUS)
* OR, with 'C' get the current filename.
* M28 - Start SD write: "M28 /path/file.gco". (Requires SDSUPPORT)
* M29 - Stop SD write. (Requires SDSUPPORT)
* M30 - Delete file from SD: "M30 /path/file.gco"
* M31 - Report time since last M109 or SD card start to serial.
* M32 - Select file and start SD print: "M32 [S<bytepos>] !/path/file.gco#". (Requires SDSUPPORT)
* Use P to run other files as sub-programs: "M32 P !filename#"
* The '#' is necessary when calling from within sd files, as it stops buffer prereading
* M33 - Get the longname version of a path. (Requires LONG_FILENAME_HOST_SUPPORT)
* M34 - Set SD Card sorting options. (Requires SDCARD_SORT_ALPHA)
* M42 - Change pin status via gcode: M42 P<pin> S<value>. LED pin assumed if P is omitted.
* M43 - Display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
* M48 - Measure Z Probe repeatability: M48 P<points> X<pos> Y<pos> V<level> E<engage> L<legs> S<chizoid>. (Requires Z_MIN_PROBE_REPEATABILITY_TEST)
* M75 - Start the print job timer.
* M76 - Pause the print job timer.
* M77 - Stop the print job timer.
* M78 - Show statistical information about the print jobs. (Requires PRINTCOUNTER)
* M80 - Turn on Power Supply. (Requires POWER_SUPPLY > 0)
* M81 - Turn off Power Supply. (Requires POWER_SUPPLY > 0)
* M82 - Set E codes absolute (default).
* M83 - Set E codes relative while in Absolute (G90) mode.
* M84 - Disable steppers until next move, or use S<seconds> to specify an idle
* duration after which steppers should turn off. S0 disables the timeout.
* M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
* M92 - Set planner.axis_steps_per_mm for one or more axes.
* M100 - Watch Free Memory (for debugging) (Requires M100_FREE_MEMORY_WATCHER)
* M104 - Set extruder target temp.
* M105 - Report current temperatures.
* M106 - Set print fan speed.
* M107 - Print fan off.
* M108 - Break out of heating loops (M109, M190, M303). With no controller, breaks out of M0/M1. (Requires EMERGENCY_PARSER)
* M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
* Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
* If AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
* M110 - Set the current line number. (Used by host printing)
* M111 - Set debug flags: "M111 S<flagbits>". See flag bits defined in enum.h.
* M112 - Emergency stop.
* M113 - Get or set the timeout interval for Host Keepalive "busy" messages. (Requires HOST_KEEPALIVE_FEATURE)
* M114 - Report current position.
* - S1 Compute length traveled since last G96 using encoder position data (Requires MECHADUINO_I2C_COMMANDS, only kinematic axes)
* M115 - Report capabilities. (Extended capabilities requires EXTENDED_CAPABILITIES_REPORT)
* M117 - Display a message on the controller screen. (Requires an LCD)
* M118 - Display a message in the host console.
* M119 - Report endstops status.
* M120 - Enable endstops detection.
* M121 - Disable endstops detection.
* M122 - Debug stepper (Requires at least one _DRIVER_TYPE defined as TMC2130/TMC2208/TMC2660)
* M125 - Save current position and move to filament change position. (Requires PARK_HEAD_ON_PAUSE)
* M126 - Solenoid Air Valve Open. (Requires BARICUDA)
* M127 - Solenoid Air Valve Closed. (Requires BARICUDA)
* M128 - EtoP Open. (Requires BARICUDA)
* M129 - EtoP Closed. (Requires BARICUDA)
* M140 - Set bed target temp. S<temp>
* M145 - Set heatup values for materials on the LCD. H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
* M149 - Set temperature units. (Requires TEMPERATURE_UNITS_SUPPORT)
* M150 - Set Status LED Color as R<red> U<green> B<blue> P<bright>. Values 0-255. (Requires BLINKM, RGB_LED, RGBW_LED, NEOPIXEL_LED, or PCA9632).
* M155 - Auto-report temperatures with interval of S<seconds>. (Requires AUTO_REPORT_TEMPERATURES)
* M163 - Set a single proportion for a mixing extruder. (Requires MIXING_EXTRUDER)
* M164 - Commit the mix (Req. MIXING_EXTRUDER) and optionally save as a virtual tool (Req. MIXING_VIRTUAL_TOOLS > 1)
* M165 - Set the mix for a mixing extruder wuth parameters ABCDHI. (Requires MIXING_EXTRUDER and DIRECT_MIXING_IN_G1)
* M190 - Sxxx Wait for bed current temp to reach target temp. ** Waits only when heating! **
* Rxxx Wait for bed current temp to reach target temp. ** Waits for heating or cooling. **
* M200 - Set filament diameter, D<diameter>, setting E axis units to cubic. (Use S0 to revert to linear units.)
* M201 - Set max acceleration in units/s^2 for print moves: "M201 X<accel> Y<accel> Z<accel> E<accel>"
* M202 - Set max acceleration in units/s^2 for travel moves: "M202 X<accel> Y<accel> Z<accel> E<accel>" ** UNUSED IN MARLIN! **
* M203 - Set maximum feedrate: "M203 X<fr> Y<fr> Z<fr> E<fr>" in units/sec.
* M204 - Set default acceleration in units/sec^2: P<printing> R<extruder_only> T<travel>
* M205 - Set advanced settings. Current units apply:
S<print> T<travel> minimum speeds
Q<minimum segment time>
X<max X jerk>, Y<max Y jerk>, Z<max Z jerk>, E<max E jerk>
* M206 - Set additional homing offset. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
* M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>. (Requires FWRETRACT)
* M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>. (Requires FWRETRACT)
* M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT)
Every normal extrude-only move will be classified as retract depending on the direction.
* M211 - Enable, Disable, and/or Report software endstops: S<0|1> (Requires MIN_SOFTWARE_ENDSTOPS or MAX_SOFTWARE_ENDSTOPS)
* M218 - Set/get a tool offset: "M218 T<index> X<offset> Y<offset>". (Requires 2 or more extruders)
* M220 - Set Feedrate Percentage: "M220 S<percent>" (i.e., "FR" on the LCD)
* M221 - Set Flow Percentage: "M221 S<percent>"
* M226 - Wait until a pin is in a given state: "M226 P<pin> S<state>"
* M240 - Trigger a camera to take a photograph. (Requires CHDK or PHOTOGRAPH_PIN)
* M250 - Set LCD contrast: "M250 C<contrast>" (0-63). (Requires LCD support)
* M260 - i2c Send Data (Requires EXPERIMENTAL_I2CBUS)
* M261 - i2c Request Data (Requires EXPERIMENTAL_I2CBUS)
* M280 - Set servo position absolute: "M280 P<index> S<angle|µs>". (Requires servos)
* M290 - Babystepping (Requires BABYSTEPPING)
* M300 - Play beep sound S<frequency Hz> P<duration ms>
* M301 - Set PID parameters P I and D. (Requires PIDTEMP)
* M302 - Allow cold extrudes, or set the minimum extrude S<temperature>. (Requires PREVENT_COLD_EXTRUSION)
* M303 - PID relay autotune S<temperature> sets the target temperature. Default 150C. (Requires PIDTEMP)
* M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED)
* M350 - Set microstepping mode. (Requires digital microstepping pins.)
* M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
* M355 - Set Case Light on/off and set brightness. (Requires CASE_LIGHT_PIN)
* M380 - Activate solenoid on active extruder. (Requires EXT_SOLENOID)
* M381 - Disable all solenoids. (Requires EXT_SOLENOID)
* M400 - Finish all moves.
* M401 - Deploy and activate Z probe. (Requires a probe)
* M402 - Deactivate and stow Z probe. (Requires a probe)
* M404 - Display or set the Nominal Filament Width: "W<diameter>". (Requires FILAMENT_WIDTH_SENSOR)
* M405 - Enable Filament Sensor flow control. "M405 D<delay_cm>". (Requires FILAMENT_WIDTH_SENSOR)
* M406 - Disable Filament Sensor flow control. (Requires FILAMENT_WIDTH_SENSOR)
* M407 - Display measured filament diameter in millimeters. (Requires FILAMENT_WIDTH_SENSOR)
* M410 - Quickstop. Abort all planned moves.
* M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL)
* M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units> (Requires MESH_BED_LEVELING, AUTO_BED_LEVELING_BILINEAR, or AUTO_BED_LEVELING_UBL)
* M428 - Set the home_offset based on the current_position. Nearest edge applies. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
* M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS)
* M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS)
* M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! **
* M503 - Print the current settings (in memory): "M503 S<verbose>". S0 specifies compact output.
* M524 - Abort SD card print job started with M24 (Requires SDSUPPORT)
* M540 - Enable/disable SD card abort on endstop hit: "M540 S<state>". (Requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
* M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires ADVANCED_PAUSE_FEATURE)
* M603 - Configure filament change: "M603 T<tool> U<unload_length> L<load_length>". (Requires ADVANCED_PAUSE_FEATURE)
* M605 - Set Dual X-Carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
* M665 - Set Delta configurations: "M665 H<delta height> L<diagonal rod> R<delta radius> S<segments/s> B<calibration radius> X<Alpha angle trim> Y<Beta angle trim> Z<Gamma angle trim> (Requires DELTA)
* M665 - Set Hangprinter configurations: "M665 W<Ay> E<Az> R<Bx> T<By> Y<Bz> U<Cx> I<Cy> O<Cz> P<Dz> S<segments/s>" (Requires HANGPRINTER)
* M666 - Set/get endstop offsets for delta (Requires DELTA) or dual endstops (Requires [XYZ]_DUAL_ENDSTOPS).
* M701 - Load filament (requires FILAMENT_LOAD_UNLOAD_GCODES)
* M702 - Unload filament (requires FILAMENT_LOAD_UNLOAD_GCODES)
* M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
* M852 - Set skew factors: "M852 [I<xy>] [J<xz>] [K<yz>]". (Requires SKEW_CORRECTION_GCODE, and SKEW_CORRECTION_FOR_Z for IJ)
* M860 - Report the position of position encoder modules.
* M861 - Report the status of position encoder modules.
* M862 - Perform an axis continuity test for position encoder modules.
* M863 - Perform steps-per-mm calibration for position encoder modules.
* M864 - Change position encoder module I2C address.
* M865 - Check position encoder module firmware version.
* M866 - Report or reset position encoder module error count.
* M867 - Enable/disable or toggle error correction for position encoder modules.
* M868 - Report or set position encoder module error correction threshold.
* M869 - Report position encoder module error.
* M900 - Get or Set Linear Advance K-factor. (Requires LIN_ADVANCE)
* M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires at least one _DRIVER_TYPE defined as TMC2130/TMC2208/TMC2660)
* M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
* M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN)
* M909 - Print digipot/DAC current value. (Requires DAC_STEPPER_CURRENT)
* M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT)
* M911 - Report stepper driver overtemperature pre-warn condition. (Requires at least one _DRIVER_TYPE defined as TMC2130/TMC2208/TMC2660)
* M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires at least one _DRIVER_TYPE defined as TMC2130/TMC2208/TMC2660)
* M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD)
* M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING)
*
* M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
* M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
* M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
* M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
* M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
*
* ************ Custom codes - This can change to suit future G-code regulations
* M928 - Start SD logging: "M928 filename.gco". Stop with M29. (Requires SDSUPPORT)
* M999 - Restart after being stopped by error
*
* "T" Codes
*
* T0-T3 - Select an extruder (tool) by index: "T<n> F<units/min>"
*
*/
#include "Marlin.h"
#include "ultralcd.h"
#include "planner.h"
#include "stepper.h"
#include "endstops.h"
#include "temperature.h"
#include "cardreader.h"
#include "configuration_store.h"
#include "language.h"
#include "pins_arduino.h"
#include "math.h"
#include "nozzle.h"
#include "printcounter.h"
#include "duration_t.h"
#include "types.h"
#include "parser.h"
#if ENABLED(AUTO_POWER_CONTROL)
#include "power.h"
#endif
#if ABL_PLANAR
#include "vector_3.h"
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
#include "least_squares_fit.h"
#endif
#elif ENABLED(MESH_BED_LEVELING)
#include "mesh_bed_leveling.h"
#endif
#if ENABLED(BEZIER_CURVE_SUPPORT)
#include "planner_bezier.h"
#endif
#if ENABLED(FWRETRACT)
#include "fwretract.h"
#endif
#if ENABLED(POWER_LOSS_RECOVERY)
#include "power_loss_recovery.h"
#endif
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
#include "runout.h"
#endif
#if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
#include "buzzer.h"
#endif
#if ENABLED(USE_WATCHDOG)
#include "watchdog.h"
#endif
#if ENABLED(MAX7219_DEBUG)
#include "Max7219_Debug_LEDs.h"
#endif
#if HAS_COLOR_LEDS
#include "leds.h"
#endif
#if HAS_SERVOS
#include "servo.h"
#endif
#if HAS_DIGIPOTSS
#include <SPI.h>
#endif
#if HAS_TRINAMIC
#include "tmc_util.h"
#endif
#if ENABLED(DAC_STEPPER_CURRENT)
#include "stepper_dac.h"
#endif
#if ENABLED(EXPERIMENTAL_I2CBUS)
#include "twibus.h"
#endif
#if ENABLED(I2C_POSITION_ENCODERS)
#include "I2CPositionEncoder.h"
#endif
#if ENABLED(M100_FREE_MEMORY_WATCHER)
void gcode_M100();
void M100_dump_routine(const char * const title, const char *start, const char *end);
#endif
#if ENABLED(G26_MESH_VALIDATION)
bool g26_debug_flag; // =false
void gcode_G26();
#endif
#if ENABLED(SDSUPPORT)
CardReader card;
#endif
#if ENABLED(EXPERIMENTAL_I2CBUS)
TWIBus i2c;
#endif
#if ENABLED(G38_PROBE_TARGET)
bool G38_move = false,
G38_endstop_hit = false;
#endif
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "ubl.h"
#endif
#if ENABLED(CNC_COORDINATE_SYSTEMS)
int8_t active_coordinate_system = -1; // machine space
float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
#endif
bool Running = true;
uint8_t marlin_debug_flags = DEBUG_NONE;
/**
* Cartesian Current Position
* Used to track the native machine position as moves are queued.
* Used by 'buffer_line_to_current_position' to do a move after changing it.
* Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'.
*/
float current_position[XYZE] = { 0 };
/**
* Cartesian Destination
* The destination for a move, filled in by G-code movement commands,
* and expected by functions like 'prepare_move_to_destination'.
* Set with 'gcode_get_destination' or 'set_destination_from_current'.
*/
float destination[XYZE] = { 0 };
/**
* axis_homed
* Flags that each linear axis was homed.
* XYZ on cartesian, ABC on delta, ABZ on SCARA.
*
* axis_known_position
* Flags that the position is known in each linear axis. Set when homed.
* Cleared whenever a stepper powers off, potentially losing its position.
*/
uint8_t axis_homed, axis_known_position; // = 0
/**
* GCode line number handling. Hosts may opt to include line numbers when
* sending commands to Marlin, and lines will be checked for sequentiality.
* M110 N<int> sets the current line number.
*/
static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
/**
* GCode Command Queue
* A simple ring buffer of BUFSIZE command strings.
*
* Commands are copied into this buffer by the command injectors
* (immediate, serial, sd card) and they are processed sequentially by
* the main loop. The process_next_command function parses the next
* command and hands off execution to individual handler functions.
*/
uint8_t commands_in_queue = 0, // Count of commands in the queue
cmd_queue_index_r = 0, // Ring buffer read (out) position
cmd_queue_index_w = 0; // Ring buffer write (in) position
char command_queue[BUFSIZE][MAX_CMD_SIZE];
/**
* Next Injected Command pointer. NULL if no commands are being injected.
* Used by Marlin internally to ensure that commands initiated from within
* are enqueued ahead of any pending serial or sd card commands.
*/
static const char *injected_commands_P = NULL;
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
TempUnit input_temp_units = TEMPUNIT_C;
#endif
/**
* Feed rates are often configured with mm/m
* but the planner and stepper like mm/s units.
*/
static const float homing_feedrate_mm_s[] PROGMEM = {
#if ENABLED(HANGPRINTER)
MMM_TO_MMS(DUMMY_HOMING_FEEDRATE), MMM_TO_MMS(DUMMY_HOMING_FEEDRATE),
MMM_TO_MMS(DUMMY_HOMING_FEEDRATE), MMM_TO_MMS(DUMMY_HOMING_FEEDRATE), 0
#else
#if ENABLED(DELTA)
MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z),
#else
MMM_TO_MMS(HOMING_FEEDRATE_XY), MMM_TO_MMS(HOMING_FEEDRATE_XY),
#endif
MMM_TO_MMS(HOMING_FEEDRATE_Z), 0
#endif
};
FORCE_INLINE float homing_feedrate(const AxisEnum a) { return pgm_read_float(&homing_feedrate_mm_s[a]); }
float feedrate_mm_s = MMM_TO_MMS(1500.0f);
static float saved_feedrate_mm_s;
int16_t feedrate_percentage = 100, saved_feedrate_percentage;
// Initialized by settings.load()
bool axis_relative_modes[XYZE] = AXIS_RELATIVE_MODES;
#if HAS_WORKSPACE_OFFSET
#if HAS_POSITION_SHIFT
// The distance that XYZ has been offset by G92. Reset by G28.
float position_shift[XYZ] = { 0 };
#endif
#if HAS_HOME_OFFSET
// This offset is added to the configured home position.
// Set by M206, M428, or menu item. Saved to EEPROM.
float home_offset[XYZ] = { 0 };
#endif
#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
// The above two are combined to save on computes
float workspace_offset[XYZ] = { 0 };
#endif
#endif
// Software Endstops are based on the configured limits.
float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS };
#if HAS_SOFTWARE_ENDSTOPS
bool soft_endstops_enabled = true;
#if IS_KINEMATIC
float soft_endstop_radius, soft_endstop_radius_2;
#endif
#endif
#if FAN_COUNT > 0
int16_t fanSpeeds[FAN_COUNT] = { 0 };
#if ENABLED(EXTRA_FAN_SPEED)
int16_t old_fanSpeeds[FAN_COUNT],
new_fanSpeeds[FAN_COUNT];
#endif
#if ENABLED(PROBING_FANS_OFF)
bool fans_paused; // = false;
int16_t paused_fanSpeeds[FAN_COUNT] = { 0 };
#endif
#endif
#if ENABLED(USE_CONTROLLER_FAN)
int controllerFanSpeed; // = 0;
#endif
// The active extruder (tool). Set with T<extruder> command.
uint8_t active_extruder; // = 0;
// Relative Mode. Enable with G91, disable with G90.
static bool relative_mode; // = false;
// For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
volatile bool wait_for_heatup = true;
// For M0/M1, this flag may be cleared (by M108) to exit the wait-for-user loop
#if HAS_RESUME_CONTINUE
volatile bool wait_for_user; // = false;
#endif
#if HAS_AUTO_REPORTING || ENABLED(HOST_KEEPALIVE_FEATURE)
bool suspend_auto_report; // = false
#endif
const char axis_codes[XYZE] = { 'X', 'Y', 'Z', 'E' };
#if ENABLED(HANGPRINTER)
const char axis_codes_hangprinter[ABCDE] = { 'A', 'B', 'C', 'D', 'E' };
#define RAW_AXIS_CODES(I) axis_codes_hangprinter[I]
#else
#define RAW_AXIS_CODES(I) axis_codes[I]
#endif
// Number of characters read in the current line of serial input
static int serial_count; // = 0;
// Inactivity shutdown
millis_t previous_move_ms; // = 0;
static millis_t max_inactive_time; // = 0;
static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
// Buzzer - I2C on the LCD or a BEEPER_PIN
#if ENABLED(LCD_USE_I2C_BUZZER)
#define BUZZ(d,f) lcd_buzz(d, f)
#elif PIN_EXISTS(BEEPER)
Buzzer buzzer;
#define BUZZ(d,f) buzzer.tone(d, f)
#else
#define BUZZ(d,f) NOOP
#endif
uint8_t target_extruder;
#if HAS_BED_PROBE
float zprobe_zoffset; // Initialized by settings.load()
#endif
#if HAS_ABL
float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
#define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s
#elif defined(XY_PROBE_SPEED)
#define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED)
#else
#define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
#endif
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
#if ENABLED(DELTA)
#define ADJUST_DELTA(V) \
if (planner.leveling_active) { \
const float zadj = bilinear_z_offset(V); \
delta[A_AXIS] += zadj; \
delta[B_AXIS] += zadj; \
delta[C_AXIS] += zadj; \
}
#else
#define ADJUST_DELTA(V) if (planner.leveling_active) { delta[Z_AXIS] += bilinear_z_offset(V); }
#endif
#elif IS_KINEMATIC
#define ADJUST_DELTA(V) NOOP
#endif
#if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
const static char msg_wait_for_bed_heating[] PROGMEM = "Wait for bed heating...\n";
#endif
// Extruder offsets
#if HOTENDS > 1
float hotend_offset[XYZ][HOTENDS]; // Initialized by settings.load()
#endif
#if HAS_Z_SERVO_PROBE
const int z_servo_angle[2] = Z_SERVO_ANGLES;
#endif
#if ENABLED(BARICUDA)
uint8_t baricuda_valve_pressure = 0,
baricuda_e_to_p_pressure = 0;
#endif
#if HAS_POWER_SWITCH
bool powersupply_on = (
#if ENABLED(PS_DEFAULT_OFF)
false
#else
true
#endif
);
#if ENABLED(AUTO_POWER_CONTROL)
#define PSU_ON() powerManager.power_on()
#define PSU_OFF() powerManager.power_off()
#else
#define PSU_ON() PSU_PIN_ON()
#define PSU_OFF() PSU_PIN_OFF()
#endif
#endif
#if ENABLED(DELTA)
float delta[ABC];
// Initialized by settings.load()
float delta_height,
delta_endstop_adj[ABC] = { 0 },
delta_radius,
delta_tower_angle_trim[ABC],
delta_tower[ABC][2],
delta_diagonal_rod,
delta_calibration_radius,
delta_diagonal_rod_2_tower[ABC],
delta_segments_per_second,
delta_clip_start_height = Z_MAX_POS;
float delta_safe_distance_from_top();
#elif ENABLED(HANGPRINTER)
float anchor_A_y,
anchor_A_z,
anchor_B_x,
anchor_B_y,
anchor_B_z,
anchor_C_x,
anchor_C_y,
anchor_C_z,
anchor_D_z,
line_lengths[ABCD],
line_lengths_origin[ABCD],
delta_segments_per_second;
#endif
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
int bilinear_grid_spacing[2], bilinear_start[2];
float bilinear_grid_factor[2],
z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
#define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A]
#define ABL_BG_FACTOR(A) bilinear_grid_factor_virt[A]
#define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X
#define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y
#define ABL_BG_GRID(X,Y) z_values_virt[X][Y]
#else
#define ABL_BG_SPACING(A) bilinear_grid_spacing[A]
#define ABL_BG_FACTOR(A) bilinear_grid_factor[A]
#define ABL_BG_POINTS_X GRID_MAX_POINTS_X
#define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y
#define ABL_BG_GRID(X,Y) z_values[X][Y]
#endif
#endif
#if IS_SCARA
// Float constants for SCARA calculations
const float L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
L2_2 = sq(float(L2));
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
delta[ABC];
#endif
float cartes[XYZ] = { 0 };
#if ENABLED(FILAMENT_WIDTH_SENSOR)
bool filament_sensor; // = false; // M405 turns on filament sensor control. M406 turns it off.
float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA, // Nominal filament width. Change with M404.
filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA; // Measured filament diameter
uint8_t meas_delay_cm = MEASUREMENT_DELAY_CM; // Distance delay setting
int8_t measurement_delay[MAX_MEASUREMENT_DELAY + 1], // Ring buffer to delayed measurement. Store extruder factor after subtracting 100
filwidth_delay_index[2] = { 0, -1 }; // Indexes into ring buffer
#endif
#if ENABLED(ADVANCED_PAUSE_FEATURE)
AdvancedPauseMenuResponse advanced_pause_menu_response;
float filament_change_unload_length[EXTRUDERS],
filament_change_load_length[EXTRUDERS];
#endif
#if ENABLED(MIXING_EXTRUDER)
float mixing_factor[MIXING_STEPPERS]; // Reciprocal of mix proportion. 0.0 = off, otherwise >= 1.0.
#if MIXING_VIRTUAL_TOOLS > 1
float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
#endif
#endif
static bool send_ok[BUFSIZE];
#if HAS_SERVOS
Servo servo[NUM_SERVOS];
#define MOVE_SERVO(I, P) servo[I].move(P)
#if HAS_Z_SERVO_PROBE
#define DEPLOY_Z_SERVO() MOVE_SERVO(Z_PROBE_SERVO_NR, z_servo_angle[0])
#define STOW_Z_SERVO() MOVE_SERVO(Z_PROBE_SERVO_NR, z_servo_angle[1])
#endif
#endif
#ifdef CHDK
millis_t chdkHigh = 0;
bool chdkActive = false;
#endif
#if ENABLED(HOST_KEEPALIVE_FEATURE)
MarlinBusyState busy_state = NOT_BUSY;
static millis_t next_busy_signal_ms = 0;
uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
#else
#define host_keepalive() NOOP
#endif
#if ENABLED(I2C_POSITION_ENCODERS)
I2CPositionEncodersMgr I2CPEM;
#endif
#if ENABLED(CNC_WORKSPACE_PLANES)
static WorkspacePlane workspace_plane = PLANE_XY;
#endif
FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float_near(p); }
FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte_near(p); }
#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
static const PROGMEM type array##_P[XYZ] = { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
static inline type array(const AxisEnum axis) { return pgm_read_any(&array##_P[axis]); } \
typedef void __void_##CONFIG##__
XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM);
XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
/**
* ***************************************************************************
* ******************************** FUNCTIONS ********************************
* ***************************************************************************
*/
void stop();
void get_available_commands();
void process_next_command();
void process_parsed_command();
void get_cartesian_from_steppers();
void set_current_from_steppers_for_axis(const AxisEnum axis);
#if ENABLED(ARC_SUPPORT)
void plan_arc(const float (&cart)[XYZE], const float (&offset)[2], const bool clockwise);
#endif
#if ENABLED(BEZIER_CURVE_SUPPORT)
void plan_cubic_move(const float (&cart)[XYZE], const float (&offset)[4]);
#endif
void report_current_position();
void report_current_position_detail();
#if ENABLED(DEBUG_LEVELING_FEATURE)
void print_xyz(const char* prefix, const char* suffix, const float x, const float y, const float z) {
serialprintPGM(prefix);
SERIAL_CHAR('(');
SERIAL_ECHO(x);
SERIAL_ECHOPAIR(", ", y);
SERIAL_ECHOPAIR(", ", z);
SERIAL_CHAR(')');
if (suffix) serialprintPGM(suffix); else SERIAL_EOL();
}
void print_xyz(const char* prefix, const char* suffix, const float xyz[]) {
print_xyz(prefix, suffix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
}
#define DEBUG_POS(SUFFIX,VAR) do { \
print_xyz(PSTR(" " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); }while(0)
#endif
/**
* sync_plan_position
*
* Set the planner/stepper positions directly from current_position with
* no kinematic translation. Used for homing axes and cartesian/core syncing.
*
* This is not possible for Hangprinter because current_position and position are different sizes
*/
void sync_plan_position() {
#if DISABLED(HANGPRINTER)
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
#endif
planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_CART]);
#endif
}
void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_CART]); }
#if IS_KINEMATIC
inline void sync_plan_position_kinematic() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
#endif
planner.set_position_mm_kinematic(current_position);
}
#endif
#if ENABLED(SDSUPPORT)
#include "SdFatUtil.h"
int freeMemory() { return SdFatUtil::FreeRam(); }
#else
extern "C" {
extern char __bss_end;
extern char __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
#if ENABLED(DIGIPOT_I2C)
extern void digipot_i2c_set_current(uint8_t channel, float current);
extern void digipot_i2c_init();
#endif
/**
* Inject the next "immediate" command, when possible, onto the front of the queue.
* Return true if any immediate commands remain to inject.
*/
static bool drain_injected_commands_P() {
if (injected_commands_P != NULL) {
size_t i = 0;
char c, cmd[30];
strncpy_P(cmd, injected_commands_P, sizeof(cmd) - 1);
cmd[sizeof(cmd) - 1] = '\0';
while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
cmd[i] = '\0';
if (enqueue_and_echo_command(cmd)) // success?
injected_commands_P = c ? injected_commands_P + i + 1 : NULL; // next command or done
}
return (injected_commands_P != NULL); // return whether any more remain
}
/**
* Record one or many commands to run from program memory.
* Aborts the current queue, if any.
* Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards
*/
void enqueue_and_echo_commands_P(const char * const pgcode) {
injected_commands_P = pgcode;
(void)drain_injected_commands_P(); // first command executed asap (when possible)
}
/**
* Clear the Marlin command queue
*/
void clear_command_queue() {
cmd_queue_index_r = cmd_queue_index_w = commands_in_queue = 0;
}
/**
* Once a new command is in the ring buffer, call this to commit it
*/
inline void _commit_command(bool say_ok) {
send_ok[cmd_queue_index_w] = say_ok;
if (++cmd_queue_index_w >= BUFSIZE) cmd_queue_index_w = 0;
commands_in_queue++;
}
/**
* Copy a command from RAM into the main command buffer.
* Return true if the command was successfully added.
* Return false for a full buffer, or if the 'command' is a comment.
*/
inline bool _enqueuecommand(const char* cmd, bool say_ok=false) {
if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
strcpy(command_queue[cmd_queue_index_w], cmd);
_commit_command(say_ok);
return true;
}
/**
* Enqueue with Serial Echo
*/
bool enqueue_and_echo_command(const char* cmd) {
if (_enqueuecommand(cmd)) {
SERIAL_ECHO_START();
SERIAL_ECHOPAIR(MSG_ENQUEUEING, cmd);
SERIAL_CHAR('"');
SERIAL_EOL();
return true;
}
return false;
}
#if HAS_QUEUE_NOW
void enqueue_and_echo_command_now(const char* cmd) {
while (!enqueue_and_echo_command(cmd)) idle();
}
#if HAS_LCD_QUEUE_NOW
void enqueue_and_echo_commands_now_P(const char * const pgcode) {
enqueue_and_echo_commands_P(pgcode);
while (drain_injected_commands_P()) idle();
}
#endif
#endif
void setup_killpin() {
#if HAS_KILL
SET_INPUT_PULLUP(KILL_PIN);
#endif
}
void setup_powerhold() {
#if HAS_SUICIDE
OUT_WRITE(SUICIDE_PIN, HIGH);
#endif
#if HAS_POWER_SWITCH
#if ENABLED(PS_DEFAULT_OFF)
PSU_OFF();
#else
PSU_ON();
#endif
#endif
}
void suicide() {
#if HAS_SUICIDE
OUT_WRITE(SUICIDE_PIN, LOW);
#endif
}
void servo_init() {
#if NUM_SERVOS >= 1 && HAS_SERVO_0
servo[0].attach(SERVO0_PIN);
servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
#endif
#if NUM_SERVOS >= 2 && HAS_SERVO_1
servo[1].attach(SERVO1_PIN);
servo[1].detach();
#endif
#if NUM_SERVOS >= 3 && HAS_SERVO_2
servo[2].attach(SERVO2_PIN);
servo[2].detach();
#endif
#if NUM_SERVOS >= 4 && HAS_SERVO_3
servo[3].attach(SERVO3_PIN);
servo[3].detach();
#endif
#if HAS_Z_SERVO_PROBE
/**
* Set position of Z Servo Endstop
*
* The servo might be deployed and positioned too low to stow
* when starting up the machine or rebooting the board.
* There's no way to know where the nozzle is positioned until
* homing has been done - no homing with z-probe without init!
*
*/
STOW_Z_SERVO();
#endif
}
/**
* Stepper Reset (RigidBoard, et.al.)
*/
#if HAS_STEPPER_RESET
void disableStepperDrivers() {
OUT_WRITE(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
}
void enableStepperDrivers() { SET_INPUT(STEPPER_RESET_PIN); } // set to input, which allows it to be pulled high by pullups
#endif
#if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
void i2c_on_receive(int bytes) { // just echo all bytes received to serial
i2c.receive(bytes);
}
void i2c_on_request() { // just send dummy data for now
i2c.reply("Hello World!\n");
}
#endif
void gcode_line_error(const char* err, bool doFlush = true) {
SERIAL_ERROR_START();
serialprintPGM(err);
SERIAL_ERRORLN(gcode_LastN);
//Serial.println(gcode_N);
if (doFlush) flush_and_request_resend();
serial_count = 0;
}
/**
* Get all commands waiting on the serial port and queue them.
* Exit when the buffer is full or when no more characters are
* left on the serial port.
*/
inline void get_serial_commands() {
static char serial_line_buffer[MAX_CMD_SIZE];
static bool serial_comment_mode = false;
// If the command buffer is empty for too long,
// send "wait" to indicate Marlin is still waiting.
#if NO_TIMEOUTS > 0
static millis_t last_command_time = 0;
const millis_t ms = millis();
if (commands_in_queue == 0 && !MYSERIAL0.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
SERIAL_ECHOLNPGM(MSG_WAIT);
last_command_time = ms;
}
#endif
/**
* Loop while serial characters are incoming and the queue is not full
*/
int c;
while (commands_in_queue < BUFSIZE && (c = MYSERIAL0.read()) >= 0) {
char serial_char = c;
/**
* If the character ends the line
*/
if (serial_char == '\n' || serial_char == '\r') {
serial_comment_mode = false; // end of line == end of comment
// Skip empty lines and comments
if (!serial_count) { thermalManager.manage_heater(); continue; }
serial_line_buffer[serial_count] = 0; // Terminate string
serial_count = 0; // Reset buffer
char* command = serial_line_buffer;
while (*command == ' ') command++; // Skip leading spaces
char *npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
if (npos) {
bool M110 = strstr_P(command, PSTR("M110")) != NULL;
if (M110) {
char* n2pos = strchr(command + 4, 'N');
if (n2pos) npos = n2pos;
}
gcode_N = strtol(npos + 1, NULL, 10);
if (gcode_N != gcode_LastN + 1 && !M110)
return gcode_line_error(PSTR(MSG_ERR_LINE_NO));
char *apos = strrchr(command, '*');
if (apos) {
uint8_t checksum = 0, count = uint8_t(apos - command);
while (count) checksum ^= command[--count];
if (strtol(apos + 1, NULL, 10) != checksum)
return gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
}
else
return gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
gcode_LastN = gcode_N;
}
#if ENABLED(SDSUPPORT)
else if (card.saving && strcmp(command, "M29") != 0) // No line number with M29 in Pronterface
return gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
#endif
// Movement commands alert when stopped
if (IsStopped()) {
char* gpos = strchr(command, 'G');
if (gpos) {
switch (strtol(gpos + 1, NULL, 10)) {
case 0:
case 1:
#if ENABLED(ARC_SUPPORT)
case 2:
case 3:
#endif
#if ENABLED(BEZIER_CURVE_SUPPORT)
case 5:
#endif
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
LCD_MESSAGEPGM(MSG_STOPPED);
break;
}
}
}
#if DISABLED(EMERGENCY_PARSER)
// Process critical commands early
if (strcmp(command, "M108") == 0) {
wait_for_heatup = false;
#if ENABLED(NEWPANEL)
wait_for_user = false;
#endif
}
if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
if (strcmp(command, "M410") == 0) quickstop_stepper();
#endif
#if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
last_command_time = ms;
#endif
// Add the command to the queue
_enqueuecommand(serial_line_buffer, true);
}
else if (serial_count >= MAX_CMD_SIZE - 1) {
// Keep fetching, but ignore normal characters beyond the max length
// The command will be injected when EOL is reached
}
else if (serial_char == '\\') { // Handle escapes
if ((c = MYSERIAL0.read()) >= 0 && !serial_comment_mode) // if we have one more character, copy it over
serial_line_buffer[serial_count++] = (char)c;
// otherwise do nothing
}
else { // it's not a newline, carriage return or escape char
if (serial_char == ';') serial_comment_mode = true;
if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
}
} // queue has space, serial has data
}
#if ENABLED(SDSUPPORT)
#if ENABLED(PRINTER_EVENT_LEDS) && HAS_RESUME_CONTINUE
static bool lights_off_after_print; // = false
#endif
/**
* Get commands from the SD Card until the command buffer is full
* or until the end of the file is reached. The special character '#'
* can also interrupt buffering.
*/
inline void get_sdcard_commands() {
static bool stop_buffering = false,
sd_comment_mode = false;
if (!card.sdprinting) return;
/**
* '#' stops reading from SD to the buffer prematurely, so procedural
* macro calls are possible. If it occurs, stop_buffering is triggered
* and the buffer is run dry; this character _can_ occur in serial com
* due to checksums, however, no checksums are used in SD printing.
*/
if (commands_in_queue == 0) stop_buffering = false;
uint16_t sd_count = 0;
bool card_eof = card.eof();
while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
const int16_t n = card.get();
char sd_char = (char)n;
card_eof = card.eof();
if (card_eof || n == -1
|| sd_char == '\n' || sd_char == '\r'
|| ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
) {
if (card_eof) {
card.printingHasFinished();
if (card.sdprinting)
sd_count = 0; // If a sub-file was printing, continue from call point
else {
SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
#if ENABLED(PRINTER_EVENT_LEDS)
LCD_MESSAGEPGM(MSG_INFO_COMPLETED_PRINTS);
leds.set_green();
#if HAS_RESUME_CONTINUE
lights_off_after_print = true;
enqueue_and_echo_commands_P(PSTR("M0 S"
#if ENABLED(NEWPANEL)
"1800"
#else
"60"
#endif
));
#else
safe_delay(2000);
leds.set_off();
#endif
#endif // PRINTER_EVENT_LEDS
}
}
else if (n == -1) {
SERIAL_ERROR_START();
SERIAL_ECHOLNPGM(MSG_SD_ERR_READ);
}
if (sd_char == '#') stop_buffering = true;
sd_comment_mode = false; // for new command
// Skip empty lines and comments
if (!sd_count) { thermalManager.manage_heater(); continue; }
command_queue[cmd_queue_index_w][sd_count] = '\0'; // terminate string
sd_count = 0; // clear sd line buffer
_commit_command(false);
}
else if (sd_count >= MAX_CMD_SIZE - 1) {
/**
* Keep fetching, but ignore normal characters beyond the max length
* The command will be injected when EOL is reached
*/
}
else {
if (sd_char == ';') sd_comment_mode = true;
if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
}
}
}
#if ENABLED(POWER_LOSS_RECOVERY)
inline bool drain_job_recovery_commands() {
static uint8_t job_recovery_commands_index = 0; // Resets on reboot
if (job_recovery_commands_count) {
if (_enqueuecommand(job_recovery_commands[job_recovery_commands_index])) {
++job_recovery_commands_index;
if (!--job_recovery_commands_count) job_recovery_phase = JOB_RECOVERY_DONE;
}
return true;
}
return false;
}
#endif
#endif // SDSUPPORT
/**
* Add to the circular command queue the next command from:
* - The command-injection queue (injected_commands_P)
* - The active serial input (usually USB)
* - Commands left in the queue after power-loss
* - The SD card file being actively printed
*/
void get_available_commands() {
// Immediate commands block the other queues
if (drain_injected_commands_P()) return;
get_serial_commands();
#if ENABLED(POWER_LOSS_RECOVERY)
// Commands for power-loss recovery take precedence
if (job_recovery_phase == JOB_RECOVERY_YES && drain_job_recovery_commands()) return;
#endif
#if ENABLED(SDSUPPORT)
get_sdcard_commands();
#endif
}
/**
* Set target_extruder from the T parameter or the active_extruder
*
* Returns TRUE if the target is invalid
*/
bool get_target_extruder_from_command(const uint16_t code) {
if (parser.seenval('T')) {
const int8_t e = parser.value_byte();
if (e >= EXTRUDERS) {
SERIAL_ECHO_START();
SERIAL_CHAR('M');
SERIAL_ECHO(code);
SERIAL_ECHOLNPAIR(" " MSG_INVALID_EXTRUDER " ", e);
return true;
}
target_extruder = e;
}
else
target_extruder = active_extruder;
return false;
}
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
bool extruder_duplication_enabled = false; // Used in Dual X mode 2
#endif
#if ENABLED(DUAL_X_CARRIAGE)
static DualXMode dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
static float x_home_pos(const int extruder) {
if (extruder == 0)
return base_home_pos(X_AXIS);
else
/**
* In dual carriage mode the extruder offset provides an override of the
* second X-carriage position when homed - otherwise X2_HOME_POS is used.
* This allows soft recalibration of the second extruder home position
* without firmware reflash (through the M218 command).
*/
return hotend_offset[X_AXIS][1] > 0 ? hotend_offset[X_AXIS][1] : X2_HOME_POS;
}
static int x_home_dir(const int extruder) { return extruder ? X2_HOME_DIR : X_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[XYZE]; // used in mode 1
static millis_t delayed_move_time = 0; // used in mode 1
static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
static int16_t duplicate_extruder_temp_offset = 0; // used in mode 2
#endif // DUAL_X_CARRIAGE
#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
/**
* Software endstops can be used to monitor the open end of
* an axis that has a hardware endstop on the other end. Or
* they can prevent axes from moving past endstops and grinding.
*
* To keep doing their job as the coordinate system changes,
* the software endstop positions must be refreshed to remain
* at the same positions relative to the machine.
*/
void update_software_endstops(const AxisEnum axis) {
#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
workspace_offset[axis] = home_offset[axis] + position_shift[axis];
#endif
#if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS) {
// In Dual X mode hotend_offset[X] is T1's home position
const float dual_max_x = MAX(hotend_offset[X_AXIS][1], X2_MAX_POS);
if (active_extruder != 0) {
// T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
soft_endstop_min[X_AXIS] = X2_MIN_POS;
soft_endstop_max[X_AXIS] = dual_max_x;
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
// In Duplication Mode, T0 can move as far left as X_MIN_POS
// but not so far to the right that T1 would move past the end
soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS);
soft_endstop_max[X_AXIS] = MIN(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset);
}
else {
// In other modes, T0 can move from X_MIN_POS to X_MAX_POS
soft_endstop_min[axis] = base_min_pos(axis);
soft_endstop_max[axis] = base_max_pos(axis);
}
}
#elif ENABLED(DELTA)
soft_endstop_min[axis] = base_min_pos(axis);
soft_endstop_max[axis] = axis == Z_AXIS ? delta_height
#if HAS_BED_PROBE
- zprobe_zoffset
#endif
: base_max_pos(axis);
#else
soft_endstop_min[axis] = base_min_pos(axis);
soft_endstop_max[axis] = base_max_pos(axis);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("For ", axis_codes[axis]);
#if HAS_HOME_OFFSET
SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
#endif
#if HAS_POSITION_SHIFT
SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
#endif
SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
}
#endif
#if ENABLED(DELTA)
switch (axis) {
#if HAS_SOFTWARE_ENDSTOPS
case X_AXIS:
case Y_AXIS:
// Get a minimum radius for clamping
soft_endstop_radius = MIN3(ABS(MAX(soft_endstop_min[X_AXIS], soft_endstop_min[Y_AXIS])), soft_endstop_max[X_AXIS], soft_endstop_max[Y_AXIS]);
soft_endstop_radius_2 = sq(soft_endstop_radius);
break;
#endif
case Z_AXIS:
delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
default: break;
}
#endif
}
#endif // HAS_WORKSPACE_OFFSET || DUAL_X_CARRIAGE || DELTA
#if HAS_M206_COMMAND
/**
* Change the home offset for an axis.
* Also refreshes the workspace offset.
*/
static void set_home_offset(const AxisEnum axis, const float v) {
home_offset[axis] = v;
update_software_endstops(axis);
}
#endif // HAS_M206_COMMAND
/**
* Set an axis' current position to its home position (after homing).
*
* For Core and Cartesian robots this applies one-to-one when an
* individual axis has been homed.
*
* DELTA should wait until all homing is done before setting the XYZ
* current_position to home, because homing is a single operation.
* In the case where the axis positions are already known and previously
* homed, DELTA could home to X or Y individually by moving either one
* to the center. However, homing Z always homes XY and Z.
*
* SCARA should wait until all XY homing is done before setting the XY
* current_position to home, because neither X nor Y is at home until
* both are at home. Z can however be homed individually.
*
* Callers must sync the planner position after calling this!
*/
static void set_axis_is_at_home(const AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
SBI(axis_known_position, axis);
SBI(axis_homed, axis);
#if HAS_POSITION_SHIFT
position_shift[axis] = 0;
update_software_endstops(axis);
#endif
#if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
current_position[X_AXIS] = x_home_pos(active_extruder);
return;
}
#endif
#if ENABLED(MORGAN_SCARA)
/**
* Morgan SCARA homes XY at the same time
*/
if (axis == X_AXIS || axis == Y_AXIS) {
float homeposition[XYZ] = {
base_home_pos(X_AXIS),
base_home_pos(Y_AXIS),
base_home_pos(Z_AXIS)
};
// SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
// SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
/**
* Get Home position SCARA arm angles using inverse kinematics,
* and calculate homing offset using forward kinematics
*/
inverse_kinematics(homeposition);
forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
// SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
// SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
current_position[axis] = cartes[axis];
/**
* SCARA home positions are based on configuration since the actual
* limits are determined by the inverse kinematic transform.
*/
soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis));
soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis));
}
else
#elif ENABLED(DELTA)
current_position[axis] = (axis == Z_AXIS ? delta_height
#if HAS_BED_PROBE
- zprobe_zoffset
#endif
: base_home_pos(axis));
#else
current_position[axis] = base_home_pos(axis);
#endif
/**
* Z Probe Z Homing? Account for the probe's Z offset.
*/
#if HAS_BED_PROBE && Z_HOME_DIR < 0
if (axis == Z_AXIS) {
#if HOMING_Z_WITH_PROBE
current_position[Z_AXIS] -= zprobe_zoffset;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***");
SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset);
}
#endif
#elif ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP (Z_MIN_PROBE_ENDSTOP) ***");
#endif
}
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
#if HAS_HOME_OFFSET
SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
#endif
DEBUG_POS("", current_position);
SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
#if ENABLED(I2C_POSITION_ENCODERS)
I2CPEM.homed(axis);
#endif
}
/**
* Homing bump feedrate (mm/s)
*/
inline float get_homing_bump_feedrate(const AxisEnum axis) {
#if HOMING_Z_WITH_PROBE
if (axis == Z_AXIS) return MMM_TO_MMS(Z_PROBE_SPEED_SLOW);
#endif
static const uint8_t homing_bump_divisor[] PROGMEM = HOMING_BUMP_DIVISOR;
uint8_t hbd = pgm_read_byte(&homing_bump_divisor[axis]);
if (hbd < 1) {
hbd = 10;
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
}
return homing_feedrate(axis) / hbd;
}
/**
* Some planner shorthand inline functions
*/
/**
* Move the planner to the current position from wherever it last moved
* (or from wherever it has been told it is located).
*
* Impossible on Hangprinter because current_position and position are of different sizes
*/
inline void buffer_line_to_current_position() {
#if DISABLED(HANGPRINTER) // emptying this function probably breaks do_blocking_move_to()
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_CART], feedrate_mm_s, active_extruder);
#endif
}
/**
* Move the planner to the position stored in the destination array, which is
* used by G0/G1/G2/G3/G5 and many other functions to set a destination.
*/
inline void buffer_line_to_destination(const float &fr_mm_s) {
#if ENABLED(HANGPRINTER)
UNUSED(fr_mm_s);
#else
planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_CART], fr_mm_s, active_extruder);
#endif
}
#if IS_KINEMATIC
/**
* Calculate delta, start a line, and set current_position to destination
*/
void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
#endif
#if UBL_SEGMENTED
// ubl segmented line will do z-only moves in single segment
ubl.prepare_segmented_line_to(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s));
#else
if ( current_position[X_AXIS] == destination[X_AXIS]
&& current_position[Y_AXIS] == destination[Y_AXIS]
&& current_position[Z_AXIS] == destination[Z_AXIS]
&& current_position[E_CART] == destination[E_CART]
) return;
planner.buffer_line_kinematic(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
#endif
set_current_from_destination();
}
#endif // IS_KINEMATIC
/**
* Plan a move to (X, Y, Z) and set the current_position.
* The final current_position may not be the one that was requested
* Caution: 'destination' is modified by this function.
*/
void do_blocking_move_to(const float rx, const float ry, const float rz, const float &fr_mm_s/*=0.0*/) {
const float old_feedrate_mm_s = feedrate_mm_s;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, LOGICAL_X_POSITION(rx), LOGICAL_Y_POSITION(ry), LOGICAL_Z_POSITION(rz));
#endif
const float z_feedrate = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
#if ENABLED(DELTA)
if (!position_is_reachable(rx, ry)) return;
feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
set_destination_from_current(); // sync destination at the start
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_from_current", destination);
#endif
// when in the danger zone
if (current_position[Z_AXIS] > delta_clip_start_height) {
if (rz > delta_clip_start_height) { // staying in the danger zone
destination[X_AXIS] = rx; // move directly (uninterpolated)
destination[Y_AXIS] = ry;
destination[Z_AXIS] = rz;
prepare_uninterpolated_move_to_destination(); // set_current_from_destination
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
#endif
return;
}
destination[Z_AXIS] = delta_clip_start_height;
prepare_uninterpolated_move_to_destination(); // set_current_from_destination
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
#endif
}
if (rz > current_position[Z_AXIS]) { // raising?
destination[Z_AXIS] = rz;
prepare_uninterpolated_move_to_destination(z_feedrate); // set_current_from_destination
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
#endif
}
destination[X_AXIS] = rx;
destination[Y_AXIS] = ry;
prepare_move_to_destination(); // set_current_from_destination
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
#endif
if (rz < current_position[Z_AXIS]) { // lowering?
destination[Z_AXIS] = rz;
prepare_uninterpolated_move_to_destination(z_feedrate); // set_current_from_destination
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
#endif
}
#elif IS_SCARA
if (!position_is_reachable(rx, ry)) return;
set_destination_from_current();
// If Z needs to raise, do it before moving XY
if (destination[Z_AXIS] < rz) {
destination[Z_AXIS] = rz;
prepare_uninterpolated_move_to_destination(z_feedrate);
}
destination[X_AXIS] = rx;
destination[Y_AXIS] = ry;
prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
// If Z needs to lower, do it after moving XY
if (destination[Z_AXIS] > rz) {
destination[Z_AXIS] = rz;
prepare_uninterpolated_move_to_destination(z_feedrate);
}
#else
// If Z needs to raise, do it before moving XY
if (current_position[Z_AXIS] < rz) {
feedrate_mm_s = z_feedrate;
current_position[Z_AXIS] = rz;
buffer_line_to_current_position();
}
feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
current_position[X_AXIS] = rx;
current_position[Y_AXIS] = ry;
buffer_line_to_current_position();
// If Z needs to lower, do it after moving XY
if (current_position[Z_AXIS] > rz) {
feedrate_mm_s = z_feedrate;
current_position[Z_AXIS] = rz;
buffer_line_to_current_position();
}
#endif
planner.synchronize();
feedrate_mm_s = old_feedrate_mm_s;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
#endif
}
void do_blocking_move_to_x(const float &rx, const float &fr_mm_s/*=0.0*/) {
do_blocking_move_to(rx, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
}
void do_blocking_move_to_z(const float &rz, const float &fr_mm_s/*=0.0*/) {
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], rz, fr_mm_s);
}
void do_blocking_move_to_xy(const float &rx, const float &ry, const float &fr_mm_s/*=0.0*/) {
do_blocking_move_to(rx, ry, current_position[Z_AXIS], fr_mm_s);
}
//
// Prepare to do endstop or probe moves
// with custom feedrates.
//
// - Save current feedrates
// - Reset the rate multiplier
// - Reset the command timeout
// - Enable the endstops (for endstop moves)
//
void setup_for_endstop_or_probe_move() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("setup_for_endstop_or_probe_move", current_position);
#endif
saved_feedrate_mm_s = feedrate_mm_s;
saved_feedrate_percentage = feedrate_percentage;
feedrate_percentage = 100;
}
void clean_up_after_endstop_or_probe_move() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("clean_up_after_endstop_or_probe_move", current_position);
#endif
feedrate_mm_s = saved_feedrate_mm_s;
feedrate_percentage = saved_feedrate_percentage;
}
#if HAS_AXIS_UNHOMED_ERR
bool axis_unhomed_error(const bool x/*=true*/, const bool y/*=true*/, const bool z/*=true*/) {
#if ENABLED(HOME_AFTER_DEACTIVATE)
const bool xx = x && !TEST(axis_known_position, X_AXIS),
yy = y && !TEST(axis_known_position, Y_AXIS),
zz = z && !TEST(axis_known_position, Z_AXIS);
#else
const bool xx = x && !TEST(axis_homed, X_AXIS),
yy = y && !TEST(axis_homed, Y_AXIS),
zz = z && !TEST(axis_homed, Z_AXIS);
#endif
if (xx || yy || zz) {
SERIAL_ECHO_START();
SERIAL_ECHOPGM(MSG_HOME " ");
if (xx) SERIAL_ECHOPGM(MSG_X);
if (yy) SERIAL_ECHOPGM(MSG_Y);
if (zz) SERIAL_ECHOPGM(MSG_Z);
SERIAL_ECHOLNPGM(" " MSG_FIRST);
#if ENABLED(ULTRA_LCD)
lcd_status_printf_P(0, PSTR(MSG_HOME " %s%s%s " MSG_FIRST), xx ? MSG_X : "", yy ? MSG_Y : "", zz ? MSG_Z : "");
#endif
return true;
}
return false;
}
#endif // HAS_AXIS_UNHOMED_ERR
#if ENABLED(Z_PROBE_SLED)
#ifndef SLED_DOCKING_OFFSET
#define SLED_DOCKING_OFFSET 0
#endif
/**
* Method to dock/undock a sled designed by Charles Bell.
*
* stow[in] If false, move to MAX_X and engage the solenoid
* If true, move to MAX_X and release the solenoid
*/
static void dock_sled(bool stow) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("dock_sled(", stow);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
// Dock sled a bit closer to ensure proper capturing
do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
#if HAS_SOLENOID_1 && DISABLED(EXT_SOLENOID)
WRITE(SOL1_PIN, !stow); // switch solenoid
#endif
}
#elif ENABLED(Z_PROBE_ALLEN_KEY)
FORCE_INLINE void do_blocking_move_to(const float (&raw)[XYZ], const float &fr_mm_s) {
do_blocking_move_to(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], fr_mm_s);
}
void run_deploy_moves_script() {
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
#endif
const float deploy_1[] = { Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z };
do_blocking_move_to(deploy_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE));
#endif
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
#endif
const float deploy_2[] = { Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z };
do_blocking_move_to(deploy_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE));
#endif
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
#endif
const float deploy_3[] = { Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z };
do_blocking_move_to(deploy_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE));
#endif
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
#endif
const float deploy_4[] = { Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z };
do_blocking_move_to(deploy_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE));
#endif
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
#endif
const float deploy_5[] = { Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z };
do_blocking_move_to(deploy_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE));
#endif
}
void run_stow_moves_script() {
#if defined(Z_PROBE_ALLEN_KEY_STOW_1_X) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
#define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
#define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
#define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
#endif
const float stow_1[] = { Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z };
do_blocking_move_to(stow_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE));
#endif
#if defined(Z_PROBE_ALLEN_KEY_STOW_2_X) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
#define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
#define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
#define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
#endif
const float stow_2[] = { Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z };
do_blocking_move_to(stow_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE));
#endif
#if defined(Z_PROBE_ALLEN_KEY_STOW_3_X) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
#define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
#define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
#define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
#endif
const float stow_3[] = { Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z };
do_blocking_move_to(stow_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE));
#endif
#if defined(Z_PROBE_ALLEN_KEY_STOW_4_X) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
#define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
#define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
#define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
#endif
const float stow_4[] = { Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z };
do_blocking_move_to(stow_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE));
#endif
#if defined(Z_PROBE_ALLEN_KEY_STOW_5_X) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
#define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
#define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
#define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
#endif
const float stow_5[] = { Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z };
do_blocking_move_to(stow_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE));
#endif
}
#endif // Z_PROBE_ALLEN_KEY
#if ENABLED(PROBING_FANS_OFF)
void fans_pause(const bool p) {
if (p != fans_paused) {
fans_paused = p;
if (p)
for (uint8_t x = 0; x < FAN_COUNT; x++) {
paused_fanSpeeds[x] = fanSpeeds[x];
fanSpeeds[x] = 0;
}
else
for (uint8_t x = 0; x < FAN_COUNT; x++)
fanSpeeds[x] = paused_fanSpeeds[x];
}
}
#endif // PROBING_FANS_OFF
#if HAS_BED_PROBE
// TRIGGERED_WHEN_STOWED_TEST can easily be extended to servo probes, ... if needed.
#if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST)
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
#define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
#else
#define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
#endif
#endif
#if QUIET_PROBING
void probing_pause(const bool p) {
#if ENABLED(PROBING_HEATERS_OFF)
thermalManager.pause(p);
#endif
#if ENABLED(PROBING_FANS_OFF)
fans_pause(p);
#endif
if (p) safe_delay(
#if DELAY_BEFORE_PROBING > 25
DELAY_BEFORE_PROBING
#else
25
#endif
);
}
#endif // QUIET_PROBING
#if ENABLED(BLTOUCH)
void bltouch_command(int angle) {
MOVE_SERVO(Z_PROBE_SERVO_NR, angle); // Give the BL-Touch the command and wait
safe_delay(BLTOUCH_DELAY);
}
bool set_bltouch_deployed(const bool deploy) {
if (deploy && TEST_BLTOUCH()) { // If BL-Touch says it's triggered
bltouch_command(BLTOUCH_RESET); // try to reset it.
bltouch_command(BLTOUCH_DEPLOY); // Also needs to deploy and stow to
bltouch_command(BLTOUCH_STOW); // clear the triggered condition.
safe_delay(1500); // Wait for internal self-test to complete.
// (Measured completion time was 0.65 seconds
// after reset, deploy, and stow sequence)
if (TEST_BLTOUCH()) { // If it still claims to be triggered...
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_STOP_BLTOUCH);
stop(); // punt!
return true;
}
}
bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
return false;
}
#endif // BLTOUCH
/**
* Raise Z to a minimum height to make room for a probe to move
*/
inline void do_probe_raise(const float z_raise) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
float z_dest = z_raise;
if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
NOMORE(z_dest, Z_MAX_POS);
if (z_dest > current_position[Z_AXIS])
do_blocking_move_to_z(z_dest);
}
// returns false for ok and true for failure
bool set_probe_deployed(const bool deploy) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
DEBUG_POS("set_probe_deployed", current_position);
SERIAL_ECHOLNPAIR("deploy: ", deploy);
}
#endif
if (endstops.z_probe_enabled == deploy) return false;
// Make room for probe to deploy (or stow)
// Fix-mounted probe should only raise for deploy
#if ENABLED(FIX_MOUNTED_PROBE)
const bool deploy_stow_condition = deploy;
#else
constexpr bool deploy_stow_condition = true;
#endif
// For beds that fall when Z is powered off only raise for trusted Z
#if ENABLED(UNKNOWN_Z_NO_RAISE)
const bool unknown_condition = TEST(axis_known_position, Z_AXIS);
#else
constexpr float unknown_condition = true;
#endif
if (deploy_stow_condition && unknown_condition)
do_probe_raise(MAX(Z_CLEARANCE_BETWEEN_PROBES, Z_CLEARANCE_DEPLOY_PROBE));
#if ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY)
#if ENABLED(Z_PROBE_SLED)
#define _AUE_ARGS true, false, false
#else
#define _AUE_ARGS
#endif
if (axis_unhomed_error(_AUE_ARGS)) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_STOP_UNHOMED);
stop();
return true;
}
#endif
const float oldXpos = current_position[X_AXIS],
oldYpos = current_position[Y_AXIS];
#ifdef _TRIGGERED_WHEN_STOWED_TEST
// If endstop is already false, the Z probe is deployed
if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
// Would a goto be less ugly?
//while (!_TRIGGERED_WHEN_STOWED_TEST) idle(); // would offer the opportunity
// for a triggered when stowed manual probe.
if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early
// otherwise an Allen-Key probe can't be stowed.
#endif
#if ENABLED(SOLENOID_PROBE)
#if HAS_SOLENOID_1
WRITE(SOL1_PIN, deploy);
#endif
#elif ENABLED(Z_PROBE_SLED)
dock_sled(!deploy);
#elif HAS_Z_SERVO_PROBE && DISABLED(BLTOUCH)
MOVE_SERVO(Z_PROBE_SERVO_NR, z_servo_angle[deploy ? 0 : 1]);
#elif ENABLED(Z_PROBE_ALLEN_KEY)
deploy ? run_deploy_moves_script() : run_stow_moves_script();
#endif
#ifdef _TRIGGERED_WHEN_STOWED_TEST
} // _TRIGGERED_WHEN_STOWED_TEST == deploy
if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // State hasn't changed?
if (IsRunning()) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM("Z-Probe failed");
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
}
stop();
return true;
} // _TRIGGERED_WHEN_STOWED_TEST == deploy
#endif
do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
endstops.enable_z_probe(deploy);
return false;
}
/**
* @brief Used by run_z_probe to do a single Z probe move.
*
* @param z Z destination
* @param fr_mm_s Feedrate in mm/s
* @return true to indicate an error
*/
static bool do_probe_move(const float z, const float fr_mm_s) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
#endif
#if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
// Wait for bed to heat back up between probing points
if (thermalManager.isHeatingBed()) {
serialprintPGM(msg_wait_for_bed_heating);
LCD_MESSAGEPGM(MSG_BED_HEATING);
while (thermalManager.isHeatingBed()) safe_delay(200);
lcd_reset_status();
}
#endif
// Deploy BLTouch at the start of any probe
#if ENABLED(BLTOUCH)
if (set_bltouch_deployed(true)) return true;
#endif
#if QUIET_PROBING
probing_pause(true);
#endif
// Move down until probe triggered
do_blocking_move_to_z(z, fr_mm_s);
// Check to see if the probe was triggered
const bool probe_triggered = TEST(endstops.trigger_state(),
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
Z_MIN
#else
Z_MIN_PROBE
#endif
);
#if QUIET_PROBING
probing_pause(false);
#endif
// Retract BLTouch immediately after a probe if it was triggered
#if ENABLED(BLTOUCH)
if (probe_triggered && set_bltouch_deployed(false)) return true;
#endif
endstops.hit_on_purpose();
// Get Z where the steppers were interrupted
set_current_from_steppers_for_axis(Z_AXIS);
// Tell the planner where we actually are
SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
#endif
return !probe_triggered;
}
/**
* @details Used by probe_pt to do a single Z probe at the current position.
* Leaves current_position[Z_AXIS] at the height where the probe triggered.
*
* @return The raw Z position where the probe was triggered
*/
static float run_z_probe() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
#endif
// Stop the probe before it goes too low to prevent damage.
// If Z isn't known then probe to -10mm.
const float z_probe_low_point = TEST(axis_known_position, Z_AXIS) ? -zprobe_zoffset + Z_PROBE_LOW_POINT : -10.0;
// Double-probing does a fast probe followed by a slow probe
#if MULTIPLE_PROBING == 2
// Do a first probe at the fast speed
if (do_probe_move(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_FAST))) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("FAST Probe fail!");
DEBUG_POS("<<< run_z_probe", current_position);
}
#endif
return NAN;
}
float first_probe_z = current_position[Z_AXIS];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("1st Probe Z:", first_probe_z);
#endif
// move up to make clearance for the probe
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_MULTI_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
#else
// If the nozzle is well over the travel height then
// move down quickly before doing the slow probe
float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0;
if (zprobe_zoffset < 0) z -= zprobe_zoffset;
if (current_position[Z_AXIS] > z) {
// If we don't make it to the z position (i.e. the probe triggered), move up to make clearance for the probe
if (!do_probe_move(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST)))
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
}
#endif
#if MULTIPLE_PROBING > 2
float probes_total = 0;
for (uint8_t p = MULTIPLE_PROBING + 1; --p;) {
#endif
// move down slowly to find bed
if (do_probe_move(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_SLOW))) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("SLOW Probe fail!");
DEBUG_POS("<<< run_z_probe", current_position);
}
#endif
return NAN;
}
#if MULTIPLE_PROBING > 2
probes_total += current_position[Z_AXIS];
if (p > 1) do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_MULTI_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
}
#endif
#if MULTIPLE_PROBING > 2
// Return the average value of all probes
const float measured_z = probes_total * (1.0f / (MULTIPLE_PROBING));
#elif MULTIPLE_PROBING == 2
const float z2 = current_position[Z_AXIS];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("2nd Probe Z:", z2);
SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - z2);
}
#endif
// Return a weighted average of the fast and slow probes
const float measured_z = (z2 * 3.0 + first_probe_z * 2.0) * 0.2;
#else
// Return the single probe result
const float measured_z = current_position[Z_AXIS];
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
#endif
return measured_z;
}
/**
* - Move to the given XY
* - Deploy the probe, if not already deployed
* - Probe the bed, get the Z position
* - Depending on the 'stow' flag
* - Stow the probe, or
* - Raise to the BETWEEN height
* - Return the probed Z position
*/
float probe_pt(const float &rx, const float &ry, const ProbePtRaise raise_after/*=PROBE_PT_NONE*/, const uint8_t verbose_level/*=0*/, const bool probe_relative/*=true*/) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> probe_pt(", LOGICAL_X_POSITION(rx));
SERIAL_ECHOPAIR(", ", LOGICAL_Y_POSITION(ry));
SERIAL_ECHOPAIR(", ", raise_after == PROBE_PT_RAISE ? "raise" : raise_after == PROBE_PT_STOW ? "stow" : "none");
SERIAL_ECHOPAIR(", ", int(verbose_level));
SERIAL_ECHOPAIR(", ", probe_relative ? "probe" : "nozzle");
SERIAL_ECHOLNPGM("_relative)");
DEBUG_POS("", current_position);
}
#endif
// TODO: Adapt for SCARA, where the offset rotates
float nx = rx, ny = ry;
if (probe_relative) {
if (!position_is_reachable_by_probe(rx, ry)) return NAN; // The given position is in terms of the probe
nx -= (X_PROBE_OFFSET_FROM_EXTRUDER); // Get the nozzle position
ny -= (Y_PROBE_OFFSET_FROM_EXTRUDER);
}
else if (!position_is_reachable(nx, ny)) return NAN; // The given position is in terms of the nozzle
const float nz =
#if ENABLED(DELTA)
// Move below clip height or xy move will be aborted by do_blocking_move_to
MIN(current_position[Z_AXIS], delta_clip_start_height)
#else
current_position[Z_AXIS]
#endif
;
const float old_feedrate_mm_s = feedrate_mm_s;
feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
// Move the probe to the starting XYZ
do_blocking_move_to(nx, ny, nz);
float measured_z = NAN;
if (!DEPLOY_PROBE()) {
measured_z = run_z_probe() + zprobe_zoffset;
const bool big_raise = raise_after == PROBE_PT_BIG_RAISE;
if (big_raise || raise_after == PROBE_PT_RAISE)
do_blocking_move_to_z(current_position[Z_AXIS] + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
else if (raise_after == PROBE_PT_STOW)
if (STOW_PROBE()) measured_z = NAN;
}
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM("Bed X: ");
SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(rx), 3);
SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(ry), 3);
SERIAL_PROTOCOLPGM(" Z: ");
SERIAL_PROTOCOL_F(measured_z, 3);
SERIAL_EOL();
}
feedrate_mm_s = old_feedrate_mm_s;
if (isnan(measured_z)) {
LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED);
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_PROBING_FAILED);
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
#endif
return measured_z;
}
#endif // HAS_BED_PROBE
#if HAS_LEVELING
bool leveling_is_valid() {
return
#if ENABLED(MESH_BED_LEVELING)
mbl.has_mesh()
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
!!bilinear_grid_spacing[X_AXIS]
#elif ENABLED(AUTO_BED_LEVELING_UBL)
ubl.mesh_is_valid()
#else // 3POINT, LINEAR
true
#endif
;
}
/**
* Turn bed leveling on or off, fixing the current
* position as-needed.
*
* Disable: Current position = physical position
* Enable: Current position = "unleveled" physical position
*/
void set_bed_leveling_enabled(const bool enable/*=true*/) {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
const bool can_change = (!enable || leveling_is_valid());
#else
constexpr bool can_change = true;
#endif
if (can_change && enable != planner.leveling_active) {
planner.synchronize();
#if ENABLED(MESH_BED_LEVELING)
if (!enable)
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
const bool enabling = enable && leveling_is_valid();
planner.leveling_active = enabling;
if (enabling) planner.unapply_leveling(current_position);
#elif ENABLED(AUTO_BED_LEVELING_UBL)
#if PLANNER_LEVELING
if (planner.leveling_active) { // leveling from on to off
// change unleveled current_position to physical current_position without moving steppers.
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
planner.leveling_active = false; // disable only AFTER calling apply_leveling
}
else { // leveling from off to on
planner.leveling_active = true; // enable BEFORE calling unapply_leveling, otherwise ignored
// change physical current_position to unleveled current_position without moving steppers.
planner.unapply_leveling(current_position);
}
#else
// UBL equivalents for apply/unapply_leveling
#if ENABLED(SKEW_CORRECTION)
float pos[XYZ] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
planner.skew(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS]);
#else
const float (&pos)[XYZE] = current_position;
#endif
if (planner.leveling_active) {
current_position[Z_AXIS] += ubl.get_z_correction(pos[X_AXIS], pos[Y_AXIS]);
planner.leveling_active = false;
}
else {
planner.leveling_active = true;
current_position[Z_AXIS] -= ubl.get_z_correction(pos[X_AXIS], pos[Y_AXIS]);
}
#endif
#else // ABL
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Force bilinear_z_offset to re-calculate next time
const float reset[XYZ] = { -9999.999, -9999.999, 0 };
(void)bilinear_z_offset(reset);
#endif
// Enable or disable leveling compensation in the planner
planner.leveling_active = enable;
if (!enable)
// When disabling just get the current position from the steppers.
// This will yield the smallest error when first converted back to steps.
set_current_from_steppers_for_axis(
#if ABL_PLANAR
ALL_AXES
#else
Z_AXIS
#endif
);
else
// When enabling, remove compensation from the current position,
// so compensation will give the right stepper counts.
planner.unapply_leveling(current_position);
SYNC_PLAN_POSITION_KINEMATIC();
#endif // ABL
}
}
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
void set_z_fade_height(const float zfh, const bool do_report/*=true*/) {
if (planner.z_fade_height == zfh) return;
const bool leveling_was_active = planner.leveling_active;
set_bed_leveling_enabled(false);
planner.set_z_fade_height(zfh);
if (leveling_was_active) {
const float oldpos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
set_bed_leveling_enabled(true);
if (do_report && memcmp(oldpos, current_position, sizeof(oldpos)))
report_current_position();
}
}
#endif // LEVELING_FADE_HEIGHT
/**
* Reset calibration results to zero.
*/
void reset_bed_level() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
#endif
set_bed_leveling_enabled(false);
#if ENABLED(MESH_BED_LEVELING)
mbl.reset();
#elif ENABLED(AUTO_BED_LEVELING_UBL)
ubl.reset();
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
bilinear_start[X_AXIS] = bilinear_start[Y_AXIS] =
bilinear_grid_spacing[X_AXIS] = bilinear_grid_spacing[Y_AXIS] = 0;
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
z_values[x][y] = NAN;
#elif ABL_PLANAR
planner.bed_level_matrix.set_to_identity();
#endif
}
#endif // HAS_LEVELING
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(MESH_BED_LEVELING)
/**
* Enable to produce output in JSON format suitable
* for SCAD or JavaScript mesh visualizers.
*
* Visualize meshes in OpenSCAD using the included script.
*
* buildroot/shared/scripts/MarlinMesh.scad
*/
//#define SCAD_MESH_OUTPUT
/**
* Print calibration results for plotting or manual frame adjustment.
*/
void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, const element_2d_fn fn) {
#ifndef SCAD_MESH_OUTPUT
for (uint8_t x = 0; x < sx; x++) {
for (uint8_t i = 0; i < precision + 2 + (x < 10 ? 1 : 0); i++)
SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOL(int(x));
}
SERIAL_EOL();
#endif
#ifdef SCAD_MESH_OUTPUT
SERIAL_PROTOCOLLNPGM("measured_z = ["); // open 2D array
#endif
for (uint8_t y = 0; y < sy; y++) {
#ifdef SCAD_MESH_OUTPUT
SERIAL_PROTOCOLPGM(" ["); // open sub-array
#else
if (y < 10) SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOL(int(y));
#endif
for (uint8_t x = 0; x < sx; x++) {
SERIAL_PROTOCOLCHAR(' ');
const float offset = fn(x, y);
if (!isnan(offset)) {
if (offset >= 0) SERIAL_PROTOCOLCHAR('+');
SERIAL_PROTOCOL_F(offset, int(precision));
}
else {
#ifdef SCAD_MESH_OUTPUT
for (uint8_t i = 3; i < precision + 3; i++)
SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOLPGM("NAN");
#else
for (uint8_t i = 0; i < precision + 3; i++)
SERIAL_PROTOCOLCHAR(i ? '=' : ' ');
#endif
}
#ifdef SCAD_MESH_OUTPUT
if (x < sx - 1) SERIAL_PROTOCOLCHAR(',');
#endif
}
#ifdef SCAD_MESH_OUTPUT
SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOLCHAR(']'); // close sub-array
if (y < sy - 1) SERIAL_PROTOCOLCHAR(',');
#endif
SERIAL_EOL();
}
#ifdef SCAD_MESH_OUTPUT
SERIAL_PROTOCOLPGM("];"); // close 2D array
#endif
SERIAL_EOL();
}
#endif
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
/**
* Extrapolate a single point from its neighbors
*/
static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("Extrapolate [");
if (x < 10) SERIAL_CHAR(' ');
SERIAL_ECHO(int(x));
SERIAL_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' ');
SERIAL_CHAR(' ');
if (y < 10) SERIAL_CHAR(' ');
SERIAL_ECHO(int(y));
SERIAL_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
SERIAL_CHAR(']');
}
#endif
if (!isnan(z_values[x][y])) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" (done)");
#endif
return; // Don't overwrite good values.
}
SERIAL_EOL();
// Get X neighbors, Y neighbors, and XY neighbors
const uint8_t x1 = x + xdir, y1 = y + ydir, x2 = x1 + xdir, y2 = y1 + ydir;
float a1 = z_values[x1][y ], a2 = z_values[x2][y ],
b1 = z_values[x ][y1], b2 = z_values[x ][y2],
c1 = z_values[x1][y1], c2 = z_values[x2][y2];
// Treat far unprobed points as zero, near as equal to far
if (isnan(a2)) a2 = 0.0; if (isnan(a1)) a1 = a2;
if (isnan(b2)) b2 = 0.0; if (isnan(b1)) b1 = b2;
if (isnan(c2)) c2 = 0.0; if (isnan(c1)) c1 = c2;
const float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2;
// Take the average instead of the median
z_values[x][y] = (a + b + c) / 3.0;
// Median is robust (ignores outliers).
// z_values[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
// : ((c < b) ? b : (a < c) ? a : c);
}
//Enable this if your SCARA uses 180° of total area
//#define EXTRAPOLATE_FROM_EDGE
#if ENABLED(EXTRAPOLATE_FROM_EDGE)
#if GRID_MAX_POINTS_X < GRID_MAX_POINTS_Y
#define HALF_IN_X
#elif GRID_MAX_POINTS_Y < GRID_MAX_POINTS_X
#define HALF_IN_Y
#endif
#endif
/**
* Fill in the unprobed points (corners of circular print surface)
* using linear extrapolation, away from the center.
*/
static void extrapolate_unprobed_bed_level() {
#ifdef HALF_IN_X
constexpr uint8_t ctrx2 = 0, xlen = GRID_MAX_POINTS_X - 1;
#else
constexpr uint8_t ctrx1 = (GRID_MAX_POINTS_X - 1) / 2, // left-of-center
ctrx2 = (GRID_MAX_POINTS_X) / 2, // right-of-center
xlen = ctrx1;
#endif
#ifdef HALF_IN_Y
constexpr uint8_t ctry2 = 0, ylen = GRID_MAX_POINTS_Y - 1;
#else
constexpr uint8_t ctry1 = (GRID_MAX_POINTS_Y - 1) / 2, // top-of-center
ctry2 = (GRID_MAX_POINTS_Y) / 2, // bottom-of-center
ylen = ctry1;
#endif
for (uint8_t xo = 0; xo <= xlen; xo++)
for (uint8_t yo = 0; yo <= ylen; yo++) {
uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo;
#ifndef HALF_IN_X
const uint8_t x1 = ctrx1 - xo;
#endif
#ifndef HALF_IN_Y
const uint8_t y1 = ctry1 - yo;
#ifndef HALF_IN_X
extrapolate_one_point(x1, y1, +1, +1); // left-below + +
#endif
extrapolate_one_point(x2, y1, -1, +1); // right-below - +
#endif
#ifndef HALF_IN_X
extrapolate_one_point(x1, y2, +1, -1); // left-above + -
#endif
extrapolate_one_point(x2, y2, -1, -1); // right-above - -
}
}
static void print_bilinear_leveling_grid() {
SERIAL_ECHOLNPGM("Bilinear Leveling Grid:");
print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3,
[](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; }
);
}
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
#define ABL_GRID_POINTS_VIRT_X (GRID_MAX_POINTS_X - 1) * (BILINEAR_SUBDIVISIONS) + 1
#define ABL_GRID_POINTS_VIRT_Y (GRID_MAX_POINTS_Y - 1) * (BILINEAR_SUBDIVISIONS) + 1
#define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2)
#define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2)
float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
int bilinear_grid_spacing_virt[2] = { 0 };
float bilinear_grid_factor_virt[2] = { 0 };
static void print_bilinear_leveling_grid_virt() {
SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
print_2d_array(ABL_GRID_POINTS_VIRT_X, ABL_GRID_POINTS_VIRT_Y, 5,
[](const uint8_t ix, const uint8_t iy) { return z_values_virt[ix][iy]; }
);
}
#define LINEAR_EXTRAPOLATION(E, I) ((E) * 2 - (I))
float bed_level_virt_coord(const uint8_t x, const uint8_t y) {
uint8_t ep = 0, ip = 1;
if (!x || x == ABL_TEMP_POINTS_X - 1) {
if (x) {
ep = GRID_MAX_POINTS_X - 1;
ip = GRID_MAX_POINTS_X - 2;
}
if (WITHIN(y, 1, ABL_TEMP_POINTS_Y - 2))
return LINEAR_EXTRAPOLATION(
z_values[ep][y - 1],
z_values[ip][y - 1]
);
else
return LINEAR_EXTRAPOLATION(
bed_level_virt_coord(ep + 1, y),
bed_level_virt_coord(ip + 1, y)
);
}
if (!y || y == ABL_TEMP_POINTS_Y - 1) {
if (y) {
ep = GRID_MAX_POINTS_Y - 1;
ip = GRID_MAX_POINTS_Y - 2;
}
if (WITHIN(x, 1, ABL_TEMP_POINTS_X - 2))
return LINEAR_EXTRAPOLATION(
z_values[x - 1][ep],
z_values[x - 1][ip]
);
else
return LINEAR_EXTRAPOLATION(
bed_level_virt_coord(x, ep + 1),
bed_level_virt_coord(x, ip + 1)
);
}
return z_values[x - 1][y - 1];
}
static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) {
return (
p[i-1] * -t * sq(1 - t)
+ p[i] * (2 - 5 * sq(t) + 3 * t * sq(t))
+ p[i+1] * t * (1 + 4 * t - 3 * sq(t))
- p[i+2] * sq(t) * (1 - t)
) * 0.5;
}
static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) {
float row[4], column[4];
for (uint8_t i = 0; i < 4; i++) {
for (uint8_t j = 0; j < 4; j++) {
column[j] = bed_level_virt_coord(i + x - 1, j + y - 1);
}
row[i] = bed_level_virt_cmr(column, 1, ty);
}
return bed_level_virt_cmr(row, 1, tx);
}
void bed_level_virt_interpolate() {
bilinear_grid_spacing_virt[X_AXIS] = bilinear_grid_spacing[X_AXIS] / (BILINEAR_SUBDIVISIONS);
bilinear_grid_spacing_virt[Y_AXIS] = bilinear_grid_spacing[Y_AXIS] / (BILINEAR_SUBDIVISIONS);
bilinear_grid_factor_virt[X_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[X_AXIS]);
bilinear_grid_factor_virt[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[Y_AXIS]);
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++)
for (uint8_t tx = 0; tx < BILINEAR_SUBDIVISIONS; tx++) {
if ((ty && y == GRID_MAX_POINTS_Y - 1) || (tx && x == GRID_MAX_POINTS_X - 1))
continue;
z_values_virt[x * (BILINEAR_SUBDIVISIONS) + tx][y * (BILINEAR_SUBDIVISIONS) + ty] =
bed_level_virt_2cmr(
x + 1,
y + 1,
(float)tx / (BILINEAR_SUBDIVISIONS),
(float)ty / (BILINEAR_SUBDIVISIONS)
);
}
}
#endif // ABL_BILINEAR_SUBDIVISION
// Refresh after other values have been updated
void refresh_bed_level() {
bilinear_grid_factor[X_AXIS] = RECIPROCAL(bilinear_grid_spacing[X_AXIS]);
bilinear_grid_factor[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing[Y_AXIS]);
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate();
#endif
}
#endif // AUTO_BED_LEVELING_BILINEAR
#if ENABLED(SENSORLESS_HOMING)
/**
* Set sensorless homing if the axis has it, accounting for Core Kinematics.
*/
void sensorless_homing_per_axis(const AxisEnum axis, const bool enable=true) {
switch (axis) {
#if X_SENSORLESS
case X_AXIS:
tmc_sensorless_homing(stepperX, enable);
#if CORE_IS_XY && Y_SENSORLESS
tmc_sensorless_homing(stepperY, enable);
#elif CORE_IS_XZ && Z_SENSORLESS
tmc_sensorless_homing(stepperZ, enable);
#endif
break;
#endif
#if Y_SENSORLESS
case Y_AXIS:
tmc_sensorless_homing(stepperY, enable);
#if CORE_IS_XY && X_SENSORLESS
tmc_sensorless_homing(stepperX, enable);
#elif CORE_IS_YZ && Z_SENSORLESS
tmc_sensorless_homing(stepperZ, enable);
#endif
break;
#endif
#if Z_SENSORLESS
case Z_AXIS:
tmc_sensorless_homing(stepperZ, enable);
#if CORE_IS_XZ && X_SENSORLESS
tmc_sensorless_homing(stepperX, enable);
#elif CORE_IS_YZ && Y_SENSORLESS
tmc_sensorless_homing(stepperY, enable);
#endif
break;
#endif
default: break;
}
}
#endif // SENSORLESS_HOMING
/**
* Home an individual linear axis
*/
static void do_homing_move(const AxisEnum axis, const float distance, const float fr_mm_s=0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> do_homing_move(", axis_codes[axis]);
SERIAL_ECHOPAIR(", ", distance);
SERIAL_ECHOPGM(", ");
if (fr_mm_s)
SERIAL_ECHO(fr_mm_s);
else {
SERIAL_ECHOPAIR("[", homing_feedrate(axis));
SERIAL_CHAR(']');
}
SERIAL_ECHOLNPGM(")");
}
#endif
#if HOMING_Z_WITH_PROBE && HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
// Wait for bed to heat back up between probing points
if (axis == Z_AXIS && distance < 0 && thermalManager.isHeatingBed()) {
serialprintPGM(msg_wait_for_bed_heating);
LCD_MESSAGEPGM(MSG_BED_HEATING);
while (thermalManager.isHeatingBed()) safe_delay(200);
lcd_reset_status();
}
#endif
// Only do some things when moving towards an endstop
const int8_t axis_home_dir =
#if ENABLED(DUAL_X_CARRIAGE)
(axis == X_AXIS) ? x_home_dir(active_extruder) :
#endif
home_dir(axis);
const bool is_home_dir = (axis_home_dir > 0) == (distance > 0);
if (is_home_dir) {
#if HOMING_Z_WITH_PROBE && QUIET_PROBING
if (axis == Z_AXIS) probing_pause(true);
#endif
// Disable stealthChop if used. Enable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
sensorless_homing_per_axis(axis);
#endif
}
// Tell the planner the axis is at 0
current_position[axis] = 0;
// Do the move, which is required to hit an endstop
#if IS_SCARA
SYNC_PLAN_POSITION_KINEMATIC();
current_position[axis] = distance;
inverse_kinematics(current_position);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_CART], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
#elif ENABLED(HANGPRINTER) // TODO: Hangprinter homing is not finished (Jan 7, 2018)
SYNC_PLAN_POSITION_KINEMATIC();
current_position[axis] = distance;
inverse_kinematics(current_position);
planner.buffer_line(line_lengths[A_AXIS], line_lengths[B_AXIS], line_lengths[C_AXIS], line_lengths[D_AXIS], current_position[E_CART], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
#else
sync_plan_position();
current_position[axis] = distance; // Set delta/cartesian axes directly
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_CART], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
#endif
planner.synchronize();
if (is_home_dir) {
#if HOMING_Z_WITH_PROBE && QUIET_PROBING
if (axis == Z_AXIS) probing_pause(false);
#endif
endstops.validate_homing_move();
// Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
sensorless_homing_per_axis(axis, false);
#endif
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("<<< do_homing_move(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
}
/**
* Home an individual "raw axis" to its endstop.
* This applies to XYZ on Cartesian and Core robots, and
* to the individual ABC steppers on DELTA and SCARA.
*
* At the end of the procedure the axis is marked as
* homed and the current position of that axis is updated.
* Kinematic robots should wait till all axes are homed
* before updating the current position.
*/
static void homeaxis(const AxisEnum axis) {
#if IS_SCARA
// Only Z homing (with probe) is permitted
if (axis != Z_AXIS) { BUZZ(100, 880); return; }
#else
#define CAN_HOME(A) \
(axis == _AXIS(A) && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> homeaxis(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
const int axis_home_dir = (
#if ENABLED(DUAL_X_CARRIAGE)
axis == X_AXIS ? x_home_dir(active_extruder) :
#endif
home_dir(axis)
);
// Homing Z towards the bed? Deploy the Z probe or endstop.
#if HOMING_Z_WITH_PROBE
if (axis == Z_AXIS && DEPLOY_PROBE()) return;
#endif
// Set flags for X, Y, Z motor locking
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
switch (axis) {
#if ENABLED(X_DUAL_ENDSTOPS)
case X_AXIS:
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
case Y_AXIS:
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
case Z_AXIS:
#endif
stepper.set_homing_dual_axis(true);
default: break;
}
#endif
// Fast move towards endstop until triggered
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
#endif
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
// BLTOUCH needs to be deployed every time
if (axis == Z_AXIS && set_bltouch_deployed(true)) return;
#endif
do_homing_move(axis, 1.5f * max_length(axis) * axis_home_dir);
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
// BLTOUCH needs to be stowed after trigger to rearm itself
if (axis == Z_AXIS) set_bltouch_deployed(false);
#endif
// When homing Z with probe respect probe clearance
const float bump = axis_home_dir * (
#if HOMING_Z_WITH_PROBE
(axis == Z_AXIS && (Z_HOME_BUMP_MM)) ? MAX(Z_CLEARANCE_BETWEEN_PROBES, Z_HOME_BUMP_MM) :
#endif
home_bump_mm(axis)
);
// If a second homing move is configured...
if (bump) {
// Move away from the endstop by the axis HOME_BUMP_MM
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Move Away:");
#endif
do_homing_move(axis, -bump
#if HOMING_Z_WITH_PROBE
, axis == Z_AXIS ? MMM_TO_MMS(Z_PROBE_SPEED_FAST) : 0.00
#endif
);
// Slow move towards endstop until triggered
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 2 Slow:");
#endif
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
// BLTOUCH needs to be deployed every time
if (axis == Z_AXIS && set_bltouch_deployed(true)) return;
#endif
do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis));
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
// BLTOUCH needs to be stowed after trigger to rearm itself
if (axis == Z_AXIS) set_bltouch_deployed(false);
#endif
}
/**
* Home axes that have dual endstops... differently
*/
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
const bool pos_dir = axis_home_dir > 0;
#if ENABLED(X_DUAL_ENDSTOPS)
if (axis == X_AXIS) {
const float adj = ABS(endstops.x_endstop_adj);
if (adj) {
if (pos_dir ? (endstops.x_endstop_adj > 0) : (endstops.x_endstop_adj < 0)) stepper.set_x_lock(true); else stepper.set_x2_lock(true);
do_homing_move(axis, pos_dir ? -adj : adj);
stepper.set_x_lock(false);
stepper.set_x2_lock(false);
}
}
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
if (axis == Y_AXIS) {
const float adj = ABS(endstops.y_endstop_adj);
if (adj) {
if (pos_dir ? (endstops.y_endstop_adj > 0) : (endstops.y_endstop_adj < 0)) stepper.set_y_lock(true); else stepper.set_y2_lock(true);
do_homing_move(axis, pos_dir ? -adj : adj);
stepper.set_y_lock(false);
stepper.set_y2_lock(false);
}
}
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) {
const float adj = ABS(endstops.z_endstop_adj);
if (adj) {
if (pos_dir ? (endstops.z_endstop_adj > 0) : (endstops.z_endstop_adj < 0)) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
do_homing_move(axis, pos_dir ? -adj : adj);
stepper.set_z_lock(false);
stepper.set_z2_lock(false);
}
}
#endif
stepper.set_homing_dual_axis(false);
#endif
#if IS_SCARA
set_axis_is_at_home(axis);
SYNC_PLAN_POSITION_KINEMATIC();
#elif ENABLED(DELTA)
// Delta has already moved all three towers up in G28
// so here it re-homes each tower in turn.
// Delta homing treats the axes as normal linear axes.
// retrace by the amount specified in delta_endstop_adj + additional dist in order to have minimum steps
if (delta_endstop_adj[axis] * Z_HOME_DIR <= 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("delta_endstop_adj:");
#endif
do_homing_move(axis, delta_endstop_adj[axis] - (MIN_STEPS_PER_SEGMENT + 1) * planner.steps_to_mm[axis] * Z_HOME_DIR);
}
#else
// For cartesian/core machines,
// set the axis to its home position
set_axis_is_at_home(axis);
sync_plan_position();
destination[axis] = current_position[axis];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
#endif
#endif
// Put away the Z probe
#if HOMING_Z_WITH_PROBE
if (axis == Z_AXIS && STOW_PROBE()) return;
#endif
// Clear retracted status if homing the Z axis
#if ENABLED(FWRETRACT)
if (axis == Z_AXIS) fwretract.hop_amount = 0.0;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
} // homeaxis()
#if ENABLED(MIXING_EXTRUDER)
void normalize_mix() {
float mix_total = 0.0;
for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mix_total += mixing_factor[i];
// Scale all values if they don't add up to ~1.0
if (!NEAR(mix_total, 1.0)) {
SERIAL_PROTOCOLLNPGM("Warning: Mix factors must add up to 1.0. Scaling.");
const float inverse_sum = RECIPROCAL(mix_total);
for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mixing_factor[i] *= inverse_sum;
}
}
#if ENABLED(DIRECT_MIXING_IN_G1)
// Get mixing parameters from the GCode
// The total "must" be 1.0 (but it will be normalized)
// If no mix factors are given, the old mix is preserved
void gcode_get_mix() {
const char mixing_codes[] = { 'A', 'B'
#if MIXING_STEPPERS > 2
, 'C'
#if MIXING_STEPPERS > 3
, 'D'
#if MIXING_STEPPERS > 4
, 'H'
#if MIXING_STEPPERS > 5
, 'I'
#endif // MIXING_STEPPERS > 5
#endif // MIXING_STEPPERS > 4
#endif // MIXING_STEPPERS > 3
#endif // MIXING_STEPPERS > 2
};
byte mix_bits = 0;
for (uint8_t i = 0; i < MIXING_STEPPERS; i++) {
if (parser.seenval(mixing_codes[i])) {
SBI(mix_bits, i);
mixing_factor[i] = MAX(parser.value_float(), 0.0);
}
}
// If any mixing factors were included, clear the rest
// If none were included, preserve the last mix
if (mix_bits) {
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
if (!TEST(mix_bits, i)) mixing_factor[i] = 0.0;
normalize_mix();
}
}
#endif
#endif
/**
* ***************************************************************************
* ***************************** G-CODE HANDLING *****************************
* ***************************************************************************
*/
/**
* Set XYZE destination and feedrate from the current GCode command
*
* - Set destination from included axis codes
* - Set to current for missing axis codes
* - Set the feedrate, if included
*/
void gcode_get_destination() {
LOOP_XYZE(i) {
if (parser.seen(axis_codes[i])) {
const float v = parser.value_axis_units((AxisEnum)i);
destination[i] = (axis_relative_modes[i] || relative_mode)
? current_position[i] + v
: (i == E_CART) ? v : LOGICAL_TO_NATIVE(v, i);
}
else
destination[i] = current_position[i];
}
if (parser.linearval('F') > 0)
feedrate_mm_s = MMM_TO_MMS(parser.value_feedrate());
#if ENABLED(PRINTCOUNTER)
if (!DEBUGGING(DRYRUN))
print_job_timer.incFilamentUsed(destination[E_CART] - current_position[E_CART]);
#endif
// Get ABCDHI mixing factors
#if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1)
gcode_get_mix();
#endif
}
#if ENABLED(HOST_KEEPALIVE_FEATURE)
/**
* Output a "busy" message at regular intervals
* while the machine is not accepting commands.
*/
void host_keepalive() {
const millis_t ms = millis();
if (!suspend_auto_report && host_keepalive_interval && busy_state != NOT_BUSY) {
if (PENDING(ms, next_busy_signal_ms)) return;
switch (busy_state) {
case IN_HANDLER:
case IN_PROCESS:
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_BUSY_PROCESSING);
break;
case PAUSED_FOR_USER:
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_USER);
break;
case PAUSED_FOR_INPUT:
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_INPUT);
break;
default:
break;
}
}
next_busy_signal_ms = ms + host_keepalive_interval * 1000UL;
}
#endif // HOST_KEEPALIVE_FEATURE
/**************************************************
***************** GCode Handlers *****************
**************************************************/
#if ENABLED(NO_MOTION_BEFORE_HOMING)
#define G0_G1_CONDITION !axis_unhomed_error(parser.seen('X'), parser.seen('Y'), parser.seen('Z'))
#else
#define G0_G1_CONDITION true
#endif
/**
* G0, G1: Coordinated movement of X Y Z E axes
*/
inline void gcode_G0_G1(
#if IS_SCARA
bool fast_move=false
#endif
) {
if (IsRunning() && G0_G1_CONDITION) {
gcode_get_destination(); // For X Y Z E F
#if ENABLED(FWRETRACT)
if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
// When M209 Autoretract is enabled, convert E-only moves to firmware retract/prime moves
if (fwretract.autoretract_enabled && parser.seen('E') && !(parser.seen('X') || parser.seen('Y') || parser.seen('Z'))) {
const float echange = destination[E_CART] - current_position[E_CART];
// Is this a retract or prime move?
if (WITHIN(ABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && fwretract.retracted[active_extruder] == (echange > 0.0)) {
current_position[E_CART] = destination[E_CART]; // Hide a G1-based retract/prime from calculations
sync_plan_position_e(); // AND from the planner
return fwretract.retract(echange < 0.0); // Firmware-based retract/prime (double-retract ignored)
}
}
}
#endif // FWRETRACT
#if IS_SCARA
fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination();
#else
prepare_move_to_destination();
#endif
#if ENABLED(NANODLP_Z_SYNC)
#if ENABLED(NANODLP_ALL_AXIS)
#define _MOVE_SYNC parser.seenval('X') || parser.seenval('Y') || parser.seenval('Z') // For any move wait and output sync message
#else
#define _MOVE_SYNC parser.seenval('Z') // Only for Z move
#endif
if (_MOVE_SYNC) {
planner.synchronize();
SERIAL_ECHOLNPGM(MSG_Z_MOVE_COMP);
}
#endif
}
}
/**
* G2: Clockwise Arc
* G3: Counterclockwise Arc
*
* This command has two forms: IJ-form and R-form.
*
* - I specifies an X offset. J specifies a Y offset.
* At least one of the IJ parameters is required.
* X and Y can be omitted to do a complete circle.
* The given XY is not error-checked. The arc ends
* based on the angle of the destination.
* Mixing I or J with R will throw an error.
*
* - R specifies the radius. X or Y is required.
* Omitting both X and Y will throw an error.
* X or Y must differ from the current XY.
* Mixing R with I or J will throw an error.
*
* - P specifies the number of full circles to do
* before the specified arc move.
*
* Examples:
*
* G2 I10 ; CW circle centered at X+10
* G3 X20 Y12 R14 ; CCW circle with r=14 ending at X20 Y12
*/
#if ENABLED(ARC_SUPPORT)
inline void gcode_G2_G3(const bool clockwise) {
#if ENABLED(NO_MOTION_BEFORE_HOMING)
if (axis_unhomed_error()) return;
#endif
if (IsRunning()) {
#if ENABLED(SF_ARC_FIX)
const bool relative_mode_backup = relative_mode;
relative_mode = true;
#endif
gcode_get_destination();
#if ENABLED(SF_ARC_FIX)
relative_mode = relative_mode_backup;
#endif
float arc_offset[2] = { 0, 0 };
if (parser.seenval('R')) {
const float r = parser.value_linear_units(),
p1 = current_position[X_AXIS], q1 = current_position[Y_AXIS],
p2 = destination[X_AXIS], q2 = destination[Y_AXIS];
if (r && (p2 != p1 || q2 != q1)) {
const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
dx = p2 - p1, dy = q2 - q1, // X and Y differences
d = HYPOT(dx, dy), // Linear distance between the points
h = SQRT(sq(r) - sq(d * 0.5f)), // Distance to the arc pivot-point
mx = (p1 + p2) * 0.5f, my = (q1 + q2) * 0.5f, // Point between the two points
sx = -dy / d, sy = dx / d, // Slope of the perpendicular bisector
cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc
arc_offset[0] = cx - p1;
arc_offset[1] = cy - q1;
}
}
else {
if (parser.seenval('I')) arc_offset[0] = parser.value_linear_units();
if (parser.seenval('J')) arc_offset[1] = parser.value_linear_units();
}
if (arc_offset[0] || arc_offset[1]) {
#if ENABLED(ARC_P_CIRCLES)
// P indicates number of circles to do
int8_t circles_to_do = parser.byteval('P');
if (!WITHIN(circles_to_do, 0, 100)) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS);
}
while (circles_to_do--)
plan_arc(current_position, arc_offset, clockwise);
#endif
// Send the arc to the planner
plan_arc(destination, arc_offset, clockwise);
}
else {
// Bad arguments
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS);
}
}
}
#endif // ARC_SUPPORT
void dwell(millis_t time) {
time += millis();
while (PENDING(millis(), time)) idle();
}
/**
* G4: Dwell S<seconds> or P<milliseconds>
*/
inline void gcode_G4() {
millis_t dwell_ms = 0;
if (parser.seenval('P')) dwell_ms = parser.value_millis(); // milliseconds to wait
if (parser.seenval('S')) dwell_ms = parser.value_millis_from_seconds(); // seconds to wait
planner.synchronize();
#if ENABLED(NANODLP_Z_SYNC)
SERIAL_ECHOLNPGM(MSG_Z_MOVE_COMP);
#endif
if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
dwell(dwell_ms);
}
#if ENABLED(BEZIER_CURVE_SUPPORT)
/**
* Parameters interpreted according to:
* http://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G5-Cubic-Spline
* However I, J omission is not supported at this point; all
* parameters can be omitted and default to zero.
*/
/**
* G5: Cubic B-spline
*/
inline void gcode_G5() {
#if ENABLED(NO_MOTION_BEFORE_HOMING)
if (axis_unhomed_error()) return;
#endif
if (IsRunning()) {
#if ENABLED(CNC_WORKSPACE_PLANES)
if (workspace_plane != PLANE_XY) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_BAD_PLANE_MODE);
return;
}
#endif
gcode_get_destination();
const float offset[] = {
parser.linearval('I'),
parser.linearval('J'),
parser.linearval('P'),
parser.linearval('Q')
};
plan_cubic_move(destination, offset);
}
}
#endif // BEZIER_CURVE_SUPPORT
#if ENABLED(UNREGISTERED_MOVE_SUPPORT)
/**
* G6 implementation for Hangprinter based on
* http://reprap.org/wiki/GCodes#G6:_Direct_Stepper_Move
* Accessed Jan 8, 2018
*
* G6 is used frequently to tighten lines with Hangprinter, so Hangprinter default is relative moves.
* Hangprinter uses switches
* S1 for absolute moves
* S2 for saving recording new line length after unregistered move
* (typically used while tuning LINE_BUILDUP_COMPENSATION_FEATURE parameters)
*/
/**
* G6: Direct Stepper Move
*/
inline void gcode_G6() {
bool count_it = false;
#if ENABLED(NO_MOTION_BEFORE_HOMING)
if (axis_unhomed_error()) return;
#endif
if (IsRunning()) {
float go[MOV_AXIS] = { 0.0 },
tmp_fr_mm_s = 0.0;
LOOP_MOV_AXIS(i)
if (parser.seen(RAW_AXIS_CODES(i)))
go[i] = parser.value_axis_units((AxisEnum)i);
#if ENABLED(HANGPRINTER)
#define GO_SRC line_lengths
#elif ENABLED(DELTA)
#define GO_SRC delta
#else
#define GO_SRC current_position
#endif
if (
#if ENABLED(HANGPRINTER) // Sending R to another machine is the same as not sending S1 to Hangprinter
parser.byteval('S') != 2
#else
parser.seen('R')
#endif
)
LOOP_MOV_AXIS(i) go[i] += GO_SRC[i];
else
LOOP_MOV_AXIS(i) if (!parser.seen(RAW_AXIS_CODES(i))) go[i] += GO_SRC[i];
tmp_fr_mm_s = parser.linearval('F') > 0.0 ? MMM_TO_MMS(parser.value_feedrate()) : feedrate_mm_s;
#if ENABLED(HANGPRINTER)
if (parser.byteval('S') == 2) {
LOOP_MOV_AXIS(i) line_lengths[i] = go[i];
count_it = true;
}
#endif
planner.buffer_segment(go[A_AXIS], go[B_AXIS], go[C_AXIS]
#if ENABLED(HANGPRINTER)
, go[D_AXIS]
#endif
, current_position[E_CART], tmp_fr_mm_s, active_extruder, 0.0, count_it
);
}
}
#endif
#if ENABLED(FWRETRACT)
/**
* G10 - Retract filament according to settings of M207
*/
inline void gcode_G10() {
#if EXTRUDERS > 1
const bool rs = parser.boolval('S');
#endif
fwretract.retract(true
#if EXTRUDERS > 1
, rs
#endif
);
}
/**
* G11 - Recover filament according to settings of M208
*/
inline void gcode_G11() { fwretract.retract(false); }
#endif // FWRETRACT
#if ENABLED(NOZZLE_CLEAN_FEATURE)
/**
* G12: Clean the nozzle
*/
inline void gcode_G12() {
// Don't allow nozzle cleaning without homing first
if (axis_unhomed_error()) return;
const uint8_t pattern = parser.ushortval('P', 0),
strokes = parser.ushortval('S', NOZZLE_CLEAN_STROKES),
objects = parser.ushortval('T', NOZZLE_CLEAN_TRIANGLES);
const float radius = parser.floatval('R', NOZZLE_CLEAN_CIRCLE_RADIUS);
Nozzle::clean(pattern, strokes, radius, objects);
}
#endif
#if ENABLED(CNC_WORKSPACE_PLANES)
inline void report_workspace_plane() {
SERIAL_ECHO_START();
SERIAL_ECHOPGM("Workspace Plane ");
serialprintPGM(
workspace_plane == PLANE_YZ ? PSTR("YZ\n") :
workspace_plane == PLANE_ZX ? PSTR("ZX\n") :
PSTR("XY\n")
);
}
inline void set_workspace_plane(const WorkspacePlane plane) {
workspace_plane = plane;
if (DEBUGGING(INFO)) report_workspace_plane();
}
/**
* G17: Select Plane XY
* G18: Select Plane ZX
* G19: Select Plane YZ
*/
inline void gcode_G17() { set_workspace_plane(PLANE_XY); }
inline void gcode_G18() { set_workspace_plane(PLANE_ZX); }
inline void gcode_G19() { set_workspace_plane(PLANE_YZ); }
#endif // CNC_WORKSPACE_PLANES
#if ENABLED(CNC_COORDINATE_SYSTEMS)
/**
* Select a coordinate system and update the workspace offset.
* System index -1 is used to specify machine-native.
*/
bool select_coordinate_system(const int8_t _new) {
if (active_coordinate_system == _new) return false;
float old_offset[XYZ] = { 0 }, new_offset[XYZ] = { 0 };
if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
COPY(old_offset, coordinate_system[active_coordinate_system]);
if (WITHIN(_new, 0, MAX_COORDINATE_SYSTEMS - 1))
COPY(new_offset, coordinate_system[_new]);
active_coordinate_system = _new;
LOOP_XYZ(i) {
const float diff = new_offset[i] - old_offset[i];
if (diff) {
position_shift[i] += diff;
update_software_endstops((AxisEnum)i);
}
}
return true;
}
/**
* G53: Apply native workspace to the current move
*
* In CNC G-code G53 is a modifier.
* It precedes a movement command (or other modifiers) on the same line.
* This is the first command to use parser.chain() to make this possible.
*
* Marlin also uses G53 on a line by itself to go back to native space.
*/
inline void gcode_G53() {
const int8_t _system = active_coordinate_system;
active_coordinate_system = -1;
if (parser.chain()) { // If this command has more following...
process_parsed_command();
active_coordinate_system = _system;
}
}
/**
* G54-G59.3: Select a new workspace
*
* A workspace is an XYZ offset to the machine native space.
* All workspaces default to 0,0,0 at start, or with EEPROM
* support they may be restored from a previous session.
*
* G92 is used to set the current workspace's offset.
*/
inline void gcode_G54_59(uint8_t subcode=0) {
const int8_t _space = parser.codenum - 54 + subcode;
if (select_coordinate_system(_space)) {
SERIAL_PROTOCOLLNPAIR("Select workspace ", _space);
report_current_position();
}
}
FORCE_INLINE void gcode_G54() { gcode_G54_59(); }
FORCE_INLINE void gcode_G55() { gcode_G54_59(); }
FORCE_INLINE void gcode_G56() { gcode_G54_59(); }
FORCE_INLINE void gcode_G57() { gcode_G54_59(); }
FORCE_INLINE void gcode_G58() { gcode_G54_59(); }
FORCE_INLINE void gcode_G59() { gcode_G54_59(parser.subcode); }
#endif
#if ENABLED(INCH_MODE_SUPPORT)
/**
* G20: Set input mode to inches
*/
inline void gcode_G20() { parser.set_input_linear_units(LINEARUNIT_INCH); }
/**
* G21: Set input mode to millimeters
*/
inline void gcode_G21() { parser.set_input_linear_units(LINEARUNIT_MM); }
#endif
#if ENABLED(NOZZLE_PARK_FEATURE)
/**
* G27: Park the nozzle
*/
inline void gcode_G27() {
// Don't allow nozzle parking without homing first
if (axis_unhomed_error()) return;
Nozzle::park(parser.ushortval('P'));
}
#endif // NOZZLE_PARK_FEATURE
#if ENABLED(QUICK_HOME)
static void quick_home_xy() {
// Pretend the current position is 0,0
current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
sync_plan_position();
const int x_axis_home_dir =
#if ENABLED(DUAL_X_CARRIAGE)
x_home_dir(active_extruder)
#else
home_dir(X_AXIS)
#endif
;
const float mlx = max_length(X_AXIS),
mly = max_length(Y_AXIS),
mlratio = mlx > mly ? mly / mlx : mlx / mly,
fr_mm_s = MIN(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * SQRT(sq(mlratio) + 1.0);
#if ENABLED(SENSORLESS_HOMING)
sensorless_homing_per_axis(X_AXIS);
sensorless_homing_per_axis(Y_AXIS);
#endif
do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
endstops.validate_homing_move();
current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
#if ENABLED(SENSORLESS_HOMING)
sensorless_homing_per_axis(X_AXIS, false);
sensorless_homing_per_axis(Y_AXIS, false);
#endif
}
#endif // QUICK_HOME
#if ENABLED(DEBUG_LEVELING_FEATURE)
void log_machine_info() {
SERIAL_ECHOPGM("Machine Type: ");
#if ENABLED(DELTA)
SERIAL_ECHOLNPGM("Delta");
#elif IS_SCARA
SERIAL_ECHOLNPGM("SCARA");
#elif IS_CORE
SERIAL_ECHOLNPGM("Core");
#else
SERIAL_ECHOLNPGM("Cartesian");
#endif
SERIAL_ECHOPGM("Probe: ");
#if ENABLED(PROBE_MANUALLY)
SERIAL_ECHOLNPGM("PROBE_MANUALLY");
#elif ENABLED(FIX_MOUNTED_PROBE)
SERIAL_ECHOLNPGM("FIX_MOUNTED_PROBE");
#elif ENABLED(BLTOUCH)
SERIAL_ECHOLNPGM("BLTOUCH");
#elif HAS_Z_SERVO_PROBE
SERIAL_ECHOLNPGM("SERVO PROBE");
#elif ENABLED(Z_PROBE_SLED)
SERIAL_ECHOLNPGM("Z_PROBE_SLED");
#elif ENABLED(Z_PROBE_ALLEN_KEY)
SERIAL_ECHOLNPGM("Z_PROBE_ALLEN_KEY");
#else
SERIAL_ECHOLNPGM("NONE");
#endif
#if HAS_BED_PROBE
SERIAL_ECHOPAIR("Probe Offset X:", X_PROBE_OFFSET_FROM_EXTRUDER);
SERIAL_ECHOPAIR(" Y:", Y_PROBE_OFFSET_FROM_EXTRUDER);
SERIAL_ECHOPAIR(" Z:", zprobe_zoffset);
#if X_PROBE_OFFSET_FROM_EXTRUDER > 0
SERIAL_ECHOPGM(" (Right");
#elif X_PROBE_OFFSET_FROM_EXTRUDER < 0
SERIAL_ECHOPGM(" (Left");
#elif Y_PROBE_OFFSET_FROM_EXTRUDER != 0
SERIAL_ECHOPGM(" (Middle");
#else
SERIAL_ECHOPGM(" (Aligned With");
#endif
#if Y_PROBE_OFFSET_FROM_EXTRUDER > 0
#if IS_SCARA
SERIAL_ECHOPGM("-Distal");
#else
SERIAL_ECHOPGM("-Back");
#endif
#elif Y_PROBE_OFFSET_FROM_EXTRUDER < 0
#if IS_SCARA
SERIAL_ECHOPGM("-Proximal");
#else
SERIAL_ECHOPGM("-Front");
#endif
#elif X_PROBE_OFFSET_FROM_EXTRUDER != 0
SERIAL_ECHOPGM("-Center");
#endif
if (zprobe_zoffset < 0)
SERIAL_ECHOPGM(" & Below");
else if (zprobe_zoffset > 0)
SERIAL_ECHOPGM(" & Above");
else
SERIAL_ECHOPGM(" & Same Z as");
SERIAL_ECHOLNPGM(" Nozzle)");
#endif
#if HAS_ABL
SERIAL_ECHOPGM("Auto Bed Leveling: ");
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
SERIAL_ECHOPGM("LINEAR");
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
SERIAL_ECHOPGM("BILINEAR");
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
SERIAL_ECHOPGM("3POINT");
#elif ENABLED(AUTO_BED_LEVELING_UBL)
SERIAL_ECHOPGM("UBL");
#endif
if (planner.leveling_active) {
SERIAL_ECHOLNPGM(" (enabled)");
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
if (planner.z_fade_height)
SERIAL_ECHOLNPAIR("Z Fade: ", planner.z_fade_height);
#endif
#if ABL_PLANAR
const float diff[XYZ] = {
planner.get_axis_position_mm(X_AXIS) - current_position[X_AXIS],
planner.get_axis_position_mm(Y_AXIS) - current_position[Y_AXIS],
planner.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]
};
SERIAL_ECHOPGM("ABL Adjustment X");
if (diff[X_AXIS] > 0) SERIAL_CHAR('+');
SERIAL_ECHO(diff[X_AXIS]);
SERIAL_ECHOPGM(" Y");
if (diff[Y_AXIS] > 0) SERIAL_CHAR('+');
SERIAL_ECHO(diff[Y_AXIS]);
SERIAL_ECHOPGM(" Z");
if (diff[Z_AXIS] > 0) SERIAL_CHAR('+');
SERIAL_ECHO(diff[Z_AXIS]);
#else
#if ENABLED(AUTO_BED_LEVELING_UBL)
SERIAL_ECHOPGM("UBL Adjustment Z");
const float rz = ubl.get_z_correction(current_position[X_AXIS], current_position[Y_AXIS]);
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
SERIAL_ECHOPAIR("Bilinear Grid X", bilinear_start[X_AXIS]);
SERIAL_ECHOPAIR(" Y", bilinear_start[Y_AXIS]);
SERIAL_ECHOPAIR(" W", ABL_BG_SPACING(X_AXIS));
SERIAL_ECHOLNPAIR(" H", ABL_BG_SPACING(Y_AXIS));
SERIAL_ECHOPGM("ABL Adjustment Z");
const float rz = bilinear_z_offset(current_position);
#endif
SERIAL_ECHO(ftostr43sign(rz, '+'));
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
if (planner.z_fade_height) {
SERIAL_ECHOPAIR(" (", ftostr43sign(rz * planner.fade_scaling_factor_for_z(current_position[Z_AXIS]), '+'));
SERIAL_CHAR(')');
}
#endif
#endif
}
else
SERIAL_ECHOLNPGM(" (disabled)");
SERIAL_EOL();
#elif ENABLED(MESH_BED_LEVELING)
SERIAL_ECHOPGM("Mesh Bed Leveling");
if (planner.leveling_active) {
SERIAL_ECHOLNPGM(" (enabled)");
SERIAL_ECHOPAIR("MBL Adjustment Z", ftostr43sign(mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS]
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
, 1.0
#endif
), '+'));
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
if (planner.z_fade_height) {
SERIAL_ECHOPAIR(" (", ftostr43sign(
mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS], planner.fade_scaling_factor_for_z(current_position[Z_AXIS])), '+'
));
SERIAL_CHAR(')');
}
#endif
}
else
SERIAL_ECHOPGM(" (disabled)");
SERIAL_EOL();
#endif // MESH_BED_LEVELING
}
#endif // DEBUG_LEVELING_FEATURE
#if ENABLED(DELTA)
#if ENABLED(SENSORLESS_HOMING)
inline void delta_sensorless_homing(const bool on=true) {
sensorless_homing_per_axis(A_AXIS, on);
sensorless_homing_per_axis(B_AXIS, on);
sensorless_homing_per_axis(C_AXIS, on);
}
#endif
/**
* A delta can only safely home all axes at the same time
* This is like quick_home_xy() but for 3 towers.
*/
inline void home_delta() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
#endif
// Init the current position of all carriages to 0,0,0
ZERO(current_position);
sync_plan_position();
// Disable stealthChop if used. Enable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
delta_sensorless_homing();
#endif
// Move all carriages together linearly until an endstop is hit.
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (delta_height + 10
#if HAS_BED_PROBE
- zprobe_zoffset
#endif
);
feedrate_mm_s = homing_feedrate(X_AXIS);
buffer_line_to_current_position();
planner.synchronize();
// Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
delta_sensorless_homing(false);
#endif
endstops.validate_homing_move();
// At least one carriage has reached the top.
// Now re-home each carriage separately.
homeaxis(A_AXIS);
homeaxis(B_AXIS);
homeaxis(C_AXIS);
// Set all carriages to their home positions
// Do this here all at once for Delta, because
// XYZ isn't ABC. Applying this per-tower would
// give the impression that they are the same.
LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
#endif
}
#elif ENABLED(HANGPRINTER)
/**
* A hangprinter cannot home itself
*/
inline void home_hangprinter() {
SERIAL_ECHOLNPGM("Warning: G28 is not implemented for Hangprinter.");
}
#endif
#ifdef Z_AFTER_PROBING
void move_z_after_probing() {
if (current_position[Z_AXIS] != Z_AFTER_PROBING) {
do_blocking_move_to_z(Z_AFTER_PROBING);
current_position[Z_AXIS] = Z_AFTER_PROBING;
}
}
#endif
#if ENABLED(Z_SAFE_HOMING)
inline void home_z_safely() {
// Disallow Z homing if X or Y are unknown
if (!TEST(axis_known_position, X_AXIS) || !TEST(axis_known_position, Y_AXIS)) {
LCD_MESSAGEPGM(MSG_ERR_Z_HOMING);
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_ERR_Z_HOMING);
return;
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>");
#endif
SYNC_PLAN_POSITION_KINEMATIC();
/**
* Move the Z probe (or just the nozzle) to the safe homing point
*/
destination[X_AXIS] = Z_SAFE_HOMING_X_POINT;
destination[Y_AXIS] = Z_SAFE_HOMING_Y_POINT;
destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
#if HOMING_Z_WITH_PROBE
destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
#endif
if (position_is_reachable(destination[X_AXIS], destination[Y_AXIS])) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
#endif
// This causes the carriage on Dual X to unpark
#if ENABLED(DUAL_X_CARRIAGE)
active_extruder_parked = false;
#endif
#if ENABLED(SENSORLESS_HOMING)
safe_delay(500); // Short delay needed to settle
#endif
do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
homeaxis(Z_AXIS);
}
else {
LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
#endif
}
#endif // Z_SAFE_HOMING
#if ENABLED(PROBE_MANUALLY)
bool g29_in_progress = false;
#else
constexpr bool g29_in_progress = false;
#endif
/**
* G28: Home all axes according to settings
*
* Parameters
*
* None Home to all axes with no parameters.
* With QUICK_HOME enabled XY will home together, then Z.
*
* O Home only if position is unknown
*
* Rn Raise by n mm/inches before homing
*
* Cartesian parameters
*
* X Home to the X endstop
* Y Home to the Y endstop
* Z Home to the Z endstop
*
*/
inline void gcode_G28(const bool always_home_all) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM(">>> G28");
log_machine_info();
}
#endif
#if ENABLED(MARLIN_DEV_MODE)
if (parser.seen('S')) {
LOOP_XYZ(a) set_axis_is_at_home((AxisEnum)a);
SYNC_PLAN_POSITION_KINEMATIC();
SERIAL_ECHOLNPGM("Simulated Homing");
report_current_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< G28");
#endif
return;
}
#endif
if (all_axes_known() && parser.boolval('O')) { // home only if needed
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("> homing not needed, skip");
SERIAL_ECHOLNPGM("<<< G28");
}
#endif
return;
}
// Wait for planner moves to finish!
planner.synchronize();
// Cancel the active G29 session
#if ENABLED(PROBE_MANUALLY)
g29_in_progress = false;
#endif
// Disable the leveling matrix before homing
#if HAS_LEVELING
#if ENABLED(RESTORE_LEVELING_AFTER_G28)
const bool leveling_was_active = planner.leveling_active;
#endif
set_bed_leveling_enabled(false);
#endif
#if ENABLED(CNC_WORKSPACE_PLANES)
workspace_plane = PLANE_XY;
#endif
#if ENABLED(BLTOUCH)
// Make sure any BLTouch error condition is cleared
bltouch_command(BLTOUCH_RESET);
set_bltouch_deployed(false);
#endif
// Always home with tool 0 active
#if HOTENDS > 1
#if DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE)
const uint8_t old_tool_index = active_extruder;
#endif
tool_change(0, 0, true);
#endif
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
extruder_duplication_enabled = false;
#endif
setup_for_endstop_or_probe_move();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
#endif
endstops.enable(true); // Enable endstops for next homing move
#if ENABLED(DELTA)
home_delta();
UNUSED(always_home_all);
#elif ENABLED(HANGPRINTER)
home_hangprinter();
UNUSED(always_home_all);
#else // NOT Delta or Hangprinter
const bool homeX = always_home_all || parser.seen('X'),
homeY = always_home_all || parser.seen('Y'),
homeZ = always_home_all || parser.seen('Z'),
home_all = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
set_destination_from_current();
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
if (home_all || homeZ) homeaxis(Z_AXIS);
#endif
const float z_homing_height = (
#if ENABLED(UNKNOWN_Z_NO_RAISE)
!TEST(axis_known_position, Z_AXIS) ? 0 :
#endif
(parser.seenval('R') ? parser.value_linear_units() : Z_HOMING_HEIGHT)
);
if (z_homing_height && (home_all || homeX || homeY)) {
// Raise Z before homing any other axes and z is not already high enough (never lower z)
destination[Z_AXIS] = z_homing_height;
if (destination[Z_AXIS] > current_position[Z_AXIS]) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING))
SERIAL_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
#endif
do_blocking_move_to_z(destination[Z_AXIS]);
}
}
#if ENABLED(QUICK_HOME)
if (home_all || (homeX && homeY)) quick_home_xy();
#endif
// Home Y (before X)
#if ENABLED(HOME_Y_BEFORE_X)
if (home_all || homeY
#if ENABLED(CODEPENDENT_XY_HOMING)
|| homeX
#endif
) homeaxis(Y_AXIS);
#endif
// Home X
if (home_all || homeX
#if ENABLED(CODEPENDENT_XY_HOMING) && DISABLED(HOME_Y_BEFORE_X)
|| homeY
#endif
) {
#if ENABLED(DUAL_X_CARRIAGE)
// Always home the 2nd (right) extruder first
active_extruder = 1;
homeaxis(X_AXIS);
// Remember this extruder's position for later tool change
inactive_extruder_x_pos = current_position[X_AXIS];
// Home the 1st (left) extruder
active_extruder = 0;
homeaxis(X_AXIS);
// Consider the active extruder to be parked
COPY(raised_parked_position, current_position);
delayed_move_time = 0;
active_extruder_parked = true;
#else
homeaxis(X_AXIS);
#endif
}
// Home Y (after X)
#if DISABLED(HOME_Y_BEFORE_X)
if (home_all || homeY) homeaxis(Y_AXIS);
#endif
// Home Z last if homing towards the bed
#if Z_HOME_DIR < 0
if (home_all || homeZ) {
#if ENABLED(Z_SAFE_HOMING)
home_z_safely();
#else
homeaxis(Z_AXIS);
#endif
#if HOMING_Z_WITH_PROBE && defined(Z_AFTER_PROBING)
move_z_after_probing();
#endif
} // home_all || homeZ
#endif // Z_HOME_DIR < 0
SYNC_PLAN_POSITION_KINEMATIC();
#endif // !DELTA (gcode_G28)
endstops.not_homing();
#if ENABLED(DELTA) && ENABLED(DELTA_HOME_TO_SAFE_ZONE)
// move to a height where we can use the full xy-area
do_blocking_move_to_z(delta_clip_start_height);
#endif
#if ENABLED(RESTORE_LEVELING_AFTER_G28)
set_bed_leveling_enabled(leveling_was_active);
#endif
clean_up_after_endstop_or_probe_move();
// Restore the active tool after homing
#if HOTENDS > 1 && (DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE))
#if ENABLED(PARKING_EXTRUDER)
#define NO_FETCH false // fetch the previous toolhead
#else
#define NO_FETCH true
#endif
tool_change(old_tool_index, 0, NO_FETCH);
#endif
lcd_refresh();
report_current_position();
#if ENABLED(NANODLP_Z_SYNC)
#if ENABLED(NANODLP_ALL_AXIS)
#define _HOME_SYNC true // For any axis, output sync text.
#else
#define _HOME_SYNC (home_all || homeZ) // Only for Z-axis
#endif
if (_HOME_SYNC)
SERIAL_ECHOLNPGM(MSG_Z_MOVE_COMP);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< G28");
#endif
} // G28
void home_all_axes() { gcode_G28(true); }
#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
inline void _manual_goto_xy(const float &rx, const float &ry) {
#ifdef MANUAL_PROBE_START_Z
#if MANUAL_PROBE_HEIGHT > 0
do_blocking_move_to(rx, ry, MANUAL_PROBE_HEIGHT);
do_blocking_move_to_z(MAX(0,MANUAL_PROBE_START_Z));
#else
do_blocking_move_to(rx, ry, MAX(0,MANUAL_PROBE_START_Z));
#endif
#elif MANUAL_PROBE_HEIGHT > 0
const float prev_z = current_position[Z_AXIS];
do_blocking_move_to(rx, ry, MANUAL_PROBE_HEIGHT);
do_blocking_move_to_z(prev_z);
#else
do_blocking_move_to_xy(rx, ry);
#endif
current_position[X_AXIS] = rx;
current_position[Y_AXIS] = ry;
#if ENABLED(LCD_BED_LEVELING)
lcd_wait_for_move = false;
#endif
}
#endif
#if ENABLED(MESH_BED_LEVELING)
// Save 130 bytes with non-duplication of PSTR
void echo_not_entered() { SERIAL_PROTOCOLLNPGM(" not entered."); }
/**
* G29: Mesh-based Z probe, probes a grid and produces a
* mesh to compensate for variable bed height
*
* Parameters With MESH_BED_LEVELING:
*
* S0 Produce a mesh report
* S1 Start probing mesh points
* S2 Probe the next mesh point
* S3 Xn Yn Zn.nn Manually modify a single point
* S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.
* S5 Reset and disable mesh
*
* The S0 report the points as below
*
* +----> X-axis 1-n
* |
* |
* v Y-axis 1-n
*
*/
inline void gcode_G29() {
static int mbl_probe_index = -1;
#if HAS_SOFTWARE_ENDSTOPS
static bool enable_soft_endstops;
#endif
MeshLevelingState state = (MeshLevelingState)parser.byteval('S', (int8_t)MeshReport);
if (!WITHIN(state, 0, 5)) {
SERIAL_PROTOCOLLNPGM("S out of range (0-5).");
return;
}
int8_t px, py;
switch (state) {
case MeshReport:
if (leveling_is_valid()) {
SERIAL_PROTOCOLLNPAIR("State: ", planner.leveling_active ? MSG_ON : MSG_OFF);
mbl.report_mesh();
}
else
SERIAL_PROTOCOLLNPGM("Mesh bed leveling has no data.");
break;
case MeshStart:
mbl.reset();
mbl_probe_index = 0;
if (!lcd_wait_for_move) {
enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
return;
}
state = MeshNext;
case MeshNext:
if (mbl_probe_index < 0) {
SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
return;
}
// For each G29 S2...
if (mbl_probe_index == 0) {
#if HAS_SOFTWARE_ENDSTOPS
// For the initial G29 S2 save software endstop state
enable_soft_endstops = soft_endstops_enabled;
#endif
// Move close to the bed before the first point
do_blocking_move_to_z(0);
}
else {
// Save Z for the previous mesh position
mbl.set_zigzag_z(mbl_probe_index - 1, current_position[Z_AXIS]);
#if HAS_SOFTWARE_ENDSTOPS
soft_endstops_enabled = enable_soft_endstops;
#endif
}
// If there's another point to sample, move there with optional lift.
if (mbl_probe_index < GRID_MAX_POINTS) {
#if HAS_SOFTWARE_ENDSTOPS
// Disable software endstops to allow manual adjustment
// If G29 is not completed, they will not be re-enabled
soft_endstops_enabled = false;
#endif
mbl.zigzag(mbl_probe_index++, px, py);
_manual_goto_xy(mbl.index_to_xpos[px], mbl.index_to_ypos[py]);
}
else {
// One last "return to the bed" (as originally coded) at completion
current_position[Z_AXIS] = MANUAL_PROBE_HEIGHT;
buffer_line_to_current_position();
planner.synchronize();
// After recording the last point, activate home and activate
mbl_probe_index = -1;
SERIAL_PROTOCOLLNPGM("Mesh probing done.");
BUZZ(100, 659);
BUZZ(100, 698);
home_all_axes();
set_bed_leveling_enabled(true);
#if ENABLED(MESH_G28_REST_ORIGIN)
current_position[Z_AXIS] = 0;
set_destination_from_current();
buffer_line_to_destination(homing_feedrate(Z_AXIS));
planner.synchronize();
#endif
#if ENABLED(LCD_BED_LEVELING)
lcd_wait_for_move = false;
#endif
}
break;
case MeshSet:
if (parser.seenval('X')) {
px = parser.value_int() - 1;
if (!WITHIN(px, 0, GRID_MAX_POINTS_X - 1)) {
SERIAL_PROTOCOLPAIR("X out of range (1-", int(GRID_MAX_POINTS_X));
SERIAL_PROTOCOLLNPGM(")");
return;
}
}
else {
SERIAL_CHAR('X'); echo_not_entered();
return;
}
if (parser.seenval('Y')) {
py = parser.value_int() - 1;
if (!WITHIN(py, 0, GRID_MAX_POINTS_Y - 1)) {
SERIAL_PROTOCOLPAIR("Y out of range (1-", int(GRID_MAX_POINTS_Y));
SERIAL_PROTOCOLLNPGM(")");
return;
}
}
else {
SERIAL_CHAR('Y'); echo_not_entered();
return;
}
if (parser.seenval('Z'))
mbl.z_values[px][py] = parser.value_linear_units();
else {
SERIAL_CHAR('Z'); echo_not_entered();
return;
}
break;
case MeshSetZOffset:
if (parser.seenval('Z'))
mbl.z_offset = parser.value_linear_units();
else {
SERIAL_CHAR('Z'); echo_not_entered();
return;
}
break;
case MeshReset:
reset_bed_level();
break;
} // switch (state)
if (state == MeshNext) {
SERIAL_PROTOCOLPAIR("MBL G29 point ", MIN(mbl_probe_index, GRID_MAX_POINTS));
SERIAL_PROTOCOLLNPAIR(" of ", int(GRID_MAX_POINTS));
}
report_current_position();
}
#elif OLDSCHOOL_ABL
#if ABL_GRID
#if ENABLED(PROBE_Y_FIRST)
#define PR_OUTER_VAR xCount
#define PR_OUTER_END abl_grid_points_x
#define PR_INNER_VAR yCount
#define PR_INNER_END abl_grid_points_y
#else
#define PR_OUTER_VAR yCount
#define PR_OUTER_END abl_grid_points_y
#define PR_INNER_VAR xCount
#define PR_INNER_END abl_grid_points_x
#endif
#endif
/**
* G29: Detailed Z probe, probes the bed at 3 or more points.
* Will fail if the printer has not been homed with G28.
*
* Enhanced G29 Auto Bed Leveling Probe Routine
*
* O Auto-level only if needed
*
* D Dry-Run mode. Just evaluate the bed Topology - Don't apply
* or alter the bed level data. Useful to check the topology
* after a first run of G29.
*
* J Jettison current bed leveling data
*
* V Set the verbose level (0-4). Example: "G29 V3"
*
* Parameters With LINEAR leveling only:
*
* P Set the size of the grid that will be probed (P x P points).
* Example: "G29 P4"
*
* X Set the X size of the grid that will be probed (X x Y points).
* Example: "G29 X7 Y5"
*
* Y Set the Y size of the grid that will be probed (X x Y points).
*
* T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
* This is useful for manual bed leveling and finding flaws in the bed (to
* assist with part placement).
* Not supported by non-linear delta printer bed leveling.
*
* Parameters With LINEAR and BILINEAR leveling only:
*
* S Set the XY travel speed between probe points (in units/min)
*
* F Set the Front limit of the probing grid
* B Set the Back limit of the probing grid
* L Set the Left limit of the probing grid
* R Set the Right limit of the probing grid
*
* Parameters with DEBUG_LEVELING_FEATURE only:
*
* C Make a totally fake grid with no actual probing.
* For use in testing when no probing is possible.
*
* Parameters with BILINEAR leveling only:
*
* Z Supply an additional Z probe offset
*
* Extra parameters with PROBE_MANUALLY:
*
* To do manual probing simply repeat G29 until the procedure is complete.
* The first G29 accepts parameters. 'G29 Q' for status, 'G29 A' to abort.
*
* Q Query leveling and G29 state
*
* A Abort current leveling procedure
*
* Extra parameters with BILINEAR only:
*
* W Write a mesh point. (If G29 is idle.)
* I X index for mesh point
* J Y index for mesh point
* X X for mesh point, overrides I
* Y Y for mesh point, overrides J
* Z Z for mesh point. Otherwise, raw current Z.
*
* Without PROBE_MANUALLY:
*
* E By default G29 will engage the Z probe, test the bed, then disengage.
* Include "E" to engage/disengage the Z probe for each sample.
* There's no extra effect if you have a fixed Z probe.
*
*/
inline void gcode_G29() {
#if ENABLED(DEBUG_LEVELING_FEATURE) || ENABLED(PROBE_MANUALLY)
const bool seenQ = parser.seen('Q');
#else
constexpr bool seenQ = false;
#endif
// G29 Q is also available if debugging
#if ENABLED(DEBUG_LEVELING_FEATURE)
const uint8_t old_debug_flags = marlin_debug_flags;
if (seenQ) marlin_debug_flags |= DEBUG_LEVELING;
if (DEBUGGING(LEVELING)) {
DEBUG_POS(">>> G29", current_position);
log_machine_info();
}
marlin_debug_flags = old_debug_flags;
#if DISABLED(PROBE_MANUALLY)
if (seenQ) return;
#endif
#endif
#if ENABLED(PROBE_MANUALLY)
const bool seenA = parser.seen('A');
#else
constexpr bool seenA = false;
#endif
const bool no_action = seenA || seenQ,
faux =
#if ENABLED(DEBUG_LEVELING_FEATURE) && DISABLED(PROBE_MANUALLY)
parser.boolval('C')
#else
no_action
#endif
;
// Don't allow auto-leveling without homing first
if (axis_unhomed_error()) return;
if (!no_action && planner.leveling_active && parser.boolval('O')) { // Auto-level only if needed
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("> Auto-level not needed, skip");
SERIAL_ECHOLNPGM("<<< G29");
}
#endif
return;
}
// Define local vars 'static' for manual probing, 'auto' otherwise
#if ENABLED(PROBE_MANUALLY)
#define ABL_VAR static
#else
#define ABL_VAR
#endif
ABL_VAR int verbose_level;
ABL_VAR float xProbe, yProbe, measured_z;
ABL_VAR bool dryrun, abl_should_enable;
#if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR)
ABL_VAR int16_t abl_probe_index;
#endif
#if HAS_SOFTWARE_ENDSTOPS && ENABLED(PROBE_MANUALLY)
ABL_VAR bool enable_soft_endstops = true;
#endif
#if ABL_GRID
#if ENABLED(PROBE_MANUALLY)
ABL_VAR uint8_t PR_OUTER_VAR;
ABL_VAR int8_t PR_INNER_VAR;
#endif
ABL_VAR int left_probe_bed_position, right_probe_bed_position, front_probe_bed_position, back_probe_bed_position;
ABL_VAR float xGridSpacing = 0, yGridSpacing = 0;
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
ABL_VAR uint8_t abl_grid_points_x = GRID_MAX_POINTS_X,
abl_grid_points_y = GRID_MAX_POINTS_Y;
ABL_VAR bool do_topography_map;
#else // Bilinear
uint8_t constexpr abl_grid_points_x = GRID_MAX_POINTS_X,
abl_grid_points_y = GRID_MAX_POINTS_Y;
#endif
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
ABL_VAR int16_t abl_points;
#elif ENABLED(PROBE_MANUALLY) // Bilinear
int16_t constexpr abl_points = GRID_MAX_POINTS;
#endif
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
ABL_VAR float zoffset;
#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
ABL_VAR int indexIntoAB[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
ABL_VAR float eqnAMatrix[GRID_MAX_POINTS * 3], // "A" matrix of the linear system of equations
eqnBVector[GRID_MAX_POINTS], // "B" vector of Z points
mean;
#endif
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
#if ENABLED(PROBE_MANUALLY)
int8_t constexpr abl_points = 3; // used to show total points
#endif
// Probe at 3 arbitrary points
ABL_VAR vector_3 points[3] = {
vector_3(PROBE_PT_1_X, PROBE_PT_1_Y, 0),
vector_3(PROBE_PT_2_X, PROBE_PT_2_Y, 0),
vector_3(PROBE_PT_3_X, PROBE_PT_3_Y, 0)
};
#endif // AUTO_BED_LEVELING_3POINT
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
struct linear_fit_data lsf_results;
incremental_LSF_reset(&lsf_results);
#endif
/**
* On the initial G29 fetch command parameters.
*/
if (!g29_in_progress) {
#if ENABLED(DUAL_X_CARRIAGE)
if (active_extruder != 0) tool_change(0);
#endif
#if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR)
abl_probe_index = -1;
#endif
abl_should_enable = planner.leveling_active;
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
const bool seen_w = parser.seen('W');
if (seen_w) {
if (!leveling_is_valid()) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM("No bilinear grid");
return;
}
const float rz = parser.seenval('Z') ? RAW_Z_POSITION(parser.value_linear_units()) : current_position[Z_AXIS];
if (!WITHIN(rz, -10, 10)) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM("Bad Z value");
return;
}
const float rx = RAW_X_POSITION(parser.linearval('X', NAN)),
ry = RAW_Y_POSITION(parser.linearval('Y', NAN));
int8_t i = parser.byteval('I', -1),
j = parser.byteval('J', -1);
if (!isnan(rx) && !isnan(ry)) {
// Get nearest i / j from rx / ry
i = (rx - bilinear_start[X_AXIS] + 0.5f * xGridSpacing) / xGridSpacing;
j = (ry - bilinear_start[Y_AXIS] + 0.5f * yGridSpacing) / yGridSpacing;
i = constrain(i, 0, GRID_MAX_POINTS_X - 1);
j = constrain(j, 0, GRID_MAX_POINTS_Y - 1);
}
if (WITHIN(i, 0, GRID_MAX_POINTS_X - 1) && WITHIN(j, 0, GRID_MAX_POINTS_Y)) {
set_bed_leveling_enabled(false);
z_values[i][j] = rz;
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate();
#endif
set_bed_leveling_enabled(abl_should_enable);
if (abl_should_enable) report_current_position();
}
return;
} // parser.seen('W')
#else
constexpr bool seen_w = false;
#endif
// Jettison bed leveling data
if (!seen_w && parser.seen('J')) {
reset_bed_level();
return;
}
verbose_level = parser.intval('V');
if (!WITHIN(verbose_level, 0, 4)) {
SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4).");
return;
}
dryrun = parser.boolval('D')
#if ENABLED(PROBE_MANUALLY)
|| no_action
#endif
;
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
do_topography_map = verbose_level > 2 || parser.boolval('T');
// X and Y specify points in each direction, overriding the default
// These values may be saved with the completed mesh
abl_grid_points_x = parser.intval('X', GRID_MAX_POINTS_X);
abl_grid_points_y = parser.intval('Y', GRID_MAX_POINTS_Y);
if (parser.seenval('P')) abl_grid_points_x = abl_grid_points_y = parser.value_int();
if (!WITHIN(abl_grid_points_x, 2, GRID_MAX_POINTS_X)) {
SERIAL_PROTOCOLLNPGM("?Probe points (X) is implausible (2-" STRINGIFY(GRID_MAX_POINTS_X) ").");
return;
}
if (!WITHIN(abl_grid_points_y, 2, GRID_MAX_POINTS_Y)) {
SERIAL_PROTOCOLLNPGM("?Probe points (Y) is implausible (2-" STRINGIFY(GRID_MAX_POINTS_Y) ").");
return;
}
abl_points = abl_grid_points_x * abl_grid_points_y;
mean = 0;
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
zoffset = parser.linearval('Z');
#endif
#if ABL_GRID
xy_probe_feedrate_mm_s = MMM_TO_MMS(parser.linearval('S', XY_PROBE_SPEED));
left_probe_bed_position = parser.seenval('L') ? int(RAW_X_POSITION(parser.value_linear_units())) : LEFT_PROBE_BED_POSITION;
right_probe_bed_position = parser.seenval('R') ? int(RAW_X_POSITION(parser.value_linear_units())) : RIGHT_PROBE_BED_POSITION;
front_probe_bed_position = parser.seenval('F') ? int(RAW_Y_POSITION(parser.value_linear_units())) : FRONT_PROBE_BED_POSITION;
back_probe_bed_position = parser.seenval('B') ? int(RAW_Y_POSITION(parser.value_linear_units())) : BACK_PROBE_BED_POSITION;
if (
#if IS_SCARA || ENABLED(DELTA)
!position_is_reachable_by_probe(left_probe_bed_position, 0)
|| !position_is_reachable_by_probe(right_probe_bed_position, 0)
|| !position_is_reachable_by_probe(0, front_probe_bed_position)
|| !position_is_reachable_by_probe(0, back_probe_bed_position)
#else
!position_is_reachable_by_probe(left_probe_bed_position, front_probe_bed_position)
|| !position_is_reachable_by_probe(right_probe_bed_position, back_probe_bed_position)
#endif
) {
SERIAL_PROTOCOLLNPGM("? (L,R,F,B) out of bounds.");
return;
}
// probe at the points of a lattice grid
xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1);
yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1);
#endif // ABL_GRID
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("G29 Auto Bed Leveling");
if (dryrun) SERIAL_PROTOCOLPGM(" (DRYRUN)");
SERIAL_EOL();
}
planner.synchronize();
// Disable auto bed leveling during G29.
// Be formal so G29 can be done successively without G28.
if (!no_action) set_bed_leveling_enabled(false);
#if HAS_BED_PROBE
// Deploy the probe. Probe will raise if needed.
if (DEPLOY_PROBE()) {
set_bed_leveling_enabled(abl_should_enable);
return;
}
#endif
if (!faux) setup_for_endstop_or_probe_move();
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
#if ENABLED(PROBE_MANUALLY)
if (!no_action)
#endif
if ( xGridSpacing != bilinear_grid_spacing[X_AXIS]
|| yGridSpacing != bilinear_grid_spacing[Y_AXIS]
|| left_probe_bed_position != bilinear_start[X_AXIS]
|| front_probe_bed_position != bilinear_start[Y_AXIS]
) {
// Reset grid to 0.0 or "not probed". (Also disables ABL)
reset_bed_level();
// Initialize a grid with the given dimensions
bilinear_grid_spacing[X_AXIS] = xGridSpacing;
bilinear_grid_spacing[Y_AXIS] = yGridSpacing;
bilinear_start[X_AXIS] = left_probe_bed_position;
bilinear_start[Y_AXIS] = front_probe_bed_position;
// Can't re-enable (on error) until the new grid is written
abl_should_enable = false;
}
#endif // AUTO_BED_LEVELING_BILINEAR
#if ENABLED(AUTO_BED_LEVELING_3POINT)
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
#endif
// Probe at 3 arbitrary points
points[0].z = points[1].z = points[2].z = 0;
#endif // AUTO_BED_LEVELING_3POINT
} // !g29_in_progress
#if ENABLED(PROBE_MANUALLY)
// For manual probing, get the next index to probe now.
// On the first probe this will be incremented to 0.
if (!no_action) {
++abl_probe_index;
g29_in_progress = true;
}
// Abort current G29 procedure, go back to idle state
if (seenA && g29_in_progress) {
SERIAL_PROTOCOLLNPGM("Manual G29 aborted");
#if HAS_SOFTWARE_ENDSTOPS
soft_endstops_enabled = enable_soft_endstops;
#endif
set_bed_leveling_enabled(abl_should_enable);
g29_in_progress = false;
#if ENABLED(LCD_BED_LEVELING)
lcd_wait_for_move = false;
#endif
}
// Query G29 status
if (verbose_level || seenQ) {
SERIAL_PROTOCOLPGM("Manual G29 ");
if (g29_in_progress) {
SERIAL_PROTOCOLPAIR("point ", MIN(abl_probe_index + 1, abl_points));
SERIAL_PROTOCOLLNPAIR(" of ", abl_points);
}
else
SERIAL_PROTOCOLLNPGM("idle");
}
if (no_action) return;
if (abl_probe_index == 0) {
// For the initial G29 save software endstop state
#if HAS_SOFTWARE_ENDSTOPS
enable_soft_endstops = soft_endstops_enabled;
#endif
// Move close to the bed before the first point
do_blocking_move_to_z(0);
}
else {
#if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_3POINT)
const uint16_t index = abl_probe_index - 1;
#endif
// For G29 after adjusting Z.
// Save the previous Z before going to the next point
measured_z = current_position[Z_AXIS];
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
mean += measured_z;
eqnBVector[index] = measured_z;
eqnAMatrix[index + 0 * abl_points] = xProbe;
eqnAMatrix[index + 1 * abl_points] = yProbe;
eqnAMatrix[index + 2 * abl_points] = 1;
incremental_LSF(&lsf_results, xProbe, yProbe, measured_z);
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
points[index].z = measured_z;
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
z_values[xCount][yCount] = measured_z + zoffset;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_PROTOCOLPAIR("Save X", xCount);
SERIAL_PROTOCOLPAIR(" Y", yCount);
SERIAL_PROTOCOLLNPAIR(" Z", measured_z + zoffset);
}
#endif
#endif
}
//
// If there's another point to sample, move there with optional lift.
//
#if ABL_GRID
// Skip any unreachable points
while (abl_probe_index < abl_points) {
// Set xCount, yCount based on abl_probe_index, with zig-zag
PR_OUTER_VAR = abl_probe_index / PR_INNER_END;
PR_INNER_VAR = abl_probe_index - (PR_OUTER_VAR * PR_INNER_END);
// Probe in reverse order for every other row/column
bool zig = (PR_OUTER_VAR & 1); // != ((PR_OUTER_END) & 1);
if (zig) PR_INNER_VAR = (PR_INNER_END - 1) - PR_INNER_VAR;
const float xBase = xCount * xGridSpacing + left_probe_bed_position,
yBase = yCount * yGridSpacing + front_probe_bed_position;
xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5));
yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5));
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
indexIntoAB[xCount][yCount] = abl_probe_index;
#endif
// Keep looping till a reachable point is found
if (position_is_reachable(xProbe, yProbe)) break;
++abl_probe_index;
}
// Is there a next point to move to?
if (abl_probe_index < abl_points) {
_manual_goto_xy(xProbe, yProbe); // Can be used here too!
#if HAS_SOFTWARE_ENDSTOPS
// Disable software endstops to allow manual adjustment
// If G29 is not completed, they will not be re-enabled
soft_endstops_enabled = false;
#endif
return;
}
else {
// Leveling done! Fall through to G29 finishing code below
SERIAL_PROTOCOLLNPGM("Grid probing done.");
// Re-enable software endstops, if needed
#if HAS_SOFTWARE_ENDSTOPS
soft_endstops_enabled = enable_soft_endstops;
#endif
}
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// Probe at 3 arbitrary points
if (abl_probe_index < abl_points) {
xProbe = points[abl_probe_index].x;
yProbe = points[abl_probe_index].y;
_manual_goto_xy(xProbe, yProbe);
#if HAS_SOFTWARE_ENDSTOPS
// Disable software endstops to allow manual adjustment
// If G29 is not completed, they will not be re-enabled
soft_endstops_enabled = false;
#endif
return;
}
else {
SERIAL_PROTOCOLLNPGM("3-point probing done.");
// Re-enable software endstops, if needed
#if HAS_SOFTWARE_ENDSTOPS
soft_endstops_enabled = enable_soft_endstops;
#endif
if (!dryrun) {
vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
if (planeNormal.z < 0) {
planeNormal.x *= -1;
planeNormal.y *= -1;
planeNormal.z *= -1;
}
planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
// Can't re-enable (on error) until the new grid is written
abl_should_enable = false;
}
}
#endif // AUTO_BED_LEVELING_3POINT
#else // !PROBE_MANUALLY
{
const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
measured_z = 0;
#if ABL_GRID
bool zig = PR_OUTER_END & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION
measured_z = 0;
// Outer loop is Y with PROBE_Y_FIRST disabled
for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END && !isnan(measured_z); PR_OUTER_VAR++) {
int8_t inStart, inStop, inInc;
if (zig) { // away from origin
inStart = 0;
inStop = PR_INNER_END;
inInc = 1;
}
else { // towards origin
inStart = PR_INNER_END - 1;
inStop = -1;
inInc = -1;
}
zig ^= true; // zag
// Inner loop is Y with PROBE_Y_FIRST enabled
for (int8_t PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) {
float xBase = left_probe_bed_position + xGridSpacing * xCount,
yBase = front_probe_bed_position + yGridSpacing * yCount;
xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5));
yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5));
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
indexIntoAB[xCount][yCount] = ++abl_probe_index; // 0...
#endif
#if IS_KINEMATIC
// Avoid probing outside the round or hexagonal area
if (!position_is_reachable_by_probe(xProbe, yProbe)) continue;
#endif
measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, raise_after, verbose_level);
if (isnan(measured_z)) {
set_bed_leveling_enabled(abl_should_enable);
break;
}
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
mean += measured_z;
eqnBVector[abl_probe_index] = measured_z;
eqnAMatrix[abl_probe_index + 0 * abl_points] = xProbe;
eqnAMatrix[abl_probe_index + 1 * abl_points] = yProbe;
eqnAMatrix[abl_probe_index + 2 * abl_points] = 1;
incremental_LSF(&lsf_results, xProbe, yProbe, measured_z);
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
z_values[xCount][yCount] = measured_z + zoffset;
#endif
abl_should_enable = false;
idle();
} // inner
} // outer
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// Probe at 3 arbitrary points
for (uint8_t i = 0; i < 3; ++i) {
// Retain the last probe position
xProbe = points[i].x;
yProbe = points[i].y;
measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, raise_after, verbose_level);
if (isnan(measured_z)) {
set_bed_leveling_enabled(abl_should_enable);
break;
}
points[i].z = measured_z;
}
if (!dryrun && !isnan(measured_z)) {
vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
if (planeNormal.z < 0) {
planeNormal.x *= -1;
planeNormal.y *= -1;
planeNormal.z *= -1;
}
planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
// Can't re-enable (on error) until the new grid is written
abl_should_enable = false;
}
#endif // AUTO_BED_LEVELING_3POINT
// Stow the probe. No raise for FIX_MOUNTED_PROBE.
if (STOW_PROBE()) {
set_bed_leveling_enabled(abl_should_enable);
measured_z = NAN;
}
}
#endif // !PROBE_MANUALLY
//
// G29 Finishing Code
//
// Unless this is a dry run, auto bed leveling will
// definitely be enabled after this point.
//
// If code above wants to continue leveling, it should
// return or loop before this point.
//
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
#endif
#if ENABLED(PROBE_MANUALLY)
g29_in_progress = false;
#if ENABLED(LCD_BED_LEVELING)
lcd_wait_for_move = false;
#endif
#endif
// Calculate leveling, print reports, correct the position
if (!isnan(measured_z)) {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (!dryrun) extrapolate_unprobed_bed_level();
print_bilinear_leveling_grid();
refresh_bed_level();
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
print_bilinear_leveling_grid_virt();
#endif
#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
// For LINEAR leveling calculate matrix, print reports, correct the position
/**
* 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
*/
float plane_equation_coefficients[3];
finish_incremental_LSF(&lsf_results);
plane_equation_coefficients[0] = -lsf_results.A; // We should be able to eliminate the '-' on these three lines and down below
plane_equation_coefficients[1] = -lsf_results.B; // but that is not yet tested.
plane_equation_coefficients[2] = -lsf_results.D;
mean /= abl_points;
if (verbose_level) {
SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
SERIAL_PROTOCOLPGM(" b: ");
SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
SERIAL_PROTOCOLPGM(" d: ");
SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
SERIAL_EOL();
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM("Mean of sampled points: ");
SERIAL_PROTOCOL_F(mean, 8);
SERIAL_EOL();
}
}
// Create the matrix but don't correct the position yet
if (!dryrun)
planner.bed_level_matrix = matrix_3x3::create_look_at(
vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1) // We can eliminate the '-' here and up above
);
// Show the Topography map if enabled
if (do_topography_map) {
SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n"
" +--- BACK --+\n"
" | |\n"
" L | (+) | R\n"
" E | | I\n"
" F | (-) N (+) | G\n"
" T | | H\n"
" | (-) | T\n"
" | |\n"
" O-- FRONT --+\n"
" (0,0)");
float min_diff = 999;
for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
int ind = indexIntoAB[xx][yy];
float diff = eqnBVector[ind] - mean,
x_tmp = eqnAMatrix[ind + 0 * abl_points],
y_tmp = eqnAMatrix[ind + 1 * abl_points],
z_tmp = 0;
apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
NOMORE(min_diff, eqnBVector[ind] - z_tmp);
if (diff >= 0.0)
SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
else
SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOL_F(diff, 5);
} // xx
SERIAL_EOL();
} // yy
SERIAL_EOL();
if (verbose_level > 3) {
SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:");
for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
int ind = indexIntoAB[xx][yy];
float x_tmp = eqnAMatrix[ind + 0 * abl_points],
y_tmp = eqnAMatrix[ind + 1 * abl_points],
z_tmp = 0;
apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
float diff = eqnBVector[ind] - z_tmp - min_diff;
if (diff >= 0.0)
SERIAL_PROTOCOLPGM(" +");
// Include + for column alignment
else
SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOL_F(diff, 5);
} // xx
SERIAL_EOL();
} // yy
SERIAL_EOL();
}
} //do_topography_map
#endif // AUTO_BED_LEVELING_LINEAR
#if ABL_PLANAR
// For LINEAR and 3POINT leveling correct the current position
if (verbose_level > 0)
planner.bed_level_matrix.debug(PSTR("\n\nBed Level Correction Matrix:"));
if (!dryrun) {
//
// Correct the current XYZ position based on the tilted plane.
//
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
#endif
float converted[XYZ];
COPY(converted, current_position);
planner.leveling_active = true;
planner.unapply_leveling(converted); // use conversion machinery
planner.leveling_active = false;
// Use the last measured distance to the bed, if possible
if ( NEAR(current_position[X_AXIS], xProbe - (X_PROBE_OFFSET_FROM_EXTRUDER))
&& NEAR(current_position[Y_AXIS], yProbe - (Y_PROBE_OFFSET_FROM_EXTRUDER))
) {
const float simple_z = current_position[Z_AXIS] - measured_z;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Z from Probe:", simple_z);
SERIAL_ECHOPAIR(" Matrix:", converted[Z_AXIS]);
SERIAL_ECHOLNPAIR(" Discrepancy:", simple_z - converted[Z_AXIS]);
}
#endif
converted[Z_AXIS] = simple_z;
}
// The rotated XY and corrected Z are now current_position
COPY(current_position, converted);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
#endif
}
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (!dryrun) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]);
#endif
// Unapply the offset because it is going to be immediately applied
// and cause compensation movement in Z
current_position[Z_AXIS] -= bilinear_z_offset(current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]);
#endif
}
#endif // ABL_PLANAR
#ifdef Z_PROBE_END_SCRIPT
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
#endif
planner.synchronize();
enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
#endif
// Auto Bed Leveling is complete! Enable if possible.
planner.leveling_active = dryrun ? abl_should_enable : true;
} // !isnan(measured_z)
// Restore state after probing
if (!faux) clean_up_after_endstop_or_probe_move();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< G29");
#endif
KEEPALIVE_STATE(IN_HANDLER);
if (planner.leveling_active)
SYNC_PLAN_POSITION_KINEMATIC();
#if HAS_BED_PROBE && defined(Z_AFTER_PROBING)
move_z_after_probing();
#endif
report_current_position();
}
#endif // OLDSCHOOL_ABL
#if HAS_BED_PROBE
/**
* G30: Do a single Z probe at the current XY
*
* Parameters:
*
* X Probe X position (default current X)
* Y Probe Y position (default current Y)
* E Engage the probe for each probe (default 1)
*/
inline void gcode_G30() {
const float xpos = parser.linearval('X', current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER),
ypos = parser.linearval('Y', current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER);
if (!position_is_reachable_by_probe(xpos, ypos)) return;
// Disable leveling so the planner won't mess with us
#if HAS_LEVELING
set_bed_leveling_enabled(false);
#endif
setup_for_endstop_or_probe_move();
const ProbePtRaise raise_after = parser.boolval('E', true) ? PROBE_PT_STOW : PROBE_PT_NONE;
const float measured_z = probe_pt(xpos, ypos, raise_after, parser.intval('V', 1));
if (!isnan(measured_z)) {
SERIAL_PROTOCOLPAIR_F("Bed X: ", xpos);
SERIAL_PROTOCOLPAIR_F(" Y: ", ypos);
SERIAL_PROTOCOLLNPAIR_F(" Z: ", measured_z);
}
clean_up_after_endstop_or_probe_move();
#ifdef Z_AFTER_PROBING
if (raise_after == PROBE_PT_STOW) move_z_after_probing();
#endif
report_current_position();
}
#if ENABLED(Z_PROBE_SLED)
/**
* G31: Deploy the Z probe
*/
inline void gcode_G31() { DEPLOY_PROBE(); }
/**
* G32: Stow the Z probe
*/
inline void gcode_G32() { STOW_PROBE(); }
#endif // Z_PROBE_SLED
#endif // HAS_BED_PROBE
#if ENABLED(DELTA_AUTO_CALIBRATION)
constexpr uint8_t _7P_STEP = 1, // 7-point step - to change number of calibration points
_4P_STEP = _7P_STEP * 2, // 4-point step
NPP = _7P_STEP * 6; // number of calibration points on the radius
enum CalEnum : char { // the 7 main calibration points - add definitions if needed
CEN = 0,
__A = 1,
_AB = __A + _7P_STEP,
__B = _AB + _7P_STEP,
_BC = __B + _7P_STEP,
__C = _BC + _7P_STEP,
_CA = __C + _7P_STEP,
};
#define LOOP_CAL_PT(VAR, S, N) for (uint8_t VAR=S; VAR<=NPP; VAR+=N)
#define F_LOOP_CAL_PT(VAR, S, N) for (float VAR=S; VAR<NPP+0.9999; VAR+=N)
#define I_LOOP_CAL_PT(VAR, S, N) for (float VAR=S; VAR>CEN+0.9999; VAR-=N)
#define LOOP_CAL_ALL(VAR) LOOP_CAL_PT(VAR, CEN, 1)
#define LOOP_CAL_RAD(VAR) LOOP_CAL_PT(VAR, __A, _7P_STEP)
#define LOOP_CAL_ACT(VAR, _4P, _OP) LOOP_CAL_PT(VAR, _OP ? _AB : __A, _4P ? _4P_STEP : _7P_STEP)
#if HOTENDS > 1
const uint8_t old_tool_index = active_extruder;
#define AC_CLEANUP() ac_cleanup(old_tool_index)
#else
#define AC_CLEANUP() ac_cleanup()
#endif
float lcd_probe_pt(const float &rx, const float &ry);
void ac_home() {
endstops.enable(true);
home_delta();
endstops.not_homing();
}
void ac_setup(const bool reset_bed) {
#if HOTENDS > 1
tool_change(0, 0, true);
#endif
planner.synchronize();
setup_for_endstop_or_probe_move();
#if HAS_LEVELING
if (reset_bed) reset_bed_level(); // After full calibration bed-level data is no longer valid
#endif
}
void ac_cleanup(
#if HOTENDS > 1
const uint8_t old_tool_index
#endif
) {
#if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
do_blocking_move_to_z(delta_clip_start_height);
#endif
#if HAS_BED_PROBE
STOW_PROBE();
#endif
clean_up_after_endstop_or_probe_move();
#if HOTENDS > 1
tool_change(old_tool_index, 0, true);
#endif
}
void print_signed_float(const char * const prefix, const float &f) {
SERIAL_PROTOCOLPGM(" ");
serialprintPGM(prefix);
SERIAL_PROTOCOLCHAR(':');
if (f >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(f, 2);
}
/**
* - Print the delta settings
*/
static void print_calibration_settings(const bool end_stops, const bool tower_angles) {
SERIAL_PROTOCOLPAIR(".Height:", delta_height);
if (end_stops) {
print_signed_float(PSTR("Ex"), delta_endstop_adj[A_AXIS]);
print_signed_float(PSTR("Ey"), delta_endstop_adj[B_AXIS]);
print_signed_float(PSTR("Ez"), delta_endstop_adj[C_AXIS]);
}
if (end_stops && tower_angles) {
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
SERIAL_EOL();
SERIAL_CHAR('.');
SERIAL_PROTOCOL_SP(13);
}
if (tower_angles) {
print_signed_float(PSTR("Tx"), delta_tower_angle_trim[A_AXIS]);
print_signed_float(PSTR("Ty"), delta_tower_angle_trim[B_AXIS]);
print_signed_float(PSTR("Tz"), delta_tower_angle_trim[C_AXIS]);
}
if ((!end_stops && tower_angles) || (end_stops && !tower_angles)) { // XOR
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
}
SERIAL_EOL();
}
/**
* - Print the probe results
*/
static void print_calibration_results(const float z_pt[NPP + 1], const bool tower_points, const bool opposite_points) {
SERIAL_PROTOCOLPGM(". ");
print_signed_float(PSTR("c"), z_pt[CEN]);
if (tower_points) {
print_signed_float(PSTR(" x"), z_pt[__A]);
print_signed_float(PSTR(" y"), z_pt[__B]);
print_signed_float(PSTR(" z"), z_pt[__C]);
}
if (tower_points && opposite_points) {
SERIAL_EOL();
SERIAL_CHAR('.');
SERIAL_PROTOCOL_SP(13);
}
if (opposite_points) {
print_signed_float(PSTR("yz"), z_pt[_BC]);
print_signed_float(PSTR("zx"), z_pt[_CA]);
print_signed_float(PSTR("xy"), z_pt[_AB]);
}
SERIAL_EOL();
}
/**
* - Calculate the standard deviation from the zero plane
*/
static float std_dev_points(float z_pt[NPP + 1], const bool _0p_cal, const bool _1p_cal, const bool _4p_cal, const bool _4p_opp) {
if (!_0p_cal) {
float S2 = sq(z_pt[CEN]);
int16_t N = 1;
if (!_1p_cal) { // std dev from zero plane
LOOP_CAL_ACT(rad, _4p_cal, _4p_opp) {
S2 += sq(z_pt[rad]);
N++;
}
return LROUND(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001;
}
}
return 0.00001;
}
/**
* - Probe a point
*/
static float calibration_probe(const float &nx, const float &ny, const bool stow) {
#if HAS_BED_PROBE
return probe_pt(nx, ny, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, false);
#else
UNUSED(stow);
return lcd_probe_pt(nx, ny);
#endif
}
/**
* - Probe a grid
*/
static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_points, const bool towers_set, const bool stow_after_each) {
const bool _0p_calibration = probe_points == 0,
_1p_calibration = probe_points == 1 || probe_points == -1,
_4p_calibration = probe_points == 2,
_4p_opposite_points = _4p_calibration && !towers_set,
_7p_calibration = probe_points >= 3,
_7p_no_intermediates = probe_points == 3,
_7p_1_intermediates = probe_points == 4,
_7p_2_intermediates = probe_points == 5,
_7p_4_intermediates = probe_points == 6,
_7p_6_intermediates = probe_points == 7,
_7p_8_intermediates = probe_points == 8,
_7p_11_intermediates = probe_points == 9,
_7p_14_intermediates = probe_points == 10,
_7p_intermed_points = probe_points >= 4,
_7p_6_center = probe_points >= 5 && probe_points <= 7,
_7p_9_center = probe_points >= 8;
LOOP_CAL_ALL(rad) z_pt[rad] = 0.0;
if (!_0p_calibration) {
if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
z_pt[CEN] += calibration_probe(0, 0, stow_after_each);
if (isnan(z_pt[CEN])) return false;
}
if (_7p_calibration) { // probe extra center points
const float start = _7p_9_center ? float(_CA) + _7P_STEP / 3.0 : _7p_6_center ? float(_CA) : float(__C),
steps = _7p_9_center ? _4P_STEP / 3.0 : _7p_6_center ? _7P_STEP : _4P_STEP;
I_LOOP_CAL_PT(rad, start, steps) {
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
r = delta_calibration_radius * 0.1;
z_pt[CEN] += calibration_probe(cos(a) * r, sin(a) * r, stow_after_each);
if (isnan(z_pt[CEN])) return false;
}
z_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
}
if (!_1p_calibration) { // probe the radius
const CalEnum start = _4p_opposite_points ? _AB : __A;
const float steps = _7p_14_intermediates ? _7P_STEP / 15.0 : // 15r * 6 + 10c = 100
_7p_11_intermediates ? _7P_STEP / 12.0 : // 12r * 6 + 9c = 81
_7p_8_intermediates ? _7P_STEP / 9.0 : // 9r * 6 + 10c = 64
_7p_6_intermediates ? _7P_STEP / 7.0 : // 7r * 6 + 7c = 49
_7p_4_intermediates ? _7P_STEP / 5.0 : // 5r * 6 + 6c = 36
_7p_2_intermediates ? _7P_STEP / 3.0 : // 3r * 6 + 7c = 25
_7p_1_intermediates ? _7P_STEP / 2.0 : // 2r * 6 + 4c = 16
_7p_no_intermediates ? _7P_STEP : // 1r * 6 + 3c = 9
_4P_STEP; // .5r * 6 + 1c = 4
bool zig_zag = true;
F_LOOP_CAL_PT(rad, start, _7p_9_center ? steps * 3 : steps) {
const int8_t offset = _7p_9_center ? 2 : 0;
for (int8_t circle = 0; circle <= offset; circle++) {
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
r = delta_calibration_radius * (1 - 0.1 * (zig_zag ? offset - circle : circle)),
interpol = fmod(rad, 1);
const float z_temp = calibration_probe(cos(a) * r, sin(a) * r, stow_after_each);
if (isnan(z_temp)) return false;
// split probe point to neighbouring calibration points
z_pt[uint8_t(LROUND(rad - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
z_pt[uint8_t(LROUND(rad - interpol)) % NPP + 1] += z_temp * sq(sin(RADIANS(interpol * 90)));
}
zig_zag = !zig_zag;
}
if (_7p_intermed_points)
LOOP_CAL_RAD(rad)
z_pt[rad] /= _7P_STEP / steps;
do_blocking_move_to_xy(0.0, 0.0);
}
}
return true;
}
/**
* kinematics routines and auto tune matrix scaling parameters:
* see https://github.com/LVD-AC/Marlin-AC/tree/1.1.x-AC/documentation for
* - formulae for approximative forward kinematics in the end-stop displacement matrix
* - definition of the matrix scaling parameters
*/
static void reverse_kinematics_probe_points(float z_pt[NPP + 1], float mm_at_pt_axis[NPP + 1][ABC]) {
float pos[XYZ] = { 0.0 };
LOOP_CAL_ALL(rad) {
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
r = (rad == CEN ? 0.0 : delta_calibration_radius);
pos[X_AXIS] = cos(a) * r;
pos[Y_AXIS] = sin(a) * r;
pos[Z_AXIS] = z_pt[rad];
inverse_kinematics(pos);
LOOP_XYZ(axis) mm_at_pt_axis[rad][axis] = delta[axis];
}
}
static void forward_kinematics_probe_points(float mm_at_pt_axis[NPP + 1][ABC], float z_pt[NPP + 1]) {
const float r_quot = delta_calibration_radius / delta_radius;
#define ZPP(N,I,A) ((1 / 3.0 + r_quot * (N) / 3.0 ) * mm_at_pt_axis[I][A])
#define Z00(I, A) ZPP( 0, I, A)
#define Zp1(I, A) ZPP(+1, I, A)
#define Zm1(I, A) ZPP(-1, I, A)
#define Zp2(I, A) ZPP(+2, I, A)
#define Zm2(I, A) ZPP(-2, I, A)
z_pt[CEN] = Z00(CEN, A_AXIS) + Z00(CEN, B_AXIS) + Z00(CEN, C_AXIS);
z_pt[__A] = Zp2(__A, A_AXIS) + Zm1(__A, B_AXIS) + Zm1(__A, C_AXIS);
z_pt[__B] = Zm1(__B, A_AXIS) + Zp2(__B, B_AXIS) + Zm1(__B, C_AXIS);
z_pt[__C] = Zm1(__C, A_AXIS) + Zm1(__C, B_AXIS) + Zp2(__C, C_AXIS);
z_pt[_BC] = Zm2(_BC, A_AXIS) + Zp1(_BC, B_AXIS) + Zp1(_BC, C_AXIS);
z_pt[_CA] = Zp1(_CA, A_AXIS) + Zm2(_CA, B_AXIS) + Zp1(_CA, C_AXIS);
z_pt[_AB] = Zp1(_AB, A_AXIS) + Zp1(_AB, B_AXIS) + Zm2(_AB, C_AXIS);
}
static void calc_kinematics_diff_probe_points(float z_pt[NPP + 1], float delta_e[ABC], float delta_r, float delta_t[ABC]) {
const float z_center = z_pt[CEN];
float diff_mm_at_pt_axis[NPP + 1][ABC],
new_mm_at_pt_axis[NPP + 1][ABC];
reverse_kinematics_probe_points(z_pt, diff_mm_at_pt_axis);
delta_radius += delta_r;
LOOP_XYZ(axis) delta_tower_angle_trim[axis] += delta_t[axis];
recalc_delta_settings();
reverse_kinematics_probe_points(z_pt, new_mm_at_pt_axis);
LOOP_XYZ(axis) LOOP_CAL_ALL(rad) diff_mm_at_pt_axis[rad][axis] -= new_mm_at_pt_axis[rad][axis] + delta_e[axis];
forward_kinematics_probe_points(diff_mm_at_pt_axis, z_pt);
LOOP_CAL_RAD(rad) z_pt[rad] -= z_pt[CEN] - z_center;
z_pt[CEN] = z_center;
delta_radius -= delta_r;
LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= delta_t[axis];
recalc_delta_settings();
}
static float auto_tune_h() {
const float r_quot = delta_calibration_radius / delta_radius;
float h_fac = 0.0;
h_fac = r_quot / (2.0 / 3.0);
h_fac = 1.0f / h_fac; // (2/3)/CR
return h_fac;
}
static float auto_tune_r() {
const float diff = 0.01;
float r_fac = 0.0,
z_pt[NPP + 1] = { 0.0 },
delta_e[ABC] = {0.0},
delta_r = {0.0},
delta_t[ABC] = {0.0};
delta_r = diff;
calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t);
r_fac = -(z_pt[__A] + z_pt[__B] + z_pt[__C] + z_pt[_BC] + z_pt[_CA] + z_pt[_AB]) / 6.0;
r_fac = diff / r_fac / 3.0; // 1/(3*delta_Z)
return r_fac;
}
static float auto_tune_a() {
const float diff = 0.01;
float a_fac = 0.0,
z_pt[NPP + 1] = { 0.0 },
delta_e[ABC] = {0.0},
delta_r = {0.0},
delta_t[ABC] = {0.0};
LOOP_XYZ(axis) {
LOOP_XYZ(axis_2) delta_t[axis_2] = 0.0;
delta_t[axis] = diff;
calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t);
a_fac += z_pt[uint8_t((axis * _4P_STEP) - _7P_STEP + NPP) % NPP + 1] / 6.0;
a_fac -= z_pt[uint8_t((axis * _4P_STEP) + 1 + _7P_STEP)] / 6.0;
}
a_fac = diff / a_fac / 3.0; // 1/(3*delta_Z)
return a_fac;
}
/**
* G33 - Delta '1-4-7-point' Auto-Calibration
* Calibrate height, z_offset, endstops, delta radius, and tower angles.
*
* Parameters:
*
* Pn Number of probe points:
* P0 Normalizes calibration.
* P1 Calibrates height only with center probe.
* P2 Probe center and towers. Calibrate height, endstops and delta radius.
* P3 Probe all positions: center, towers and opposite towers. Calibrate all.
* P4-P10 Probe all positions at different intermediate locations and average them.
*
* T Don't calibrate tower angle corrections
*
* Cn.nn Calibration precision; when omitted calibrates to maximum precision
*
* Fn Force to run at least n iterations and take the best result
*
* Vn Verbose level:
* V0 Dry-run mode. Report settings and probe results. No calibration.
* V1 Report start and end settings only
* V2 Report settings at each iteration
* V3 Report settings and probe results
*
* E Engage the probe for each point
*/
inline void gcode_G33() {
const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
if (!WITHIN(probe_points, 0, 10)) {
SERIAL_PROTOCOLLNPGM("?(P)oints is implausible (0-10).");
return;
}
const bool towers_set = !parser.seen('T');
const float calibration_precision = parser.floatval('C', 0.0);
if (calibration_precision < 0) {
SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>=0).");
return;
}
const int8_t force_iterations = parser.intval('F', 0);
if (!WITHIN(force_iterations, 0, 30)) {
SERIAL_PROTOCOLLNPGM("?(F)orce iteration is implausible (0-30).");
return;
}
const int8_t verbose_level = parser.byteval('V', 1);
if (!WITHIN(verbose_level, 0, 3)) {
SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-3).");
return;
}
const bool stow_after_each = parser.seen('E');
const bool _0p_calibration = probe_points == 0,
_1p_calibration = probe_points == 1 || probe_points == -1,
_4p_calibration = probe_points == 2,
_4p_opposite_points = _4p_calibration && !towers_set,
_7p_9_center = probe_points >= 8,
_tower_results = (_4p_calibration && towers_set) || probe_points >= 3,
_opposite_results = (_4p_calibration && !towers_set) || probe_points >= 3,
_endstop_results = probe_points != 1 && probe_points != -1 && probe_points != 0,
_angle_results = probe_points >= 3 && towers_set;
static const char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
int8_t iterations = 0;
float test_precision,
zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
zero_std_dev_min = zero_std_dev,
zero_std_dev_old = zero_std_dev,
h_factor,
r_factor,
a_factor,
e_old[ABC] = {
delta_endstop_adj[A_AXIS],
delta_endstop_adj[B_AXIS],
delta_endstop_adj[C_AXIS]
},
r_old = delta_radius,
h_old = delta_height,
a_old[ABC] = {
delta_tower_angle_trim[A_AXIS],
delta_tower_angle_trim[B_AXIS],
delta_tower_angle_trim[C_AXIS]
};
SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
if (!_1p_calibration && !_0p_calibration) { // test if the outer radius is reachable
LOOP_CAL_RAD(axis) {
const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
r = delta_calibration_radius;
if (!position_is_reachable(cos(a) * r, sin(a) * r)) {
SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
return;
}
}
}
// Report settings
const char *checkingac = PSTR("Checking... AC");
serialprintPGM(checkingac);
if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
SERIAL_EOL();
lcd_setstatusPGM(checkingac);
print_calibration_settings(_endstop_results, _angle_results);
ac_setup(!_0p_calibration && !_1p_calibration);
if (!_0p_calibration) ac_home();
do { // start iterations
float z_at_pt[NPP + 1] = { 0.0 };
test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev;
iterations++;
// Probe the points
zero_std_dev_old = zero_std_dev;
if (!probe_calibration_points(z_at_pt, probe_points, towers_set, stow_after_each)) {
SERIAL_PROTOCOLLNPGM("Correct delta settings with M665 and M666");
return AC_CLEANUP();
}
zero_std_dev = std_dev_points(z_at_pt, _0p_calibration, _1p_calibration, _4p_calibration, _4p_opposite_points);
// Solve matrices
if ((zero_std_dev < test_precision || iterations <= force_iterations) && zero_std_dev > calibration_precision) {
#if !HAS_BED_PROBE
test_precision = 0.00; // forced end
#endif
if (zero_std_dev < zero_std_dev_min) {
// set roll-back point
COPY(e_old, delta_endstop_adj);
r_old = delta_radius;
h_old = delta_height;
COPY(a_old, delta_tower_angle_trim);
}
float e_delta[ABC] = { 0.0 },
r_delta = 0.0,
t_delta[ABC] = { 0.0 };
/**
* convergence matrices:
* see https://github.com/LVD-AC/Marlin-AC/tree/1.1.x-AC/documentation for
* - definition of the matrix scaling parameters
* - matrices for 4 and 7 point calibration
*/
#define ZP(N,I) ((N) * z_at_pt[I] / 4.0) // 4.0 = divider to normalize to integers
#define Z12(I) ZP(12, I)
#define Z4(I) ZP(4, I)
#define Z2(I) ZP(2, I)
#define Z1(I) ZP(1, I)
#define Z0(I) ZP(0, I)
// calculate factors
const float cr_old = delta_calibration_radius;
if (_7p_9_center) delta_calibration_radius *= 0.9;
h_factor = auto_tune_h();
r_factor = auto_tune_r();
a_factor = auto_tune_a();
delta_calibration_radius = cr_old;
switch (probe_points) {
case 0:
test_precision = 0.00; // forced end
break;
case 1:
test_precision = 0.00; // forced end
LOOP_XYZ(axis) e_delta[axis] = +Z4(CEN);
break;
case 2:
if (towers_set) { // see 4 point calibration (towers) matrix
e_delta[A_AXIS] = (+Z4(__A) -Z2(__B) -Z2(__C)) * h_factor +Z4(CEN);
e_delta[B_AXIS] = (-Z2(__A) +Z4(__B) -Z2(__C)) * h_factor +Z4(CEN);
e_delta[C_AXIS] = (-Z2(__A) -Z2(__B) +Z4(__C)) * h_factor +Z4(CEN);
r_delta = (+Z4(__A) +Z4(__B) +Z4(__C) -Z12(CEN)) * r_factor;
}
else { // see 4 point calibration (opposites) matrix
e_delta[A_AXIS] = (-Z4(_BC) +Z2(_CA) +Z2(_AB)) * h_factor +Z4(CEN);
e_delta[B_AXIS] = (+Z2(_BC) -Z4(_CA) +Z2(_AB)) * h_factor +Z4(CEN);
e_delta[C_AXIS] = (+Z2(_BC) +Z2(_CA) -Z4(_AB)) * h_factor +Z4(CEN);
r_delta = (+Z4(_BC) +Z4(_CA) +Z4(_AB) -Z12(CEN)) * r_factor;
}
break;
default: // see 7 point calibration (towers & opposites) matrix
e_delta[A_AXIS] = (+Z2(__A) -Z1(__B) -Z1(__C) -Z2(_BC) +Z1(_CA) +Z1(_AB)) * h_factor +Z4(CEN);
e_delta[B_AXIS] = (-Z1(__A) +Z2(__B) -Z1(__C) +Z1(_BC) -Z2(_CA) +Z1(_AB)) * h_factor +Z4(CEN);
e_delta[C_AXIS] = (-Z1(__A) -Z1(__B) +Z2(__C) +Z1(_BC) +Z1(_CA) -Z2(_AB)) * h_factor +Z4(CEN);
r_delta = (+Z2(__A) +Z2(__B) +Z2(__C) +Z2(_BC) +Z2(_CA) +Z2(_AB) -Z12(CEN)) * r_factor;
if (towers_set) { // see 7 point tower angle calibration (towers & opposites) matrix
t_delta[A_AXIS] = (+Z0(__A) -Z4(__B) +Z4(__C) +Z0(_BC) -Z4(_CA) +Z4(_AB) +Z0(CEN)) * a_factor;
t_delta[B_AXIS] = (+Z4(__A) +Z0(__B) -Z4(__C) +Z4(_BC) +Z0(_CA) -Z4(_AB) +Z0(CEN)) * a_factor;
t_delta[C_AXIS] = (-Z4(__A) +Z4(__B) +Z0(__C) -Z4(_BC) +Z4(_CA) +Z0(_AB) +Z0(CEN)) * a_factor;
}
break;
}
LOOP_XYZ(axis) delta_endstop_adj[axis] += e_delta[axis];
delta_radius += r_delta;
LOOP_XYZ(axis) delta_tower_angle_trim[axis] += t_delta[axis];
}
else if (zero_std_dev >= test_precision) {
// roll back
COPY(delta_endstop_adj, e_old);
delta_radius = r_old;
delta_height = h_old;
COPY(delta_tower_angle_trim, a_old);
}
if (verbose_level != 0) { // !dry run
// normalise angles to least squares
if (_angle_results) {
float a_sum = 0.0;
LOOP_XYZ(axis) a_sum += delta_tower_angle_trim[axis];
LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0;
}
// adjust delta_height and endstops by the max amount
const float z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
delta_height -= z_temp;
LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
}
recalc_delta_settings();
NOMORE(zero_std_dev_min, zero_std_dev);
// print report
if (verbose_level == 3)
print_calibration_results(z_at_pt, _tower_results, _opposite_results);
if (verbose_level != 0) { // !dry run
if ((zero_std_dev >= test_precision && iterations > force_iterations) || zero_std_dev <= calibration_precision) { // end iterations
SERIAL_PROTOCOLPGM("Calibration OK");
SERIAL_PROTOCOL_SP(32);
#if HAS_BED_PROBE
if (zero_std_dev >= test_precision && !_1p_calibration && !_0p_calibration)
SERIAL_PROTOCOLPGM("rolling back.");
else
#endif
{
SERIAL_PROTOCOLPGM("std dev:");
SERIAL_PROTOCOL_F(zero_std_dev_min, 3);
}
SERIAL_EOL();
char mess[21];
strcpy_P(mess, PSTR("Calibration sd:"));
if (zero_std_dev_min < 1)
sprintf_P(&mess[15], PSTR("0.%03i"), int(LROUND(zero_std_dev_min * 1000.0)));
else
sprintf_P(&mess[15], PSTR("%03i.x"), int(LROUND(zero_std_dev_min)));
lcd_setstatus(mess);
print_calibration_settings(_endstop_results, _angle_results);
serialprintPGM(save_message);
SERIAL_EOL();
}
else { // !end iterations
char mess[15];
if (iterations < 31)
sprintf_P(mess, PSTR("Iteration : %02i"), int(iterations));
else
strcpy_P(mess, PSTR("No convergence"));
SERIAL_PROTOCOL(mess);
SERIAL_PROTOCOL_SP(32);
SERIAL_PROTOCOLPGM("std dev:");
SERIAL_PROTOCOL_F(zero_std_dev, 3);
SERIAL_EOL();
lcd_setstatus(mess);
if (verbose_level > 1)
print_calibration_settings(_endstop_results, _angle_results);
}
}
else { // dry run
const char *enddryrun = PSTR("End DRY-RUN");
serialprintPGM(enddryrun);
SERIAL_PROTOCOL_SP(35);
SERIAL_PROTOCOLPGM("std dev:");
SERIAL_PROTOCOL_F(zero_std_dev, 3);
SERIAL_EOL();
char mess[21];
strcpy_P(mess, enddryrun);
strcpy_P(&mess[11], PSTR(" sd:"));
if (zero_std_dev < 1)
sprintf_P(&mess[15], PSTR("0.%03i"), int(LROUND(zero_std_dev * 1000.0)));
else
sprintf_P(&mess[15], PSTR("%03i.x"), int(LROUND(zero_std_dev)));
lcd_setstatus(mess);
}
ac_home();
}
while (((zero_std_dev < test_precision && iterations < 31) || iterations <= force_iterations) && zero_std_dev > calibration_precision);
AC_CLEANUP();
}
#endif // DELTA_AUTO_CALIBRATION
#if ENABLED(G38_PROBE_TARGET)
static bool G38_run_probe() {
bool G38_pass_fail = false;
#if MULTIPLE_PROBING > 1
// Get direction of move and retract
float retract_mm[XYZ];
LOOP_XYZ(i) {
float dist = destination[i] - current_position[i];
retract_mm[i] = ABS(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm((AxisEnum)i) * (dist > 0 ? -1 : 1);
}
#endif
// Move until destination reached or target hit
planner.synchronize();
endstops.enable(true);
G38_move = true;
G38_endstop_hit = false;
prepare_move_to_destination();
planner.synchronize();
G38_move = false;
endstops.hit_on_purpose();
set_current_from_steppers_for_axis(ALL_AXES);
SYNC_PLAN_POSITION_KINEMATIC();
if (G38_endstop_hit) {
G38_pass_fail = true;
#if MULTIPLE_PROBING > 1
// Move away by the retract distance
set_destination_from_current();
LOOP_XYZ(i) destination[i] += retract_mm[i];
endstops.enable(false);
prepare_move_to_destination();
feedrate_mm_s /= 4;
// Bump the target more slowly
LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
planner.synchronize();
endstops.enable(true);
G38_move = true;
prepare_move_to_destination();
planner.synchronize();
G38_move = false;
set_current_from_steppers_for_axis(ALL_AXES);
SYNC_PLAN_POSITION_KINEMATIC();
#endif
}
endstops.hit_on_purpose();
endstops.not_homing();
return G38_pass_fail;
}
/**
* G38.2 - probe toward workpiece, stop on contact, signal error if failure
* G38.3 - probe toward workpiece, stop on contact
*
* Like G28 except uses Z min probe for all axes
*/
inline void gcode_G38(bool is_38_2) {
// Get X Y Z E F
gcode_get_destination();
setup_for_endstop_or_probe_move();
// If any axis has enough movement, do the move
LOOP_XYZ(i)
if (ABS(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
if (!parser.seenval('F')) feedrate_mm_s = homing_feedrate((AxisEnum)i);
// If G38.2 fails throw an error
if (!G38_run_probe() && is_38_2) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM("Failed to reach target");
}
break;
}
clean_up_after_endstop_or_probe_move();
}
#endif // G38_PROBE_TARGET
#if HAS_MESH
/**
* G42: Move X & Y axes to mesh coordinates (I & J)
*/
inline void gcode_G42() {
#if ENABLED(NO_MOTION_BEFORE_HOMING)
if (axis_unhomed_error()) return;
#endif
if (IsRunning()) {
const bool hasI = parser.seenval('I');
const int8_t ix = hasI ? parser.value_int() : 0;
const bool hasJ = parser.seenval('J');
const int8_t iy = hasJ ? parser.value_int() : 0;
if ((hasI && !WITHIN(ix, 0, GRID_MAX_POINTS_X - 1)) || (hasJ && !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1))) {
SERIAL_ECHOLNPGM(MSG_ERR_MESH_XY);
return;
}
set_destination_from_current();
if (hasI) destination[X_AXIS] = _GET_MESH_X(ix);
if (hasJ) destination[Y_AXIS] = _GET_MESH_Y(iy);
if (parser.boolval('P')) {
if (hasI) destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
if (hasJ) destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
}
const float fval = parser.linearval('F');
if (fval > 0.0) feedrate_mm_s = MMM_TO_MMS(fval);
// SCARA kinematic has "safe" XY raw moves
#if IS_SCARA
prepare_uninterpolated_move_to_destination();
#else
prepare_move_to_destination();
#endif
}
}
#endif // HAS_MESH
/**
* G92: Set current position to given X Y Z E
*/
inline void gcode_G92() {
#if ENABLED(CNC_COORDINATE_SYSTEMS)
switch (parser.subcode) {
case 1:
// Zero the G92 values and restore current position
#if !IS_SCARA
LOOP_XYZ(i) {
const float v = position_shift[i];
if (v) {
position_shift[i] = 0;
update_software_endstops((AxisEnum)i);
}
}
#endif // Not SCARA
return;
}
#endif
#if ENABLED(CNC_COORDINATE_SYSTEMS)
#define IS_G92_0 (parser.subcode == 0)
#else
#define IS_G92_0 true
#endif
bool didE = false;
#if IS_SCARA || !HAS_POSITION_SHIFT || ENABLED(HANGPRINTER)
bool didXYZ = false;
#else
constexpr bool didXYZ = false;
#endif
if (IS_G92_0) LOOP_XYZE(i) {
if (parser.seenval(axis_codes[i])) {
const float l = parser.value_axis_units((AxisEnum)i),
v = i == E_CART ? l : LOGICAL_TO_NATIVE(l, i),
d = v - current_position[i];
if (!NEAR_ZERO(d)
#if ENABLED(HANGPRINTER)
|| true // Hangprinter needs to update its line lengths whether current_position changed or not
#endif
) {
#if IS_SCARA || !HAS_POSITION_SHIFT || ENABLED(HANGPRINTER)
if (i == E_CART) didE = true; else didXYZ = true;
current_position[i] = v; // Without workspaces revert to Marlin 1.0 behavior
#elif HAS_POSITION_SHIFT
if (i == E_CART) {
didE = true;
current_position[E_CART] = v; // When using coordinate spaces, only E is set directly
}
else {
position_shift[i] += d; // Other axes simply offset the coordinate space
update_software_endstops((AxisEnum)i);
}
#endif
}
}
}
#if ENABLED(CNC_COORDINATE_SYSTEMS)
// Apply workspace offset to the active coordinate system
if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
COPY(coordinate_system[active_coordinate_system], position_shift);
#endif
// Update planner/steppers only if the native coordinates changed
if (didXYZ) SYNC_PLAN_POSITION_KINEMATIC();
else if (didE) sync_plan_position_e();
report_current_position();
}
#if ENABLED(MECHADUINO_I2C_COMMANDS)
/**
* G95: Set torque mode
*/
inline void gcode_G95() {
i2cFloat torques[NUM_AXIS]; // Assumes 4-byte floats here and in Mechaduino firmware
LOOP_NUM_AXIS(i)
torques[i].fval = parser.floatval(RAW_AXIS_CODES(i), 999.9); // 999.9 chosen to satisfy fabs(999.9) > 255.0
// 0x5f == 95
#define G95_SEND(LETTER) do { \
if (fabs(torques[_AXIS(LETTER)].fval) < 255.0){ \
torques[_AXIS(LETTER)].fval = -fabs(torques[_AXIS(LETTER)].fval); \
if(!INVERT_##LETTER##_DIR) torques[_AXIS(LETTER)].fval = -torques[_AXIS(LETTER)].fval; \
i2c.address(LETTER##_MOTOR_I2C_ADDR); \
i2c.reset(); \
i2c.addbyte(0x5f); \
i2c.addbytes(torques[_AXIS(LETTER)].bval, sizeof(float)); \
i2c.send(); \
}} while(0)
#if ENABLED(HANGPRINTER)
#if ENABLED(A_IS_MECHADUINO)
G95_SEND(A);
#endif
#if ENABLED(B_IS_MECHADUINO)
G95_SEND(B);
#endif
#if ENABLED(C_IS_MECHADUINO)
G95_SEND(C);
#endif
#if ENABLED(D_IS_MECHADUINO)
G95_SEND(D);
#endif
#else
#if ENABLED(X_IS_MECHADUINO)
G95_SEND(X);
#endif
#if ENABLED(Y_IS_MECHADUINO)
G95_SEND(Y);
#endif
#if ENABLED(Z_IS_MECHADUINO)
G95_SEND(Z);
#endif
#endif
#if ENABLED(E_IS_MECHADUINO)
G95_SEND(E);
#endif
}
/**
* G96: Mark encoder reference point
*/
inline void gcode_G96() {
bool mark[NUM_AXIS] = { false };
if (!parser.seen_any())
LOOP_NUM_AXIS(i)
mark[i] = true;
else
LOOP_NUM_AXIS(i)
if (parser.seen(RAW_AXIS_CODES(i)))
mark[i] = true;
// 0x60 == 96
#define G96_SEND(LETTER) do {\
if (mark[LETTER##_AXIS]){ \
i2c.address(LETTER##_MOTOR_I2C_ADDR); \
i2c.reset(); \
i2c.addbyte(0x60); \
i2c.send(); \
}} while(0)
#if ENABLED(HANGPRINTER)
#if ENABLED(A_IS_MECHADUINO)
G96_SEND(A);
#endif
#if ENABLED(B_IS_MECHADUINO)
G96_SEND(B);
#endif
#if ENABLED(C_IS_MECHADUINO)
G96_SEND(C);
#endif
#if ENABLED(D_IS_MECHADUINO)
G96_SEND(D);
#endif
#else
#if ENABLED(X_IS_MECHADUINO)
G96_SEND(X);
#endif
#if ENABLED(Y_IS_MECHADUINO)
G96_SEND(Y);
#endif
#if ENABLED(Z_IS_MECHADUINO)
G96_SEND(Z);
#endif
#endif
#if ENABLED(E_IS_MECHADUINO)
G96_SEND(E); // E ref point not used by any other commands (Feb 7, 2018)
#endif
}
float ang_to_mm(float ang, const AxisEnum axis) {
const float abs_step_in_origin =
#if ENABLED(LINE_BUILDUP_COMPENSATION_FEATURE)
planner.k0[axis] * (SQRT(planner.k1[axis] + planner.k2[axis] * line_lengths_origin[axis]) - planner.sqrtk1[axis])
#else
line_lengths_origin[axis] * planner.axis_steps_per_mm[axis]
#endif
;
const float c = abs_step_in_origin + ang * float(STEPS_PER_MOTOR_REVOLUTION) / 360.0; // current step count
return
#if ENABLED(LINE_BUILDUP_COMPENSATION_FEATURE)
// Inverse function found in planner.cpp, where target[AXIS_A] is calculated
((c / planner.k0[axis] + planner.sqrtk1[axis]) * (c / planner.k0[axis] + planner.sqrtk1[axis]) - planner.k1[axis]) / planner.k2[axis] - line_lengths_origin[axis]
#else
c / planner.axis_steps_per_mm[axis] - line_lengths_origin[axis]
#endif
;
}
void report_axis_position_from_encoder_data() {
i2cFloat ang;
#define M114_S1_RECEIVE(LETTER) do { \
i2c.address(LETTER##_MOTOR_I2C_ADDR); \
i2c.request(sizeof(float)); \
i2c.capture(ang.bval, sizeof(float)); \
if(LETTER##_INVERT_REPORTED_ANGLE == INVERT_##LETTER##_DIR) ang.fval = -ang.fval; \
SERIAL_PROTOCOL(ang_to_mm(ang.fval, LETTER##_AXIS)); \
} while(0)
SERIAL_CHAR('[');
#if ENABLED(HANGPRINTER)
#if ENABLED(A_IS_MECHADUINO)
M114_S1_RECEIVE(A);
#endif
#if ENABLED(B_IS_MECHADUINO)
SERIAL_PROTOCOLPGM(", ");
M114_S1_RECEIVE(B);
#endif
#if ENABLED(C_IS_MECHADUINO)
SERIAL_PROTOCOLPGM(", ");
M114_S1_RECEIVE(C);
#endif
#if ENABLED(D_IS_MECHADUINO)
SERIAL_PROTOCOLPGM(", ");
M114_S1_RECEIVE(D);
#endif
#else
#if ENABLED(X_IS_MECHADUINO)
M114_S1_RECEIVE(X);
#endif
#if ENABLED(Y_IS_MECHADUINO)
SERIAL_PROTOCOLPGM(", ");
M114_S1_RECEIVE(Y);
#endif
#if ENABLED(Z_IS_MECHADUINO)
SERIAL_PROTOCOLPGM(", ");
M114_S1_RECEIVE(Z);
#endif
#endif
SERIAL_CHAR(']');
SERIAL_EOL();
}
#endif // MECHADUINO_I2C_COMMANDS
void report_xyz_from_stepper_position() {
get_cartesian_from_steppers(); // writes to cartes[XYZ]
SERIAL_CHAR('[');
SERIAL_PROTOCOL(cartes[X_AXIS]);
SERIAL_PROTOCOLPAIR(", ", cartes[Y_AXIS]);
SERIAL_PROTOCOLPAIR(", ", cartes[Z_AXIS]);
SERIAL_CHAR(']');
SERIAL_EOL();
}
#if HAS_RESUME_CONTINUE
/**
* M0: Unconditional stop - Wait for user button press on LCD
* M1: Conditional stop - Wait for user button press on LCD
*/
inline void gcode_M0_M1() {
const char * const args = parser.string_arg;
millis_t ms = 0;
bool hasP = false, hasS = false;
if (parser.seenval('P')) {
ms = parser.value_millis(); // milliseconds to wait
hasP = ms > 0;
}
if (parser.seenval('S')) {
ms = parser.value_millis_from_seconds(); // seconds to wait
hasS = ms > 0;
}
const bool has_message = !hasP && !hasS && args && *args;
planner.synchronize();
#if ENABLED(ULTIPANEL)
if (has_message)
lcd_setstatus(args, true);
else {
LCD_MESSAGEPGM(MSG_USERWAIT);
#if ENABLED(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
dontExpireStatus();
#endif
}
#else
if (has_message) {
SERIAL_ECHO_START();
SERIAL_ECHOLN(args);
}
#endif
KEEPALIVE_STATE(PAUSED_FOR_USER);
wait_for_user = true;
if (ms > 0) {
ms += millis(); // wait until this time for a click
while (PENDING(millis(), ms) && wait_for_user) idle();
}
else
while (wait_for_user) idle();
#if ENABLED(PRINTER_EVENT_LEDS) && ENABLED(SDSUPPORT)
if (lights_off_after_print) {
leds.set_off();
lights_off_after_print = false;
}
#endif
lcd_reset_status();
wait_for_user = false;
KEEPALIVE_STATE(IN_HANDLER);
}
#endif // HAS_RESUME_CONTINUE
#if ENABLED(SPINDLE_LASER_ENABLE)
/**
* M3: Spindle Clockwise
* M4: Spindle Counter-clockwise
*
* S0 turns off spindle.
*
* If no speed PWM output is defined then M3/M4 just turns it on.
*
* At least 12.8KHz (50Hz * 256) is needed for spindle PWM.
* Hardware PWM is required. ISRs are too slow.
*
* NOTE: WGM for timers 3, 4, and 5 must be either Mode 1 or Mode 5.
* No other settings give a PWM signal that goes from 0 to 5 volts.
*
* The system automatically sets WGM to Mode 1, so no special
* initialization is needed.
*
* WGM bits for timer 2 are automatically set by the system to
* Mode 1. This produces an acceptable 0 to 5 volt signal.
* No special initialization is needed.
*
* NOTE: A minimum PWM frequency of 50 Hz is needed. All prescaler
* factors for timers 2, 3, 4, and 5 are acceptable.
*
* SPINDLE_LASER_ENABLE_PIN needs an external pullup or it may power on
* the spindle/laser during power-up or when connecting to the host
* (usually goes through a reset which sets all I/O pins to tri-state)
*
* PWM duty cycle goes from 0 (off) to 255 (always on).
*/
// Wait for spindle to come up to speed
inline void delay_for_power_up() { dwell(SPINDLE_LASER_POWERUP_DELAY); }
// Wait for spindle to stop turning
inline void delay_for_power_down() { dwell(SPINDLE_LASER_POWERDOWN_DELAY); }
/**
* ocr_val_mode() is used for debugging and to get the points needed to compute the RPM vs ocr_val line
*
* it accepts inputs of 0-255
*/
inline void ocr_val_mode() {
uint8_t spindle_laser_power = parser.value_byte();
WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low)
if (SPINDLE_LASER_PWM_INVERT) spindle_laser_power = 255 - spindle_laser_power;
analogWrite(SPINDLE_LASER_PWM_PIN, spindle_laser_power);
}
inline void gcode_M3_M4(bool is_M3) {
planner.synchronize(); // wait until previous movement commands (G0/G0/G2/G3) have completed before playing with the spindle
#if SPINDLE_DIR_CHANGE
const bool rotation_dir = (is_M3 && !SPINDLE_INVERT_DIR || !is_M3 && SPINDLE_INVERT_DIR) ? HIGH : LOW;
if (SPINDLE_STOP_ON_DIR_CHANGE \
&& READ(SPINDLE_LASER_ENABLE_PIN) == SPINDLE_LASER_ENABLE_INVERT \
&& READ(SPINDLE_DIR_PIN) != rotation_dir
) {
WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // turn spindle off
delay_for_power_down();
}
WRITE(SPINDLE_DIR_PIN, rotation_dir);
#endif
/**
* Our final value for ocr_val is an unsigned 8 bit value between 0 and 255 which usually means uint8_t.
* Went to uint16_t because some of the uint8_t calculations would sometimes give 1000 0000 rather than 1111 1111.
* Then needed to AND the uint16_t result with 0x00FF to make sure we only wrote the byte of interest.
*/
#if ENABLED(SPINDLE_LASER_PWM)
if (parser.seen('O')) ocr_val_mode();
else {
const float spindle_laser_power = parser.floatval('S');
if (spindle_laser_power == 0) {
WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // turn spindle off (active low)
analogWrite(SPINDLE_LASER_PWM_PIN, SPINDLE_LASER_PWM_INVERT ? 255 : 0); // only write low byte
delay_for_power_down();
}
else {
int16_t ocr_val = (spindle_laser_power - (SPEED_POWER_INTERCEPT)) * (1.0f / (SPEED_POWER_SLOPE)); // convert RPM to PWM duty cycle
NOMORE(ocr_val, 255); // limit to max the Atmel PWM will support
if (spindle_laser_power <= SPEED_POWER_MIN)
ocr_val = (SPEED_POWER_MIN - (SPEED_POWER_INTERCEPT)) * (1.0f / (SPEED_POWER_SLOPE)); // minimum setting
if (spindle_laser_power >= SPEED_POWER_MAX)
ocr_val = (SPEED_POWER_MAX - (SPEED_POWER_INTERCEPT)) * (1.0f / (SPEED_POWER_SLOPE)); // limit to max RPM
if (SPINDLE_LASER_PWM_INVERT) ocr_val = 255 - ocr_val;
WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low)
analogWrite(SPINDLE_LASER_PWM_PIN, ocr_val & 0xFF); // only write low byte
delay_for_power_up();
}
}
#else
WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low) if spindle speed option not enabled
delay_for_power_up();
#endif
}
/**
* M5 turn off spindle
*/
inline void gcode_M5() {
planner.synchronize();
WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT);
#if ENABLED(SPINDLE_LASER_PWM)
analogWrite(SPINDLE_LASER_PWM_PIN, SPINDLE_LASER_PWM_INVERT ? 255 : 0);
#endif
delay_for_power_down();
}
#endif // SPINDLE_LASER_ENABLE
/**
* M17: Enable power on all stepper motors
*/
inline void gcode_M17() {
LCD_MESSAGEPGM(MSG_NO_MOVE);
enable_all_steppers();
}
#if ENABLED(ADVANCED_PAUSE_FEATURE)
void do_pause_e_move(const float &length, const float &fr) {
set_destination_from_current();
destination[E_CART] += length / planner.e_factor[active_extruder];
planner.buffer_line_kinematic(destination, fr, active_extruder);
set_current_from_destination();
planner.synchronize();
}
static float resume_position[XYZE];
int8_t did_pause_print = 0;
#if HAS_BUZZER
static void filament_change_beep(const int8_t max_beep_count, const bool init=false) {
static millis_t next_buzz = 0;
static int8_t runout_beep = 0;
if (init) next_buzz = runout_beep = 0;
const millis_t ms = millis();
if (ELAPSED(ms, next_buzz)) {
if (max_beep_count < 0 || runout_beep < max_beep_count + 5) { // Only beep as long as we're supposed to
next_buzz = ms + ((max_beep_count < 0 || runout_beep < max_beep_count) ? 1000 : 500);
BUZZ(50, 880 - (runout_beep & 1) * 220);
runout_beep++;
}
}
}
#endif
/**
* Ensure a safe temperature for extrusion
*
* - Fail if the TARGET temperature is too low
* - Display LCD placard with temperature status
* - Return when heating is done or aborted
*
* Returns 'true' if heating was completed, 'false' for abort
*/
static bool ensure_safe_temperature(const AdvancedPauseMode mode=ADVANCED_PAUSE_MODE_PAUSE_PRINT) {
#if ENABLED(PREVENT_COLD_EXTRUSION)
if (!DEBUGGING(DRYRUN) && thermalManager.targetTooColdToExtrude(active_extruder)) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_HOTEND_TOO_COLD);
return false;
}
#endif
#if ENABLED(ULTIPANEL)
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_WAIT_FOR_NOZZLES_TO_HEAT, mode);
#else
UNUSED(mode);
#endif
wait_for_heatup = true; // M108 will clear this
while (wait_for_heatup && thermalManager.wait_for_heating(active_extruder)) idle();
const bool status = wait_for_heatup;
wait_for_heatup = false;
return status;
}
/**
* Load filament into the hotend
*
* - Fail if the a safe temperature was not reached
* - If pausing for confirmation, wait for a click or M108
* - Show "wait for load" placard
* - Load and purge filament
* - Show "Purge more" / "Continue" menu
* - Return when "Continue" is selected
*
* Returns 'true' if load was completed, 'false' for abort
*/
static bool load_filament(const float &slow_load_length=0, const float &fast_load_length=0, const float &purge_length=0, const int8_t max_beep_count=0,
const bool show_lcd=false, const bool pause_for_user=false,
const AdvancedPauseMode mode=ADVANCED_PAUSE_MODE_PAUSE_PRINT
) {
#if DISABLED(ULTIPANEL)
UNUSED(show_lcd);
#endif
if (!ensure_safe_temperature(mode)) {
#if ENABLED(ULTIPANEL)
if (show_lcd) // Show status screen
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS);
#endif
return false;
}
if (pause_for_user) {
#if ENABLED(ULTIPANEL)
if (show_lcd) // Show "insert filament"
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT, mode);
#endif
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_FILAMENT_CHANGE_INSERT);
#if HAS_BUZZER
filament_change_beep(max_beep_count, true);
#else
UNUSED(max_beep_count);
#endif
KEEPALIVE_STATE(PAUSED_FOR_USER);
wait_for_user = true; // LCD click or M108 will clear this
while (wait_for_user) {
#if HAS_BUZZER
filament_change_beep(max_beep_count);
#endif
idle(true);
}
KEEPALIVE_STATE(IN_HANDLER);
}
#if ENABLED(ULTIPANEL)
if (show_lcd) // Show "wait for load" message
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_LOAD, mode);
#endif
// Slow Load filament
if (slow_load_length) do_pause_e_move(slow_load_length, FILAMENT_CHANGE_SLOW_LOAD_FEEDRATE);
// Fast Load Filament
if (fast_load_length) {
#if FILAMENT_CHANGE_FAST_LOAD_ACCEL > 0
const float saved_acceleration = planner.retract_acceleration;
planner.retract_acceleration = FILAMENT_CHANGE_FAST_LOAD_ACCEL;
#endif
do_pause_e_move(fast_load_length, FILAMENT_CHANGE_FAST_LOAD_FEEDRATE);
#if FILAMENT_CHANGE_FAST_LOAD_ACCEL > 0
planner.retract_acceleration = saved_acceleration;
#endif
}
#if ENABLED(ADVANCED_PAUSE_CONTINUOUS_PURGE)
#if ENABLED(ULTIPANEL)
if (show_lcd)
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_CONTINUOUS_PURGE);
#endif
wait_for_user = true;
for (float purge_count = purge_length; purge_count > 0 && wait_for_user; --purge_count)
do_pause_e_move(1, ADVANCED_PAUSE_PURGE_FEEDRATE);
wait_for_user = false;
#else
do {
if (purge_length > 0) {
// "Wait for filament purge"
#if ENABLED(ULTIPANEL)
if (show_lcd)
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_PURGE, mode);
#endif
// Extrude filament to get into hotend
do_pause_e_move(purge_length, ADVANCED_PAUSE_PURGE_FEEDRATE);
}
// Show "Purge More" / "Resume" menu and wait for reply
#if ENABLED(ULTIPANEL)
if (show_lcd) {
KEEPALIVE_STATE(PAUSED_FOR_USER);
wait_for_user = false;
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_OPTION, mode);
while (advanced_pause_menu_response == ADVANCED_PAUSE_RESPONSE_WAIT_FOR) idle(true);
KEEPALIVE_STATE(IN_HANDLER);
}
#endif
// Keep looping if "Purge More" was selected
} while (
#if ENABLED(ULTIPANEL)
show_lcd && advanced_pause_menu_response == ADVANCED_PAUSE_RESPONSE_EXTRUDE_MORE
#else
0
#endif
);
#endif
return true;
}
/**
* Unload filament from the hotend
*
* - Fail if the a safe temperature was not reached
* - Show "wait for unload" placard
* - Retract, pause, then unload filament
* - Disable E stepper (on most machines)
*
* Returns 'true' if unload was completed, 'false' for abort
*/
static bool unload_filament(const float &unload_length, const bool show_lcd=false,
const AdvancedPauseMode mode=ADVANCED_PAUSE_MODE_PAUSE_PRINT
) {
if (!ensure_safe_temperature(mode)) {
#if ENABLED(ULTIPANEL)
if (show_lcd) // Show status screen
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS);
#endif
return false;
}
#if DISABLED(ULTIPANEL)
UNUSED(show_lcd);
#else
if (show_lcd)
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_UNLOAD, mode);
#endif
// Retract filament
do_pause_e_move(-FILAMENT_UNLOAD_RETRACT_LENGTH, PAUSE_PARK_RETRACT_FEEDRATE);
// Wait for filament to cool
safe_delay(FILAMENT_UNLOAD_DELAY);
// Quickly purge
do_pause_e_move(FILAMENT_UNLOAD_RETRACT_LENGTH + FILAMENT_UNLOAD_PURGE_LENGTH, planner.max_feedrate_mm_s[E_AXIS]);
// Unload filament
#if FILAMENT_CHANGE_FAST_LOAD_ACCEL > 0
const float saved_acceleration = planner.retract_acceleration;
planner.retract_acceleration = FILAMENT_CHANGE_UNLOAD_ACCEL;
#endif
do_pause_e_move(unload_length, FILAMENT_CHANGE_UNLOAD_FEEDRATE);
#if FILAMENT_CHANGE_FAST_LOAD_ACCEL > 0
planner.retract_acceleration = saved_acceleration;
#endif
// Disable extruders steppers for manual filament changing (only on boards that have separate ENABLE_PINS)
#if E0_ENABLE_PIN != X_ENABLE_PIN && E1_ENABLE_PIN != Y_ENABLE_PIN
disable_e_stepper(active_extruder);
safe_delay(100);
#endif
return true;
}
/**
* Pause procedure
*
* - Abort if already paused
* - Send host action for pause, if configured
* - Abort if TARGET temperature is too low
* - Display "wait for start of filament change" (if a length was specified)
* - Initial retract, if current temperature is hot enough
* - Park the nozzle at the given position
* - Call unload_filament (if a length was specified)
*
* Returns 'true' if pause was completed, 'false' for abort
*/
static bool pause_print(const float &retract, const point_t &park_point, const float &unload_length=0, const bool show_lcd=false) {
if (did_pause_print) return false; // already paused
#ifdef ACTION_ON_PAUSE
SERIAL_ECHOLNPGM("//action:" ACTION_ON_PAUSE);
#endif
if (!DEBUGGING(DRYRUN) && unload_length && thermalManager.targetTooColdToExtrude(active_extruder)) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_HOTEND_TOO_COLD);
#if ENABLED(ULTIPANEL)
if (show_lcd) // Show status screen
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS);
LCD_MESSAGEPGM(MSG_M600_TOO_COLD);
#endif
return false; // unable to reach safe temperature
}
// Indicate that the printer is paused
++did_pause_print;
// Pause the print job and timer
#if ENABLED(SDSUPPORT)
if (card.sdprinting) {
card.pauseSDPrint();
++did_pause_print; // Indicate SD pause also
}
#endif
print_job_timer.pause();
// Save current position
COPY(resume_position, current_position);
// Wait for synchronize steppers
planner.synchronize();
// Initial retract before move to filament change position
if (retract && thermalManager.hotEnoughToExtrude(active_extruder))
do_pause_e_move(retract, PAUSE_PARK_RETRACT_FEEDRATE);
// Park the nozzle by moving up by z_lift and then moving to (x_pos, y_pos)
if (!axis_unhomed_error())
Nozzle::park(2, park_point);
// Unload the filament
if (unload_length)
unload_filament(unload_length, show_lcd);
return true;
}
/**
* - Show "Insert filament and press button to continue"
* - Wait for a click before returning
* - Heaters can time out, reheated before accepting a click
*
* Used by M125 and M600
*/
static void wait_for_filament_reload(const int8_t max_beep_count=0) {
bool nozzle_timed_out = false;
#if ENABLED(ULTIPANEL)
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
#endif
SERIAL_ECHO_START();
SERIAL_ERRORLNPGM(MSG_FILAMENT_CHANGE_INSERT);
#if HAS_BUZZER
filament_change_beep(max_beep_count, true);
#endif
// Start the heater idle timers
const millis_t nozzle_timeout = (millis_t)(PAUSE_PARK_NOZZLE_TIMEOUT) * 1000UL;
HOTEND_LOOP()
thermalManager.start_heater_idle_timer(e, nozzle_timeout);
// Wait for filament insert by user and press button
KEEPALIVE_STATE(PAUSED_FOR_USER);
wait_for_user = true; // LCD click or M108 will clear this
while (wait_for_user) {
#if HAS_BUZZER
filament_change_beep(max_beep_count);
#endif
// If the nozzle has timed out, wait for the user to press the button to re-heat the nozzle, then
// re-heat the nozzle, re-show the insert screen, restart the idle timers, and start over
if (!nozzle_timed_out)
HOTEND_LOOP()
nozzle_timed_out |= thermalManager.is_heater_idle(e);
if (nozzle_timed_out) {
#if ENABLED(ULTIPANEL)
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_CLICK_TO_HEAT_NOZZLE);
#endif
SERIAL_ECHO_START();
#if ENABLED(ULTIPANEL) && ENABLED(EMERGENCY_PARSER)
SERIAL_ERRORLNPGM(MSG_FILAMENT_CHANGE_HEAT);
#elif ENABLED(EMERGENCY_PARSER)
SERIAL_ERRORLNPGM(MSG_FILAMENT_CHANGE_HEAT_M108);
#else
SERIAL_ERRORLNPGM(MSG_FILAMENT_CHANGE_HEAT_LCD);
#endif
// Wait for LCD click or M108
while (wait_for_user) idle(true);
// Re-enable the heaters if they timed out
HOTEND_LOOP() thermalManager.reset_heater_idle_timer(e);
// Wait for the heaters to reach the target temperatures
ensure_safe_temperature();
#if ENABLED(ULTIPANEL)
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
#endif
SERIAL_ECHO_START();
#if ENABLED(ULTIPANEL) && ENABLED(EMERGENCY_PARSER)
SERIAL_ERRORLNPGM(MSG_FILAMENT_CHANGE_INSERT);
#elif ENABLED(EMERGENCY_PARSER)
SERIAL_ERRORLNPGM(MSG_FILAMENT_CHANGE_INSERT_M108);
#else
SERIAL_ERRORLNPGM(MSG_FILAMENT_CHANGE_INSERT_LCD);
#endif
// Start the heater idle timers
const millis_t nozzle_timeout = (millis_t)(PAUSE_PARK_NOZZLE_TIMEOUT) * 1000UL;
HOTEND_LOOP()
thermalManager.start_heater_idle_timer(e, nozzle_timeout);
wait_for_user = true; // Wait for user to load filament
nozzle_timed_out = false;
#if HAS_BUZZER
filament_change_beep(max_beep_count, true);
#endif
}
idle(true);
}
KEEPALIVE_STATE(IN_HANDLER);
}
/**
* Resume or Start print procedure
*
* - Abort if not paused
* - Reset heater idle timers
* - Load filament if specified, but only if:
* - a nozzle timed out, or
* - the nozzle is already heated.
* - Display "wait for print to resume"
* - Re-prime the nozzle...
* - FWRETRACT: Recover/prime from the prior G10.
* - !FWRETRACT: Retract by resume_position[E], if negative.
* Not sure how this logic comes into use.
* - Move the nozzle back to resume_position
* - Sync the planner E to resume_position[E]
* - Send host action for resume, if configured
* - Resume the current SD print job, if any
*/
static void resume_print(const float &slow_load_length=0, const float &fast_load_length=0, const float &purge_length=ADVANCED_PAUSE_PURGE_LENGTH, const int8_t max_beep_count=0) {
if (!did_pause_print) return;
// Re-enable the heaters if they timed out
bool nozzle_timed_out = false;
HOTEND_LOOP() {
nozzle_timed_out |= thermalManager.is_heater_idle(e);
thermalManager.reset_heater_idle_timer(e);
}
if (nozzle_timed_out || thermalManager.hotEnoughToExtrude(active_extruder)) {
// Load the new filament
load_filament(slow_load_length, fast_load_length, purge_length, max_beep_count, true, nozzle_timed_out);
}
#if ENABLED(ULTIPANEL)
// "Wait for print to resume"
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_RESUME);
#endif
// Intelligent resuming
#if ENABLED(FWRETRACT)
// If retracted before goto pause
if (fwretract.retracted[active_extruder])
do_pause_e_move(-fwretract.retract_length, fwretract.retract_feedrate_mm_s);
#endif
// If resume_position is negative
if (resume_position[E_CART] < 0) do_pause_e_move(resume_position[E_CART], PAUSE_PARK_RETRACT_FEEDRATE);
// Move XY to starting position, then Z
do_blocking_move_to_xy(resume_position[X_AXIS], resume_position[Y_AXIS], NOZZLE_PARK_XY_FEEDRATE);
// Set Z_AXIS to saved position
do_blocking_move_to_z(resume_position[Z_AXIS], NOZZLE_PARK_Z_FEEDRATE);
// Now all extrusion positions are resumed and ready to be confirmed
// Set extruder to saved position
planner.set_e_position_mm((destination[E_CART] = current_position[E_CART] = resume_position[E_CART]));
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
runout.reset();
#endif
#if ENABLED(ULTIPANEL)
// Show status screen
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS);
#endif
#ifdef ACTION_ON_RESUME
SERIAL_ECHOLNPGM("//action:" ACTION_ON_RESUME);
#endif
--did_pause_print;
#if ENABLED(SDSUPPORT)
if (did_pause_print) {
card.startFileprint();
--did_pause_print;
}
#endif
}
#endif // ADVANCED_PAUSE_FEATURE
#if ENABLED(SDSUPPORT)
/**
* M20: List SD card to serial output
*/
inline void gcode_M20() {
SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
card.ls();
SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
}
/**
* M21: Init SD Card
*/
inline void gcode_M21() { card.initsd(); }
/**
* M22: Release SD Card
*/
inline void gcode_M22() { card.release(); }
/**
* M23: Open a file
*/
inline void gcode_M23() {
#if ENABLED(POWER_LOSS_RECOVERY)
card.removeJobRecoveryFile();
#endif
// Simplify3D includes the size, so zero out all spaces (#7227)
for (char *fn = parser.string_arg; *fn; ++fn) if (*fn == ' ') *fn = '\0';
card.openFile(parser.string_arg, true);
}
/**
* M24: Start or Resume SD Print
*/
inline void gcode_M24() {
#if ENABLED(PARK_HEAD_ON_PAUSE)
resume_print();
#endif
#if ENABLED(POWER_LOSS_RECOVERY)
if (parser.seenval('S')) card.setIndex(parser.value_long());
#endif
card.startFileprint();
#if ENABLED(POWER_LOSS_RECOVERY)
if (parser.seenval('T'))
print_job_timer.resume(parser.value_long());
else
#endif
print_job_timer.start();
}
/**
* M25: Pause SD Print
*/
inline void gcode_M25() {
card.pauseSDPrint();
print_job_timer.pause();
#if ENABLED(PARK_HEAD_ON_PAUSE)
enqueue_and_echo_commands_P(PSTR("M125")); // Must be enqueued with pauseSDPrint set to be last in the buffer
#endif
}
/**
* M26: Set SD Card file index
*/
inline void gcode_M26() {
if (card.cardOK && parser.seenval('S'))
card.setIndex(parser.value_long());
}
/**
* M27: Get SD Card status
* OR, with 'S<seconds>' set the SD status auto-report interval. (Requires AUTO_REPORT_SD_STATUS)
* OR, with 'C' get the current filename.
*/
inline void gcode_M27() {
if (parser.seen('C')) {
SERIAL_ECHOPGM("Current file: ");
card.printFilename();
}
#if ENABLED(AUTO_REPORT_SD_STATUS)
else if (parser.seenval('S'))
card.set_auto_report_interval(parser.value_byte());
#endif
else
card.getStatus();
}
/**
* M28: Start SD Write
*/
inline void gcode_M28() { card.openFile(parser.string_arg, false); }
/**
* M29: Stop SD Write
* Processed in write to file routine above
*/
inline void gcode_M29() {
// card.saving = false;
}
/**
* M30 <filename>: Delete SD Card file
*/
inline void gcode_M30() {
if (card.cardOK) {
card.closefile();
card.removeFile(parser.string_arg);
}
}
#endif // SDSUPPORT
/**
* M31: Get the time since the start of SD Print (or last M109)
*/
inline void gcode_M31() {
char buffer[21];
duration_t elapsed = print_job_timer.duration();
elapsed.toString(buffer);
lcd_setstatus(buffer);
SERIAL_ECHO_START();
SERIAL_ECHOLNPAIR("Print time: ", buffer);
}
#if ENABLED(SDSUPPORT)
/**
* M32: Select file and start SD Print
*
* Examples:
*
* M32 !PATH/TO/FILE.GCO# ; Start FILE.GCO
* M32 P !PATH/TO/FILE.GCO# ; Start FILE.GCO as a procedure
* M32 S60 !PATH/TO/FILE.GCO# ; Start FILE.GCO at byte 60
*
*/
inline void gcode_M32() {
if (card.sdprinting) planner.synchronize();
if (card.cardOK) {
const bool call_procedure = parser.boolval('P');
card.openFile(parser.string_arg, true, call_procedure);
if (parser.seenval('S')) card.setIndex(parser.value_long());
card.startFileprint();
// Procedure calls count as normal print time.
if (!call_procedure) print_job_timer.start();
}
}
#if ENABLED(LONG_FILENAME_HOST_SUPPORT)
/**
* M33: Get the long full path of a file or folder
*
* Parameters:
* <dospath> Case-insensitive DOS-style path to a file or folder
*
* Example:
* M33 miscel~1/armchair/armcha~1.gco
*
* Output:
* /Miscellaneous/Armchair/Armchair.gcode
*/
inline void gcode_M33() {
card.printLongPath(parser.string_arg);
}
#endif
#if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
/**
* M34: Set SD Card Sorting Options
*/
inline void gcode_M34() {
if (parser.seen('S')) card.setSortOn(parser.value_bool());
if (parser.seenval('F')) {
const int v = parser.value_long();
card.setSortFolders(v < 0 ? -1 : v > 0 ? 1 : 0);
}
//if (parser.seen('R')) card.setSortReverse(parser.value_bool());
}
#endif // SDCARD_SORT_ALPHA && SDSORT_GCODE
/**
* M928: Start SD Write
*/
inline void gcode_M928() {
card.openLogFile(parser.string_arg);
}
#endif // SDSUPPORT
/**
* Sensitive pin test for M42, M226
*/
static bool pin_is_protected(const pin_t pin) {
static const pin_t sensitive_pins[] PROGMEM = SENSITIVE_PINS;
for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
if (pin == (pin_t)pgm_read_byte(&sensitive_pins[i])) return true;
return false;
}
inline void protected_pin_err() {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_PROTECTED_PIN);
}
/**
* M42: Change pin status via GCode
*
* P<pin> Pin number (LED if omitted)
* S<byte> Pin status from 0 - 255
* I Flag to ignore Marlin's pin protection
*/
inline void gcode_M42() {
if (!parser.seenval('S')) return;
const byte pin_status = parser.value_byte();
const pin_t pin_number = parser.byteval('P', LED_PIN);
if (pin_number < 0) return;
if (!parser.boolval('I') && pin_is_protected(pin_number)) return protected_pin_err();
pinMode(pin_number, OUTPUT);
digitalWrite(pin_number, pin_status);
analogWrite(pin_number, pin_status);
#if FAN_COUNT > 0
switch (pin_number) {
#if HAS_FAN0
case FAN_PIN: fanSpeeds[0] = pin_status; break;
#endif
#if HAS_FAN1
case FAN1_PIN: fanSpeeds[1] = pin_status; break;
#endif
#if HAS_FAN2
case FAN2_PIN: fanSpeeds[2] = pin_status; break;
#endif
}
#endif
}
#if ENABLED(PINS_DEBUGGING)
#include "pinsDebug.h"
inline void toggle_pins() {
const bool ignore_protection = parser.boolval('I');
const int repeat = parser.intval('R', 1),
start = parser.intval('S'),
end = parser.intval('L', NUM_DIGITAL_PINS - 1),
wait = parser.intval('W', 500);
for (uint8_t pin = start; pin <= end; pin++) {
//report_pin_state_extended(pin, ignore_protection, false);
if (!ignore_protection && pin_is_protected(pin)) {
report_pin_state_extended(pin, ignore_protection, true, "Untouched ");
SERIAL_EOL();
}
else {
report_pin_state_extended(pin, ignore_protection, true, "Pulsing ");
#if AVR_AT90USB1286_FAMILY // Teensy IDEs don't know about these pins so must use FASTIO
if (pin == TEENSY_E2) {
SET_OUTPUT(TEENSY_E2);
for (int16_t j = 0; j < repeat; j++) {
WRITE(TEENSY_E2, LOW); safe_delay(wait);
WRITE(TEENSY_E2, HIGH); safe_delay(wait);
WRITE(TEENSY_E2, LOW); safe_delay(wait);
}
}
else if (pin == TEENSY_E3) {
SET_OUTPUT(TEENSY_E3);
for (int16_t j = 0; j < repeat; j++) {
WRITE(TEENSY_E3, LOW); safe_delay(wait);
WRITE(TEENSY_E3, HIGH); safe_delay(wait);
WRITE(TEENSY_E3, LOW); safe_delay(wait);
}
}
else
#endif
{
pinMode(pin, OUTPUT);
for (int16_t j = 0; j < repeat; j++) {
digitalWrite(pin, 0); safe_delay(wait);
digitalWrite(pin, 1); safe_delay(wait);
digitalWrite(pin, 0); safe_delay(wait);
}
}
}
SERIAL_EOL();
}
SERIAL_ECHOLNPGM("Done.");
} // toggle_pins
inline void servo_probe_test() {
#if !(NUM_SERVOS > 0 && HAS_SERVO_0)
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM("SERVO not setup");
#elif !HAS_Z_SERVO_PROBE
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM("Z_PROBE_SERVO_NR not setup");
#else // HAS_Z_SERVO_PROBE
const uint8_t probe_index = parser.byteval('P', Z_PROBE_SERVO_NR);
SERIAL_PROTOCOLLNPGM("Servo probe test");
SERIAL_PROTOCOLLNPAIR(". using index: ", probe_index);
SERIAL_PROTOCOLLNPAIR(". deploy angle: ", z_servo_angle[0]);
SERIAL_PROTOCOLLNPAIR(". stow angle: ", z_servo_angle[1]);
bool probe_inverting;
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
#define PROBE_TEST_PIN Z_MIN_PIN
SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN pin: ", PROBE_TEST_PIN);
SERIAL_PROTOCOLLNPGM(". uses Z_MIN_ENDSTOP_INVERTING (ignores Z_MIN_PROBE_ENDSTOP_INVERTING)");
SERIAL_PROTOCOLPGM(". Z_MIN_ENDSTOP_INVERTING: ");
#if Z_MIN_ENDSTOP_INVERTING
SERIAL_PROTOCOLLNPGM("true");
#else
SERIAL_PROTOCOLLNPGM("false");
#endif
probe_inverting = Z_MIN_ENDSTOP_INVERTING;
#elif ENABLED(Z_MIN_PROBE_ENDSTOP)
#define PROBE_TEST_PIN Z_MIN_PROBE_PIN
SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN_PROBE_PIN: ", PROBE_TEST_PIN);
SERIAL_PROTOCOLLNPGM(". uses Z_MIN_PROBE_ENDSTOP_INVERTING (ignores Z_MIN_ENDSTOP_INVERTING)");
SERIAL_PROTOCOLPGM(". Z_MIN_PROBE_ENDSTOP_INVERTING: ");
#if Z_MIN_PROBE_ENDSTOP_INVERTING
SERIAL_PROTOCOLLNPGM("true");
#else
SERIAL_PROTOCOLLNPGM("false");
#endif
probe_inverting = Z_MIN_PROBE_ENDSTOP_INVERTING;
#endif
SERIAL_PROTOCOLLNPGM(". deploy & stow 4 times");
SET_INPUT_PULLUP(PROBE_TEST_PIN);
bool deploy_state, stow_state;
for (uint8_t i = 0; i < 4; i++) {
MOVE_SERVO(probe_index, z_servo_angle[0]); //deploy
safe_delay(500);
deploy_state = READ(PROBE_TEST_PIN);
MOVE_SERVO(probe_index, z_servo_angle[1]); //stow
safe_delay(500);
stow_state = READ(PROBE_TEST_PIN);
}
if (probe_inverting != deploy_state) SERIAL_PROTOCOLLNPGM("WARNING - INVERTING setting probably backwards");
if (deploy_state != stow_state) {
SERIAL_PROTOCOLLNPGM("BLTouch clone detected");
if (deploy_state) {
SERIAL_PROTOCOLLNPGM(". DEPLOYED state: HIGH (logic 1)");
SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: LOW (logic 0)");
}
else {
SERIAL_PROTOCOLLNPGM(". DEPLOYED state: LOW (logic 0)");
SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: HIGH (logic 1)");
}
#if ENABLED(BLTOUCH)
SERIAL_PROTOCOLLNPGM("ERROR: BLTOUCH enabled - set this device up as a Z Servo Probe with inverting as true.");
#endif
}
else { // measure active signal length
MOVE_SERVO(probe_index, z_servo_angle[0]); // deploy
safe_delay(500);
SERIAL_PROTOCOLLNPGM("please trigger probe");
uint16_t probe_counter = 0;
// Allow 30 seconds max for operator to trigger probe
for (uint16_t j = 0; j < 500 * 30 && probe_counter == 0 ; j++) {
safe_delay(2);
if (0 == j % (500 * 1)) reset_stepper_timeout(); // Keep steppers powered
if (deploy_state != READ(PROBE_TEST_PIN)) { // probe triggered
for (probe_counter = 1; probe_counter < 50 && deploy_state != READ(PROBE_TEST_PIN); ++probe_counter)
safe_delay(2);
if (probe_counter == 50)
SERIAL_PROTOCOLLNPGM("Z Servo Probe detected"); // >= 100mS active time
else if (probe_counter >= 2)
SERIAL_PROTOCOLLNPAIR("BLTouch compatible probe detected - pulse width (+/- 4mS): ", probe_counter * 2); // allow 4 - 100mS pulse
else
SERIAL_PROTOCOLLNPGM("noise detected - please re-run test"); // less than 2mS pulse
MOVE_SERVO(probe_index, z_servo_angle[1]); //stow
} // pulse detected
} // for loop waiting for trigger
if (probe_counter == 0) SERIAL_PROTOCOLLNPGM("trigger not detected");
} // measure active signal length
#endif
} // servo_probe_test
/**
* M43: Pin debug - report pin state, watch pins, toggle pins and servo probe test/report
*
* M43 - report name and state of pin(s)
* P<pin> Pin to read or watch. If omitted, reads all pins.
* I Flag to ignore Marlin's pin protection.
*
* M43 W - Watch pins -reporting changes- until reset, click, or M108.
* P<pin> Pin to read or watch. If omitted, read/watch all pins.
* I Flag to ignore Marlin's pin protection.
*
* M43 E<bool> - Enable / disable background endstop monitoring
* - Machine continues to operate
* - Reports changes to endstops
* - Toggles LED_PIN when an endstop changes
* - Can not reliably catch the 5mS pulse from BLTouch type probes
*
* M43 T - Toggle pin(s) and report which pin is being toggled
* S<pin> - Start Pin number. If not given, will default to 0
* L<pin> - End Pin number. If not given, will default to last pin defined for this board
* I<bool> - Flag to ignore Marlin's pin protection. Use with caution!!!!
* R - Repeat pulses on each pin this number of times before continueing to next pin
* W - Wait time (in miliseconds) between pulses. If not given will default to 500
*
* M43 S - Servo probe test
* P<index> - Probe index (optional - defaults to 0
*/
inline void gcode_M43() {
if (parser.seen('T')) { // must be first or else its "S" and "E" parameters will execute endstop or servo test
toggle_pins();
return;
}
// Enable or disable endstop monitoring
if (parser.seen('E')) {
endstops.monitor_flag = parser.value_bool();
SERIAL_PROTOCOLPGM("endstop monitor ");
serialprintPGM(endstops.monitor_flag ? PSTR("en") : PSTR("dis"));
SERIAL_PROTOCOLLNPGM("abled");
return;
}
if (parser.seen('S')) {
servo_probe_test();
return;
}
// Get the range of pins to test or watch
const pin_t first_pin = parser.byteval('P'),
last_pin = parser.seenval('P') ? first_pin : NUM_DIGITAL_PINS - 1;
if (first_pin > last_pin) return;
const bool ignore_protection = parser.boolval('I');
// Watch until click, M108, or reset
if (parser.boolval('W')) {
SERIAL_PROTOCOLLNPGM("Watching pins");
byte pin_state[last_pin - first_pin + 1];
for (pin_t pin = first_pin; pin <= last_pin; pin++) {
if (!ignore_protection && pin_is_protected(pin)) continue;
pinMode(pin, INPUT_PULLUP);
delay(1);
/*
if (IS_ANALOG(pin))
pin_state[pin - first_pin] = analogRead(pin - analogInputToDigitalPin(0)); // int16_t pin_state[...]
else
//*/
pin_state[pin - first_pin] = digitalRead(pin);
}
#if HAS_RESUME_CONTINUE
wait_for_user = true;
KEEPALIVE_STATE(PAUSED_FOR_USER);
#endif
for (;;) {
for (pin_t pin = first_pin; pin <= last_pin; pin++) {
if (!ignore_protection && pin_is_protected(pin)) continue;
const byte val =
/*
IS_ANALOG(pin)
? analogRead(pin - analogInputToDigitalPin(0)) : // int16_t val
:
//*/
digitalRead(pin);
if (val != pin_state[pin - first_pin]) {
report_pin_state_extended(pin, ignore_protection, false);
pin_state[pin - first_pin] = val;
}
}
#if HAS_RESUME_CONTINUE
if (!wait_for_user) {
KEEPALIVE_STATE(IN_HANDLER);
break;
}
#endif
safe_delay(200);
}
return;
}
// Report current state of selected pin(s)
for (pin_t pin = first_pin; pin <= last_pin; pin++)
report_pin_state_extended(pin, ignore_protection, true);
}
#endif // PINS_DEBUGGING
#if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
/**
* M48: Z probe repeatability measurement function.
*
* Usage:
* M48 <P#> <X#> <Y#> <V#> <E> <L#> <S>
* P = Number of sampled points (4-50, default 10)
* X = Sample X position
* Y = Sample Y position
* V = Verbose level (0-4, default=1)
* E = Engage Z probe for each reading
* L = Number of legs of movement before probe
* S = Schizoid (Or Star if you prefer)
*
* This function requires the machine to be homed before invocation.
*/
inline void gcode_M48() {
if (axis_unhomed_error()) return;
const int8_t verbose_level = parser.byteval('V', 1);
if (!WITHIN(verbose_level, 0, 4)) {
SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4).");
return;
}
if (verbose_level > 0)
SERIAL_PROTOCOLLNPGM("M48 Z-Probe Repeatability Test");
const int8_t n_samples = parser.byteval('P', 10);
if (!WITHIN(n_samples, 4, 50)) {
SERIAL_PROTOCOLLNPGM("?Sample size not plausible (4-50).");
return;
}
const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
float X_current = current_position[X_AXIS],
Y_current = current_position[Y_AXIS];
const float X_probe_location = parser.linearval('X', X_current + X_PROBE_OFFSET_FROM_EXTRUDER),
Y_probe_location = parser.linearval('Y', Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER);
if (!position_is_reachable_by_probe(X_probe_location, Y_probe_location)) {
SERIAL_PROTOCOLLNPGM("? (X,Y) out of bounds.");
return;
}
bool seen_L = parser.seen('L');
uint8_t n_legs = seen_L ? parser.value_byte() : 0;
if (n_legs > 15) {
SERIAL_PROTOCOLLNPGM("?Number of legs in movement not plausible (0-15).");
return;
}
if (n_legs == 1) n_legs = 2;
const bool schizoid_flag = parser.boolval('S');
if (schizoid_flag && !seen_L) n_legs = 7;
/**
* Now get everything to the specified probe point So we can safely do a
* probe to get us close to the bed. If the Z-Axis is far from the bed,
* we don't want to use that as a starting point for each probe.
*/
if (verbose_level > 2)
SERIAL_PROTOCOLLNPGM("Positioning the probe...");
// Disable bed level correction in M48 because we want the raw data when we probe
#if HAS_LEVELING
const bool was_enabled = planner.leveling_active;
set_bed_leveling_enabled(false);
#endif
setup_for_endstop_or_probe_move();
float mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
// Move to the first point, deploy, and probe
const float t = probe_pt(X_probe_location, Y_probe_location, raise_after, verbose_level);
bool probing_good = !isnan(t);
if (probing_good) {
randomSeed(millis());
for (uint8_t n = 0; n < n_samples; n++) {
if (n_legs) {
const int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
float angle = random(0.0, 360.0);
const float radius = random(
#if ENABLED(DELTA)
0.1250000000 * (DELTA_PRINTABLE_RADIUS),
0.3333333333 * (DELTA_PRINTABLE_RADIUS)
#else
5.0, 0.125 * MIN(X_BED_SIZE, Y_BED_SIZE)
#endif
);
if (verbose_level > 3) {
SERIAL_ECHOPAIR("Starting radius: ", radius);
SERIAL_ECHOPAIR(" angle: ", angle);
SERIAL_ECHOPGM(" Direction: ");
if (dir > 0) SERIAL_ECHOPGM("Counter-");
SERIAL_ECHOLNPGM("Clockwise");
}
for (uint8_t l = 0; l < n_legs - 1; l++) {
float delta_angle;
if (schizoid_flag)
// The points of a 5 point star are 72 degrees apart. We need to
// skip a point and go to the next one on the star.
delta_angle = dir * 2.0 * 72.0;
else
// If we do this line, we are just trying to move further
// around the circle.
delta_angle = dir * (float) random(25, 45);
angle += delta_angle;
while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
angle -= 360.0; // Arduino documentation says the trig functions should not be given values
while (angle < 0.0) // outside of this range. It looks like they behave correctly with
angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
#if DISABLED(DELTA)
X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
#else
// If we have gone out too far, we can do a simple fix and scale the numbers
// back in closer to the origin.
while (!position_is_reachable_by_probe(X_current, Y_current)) {
X_current *= 0.8;
Y_current *= 0.8;
if (verbose_level > 3) {
SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
SERIAL_ECHOLNPAIR(", ", Y_current);
}
}
#endif
if (verbose_level > 3) {
SERIAL_PROTOCOLPGM("Going to:");
SERIAL_ECHOPAIR(" X", X_current);
SERIAL_ECHOPAIR(" Y", Y_current);
SERIAL_ECHOLNPAIR(" Z", current_position[Z_AXIS]);
}
do_blocking_move_to_xy(X_current, Y_current);
} // n_legs loop
} // n_legs
// Probe a single point
sample_set[n] = probe_pt(X_probe_location, Y_probe_location, raise_after);
// Break the loop if the probe fails
probing_good = !isnan(sample_set[n]);
if (!probing_good) break;
/**
* Get the current mean for the data points we have so far
*/
float sum = 0.0;
for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
mean = sum / (n + 1);
NOMORE(min, sample_set[n]);
NOLESS(max, sample_set[n]);
/**
* Now, use that mean to calculate the standard deviation for the
* data points we have so far
*/
sum = 0.0;
for (uint8_t j = 0; j <= n; j++)
sum += sq(sample_set[j] - mean);
sigma = SQRT(sum / (n + 1));
if (verbose_level > 0) {
if (verbose_level > 1) {
SERIAL_PROTOCOL(n + 1);
SERIAL_PROTOCOLPGM(" of ");
SERIAL_PROTOCOL(int(n_samples));
SERIAL_PROTOCOLPGM(": z: ");
SERIAL_PROTOCOL_F(sample_set[n], 3);
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM(" mean: ");
SERIAL_PROTOCOL_F(mean, 4);
SERIAL_PROTOCOLPGM(" sigma: ");
SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_PROTOCOLPGM(" min: ");
SERIAL_PROTOCOL_F(min, 3);
SERIAL_PROTOCOLPGM(" max: ");
SERIAL_PROTOCOL_F(max, 3);
SERIAL_PROTOCOLPGM(" range: ");
SERIAL_PROTOCOL_F(max-min, 3);
}
SERIAL_EOL();
}
}
} // n_samples loop
}
STOW_PROBE();
if (probing_good) {
SERIAL_PROTOCOLLNPGM("Finished!");
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("Mean: ");
SERIAL_PROTOCOL_F(mean, 6);
SERIAL_PROTOCOLPGM(" Min: ");
SERIAL_PROTOCOL_F(min, 3);
SERIAL_PROTOCOLPGM(" Max: ");
SERIAL_PROTOCOL_F(max, 3);
SERIAL_PROTOCOLPGM(" Range: ");
SERIAL_PROTOCOL_F(max-min, 3);
SERIAL_EOL();
}
SERIAL_PROTOCOLPGM("Standard Deviation: ");
SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_EOL();
SERIAL_EOL();
}
clean_up_after_endstop_or_probe_move();
// Re-enable bed level correction if it had been on
#if HAS_LEVELING
set_bed_leveling_enabled(was_enabled);
#endif
#ifdef Z_AFTER_PROBING
move_z_after_probing();
#endif
report_current_position();
}
#endif // Z_MIN_PROBE_REPEATABILITY_TEST
#if ENABLED(G26_MESH_VALIDATION)
inline void gcode_M49() {
g26_debug_flag ^= true;
SERIAL_PROTOCOLPGM("G26 Debug ");
serialprintPGM(g26_debug_flag ? PSTR("on.\n") : PSTR("off.\n"));
}
#endif // G26_MESH_VALIDATION
#if ENABLED(ULTRA_LCD) && ENABLED(LCD_SET_PROGRESS_MANUALLY)
/**
* M73: Set percentage complete (for display on LCD)
*
* Example:
* M73 P25 ; Set progress to 25%
*
* Notes:
* This has no effect during an SD print job
*/
inline void gcode_M73() {
if (!IS_SD_PRINTING() && parser.seen('P')) {
progress_bar_percent = parser.value_byte();
NOMORE(progress_bar_percent, 100);
}
}
#endif // ULTRA_LCD && LCD_SET_PROGRESS_MANUALLY
/**
* M75: Start print timer
*/
inline void gcode_M75() { print_job_timer.start(); }
/**
* M76: Pause print timer
*/
inline void gcode_M76() { print_job_timer.pause(); }
/**
* M77: Stop print timer
*/
inline void gcode_M77() { print_job_timer.stop(); }
#if ENABLED(PRINTCOUNTER)
/**
* M78: Show print statistics
*/
inline void gcode_M78() {
// "M78 S78" will reset the statistics
if (parser.intval('S') == 78)
print_job_timer.initStats();
else
print_job_timer.showStats();
}
#endif
/**
* M104: Set hot end temperature
*/
inline void gcode_M104() {
if (get_target_extruder_from_command(104)) return;
if (DEBUGGING(DRYRUN)) return;
#if ENABLED(SINGLENOZZLE)
if (target_extruder != active_extruder) return;
#endif
if (parser.seenval('S')) {
const int16_t temp = parser.value_celsius();
thermalManager.setTargetHotend(temp, target_extruder);
#if ENABLED(DUAL_X_CARRIAGE)
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1);
#endif
#if ENABLED(PRINTJOB_TIMER_AUTOSTART)
/**
* Stop the timer at the end of print. Start is managed by 'heat and wait' M109.
* We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
* standby mode, for instance in a dual extruder setup, without affecting
* the running print timer.
*/
if (parser.value_celsius() <= (EXTRUDE_MINTEMP) / 2) {
print_job_timer.stop();
lcd_reset_status();
}
#endif
}
#if ENABLED(AUTOTEMP)
planner.autotemp_M104_M109();
#endif
}
/**
* M105: Read hot end and bed temperature
*/
inline void gcode_M105() {
if (get_target_extruder_from_command(105)) return;
#if HAS_TEMP_SENSOR
SERIAL_PROTOCOLPGM(MSG_OK);
thermalManager.print_heaterstates();
#else // !HAS_TEMP_SENSOR
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
#endif
SERIAL_EOL();
}
#if ENABLED(AUTO_REPORT_TEMPERATURES)
/**
* M155: Set temperature auto-report interval. M155 S<seconds>
*/
inline void gcode_M155() {
if (parser.seenval('S'))
thermalManager.set_auto_report_interval(parser.value_byte());
}
#endif // AUTO_REPORT_TEMPERATURES
#if FAN_COUNT > 0
/**
* M106: Set Fan Speed
*
* S<int> Speed between 0-255
* P<index> Fan index, if more than one fan
*
* With EXTRA_FAN_SPEED enabled:
*
* T<int> Restore/Use/Set Temporary Speed:
* 1 = Restore previous speed after T2
* 2 = Use temporary speed set with T3-255
* 3-255 = Set the speed for use with T2
*/
inline void gcode_M106() {
const uint8_t p = parser.byteval('P');
if (p < FAN_COUNT) {
#if ENABLED(EXTRA_FAN_SPEED)
const int16_t t = parser.intval('T');
if (t > 0) {
switch (t) {
case 1:
fanSpeeds[p] = old_fanSpeeds[p];
break;
case 2:
old_fanSpeeds[p] = fanSpeeds[p];
fanSpeeds[p] = new_fanSpeeds[p];
break;
default:
new_fanSpeeds[p] = MIN(t, 255);
break;
}
return;
}
#endif // EXTRA_FAN_SPEED
const uint16_t s = parser.ushortval('S', 255);
fanSpeeds[p] = MIN(s, 255U);
}
}
/**
* M107: Fan Off
*/
inline void gcode_M107() {
const uint16_t p = parser.ushortval('P');
if (p < FAN_COUNT) fanSpeeds[p] = 0;
}
#endif // FAN_COUNT > 0
#if DISABLED(EMERGENCY_PARSER)
/**
* M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
*/
inline void gcode_M108() { wait_for_heatup = false; }
/**
* M112: Emergency Stop
*/
inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
/**
* M410: Quickstop - Abort all planned moves
*
* This will stop the carriages mid-move, so most likely they
* will be out of sync with the stepper position after this.
*/
inline void gcode_M410() { quickstop_stepper(); }
#endif
/**
* M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
* Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
*/
#ifndef MIN_COOLING_SLOPE_DEG
#define MIN_COOLING_SLOPE_DEG 1.50
#endif
#ifndef MIN_COOLING_SLOPE_TIME
#define MIN_COOLING_SLOPE_TIME 60
#endif
inline void gcode_M109() {
if (get_target_extruder_from_command(109)) return;
if (DEBUGGING(DRYRUN)) return;
#if ENABLED(SINGLENOZZLE)
if (target_extruder != active_extruder) return;
#endif
const bool no_wait_for_cooling = parser.seenval('S'),
set_temp = no_wait_for_cooling || parser.seenval('R');
if (set_temp) {
const int16_t temp = parser.value_celsius();
thermalManager.setTargetHotend(temp, target_extruder);
#if ENABLED(DUAL_X_CARRIAGE)
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1);
#endif
#if ENABLED(PRINTJOB_TIMER_AUTOSTART)
/**
* Use half EXTRUDE_MINTEMP to allow nozzles to be put into hot
* standby mode, (e.g., in a dual extruder setup) without affecting
* the running print timer.
*/
if (parser.value_celsius() <= (EXTRUDE_MINTEMP) / 2) {
print_job_timer.stop();
lcd_reset_status();
}
else
print_job_timer.start();
#endif
#if ENABLED(ULTRA_LCD)
const bool heating = thermalManager.isHeatingHotend(target_extruder);
if (heating || !no_wait_for_cooling)
#if HOTENDS > 1
lcd_status_printf_P(0, heating ? PSTR("E%i " MSG_HEATING) : PSTR("E%i " MSG_COOLING), target_extruder + 1);
#else
lcd_setstatusPGM(heating ? PSTR("E " MSG_HEATING) : PSTR("E " MSG_COOLING));
#endif
#endif
}
#if ENABLED(AUTOTEMP)
planner.autotemp_M104_M109();
#endif
if (!set_temp) return;
#if TEMP_RESIDENCY_TIME > 0
millis_t residency_start_ms = 0;
// Loop until the temperature has stabilized
#define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL))
#else
// Loop until the temperature is very close target
#define TEMP_CONDITIONS (wants_to_cool ? thermalManager.isCoolingHotend(target_extruder) : thermalManager.isHeatingHotend(target_extruder))
#endif
float target_temp = -1, old_temp = 9999;
bool wants_to_cool = false;
wait_for_heatup = true;
millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
#if DISABLED(BUSY_WHILE_HEATING)
KEEPALIVE_STATE(NOT_BUSY);
#endif
#if ENABLED(PRINTER_EVENT_LEDS)
const float start_temp = thermalManager.degHotend(target_extruder);
uint8_t old_blue = 0;
#endif
do {
// Target temperature might be changed during the loop
if (target_temp != thermalManager.degTargetHotend(target_extruder)) {
wants_to_cool = thermalManager.isCoolingHotend(target_extruder);
target_temp = thermalManager.degTargetHotend(target_extruder);
// Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
if (no_wait_for_cooling && wants_to_cool) break;
}
now = millis();
if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting
next_temp_ms = now + 1000UL;
thermalManager.print_heaterstates();
#if TEMP_RESIDENCY_TIME > 0
SERIAL_PROTOCOLPGM(" W:");
if (residency_start_ms)
SERIAL_PROTOCOL(long((((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL));
else
SERIAL_PROTOCOLCHAR('?');
#endif
SERIAL_EOL();
}
idle();
reset_stepper_timeout(); // Keep steppers powered
const float temp = thermalManager.degHotend(target_extruder);
#if ENABLED(PRINTER_EVENT_LEDS)
// Gradually change LED strip from violet to red as nozzle heats up
if (!wants_to_cool) {
const uint8_t blue = map(constrain(temp, start_temp, target_temp), start_temp, target_temp, 255, 0);
if (blue != old_blue) {
old_blue = blue;
leds.set_color(
MakeLEDColor(255, 0, blue, 0, pixels.getBrightness())
#if ENABLED(NEOPIXEL_IS_SEQUENTIAL)
, true
#endif
);
}
}
#endif
#if TEMP_RESIDENCY_TIME > 0
const float temp_diff = ABS(target_temp - temp);
if (!residency_start_ms) {
// Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
if (temp_diff < TEMP_WINDOW) residency_start_ms = now;
}
else if (temp_diff > TEMP_HYSTERESIS) {
// Restart the timer whenever the temperature falls outside the hysteresis.
residency_start_ms = now;
}
#endif
// Prevent a wait-forever situation if R is misused i.e. M109 R0
if (wants_to_cool) {
// break after MIN_COOLING_SLOPE_TIME seconds
// if the temperature did not drop at least MIN_COOLING_SLOPE_DEG
if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
if (old_temp - temp < float(MIN_COOLING_SLOPE_DEG)) break;
next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME;
old_temp = temp;
}
}
} while (wait_for_heatup && TEMP_CONDITIONS);
if (wait_for_heatup) {
lcd_reset_status();
#if ENABLED(PRINTER_EVENT_LEDS)
leds.set_white();
#endif
}
#if DISABLED(BUSY_WHILE_HEATING)
KEEPALIVE_STATE(IN_HANDLER);
#endif
}
#if HAS_HEATED_BED
/**
* M140: Set bed temperature
*/
inline void gcode_M140() {
if (DEBUGGING(DRYRUN)) return;
if (parser.seenval('S')) thermalManager.setTargetBed(parser.value_celsius());
}
#ifndef MIN_COOLING_SLOPE_DEG_BED
#define MIN_COOLING_SLOPE_DEG_BED 1.50
#endif
#ifndef MIN_COOLING_SLOPE_TIME_BED
#define MIN_COOLING_SLOPE_TIME_BED 60
#endif
/**
* M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
* Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
*/
inline void gcode_M190() {
if (DEBUGGING(DRYRUN)) return;
const bool no_wait_for_cooling = parser.seenval('S');
if (no_wait_for_cooling || parser.seenval('R')) {
thermalManager.setTargetBed(parser.value_celsius());
#if ENABLED(PRINTJOB_TIMER_AUTOSTART)
if (parser.value_celsius() > BED_MINTEMP)
print_job_timer.start();
#endif
}
else return;
lcd_setstatusPGM(thermalManager.isHeatingBed() ? PSTR(MSG_BED_HEATING) : PSTR(MSG_BED_COOLING));
#if TEMP_BED_RESIDENCY_TIME > 0
millis_t residency_start_ms = 0;
// Loop until the temperature has stabilized
#define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL))
#else
// Loop until the temperature is very close target
#define TEMP_BED_CONDITIONS (wants_to_cool ? thermalManager.isCoolingBed() : thermalManager.isHeatingBed())
#endif
float target_temp = -1.0, old_temp = 9999.0;
bool wants_to_cool = false;
wait_for_heatup = true;
millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
#if DISABLED(BUSY_WHILE_HEATING)
KEEPALIVE_STATE(NOT_BUSY);
#endif
target_extruder = active_extruder; // for print_heaterstates
#if ENABLED(PRINTER_EVENT_LEDS)
const float start_temp = thermalManager.degBed();
uint8_t old_red = 127;
#endif
do {
// Target temperature might be changed during the loop
if (target_temp != thermalManager.degTargetBed()) {
wants_to_cool = thermalManager.isCoolingBed();
target_temp = thermalManager.degTargetBed();
// Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
if (no_wait_for_cooling && wants_to_cool) break;
}
now = millis();
if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up.
next_temp_ms = now + 1000UL;
thermalManager.print_heaterstates();
#if TEMP_BED_RESIDENCY_TIME > 0
SERIAL_PROTOCOLPGM(" W:");
if (residency_start_ms)
SERIAL_PROTOCOL(long((((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL));
else
SERIAL_PROTOCOLCHAR('?');
#endif
SERIAL_EOL();
}
idle();
reset_stepper_timeout(); // Keep steppers powered
const float temp = thermalManager.degBed();
#if ENABLED(PRINTER_EVENT_LEDS)
// Gradually change LED strip from blue to violet as bed heats up
if (!wants_to_cool) {
const uint8_t red = map(constrain(temp, start_temp, target_temp), start_temp, target_temp, 0, 255);
if (red != old_red) {
old_red = red;
leds.set_color(
MakeLEDColor(red, 0, 255, 0, pixels.getBrightness())
#if ENABLED(NEOPIXEL_IS_SEQUENTIAL)
, true
#endif
);
}
}
#endif
#if TEMP_BED_RESIDENCY_TIME > 0
const float temp_diff = ABS(target_temp - temp);
if (!residency_start_ms) {
// Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = now;
}
else if (temp_diff > TEMP_BED_HYSTERESIS) {
// Restart the timer whenever the temperature falls outside the hysteresis.
residency_start_ms = now;
}
#endif // TEMP_BED_RESIDENCY_TIME > 0
// Prevent a wait-forever situation if R is misused i.e. M190 R0
if (wants_to_cool) {
// Break after MIN_COOLING_SLOPE_TIME_BED seconds
// if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED
if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
if (old_temp - temp < float(MIN_COOLING_SLOPE_DEG_BED)) break;
next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME_BED;
old_temp = temp;
}
}
} while (wait_for_heatup && TEMP_BED_CONDITIONS);
if (wait_for_heatup) lcd_reset_status();
#if DISABLED(BUSY_WHILE_HEATING)
KEEPALIVE_STATE(IN_HANDLER);
#endif
}
#endif // HAS_HEATED_BED
/**
* M110: Set Current Line Number
*/
inline void gcode_M110() {
if (parser.seenval('N')) gcode_LastN = parser.value_long();
}
/**
* M111: Set the debug level
*/
inline void gcode_M111() {
if (parser.seen('S')) marlin_debug_flags = parser.byteval('S');
static const char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO,
str_debug_2[] PROGMEM = MSG_DEBUG_INFO,
str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS,
str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN,
str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION
#if ENABLED(DEBUG_LEVELING_FEATURE)
, str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING
#endif
;
static const char* const debug_strings[] PROGMEM = {
str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16
#if ENABLED(DEBUG_LEVELING_FEATURE)
, str_debug_32
#endif
};
SERIAL_ECHO_START();
SERIAL_ECHOPGM(MSG_DEBUG_PREFIX);
if (marlin_debug_flags) {
uint8_t comma = 0;
for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
if (TEST(marlin_debug_flags, i)) {
if (comma++) SERIAL_CHAR(',');
serialprintPGM((char*)pgm_read_ptr(&debug_strings[i]));
}
}
}
else {
SERIAL_ECHOPGM(MSG_DEBUG_OFF);
#if !defined(__AVR__) || !defined(USBCON)
#if ENABLED(SERIAL_STATS_RX_BUFFER_OVERRUNS)
SERIAL_ECHOPAIR("\nBuffer Overruns: ", customizedSerial.buffer_overruns());
#endif
#if ENABLED(SERIAL_STATS_RX_FRAMING_ERRORS)
SERIAL_ECHOPAIR("\nFraming Errors: ", customizedSerial.framing_errors());
#endif
#if ENABLED(SERIAL_STATS_DROPPED_RX)
SERIAL_ECHOPAIR("\nDropped bytes: ", customizedSerial.dropped());
#endif
#if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
SERIAL_ECHOPAIR("\nMax RX Queue Size: ", customizedSerial.rxMaxEnqueued());
#endif
#endif // !__AVR__ || !USBCON
}
SERIAL_EOL();
}
#if ENABLED(HOST_KEEPALIVE_FEATURE)
/**
* M113: Get or set Host Keepalive interval (0 to disable)
*
* S<seconds> Optional. Set the keepalive interval.
*/
inline void gcode_M113() {
if (parser.seenval('S')) {
host_keepalive_interval = parser.value_byte();
NOMORE(host_keepalive_interval, 60);
}
else {
SERIAL_ECHO_START();
SERIAL_ECHOLNPAIR("M113 S", (unsigned long)host_keepalive_interval);
}
}
#endif
#if ENABLED(BARICUDA)
#if HAS_HEATER_1
/**
* M126: Heater 1 valve open
*/
inline void gcode_M126() { baricuda_valve_pressure = parser.byteval('S', 255); }
/**
* M127: Heater 1 valve close
*/
inline void gcode_M127() { baricuda_valve_pressure = 0; }
#endif
#if HAS_HEATER_2
/**
* M128: Heater 2 valve open
*/
inline void gcode_M128() { baricuda_e_to_p_pressure = parser.byteval('S', 255); }
/**
* M129: Heater 2 valve close
*/
inline void gcode_M129() { baricuda_e_to_p_pressure = 0; }
#endif
#endif // BARICUDA
#if ENABLED(ULTIPANEL)
/**
* M145: Set the heatup state for a material in the LCD menu
*
* S<material> (0=PLA, 1=ABS)
* H<hotend temp>
* B<bed temp>
* F<fan speed>
*/
inline void gcode_M145() {
const uint8_t material = (uint8_t)parser.intval('S');
if (material >= COUNT(lcd_preheat_hotend_temp)) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
}
else {
int v;
if (parser.seenval('H')) {
v = parser.value_int();
lcd_preheat_hotend_temp[material] = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
}
if (parser.seenval('F')) {
v = parser.value_int();
lcd_preheat_fan_speed[material] = constrain(v, 0, 255);
}
#if TEMP_SENSOR_BED != 0
if (parser.seenval('B')) {
v = parser.value_int();
lcd_preheat_bed_temp[material] = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
}
#endif
}
}
#endif // ULTIPANEL
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
/**
* M149: Set temperature units
*/
inline void gcode_M149() {
if (parser.seenval('C')) parser.set_input_temp_units(TEMPUNIT_C);
else if (parser.seenval('K')) parser.set_input_temp_units(TEMPUNIT_K);
else if (parser.seenval('F')) parser.set_input_temp_units(TEMPUNIT_F);
}
#endif
#if HAS_POWER_SWITCH
/**
* M80 : Turn on the Power Supply
* M80 S : Report the current state and exit
*/
inline void gcode_M80() {
// S: Report the current power supply state and exit
if (parser.seen('S')) {
serialprintPGM(powersupply_on ? PSTR("PS:1\n") : PSTR("PS:0\n"));
return;
}
PSU_ON();
/**
* If you have a switch on suicide pin, this is useful
* if you want to start another print with suicide feature after
* a print without suicide...
*/
#if HAS_SUICIDE
OUT_WRITE(SUICIDE_PIN, HIGH);
#endif
#if DISABLED(AUTO_POWER_CONTROL)
delay(100); // Wait for power to settle
restore_stepper_drivers();
#endif
#if ENABLED(ULTIPANEL)
lcd_reset_status();
#endif
}
#endif // HAS_POWER_SWITCH
/**
* M81: Turn off Power, including Power Supply, if there is one.
*
* This code should ALWAYS be available for EMERGENCY SHUTDOWN!
*/
inline void gcode_M81() {
thermalManager.disable_all_heaters();
planner.finish_and_disable();
#if FAN_COUNT > 0
for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
#if ENABLED(PROBING_FANS_OFF)
fans_paused = false;
ZERO(paused_fanSpeeds);
#endif
#endif
safe_delay(1000); // Wait 1 second before switching off
#if HAS_SUICIDE
suicide();
#elif HAS_POWER_SWITCH
PSU_OFF();
#endif
#if ENABLED(ULTIPANEL)
LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
#endif
}
/**
* M82: Set E codes absolute (default)
*/
inline void gcode_M82() { axis_relative_modes[E_CART] = false; }
/**
* M83: Set E codes relative while in Absolute Coordinates (G90) mode
*/
inline void gcode_M83() { axis_relative_modes[E_CART] = true; }
/**
* M18, M84: Disable stepper motors
*/
inline void gcode_M18_M84() {
if (parser.seenval('S')) {
stepper_inactive_time = parser.value_millis_from_seconds();
}
else {
bool all_axis = !(parser.seen('X') || parser.seen('Y') || parser.seen('Z') || parser.seen('E'));
if (all_axis) {
planner.finish_and_disable();
}
else {
planner.synchronize();
if (parser.seen('X')) disable_X();
if (parser.seen('Y')) disable_Y();
if (parser.seen('Z')) disable_Z();
#if E0_ENABLE_PIN != X_ENABLE_PIN && E1_ENABLE_PIN != Y_ENABLE_PIN // Only disable on boards that have separate ENABLE_PINS
if (parser.seen('E')) disable_e_steppers();
#endif
}
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTIPANEL) // Only needed with an LCD
if (ubl.lcd_map_control) ubl.lcd_map_control = defer_return_to_status = false;
#endif
}
}
/**
* M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
*/
inline void gcode_M85() {
if (parser.seen('S')) max_inactive_time = parser.value_millis_from_seconds();
}
/**
* Multi-stepper support for M92, M201, M203
*/
#if ENABLED(DISTINCT_E_FACTORS)
#define GET_TARGET_EXTRUDER(CMD) if (get_target_extruder_from_command(CMD)) return
#define TARGET_EXTRUDER target_extruder
#else
#define GET_TARGET_EXTRUDER(CMD) NOOP
#define TARGET_EXTRUDER 0
#endif
/**
* M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
* (for Hangprinter: A, B, C, D, and E)
* (Follows the same syntax as G92)
*
* With multiple extruders use T to specify which one.
*/
inline void gcode_M92() {
GET_TARGET_EXTRUDER(92);
LOOP_NUM_AXIS(i) {
if (parser.seen(RAW_AXIS_CODES(i))) {
if (i == E_AXIS) {
const float value = parser.value_per_axis_unit((AxisEnum)(E_AXIS + TARGET_EXTRUDER));
if (value < 20) {
const float factor = planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] / value; // increase e constants if M92 E14 is given for netfab.
#if DISABLED(JUNCTION_DEVIATION)
planner.max_jerk[E_AXIS] *= factor;
#endif
planner.max_feedrate_mm_s[E_AXIS + TARGET_EXTRUDER] *= factor;
planner.max_acceleration_steps_per_s2[E_AXIS + TARGET_EXTRUDER] *= factor;
}
planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] = value;
}
else {
#if ENABLED(LINE_BUILDUP_COMPENSATION_FEATURE)
SERIAL_ECHOLNPGM("Warning: "
"M92 A, B, C, and D only affect acceleration planning "
"when BUILDUP_COMPENSATION_FEATURE is enabled.");
#endif
planner.axis_steps_per_mm[i] = parser.value_per_axis_unit((AxisEnum)i);
}
}
}
planner.refresh_positioning();
}
/**
* Output the current position to serial
*/
void report_current_position() {
SERIAL_PROTOCOLPAIR("X:", LOGICAL_X_POSITION(current_position[X_AXIS]));
SERIAL_PROTOCOLPAIR(" Y:", LOGICAL_Y_POSITION(current_position[Y_AXIS]));
SERIAL_PROTOCOLPAIR(" Z:", LOGICAL_Z_POSITION(current_position[Z_AXIS]));
SERIAL_PROTOCOLPAIR(" E:", current_position[E_CART]);
#if ENABLED(HANGPRINTER)
SERIAL_EOL();
SERIAL_PROTOCOLPAIR("A:", line_lengths[A_AXIS]);
SERIAL_PROTOCOLPAIR(" B:", line_lengths[B_AXIS]);
SERIAL_PROTOCOLPAIR(" C:", line_lengths[C_AXIS]);
SERIAL_PROTOCOLLNPAIR(" D:", line_lengths[D_AXIS]);
#endif
stepper.report_positions();
#if IS_SCARA
SERIAL_PROTOCOLPAIR("SCARA Theta:", planner.get_axis_position_degrees(A_AXIS));
SERIAL_PROTOCOLLNPAIR(" Psi+Theta:", planner.get_axis_position_degrees(B_AXIS));
SERIAL_EOL();
#endif
}
#ifdef M114_DETAIL
void report_xyze(const float pos[], const uint8_t n = 4, const uint8_t precision = 3) {
char str[12];
for (uint8_t i = 0; i < n; i++) {
SERIAL_CHAR(' ');
SERIAL_CHAR(axis_codes[i]);
SERIAL_CHAR(':');
SERIAL_PROTOCOL(dtostrf(pos[i], 8, precision, str));
}
SERIAL_EOL();
}
inline void report_xyz(const float pos[]) { report_xyze(pos, 3); }
void report_current_position_detail() {
SERIAL_PROTOCOLPGM("\nLogical:");
const float logical[XYZ] = {
LOGICAL_X_POSITION(current_position[X_AXIS]),
LOGICAL_Y_POSITION(current_position[Y_AXIS]),
LOGICAL_Z_POSITION(current_position[Z_AXIS])
};
report_xyz(logical);
SERIAL_PROTOCOLPGM("Raw: ");
report_xyz(current_position);
float leveled[XYZ] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
#if PLANNER_LEVELING
SERIAL_PROTOCOLPGM("Leveled:");
planner.apply_leveling(leveled);
report_xyz(leveled);
SERIAL_PROTOCOLPGM("UnLevel:");
float unleveled[XYZ] = { leveled[X_AXIS], leveled[Y_AXIS], leveled[Z_AXIS] };
planner.unapply_leveling(unleveled);
report_xyz(unleveled);
#endif
#if IS_KINEMATIC
#if IS_SCARA
SERIAL_PROTOCOLPGM("ScaraK: ");
#else
SERIAL_PROTOCOLPGM("DeltaK: ");
#endif
inverse_kinematics(leveled); // writes delta[]
report_xyz(delta);
#endif
planner.synchronize();
SERIAL_PROTOCOLPGM("Stepper:");
LOOP_NUM_AXIS(i) {
SERIAL_CHAR(' ');
SERIAL_CHAR(RAW_AXIS_CODES(i));
SERIAL_CHAR(':');
SERIAL_PROTOCOL(stepper.position((AxisEnum)i));
}
SERIAL_EOL();
#if IS_SCARA
const float deg[XYZ] = {
planner.get_axis_position_degrees(A_AXIS),
planner.get_axis_position_degrees(B_AXIS)
};
SERIAL_PROTOCOLPGM("Degrees:");
report_xyze(deg, 2);
#endif
SERIAL_PROTOCOLPGM("FromStp:");
get_cartesian_from_steppers(); // writes cartes[XYZ] (with forward kinematics)
const float from_steppers[XYZE] = { cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS], planner.get_axis_position_mm(E_AXIS) };
report_xyze(from_steppers);
const float diff[XYZE] = {
from_steppers[X_AXIS] - leveled[X_AXIS],
from_steppers[Y_AXIS] - leveled[Y_AXIS],
from_steppers[Z_AXIS] - leveled[Z_AXIS],
from_steppers[E_CART] - current_position[E_CART]
};
SERIAL_PROTOCOLPGM("Differ: ");
report_xyze(diff);
}
#endif // M114_DETAIL
/**
* M114: Report current position to host
*/
inline void gcode_M114() {
#ifdef M114_DETAIL
if (parser.seen('D')) return report_current_position_detail();
#endif
planner.synchronize();
const uint16_t sval = parser.ushortval('S');
#if ENABLED(MECHADUINO_I2C_COMMANDS)
if (sval == 1) return report_axis_position_from_encoder_data();
#endif
if (sval == 2) return report_xyz_from_stepper_position();
report_current_position();
}
/**
* M115: Capabilities string
*/
#if ENABLED(EXTENDED_CAPABILITIES_REPORT)
static void cap_line(const char * const name, bool ena=false) {
SERIAL_PROTOCOLPGM("Cap:");
serialprintPGM(name);
SERIAL_PROTOCOLPGM(":");
SERIAL_PROTOCOLLN(int(ena ? 1 : 0));
}
#endif
inline void gcode_M115() {
SERIAL_PROTOCOLLNPGM(MSG_M115_REPORT);
#if ENABLED(EXTENDED_CAPABILITIES_REPORT)
// SERIAL_XON_XOFF
cap_line(PSTR("SERIAL_XON_XOFF")
#if ENABLED(SERIAL_XON_XOFF)
, true
#endif
);
// EEPROM (M500, M501)
cap_line(PSTR("EEPROM")
#if ENABLED(EEPROM_SETTINGS)
, true
#endif
);
// Volumetric Extrusion (M200)
cap_line(PSTR("VOLUMETRIC")
#if DISABLED(NO_VOLUMETRICS)
, true
#endif
);
// AUTOREPORT_TEMP (M155)
cap_line(PSTR("AUTOREPORT_TEMP")
#if ENABLED(AUTO_REPORT_TEMPERATURES)
, true
#endif
);
// PROGRESS (M530 S L, M531 <file>, M532 X L)
cap_line(PSTR("PROGRESS"));
// Print Job timer M75, M76, M77
cap_line(PSTR("PRINT_JOB"), true);
// AUTOLEVEL (G29)
cap_line(PSTR("AUTOLEVEL")
#if HAS_AUTOLEVEL
, true
#endif
);
// Z_PROBE (G30)
cap_line(PSTR("Z_PROBE")
#if HAS_BED_PROBE
, true
#endif
);
// MESH_REPORT (M420 V)
cap_line(PSTR("LEVELING_DATA")
#if HAS_LEVELING
, true
#endif
);
// BUILD_PERCENT (M73)
cap_line(PSTR("BUILD_PERCENT")
#if ENABLED(LCD_SET_PROGRESS_MANUALLY)
, true
#endif
);
// SOFTWARE_POWER (M80, M81)
cap_line(PSTR("SOFTWARE_POWER")
#if HAS_POWER_SWITCH
, true
#endif
);
// CASE LIGHTS (M355)
cap_line(PSTR("TOGGLE_LIGHTS")
#if HAS_CASE_LIGHT
, true
#endif
);
cap_line(PSTR("CASE_LIGHT_BRIGHTNESS")
#if HAS_CASE_LIGHT
, USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN)
#endif
);
// EMERGENCY_PARSER (M108, M112, M410)
cap_line(PSTR("EMERGENCY_PARSER")
#if ENABLED(EMERGENCY_PARSER)
, true
#endif
);
// AUTOREPORT_SD_STATUS (M27 extension)
cap_line(PSTR("AUTOREPORT_SD_STATUS")
#if ENABLED(AUTO_REPORT_SD_STATUS)
, true
#endif
);
// THERMAL_PROTECTION
cap_line(PSTR("THERMAL_PROTECTION")
#if ENABLED(THERMAL_PROTECTION_HOTENDS) && ENABLED(THERMAL_PROTECTION_BED)
, true
#endif
);
#endif // EXTENDED_CAPABILITIES_REPORT
}
/**
* M117: Set LCD Status Message
*/
inline void gcode_M117() {
if (parser.string_arg[0])
lcd_setstatus(parser.string_arg);
else
lcd_reset_status();
}
/**
* M118: Display a message in the host console.
*
* A1 Prepend '// ' for an action command, as in OctoPrint
* E1 Have the host 'echo:' the text
*/
inline void gcode_M118() {
bool hasE = false, hasA = false;
char *p = parser.string_arg;
for (uint8_t i = 2; i--;)
if ((p[0] == 'A' || p[0] == 'E') && p[1] == '1') {
if (p[0] == 'A') hasA = true;
if (p[0] == 'E') hasE = true;
p += 2;
while (*p == ' ') ++p;
}
if (hasE) SERIAL_ECHO_START();
if (hasA) SERIAL_ECHOPGM("// ");
SERIAL_ECHOLN(p);
}
/**
* M119: Output endstop states to serial output
*/
inline void gcode_M119() { endstops.M119(); }
/**
* M120: Enable endstops and set non-homing endstop state to "enabled"
*/
inline void gcode_M120() { endstops.enable_globally(true); }
/**
* M121: Disable endstops and set non-homing endstop state to "disabled"
*/
inline void gcode_M121() { endstops.enable_globally(false); }
#if ENABLED(PARK_HEAD_ON_PAUSE)
/**
* M125: Store current position and move to filament change position.
* Called on pause (by M25) to prevent material leaking onto the
* object. On resume (M24) the head will be moved back and the
* print will resume.
*
* If Marlin is compiled without SD Card support, M125 can be
* used directly to pause the print and move to park position,
* resuming with a button click or M108.
*
* L = override retract length
* X = override X
* Y = override Y
* Z = override Z raise
*/
inline void gcode_M125() {
// Initial retract before move to filament change position
const float retract = -ABS(parser.seen('L') ? parser.value_axis_units(E_AXIS) : 0
#ifdef PAUSE_PARK_RETRACT_LENGTH
+ (PAUSE_PARK_RETRACT_LENGTH)
#endif
);
point_t park_point = NOZZLE_PARK_POINT;
// Move XY axes to filament change position or given position
if (parser.seenval('X')) park_point.x = parser.linearval('X');
if (parser.seenval('Y')) park_point.y = parser.linearval('Y');
// Lift Z axis
if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
#if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE) && DISABLED(DELTA)
park_point.x += (active_extruder ? hotend_offset[X_AXIS][active_extruder] : 0);
park_point.y += (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0);
#endif
#if DISABLED(SDSUPPORT)
const bool job_running = print_job_timer.isRunning();
#endif
if (pause_print(retract, park_point)) {
#if DISABLED(SDSUPPORT)
// Wait for lcd click or M108
wait_for_filament_reload();
// Return to print position and continue
resume_print();
if (job_running) print_job_timer.start();
#endif
}
}
#endif // PARK_HEAD_ON_PAUSE
#if HAS_COLOR_LEDS
/**
* M150: Set Status LED Color - Use R-U-B-W for R-G-B-W
* and Brightness - Use P (for NEOPIXEL only)
*
* Always sets all 3 or 4 components. If a component is left out, set to 0.
* If brightness is left out, no value changed
*
* Examples:
*
* M150 R255 ; Turn LED red
* M150 R255 U127 ; Turn LED orange (PWM only)
* M150 ; Turn LED off
* M150 R U B ; Turn LED white
* M150 W ; Turn LED white using a white LED
* M150 P127 ; Set LED 50% brightness
* M150 P ; Set LED full brightness
*/
inline void gcode_M150() {
leds.set_color(MakeLEDColor(
parser.seen('R') ? (parser.has_value() ? parser.value_byte() : 255) : 0,
parser.seen('U') ? (parser.has_value() ? parser.value_byte() : 255) : 0,
parser.seen('B') ? (parser.has_value() ? parser.value_byte() : 255) : 0,
parser.seen('W') ? (parser.has_value() ? parser.value_byte() : 255) : 0,
parser.seen('P') ? (parser.has_value() ? parser.value_byte() : 255) : pixels.getBrightness()
));
}
#endif // HAS_COLOR_LEDS
#if DISABLED(NO_VOLUMETRICS)
/**
* M200: Set filament diameter and set E axis units to cubic units
*
* T<extruder> - Optional extruder number. Current extruder if omitted.
* D<linear> - Diameter of the filament. Use "D0" to switch back to linear units on the E axis.
*/
inline void gcode_M200() {
if (get_target_extruder_from_command(200)) return;
if (parser.seen('D')) {
// 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
if ( (parser.volumetric_enabled = (parser.value_linear_units() != 0)) )
planner.set_filament_size(target_extruder, parser.value_linear_units());
}
planner.calculate_volumetric_multipliers();
}
#endif // !NO_VOLUMETRICS
/**
* M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
*
* With multiple extruders use T to specify which one.
*/
inline void gcode_M201() {
GET_TARGET_EXTRUDER(201);
LOOP_NUM_AXIS(i) {
if (parser.seen(RAW_AXIS_CODES(i))) {
const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
planner.max_acceleration_mm_per_s2[a] = parser.value_axis_units((AxisEnum)a);
}
}
// 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)
planner.reset_acceleration_rates();
}
#if 0 // Not used for Sprinter/grbl gen6
inline void gcode_M202() {
LOOP_XYZE(i) {
if (parser.seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = parser.value_axis_units((AxisEnum)i) * planner.axis_steps_per_mm[i];
}
}
#endif
/**
* M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
*
* With multiple extruders use T to specify which one.
*/
inline void gcode_M203() {
GET_TARGET_EXTRUDER(203);
LOOP_NUM_AXIS(i)
if (parser.seen(RAW_AXIS_CODES(i))) {
const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
planner.max_feedrate_mm_s[a] = parser.value_axis_units((AxisEnum)a);
}
}
/**
* M204: Set Accelerations in units/sec^2 (M204 P1200 R3000 T3000)
*
* P = Printing moves
* R = Retract only (no X, Y, Z) moves
* T = Travel (non printing) moves
*/
inline void gcode_M204() {
bool report = true;
if (parser.seenval('S')) { // Kept for legacy compatibility. Should NOT BE USED for new developments.
planner.travel_acceleration = planner.acceleration = parser.value_linear_units();
report = false;
}
if (parser.seenval('P')) {
planner.acceleration = parser.value_linear_units();
report = false;
}
if (parser.seenval('R')) {
planner.retract_acceleration = parser.value_linear_units();
report = false;
}
if (parser.seenval('T')) {
planner.travel_acceleration = parser.value_linear_units();
report = false;
}
if (report) {
SERIAL_ECHOPAIR("Acceleration: P", planner.acceleration);
SERIAL_ECHOPAIR(" R", planner.retract_acceleration);
SERIAL_ECHOLNPAIR(" T", planner.travel_acceleration);
}
}
/**
* M205: Set Advanced Settings
*
* Q = Min Segment Time (µs)
* S = Min Feed Rate (units/s)
* T = Min Travel Feed Rate (units/s)
* X = Max X Jerk (units/sec^2)
* Y = Max Y Jerk (units/sec^2)
* Z = Max Z Jerk (units/sec^2)
* E = Max E Jerk (units/sec^2)
* J = Junction Deviation (mm) (Requires JUNCTION_DEVIATION)
*/
inline void gcode_M205() {
if (parser.seen('Q')) planner.min_segment_time_us = parser.value_ulong();
if (parser.seen('S')) planner.min_feedrate_mm_s = parser.value_linear_units();
if (parser.seen('T')) planner.min_travel_feedrate_mm_s = parser.value_linear_units();
#if ENABLED(JUNCTION_DEVIATION)
if (parser.seen('J')) {
const float junc_dev = parser.value_linear_units();
if (WITHIN(junc_dev, 0.01f, 0.3f)) {
planner.junction_deviation_mm = junc_dev;
planner.recalculate_max_e_jerk();
}
else {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM("?J out of range (0.01 to 0.3)");
}
}
#else
#if ENABLED(HANGPRINTER)
if (parser.seen('A')) planner.max_jerk[A_AXIS] = parser.value_linear_units();
if (parser.seen('B')) planner.max_jerk[B_AXIS] = parser.value_linear_units();
if (parser.seen('C')) planner.max_jerk[C_AXIS] = parser.value_linear_units();
if (parser.seen('D')) planner.max_jerk[D_AXIS] = parser.value_linear_units();
#else
if (parser.seen('X')) planner.max_jerk[X_AXIS] = parser.value_linear_units();
if (parser.seen('Y')) planner.max_jerk[Y_AXIS] = parser.value_linear_units();
if (parser.seen('Z')) {
planner.max_jerk[Z_AXIS] = parser.value_linear_units();
#if HAS_MESH
if (planner.max_jerk[Z_AXIS] <= 0.1f)
SERIAL_ECHOLNPGM("WARNING! Low Z Jerk may lead to unwanted pauses.");
#endif
}
#endif
if (parser.seen('E')) planner.max_jerk[E_AXIS] = parser.value_linear_units();
#endif
}
#if HAS_M206_COMMAND
/**
* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
*
* *** @thinkyhead: I recommend deprecating M206 for SCARA in favor of M665.
* *** M206 for SCARA will remain enabled in 1.1.x for compatibility.
* *** In the next 1.2 release, it will simply be disabled by default.
*/
inline void gcode_M206() {
LOOP_XYZ(i)
if (parser.seen(axis_codes[i]))
set_home_offset((AxisEnum)i, parser.value_linear_units());
#if ENABLED(MORGAN_SCARA)
if (parser.seen('T')) set_home_offset(A_AXIS, parser.value_float()); // Theta
if (parser.seen('P')) set_home_offset(B_AXIS, parser.value_float()); // Psi
#endif
report_current_position();
}
#endif // HAS_M206_COMMAND
#if ENABLED(DELTA)
/**
* M665: Set delta configurations
*
* H = delta height
* L = diagonal rod
* R = delta radius
* S = segments per second
* B = delta calibration radius
* X = Alpha (Tower 1) angle trim
* Y = Beta (Tower 2) angle trim
* Z = Gamma (Tower 3) angle trim
*/
inline void gcode_M665() {
if (parser.seen('H')) delta_height = parser.value_linear_units();
if (parser.seen('L')) delta_diagonal_rod = parser.value_linear_units();
if (parser.seen('R')) delta_radius = parser.value_linear_units();
if (parser.seen('S')) delta_segments_per_second = parser.value_float();
if (parser.seen('B')) delta_calibration_radius = parser.value_float();
if (parser.seen('X')) delta_tower_angle_trim[A_AXIS] = parser.value_float();
if (parser.seen('Y')) delta_tower_angle_trim[B_AXIS] = parser.value_float();
if (parser.seen('Z')) delta_tower_angle_trim[C_AXIS] = parser.value_float();
recalc_delta_settings();
}
/**
* M666: Set delta endstop adjustment
*/
inline void gcode_M666() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM(">>> gcode_M666");
}
#endif
LOOP_XYZ(i) {
if (parser.seen(axis_codes[i])) {
if (parser.value_linear_units() * Z_HOME_DIR <= 0)
delta_endstop_adj[i] = parser.value_linear_units();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("delta_endstop_adj[", axis_codes[i]);
SERIAL_ECHOLNPAIR("] = ", delta_endstop_adj[i]);
}
#endif
}
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("<<< gcode_M666");
}
#endif
}
#elif IS_SCARA
/**
* M665: Set SCARA settings
*
* Parameters:
*
* S[segments-per-second] - Segments-per-second
* P[theta-psi-offset] - Theta-Psi offset, added to the shoulder (A/X) angle
* T[theta-offset] - Theta offset, added to the elbow (B/Y) angle
*
* A, P, and X are all aliases for the shoulder angle
* B, T, and Y are all aliases for the elbow angle
*/
inline void gcode_M665() {
if (parser.seen('S')) delta_segments_per_second = parser.value_float();
const bool hasA = parser.seen('A'), hasP = parser.seen('P'), hasX = parser.seen('X');
const uint8_t sumAPX = hasA + hasP + hasX;
if (sumAPX == 1)
home_offset[A_AXIS] = parser.value_float();
else if (sumAPX > 1) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM("Only one of A, P, or X is allowed.");
return;
}
const bool hasB = parser.seen('B'), hasT = parser.seen('T'), hasY = parser.seen('Y');
const uint8_t sumBTY = hasB + hasT + hasY;
if (sumBTY == 1)
home_offset[B_AXIS] = parser.value_float();
else if (sumBTY > 1) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM("Only one of B, T, or Y is allowed.");
return;
}
}
#elif ENABLED(HANGPRINTER)
/**
* M665: Set HANGPRINTER settings
*
* Parameters:
*
* W[anchor_A_y] - A-anchor's y coordinate (see note)
* E[anchor_A_z] - A-anchor's z coordinate (see note)
* R[anchor_B_x] - B-anchor's x coordinate (see note)
* T[anchor_B_y] - B-anchor's y coordinate (see note)
* Y[anchor_B_z] - B-anchor's z coordinate (see note)
* U[anchor_C_x] - C-anchor's x coordinate (see note)
* I[anchor_C_y] - C-anchor's y coordinate (see note)
* O[anchor_C_z] - C-anchor's z coordinate (see note)
* P[anchor_D_z] - D-anchor's z coordinate (see note)
* S[segments-per-second] - Segments-per-second
*
* Note: All xyz coordinates are measured relative to the line's pivot point in the mover,
* when it is at its home position (nozzle in (0,0,0), and lines tight).
* The y-axis is defined to be horizontal right above/below the A-lines when mover is at home.
* The z-axis is along the vertical direction.
*/
inline void gcode_M665() {
if (parser.seen('W')) anchor_A_y = parser.value_float();
if (parser.seen('E')) anchor_A_z = parser.value_float();
if (parser.seen('R')) anchor_B_x = parser.value_float();
if (parser.seen('T')) anchor_B_y = parser.value_float();
if (parser.seen('Y')) anchor_B_z = parser.value_float();
if (parser.seen('U')) anchor_C_x = parser.value_float();
if (parser.seen('I')) anchor_C_y = parser.value_float();
if (parser.seen('O')) anchor_C_z = parser.value_float();
if (parser.seen('P')) anchor_D_z = parser.value_float();
if (parser.seen('S')) delta_segments_per_second = parser.value_float();
recalc_hangprinter_settings();
}
#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
/**
* M666: Set Dual Endstops offsets for X, Y, and/or Z.
* With no parameters report current offsets.
*/
inline void gcode_M666() {
bool report = true;
#if ENABLED(X_DUAL_ENDSTOPS)
if (parser.seenval('X')) {
endstops.x_endstop_adj = parser.value_linear_units();
report = false;
}
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
if (parser.seenval('Y')) {
endstops.y_endstop_adj = parser.value_linear_units();
report = false;
}
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
if (parser.seenval('Z')) {
endstops.z_endstop_adj = parser.value_linear_units();
report = false;
}
#endif
if (report) {
SERIAL_ECHOPGM("Dual Endstop Adjustment (mm): ");
#if ENABLED(X_DUAL_ENDSTOPS)
SERIAL_ECHOPAIR(" X", endstops.x_endstop_adj);
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
SERIAL_ECHOPAIR(" Y", endstops.y_endstop_adj);
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
SERIAL_ECHOPAIR(" Z", endstops.z_endstop_adj);
#endif
SERIAL_EOL();
}
}
#endif // X_DUAL_ENDSTOPS || Y_DUAL_ENDSTOPS || Z_DUAL_ENDSTOPS
#if ENABLED(FWRETRACT)
/**
* M207: Set firmware retraction values
*
* S[+units] retract_length
* W[+units] swap_retract_length (multi-extruder)
* F[units/min] retract_feedrate_mm_s
* Z[units] retract_zlift
*/
inline void gcode_M207() {
if (parser.seen('S')) fwretract.retract_length = parser.value_axis_units(E_AXIS);
if (parser.seen('F')) fwretract.retract_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
if (parser.seen('Z')) fwretract.retract_zlift = parser.value_linear_units();
if (parser.seen('W')) fwretract.swap_retract_length = parser.value_axis_units(E_AXIS);
}
/**
* M208: Set firmware un-retraction values
*
* S[+units] retract_recover_length (in addition to M207 S*)
* W[+units] swap_retract_recover_length (multi-extruder)
* F[units/min] retract_recover_feedrate_mm_s
* R[units/min] swap_retract_recover_feedrate_mm_s
*/
inline void gcode_M208() {
if (parser.seen('S')) fwretract.retract_recover_length = parser.value_axis_units(E_AXIS);
if (parser.seen('F')) fwretract.retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
if (parser.seen('R')) fwretract.swap_retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
if (parser.seen('W')) fwretract.swap_retract_recover_length = parser.value_axis_units(E_AXIS);
}
/**
* M209: Enable automatic retract (M209 S1)
* For slicers that don't support G10/11, reversed extrude-only
* moves will be classified as retraction.
*/
inline void gcode_M209() {
if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
if (parser.seen('S')) {
fwretract.autoretract_enabled = parser.value_bool();
for (uint8_t i = 0; i < EXTRUDERS; i++) fwretract.retracted[i] = false;
}
}
}
#endif // FWRETRACT
/**
* M211: Enable, Disable, and/or Report software endstops
*
* Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
*/
inline void gcode_M211() {
SERIAL_ECHO_START();
#if HAS_SOFTWARE_ENDSTOPS
if (parser.seen('S')) soft_endstops_enabled = parser.value_bool();
SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF));
#else
SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
SERIAL_ECHOPGM(MSG_OFF);
#endif
SERIAL_ECHOPGM(MSG_SOFT_MIN);
SERIAL_ECHOPAIR( MSG_X, LOGICAL_X_POSITION(soft_endstop_min[X_AXIS]));
SERIAL_ECHOPAIR(" " MSG_Y, LOGICAL_Y_POSITION(soft_endstop_min[Y_AXIS]));
SERIAL_ECHOPAIR(" " MSG_Z, LOGICAL_Z_POSITION(soft_endstop_min[Z_AXIS]));
SERIAL_ECHOPGM(MSG_SOFT_MAX);
SERIAL_ECHOPAIR( MSG_X, LOGICAL_X_POSITION(soft_endstop_max[X_AXIS]));
SERIAL_ECHOPAIR(" " MSG_Y, LOGICAL_Y_POSITION(soft_endstop_max[Y_AXIS]));
SERIAL_ECHOLNPAIR(" " MSG_Z, LOGICAL_Z_POSITION(soft_endstop_max[Z_AXIS]));
}
#if HOTENDS > 1
/**
* M218 - Set/get hotend offset (in linear units)
*
* T<tool>
* X<xoffset>
* Y<yoffset>
* Z<zoffset> - Available with DUAL_X_CARRIAGE, SWITCHING_NOZZLE, and PARKING_EXTRUDER
*/
inline void gcode_M218() {
if (get_target_extruder_from_command(218) || target_extruder == 0) return;
bool report = true;
if (parser.seenval('X')) {
hotend_offset[X_AXIS][target_extruder] = parser.value_linear_units();
report = false;
}
if (parser.seenval('Y')) {
hotend_offset[Y_AXIS][target_extruder] = parser.value_linear_units();
report = false;
}
#if HAS_HOTEND_OFFSET_Z
if (parser.seenval('Z')) {
hotend_offset[Z_AXIS][target_extruder] = parser.value_linear_units();
report = false;
}
#endif
if (report) {
SERIAL_ECHO_START();
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
HOTEND_LOOP() {
SERIAL_CHAR(' ');
SERIAL_ECHO(hotend_offset[X_AXIS][e]);
SERIAL_CHAR(',');
SERIAL_ECHO(hotend_offset[Y_AXIS][e]);
#if HAS_HOTEND_OFFSET_Z
SERIAL_CHAR(',');
SERIAL_ECHO(hotend_offset[Z_AXIS][e]);
#endif
}
SERIAL_EOL();
}
#if ENABLED(DELTA)
if (target_extruder == active_extruder)
do_blocking_move_to_xy(current_position[X_AXIS], current_position[Y_AXIS], planner.max_feedrate_mm_s[X_AXIS]);
#endif
}
#endif // HOTENDS > 1
/**
* M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
*/
inline void gcode_M220() {
if (parser.seenval('S')) feedrate_percentage = parser.value_int();
}
/**
* M221: Set extrusion percentage (M221 T0 S95)
*/
inline void gcode_M221() {
if (get_target_extruder_from_command(221)) return;
if (parser.seenval('S')) {
planner.flow_percentage[target_extruder] = parser.value_int();
planner.refresh_e_factor(target_extruder);
}
else {
SERIAL_ECHO_START();
SERIAL_CHAR('E');
SERIAL_CHAR('0' + target_extruder);
SERIAL_ECHOPAIR(" Flow: ", planner.flow_percentage[target_extruder]);
SERIAL_CHAR('%');
SERIAL_EOL();
}
}
/**
* M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
*/
inline void gcode_M226() {
if (parser.seen('P')) {
const int pin = parser.value_int(), pin_state = parser.intval('S', -1);
if (WITHIN(pin_state, -1, 1) && pin > -1) {
if (pin_is_protected(pin))
protected_pin_err();
else {
int target = LOW;
planner.synchronize();
pinMode(pin, INPUT);
switch (pin_state) {
case 1: target = HIGH; break;
case 0: target = LOW; break;
case -1: target = !digitalRead(pin); break;
}
while (digitalRead(pin) != target) idle();
}
} // pin_state -1 0 1 && pin > -1
} // parser.seen('P')
}
#if ENABLED(EXPERIMENTAL_I2CBUS)
/**
* M260: Send data to a I2C slave device
*
* This is a PoC, the formating and arguments for the GCODE will
* change to be more compatible, the current proposal is:
*
* M260 A<slave device address base 10> ; Sets the I2C slave address the data will be sent to
*
* M260 B<byte-1 value in base 10>
* M260 B<byte-2 value in base 10>
* M260 B<byte-3 value in base 10>
*
* M260 S1 ; Send the buffered data and reset the buffer
* M260 R1 ; Reset the buffer without sending data
*
*/
inline void gcode_M260() {
// Set the target address
if (parser.seen('A')) i2c.address(parser.value_byte());
// Add a new byte to the buffer
if (parser.seen('B')) i2c.addbyte(parser.value_byte());
// Flush the buffer to the bus
if (parser.seen('S')) i2c.send();
// Reset and rewind the buffer
else if (parser.seen('R')) i2c.reset();
}
/**
* M261: Request X bytes from I2C slave device
*
* Usage: M261 A<slave device address base 10> B<number of bytes>
*/
inline void gcode_M261() {
if (parser.seen('A')) i2c.address(parser.value_byte());
uint8_t bytes = parser.byteval('B', 1);
if (i2c.addr && bytes && bytes <= TWIBUS_BUFFER_SIZE) {
i2c.relay(bytes);
}
else {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM("Bad i2c request");
}
}
#endif // EXPERIMENTAL_I2CBUS
#if HAS_SERVOS
/**
* M280: Get or set servo position. P<index> [S<angle>]
*/
inline void gcode_M280() {
if (!parser.seen('P')) return;
const int servo_index = parser.value_int();
if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) {
if (parser.seen('S'))
MOVE_SERVO(servo_index, parser.value_int());
else {
SERIAL_ECHO_START();
SERIAL_ECHOPAIR(" Servo ", servo_index);
SERIAL_ECHOLNPAIR(": ", servo[servo_index].read());
}
}
else {
SERIAL_ERROR_START();
SERIAL_ECHOPAIR("Servo ", servo_index);
SERIAL_ECHOLNPGM(" out of range");
}
}
#endif // HAS_SERVOS
#if ENABLED(BABYSTEPPING)
#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
FORCE_INLINE void mod_zprobe_zoffset(const float &offs) {
zprobe_zoffset += offs;
SERIAL_ECHO_START();
SERIAL_ECHOLNPAIR(MSG_PROBE_Z_OFFSET ": ", zprobe_zoffset);
}
#endif
/**
* M290: Babystepping
*/
inline void gcode_M290() {
#if ENABLED(BABYSTEP_XY)
for (uint8_t a = X_AXIS; a <= Z_AXIS; a++)
if (parser.seenval(axis_codes[a]) || (a == Z_AXIS && parser.seenval('S'))) {
const float offs = constrain(parser.value_axis_units((AxisEnum)a), -2, 2);
thermalManager.babystep_axis((AxisEnum)a, offs * planner.axis_steps_per_mm[a]);
#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
if (a == Z_AXIS && (!parser.seen('P') || parser.value_bool())) mod_zprobe_zoffset(offs);
#endif
}
#else
if (parser.seenval('Z') || parser.seenval('S')) {
const float offs = constrain(parser.value_axis_units(Z_AXIS), -2, 2);
thermalManager.babystep_axis(Z_AXIS, offs * planner.axis_steps_per_mm[Z_AXIS]);
#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
if (!parser.seen('P') || parser.value_bool()) mod_zprobe_zoffset(offs);
#endif
}
#endif
}
#endif // BABYSTEPPING
#if HAS_BUZZER
/**
* M300: Play beep sound S<frequency Hz> P<duration ms>
*/
inline void gcode_M300() {
uint16_t const frequency = parser.ushortval('S', 260);
uint16_t duration = parser.ushortval('P', 1000);
// Limits the tone duration to 0-5 seconds.
NOMORE(duration, 5000);
BUZZ(duration, frequency);
}
#endif // HAS_BUZZER
#if ENABLED(PIDTEMP)
/**
* M301: Set PID parameters P I D (and optionally C, L)
*
* P[float] Kp term
* I[float] Ki term (unscaled)
* D[float] Kd term (unscaled)
*
* With PID_EXTRUSION_SCALING:
*
* C[float] Kc term
* L[int] LPQ length
*/
inline void gcode_M301() {
// multi-extruder PID patch: M301 updates or prints a single extruder's PID values
// default behaviour (omitting E parameter) is to update for extruder 0 only
const uint8_t e = parser.byteval('E'); // extruder being updated
if (e < HOTENDS) { // catch bad input value
if (parser.seen('P')) PID_PARAM(Kp, e) = parser.value_float();
if (parser.seen('I')) PID_PARAM(Ki, e) = scalePID_i(parser.value_float());
if (parser.seen('D')) PID_PARAM(Kd, e) = scalePID_d(parser.value_float());
#if ENABLED(PID_EXTRUSION_SCALING)
if (parser.seen('C')) PID_PARAM(Kc, e) = parser.value_float();
if (parser.seen('L')) thermalManager.lpq_len = parser.value_float();
NOMORE(thermalManager.lpq_len, LPQ_MAX_LEN);
NOLESS(thermalManager.lpq_len, 0);
#endif
thermalManager.update_pid();
SERIAL_ECHO_START();
#if ENABLED(PID_PARAMS_PER_HOTEND)
SERIAL_ECHOPAIR(" e:", e); // specify extruder in serial output
#endif // PID_PARAMS_PER_HOTEND
SERIAL_ECHOPAIR(" p:", PID_PARAM(Kp, e));
SERIAL_ECHOPAIR(" i:", unscalePID_i(PID_PARAM(Ki, e)));
SERIAL_ECHOPAIR(" d:", unscalePID_d(PID_PARAM(Kd, e)));
#if ENABLED(PID_EXTRUSION_SCALING)
//Kc does not have scaling applied above, or in resetting defaults
SERIAL_ECHOPAIR(" c:", PID_PARAM(Kc, e));
#endif
SERIAL_EOL();
}
else {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_INVALID_EXTRUDER);
}
}
#endif // PIDTEMP
#if ENABLED(PIDTEMPBED)
inline void gcode_M304() {
if (parser.seen('P')) thermalManager.bedKp = parser.value_float();
if (parser.seen('I')) thermalManager.bedKi = scalePID_i(parser.value_float());
if (parser.seen('D')) thermalManager.bedKd = scalePID_d(parser.value_float());
SERIAL_ECHO_START();
SERIAL_ECHOPAIR(" p:", thermalManager.bedKp);
SERIAL_ECHOPAIR(" i:", unscalePID_i(thermalManager.bedKi));
SERIAL_ECHOLNPAIR(" d:", unscalePID_d(thermalManager.bedKd));
}
#endif // PIDTEMPBED
#if defined(CHDK) || HAS_PHOTOGRAPH
/**
* M240: Trigger a camera by emulating a Canon RC-1
* See http://www.doc-diy.net/photo/rc-1_hacked/
*/
inline void gcode_M240() {
#ifdef CHDK
OUT_WRITE(CHDK, HIGH);
chdkHigh = millis();
chdkActive = true;
#elif HAS_PHOTOGRAPH
const uint8_t NUM_PULSES = 16;
const float PULSE_LENGTH = 0.01524;
for (int i = 0; i < NUM_PULSES; i++) {
WRITE(PHOTOGRAPH_PIN, HIGH);
_delay_ms(PULSE_LENGTH);
WRITE(PHOTOGRAPH_PIN, LOW);
_delay_ms(PULSE_LENGTH);
}
delay(7.33);
for (int i = 0; i < NUM_PULSES; i++) {
WRITE(PHOTOGRAPH_PIN, HIGH);
_delay_ms(PULSE_LENGTH);
WRITE(PHOTOGRAPH_PIN, LOW);
_delay_ms(PULSE_LENGTH);
}
#endif // !CHDK && HAS_PHOTOGRAPH
}
#endif // CHDK || PHOTOGRAPH_PIN
#if HAS_LCD_CONTRAST
/**
* M250: Read and optionally set the LCD contrast
*/
inline void gcode_M250() {
if (parser.seen('C')) set_lcd_contrast(parser.value_int());
SERIAL_PROTOCOLPGM("lcd contrast value: ");
SERIAL_PROTOCOL(lcd_contrast);
SERIAL_EOL();
}
#endif // HAS_LCD_CONTRAST
#if ENABLED(PREVENT_COLD_EXTRUSION)
/**
* M302: Allow cold extrudes, or set the minimum extrude temperature
*
* S<temperature> sets the minimum extrude temperature
* P<bool> enables (1) or disables (0) cold extrusion
*
* Examples:
*
* M302 ; report current cold extrusion state
* M302 P0 ; enable cold extrusion checking
* M302 P1 ; disables cold extrusion checking
* M302 S0 ; always allow extrusion (disables checking)
* M302 S170 ; only allow extrusion above 170
* M302 S170 P1 ; set min extrude temp to 170 but leave disabled
*/
inline void gcode_M302() {
const bool seen_S = parser.seen('S');
if (seen_S) {
thermalManager.extrude_min_temp = parser.value_celsius();
thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0);
}
if (parser.seen('P'))
thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0) || parser.value_bool();
else if (!seen_S) {
// Report current state
SERIAL_ECHO_START();
SERIAL_ECHOPAIR("Cold extrudes are ", (thermalManager.allow_cold_extrude ? "en" : "dis"));
SERIAL_ECHOPAIR("abled (min temp ", thermalManager.extrude_min_temp);
SERIAL_ECHOLNPGM("C)");
}
}
#endif // PREVENT_COLD_EXTRUSION
/**
* M303: PID relay autotune
*
* S<temperature> sets the target temperature. (default 150C / 70C)
* E<extruder> (-1 for the bed) (default 0)
* C<cycles>
* U<bool> with a non-zero value will apply the result to current settings
*/
inline void gcode_M303() {
#if HAS_PID_HEATING
const int e = parser.intval('E'), c = parser.intval('C', 5);
const bool u = parser.boolval('U');
int16_t temp = parser.celsiusval('S', e < 0 ? 70 : 150);
if (WITHIN(e, 0, HOTENDS - 1))
target_extruder = e;
#if DISABLED(BUSY_WHILE_HEATING)
KEEPALIVE_STATE(NOT_BUSY);
#endif
thermalManager.pid_autotune(temp, e, c, u);
#if DISABLED(BUSY_WHILE_HEATING)
KEEPALIVE_STATE(IN_HANDLER);
#endif
#else
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
#endif
}
#if ENABLED(MORGAN_SCARA)
bool SCARA_move_to_cal(const uint8_t delta_a, const uint8_t delta_b) {
if (IsRunning()) {
forward_kinematics_SCARA(delta_a, delta_b);
destination[X_AXIS] = cartes[X_AXIS];
destination[Y_AXIS] = cartes[Y_AXIS];
destination[Z_AXIS] = current_position[Z_AXIS];
prepare_move_to_destination();
return true;
}
return false;
}
/**
* M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
*/
inline bool gcode_M360() {
SERIAL_ECHOLNPGM(" Cal: Theta 0");
return SCARA_move_to_cal(0, 120);
}
/**
* M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
*/
inline bool gcode_M361() {
SERIAL_ECHOLNPGM(" Cal: Theta 90");
return SCARA_move_to_cal(90, 130);
}
/**
* M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
*/
inline bool gcode_M362() {
SERIAL_ECHOLNPGM(" Cal: Psi 0");
return SCARA_move_to_cal(60, 180);
}
/**
* M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
*/
inline bool gcode_M363() {
SERIAL_ECHOLNPGM(" Cal: Psi 90");
return SCARA_move_to_cal(50, 90);
}
/**
* M364: SCARA calibration: Move to cal-position PsiC (90 deg to Theta calibration position)
*/
inline bool gcode_M364() {
SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
return SCARA_move_to_cal(45, 135);
}
#endif // SCARA
#if ENABLED(EXT_SOLENOID)
void enable_solenoid(const uint8_t num) {
switch (num) {
case 0:
OUT_WRITE(SOL0_PIN, HIGH);
break;
#if HAS_SOLENOID_1 && EXTRUDERS > 1
case 1:
OUT_WRITE(SOL1_PIN, HIGH);
break;
#endif
#if HAS_SOLENOID_2 && EXTRUDERS > 2
case 2:
OUT_WRITE(SOL2_PIN, HIGH);
break;
#endif
#if HAS_SOLENOID_3 && EXTRUDERS > 3
case 3:
OUT_WRITE(SOL3_PIN, HIGH);
break;
#endif
#if HAS_SOLENOID_4 && EXTRUDERS > 4
case 4:
OUT_WRITE(SOL4_PIN, HIGH);
break;
#endif
default:
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
break;
}
}
void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
void disable_all_solenoids() {
OUT_WRITE(SOL0_PIN, LOW);
#if HAS_SOLENOID_1 && EXTRUDERS > 1
OUT_WRITE(SOL1_PIN, LOW);
#endif
#if HAS_SOLENOID_2 && EXTRUDERS > 2
OUT_WRITE(SOL2_PIN, LOW);
#endif
#if HAS_SOLENOID_3 && EXTRUDERS > 3
OUT_WRITE(SOL3_PIN, LOW);
#endif
#if HAS_SOLENOID_4 && EXTRUDERS > 4
OUT_WRITE(SOL4_PIN, LOW);
#endif
}
/**
* M380: Enable solenoid on the active extruder
*/
inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
/**
* M381: Disable all solenoids
*/
inline void gcode_M381() { disable_all_solenoids(); }
#endif // EXT_SOLENOID
/**
* M400: Finish all moves
*/
inline void gcode_M400() { planner.synchronize(); }
#if HAS_BED_PROBE
/**
* M401: Deploy and activate the Z probe
*/
inline void gcode_M401() {
DEPLOY_PROBE();
report_current_position();
}
/**
* M402: Deactivate and stow the Z probe
*/
inline void gcode_M402() {
STOW_PROBE();
#ifdef Z_AFTER_PROBING
move_z_after_probing();
#endif
report_current_position();
}
#endif // HAS_BED_PROBE
#if ENABLED(FILAMENT_WIDTH_SENSOR)
/**
* M404: Display or set (in current units) the nominal filament width (3mm, 1.75mm ) W<3.0>
*/
inline void gcode_M404() {
if (parser.seen('W')) {
filament_width_nominal = parser.value_linear_units();
planner.volumetric_area_nominal = CIRCLE_AREA(filament_width_nominal * 0.5);
}
else {
SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
SERIAL_PROTOCOLLN(filament_width_nominal);
}
}
/**
* M405: Turn on filament sensor for control
*/
inline void gcode_M405() {
// This is technically a linear measurement, but since it's quantized to centimeters and is a different
// unit than everything else, it uses parser.value_byte() instead of parser.value_linear_units().
if (parser.seen('D')) {
meas_delay_cm = parser.value_byte();
NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY);
}
if (filwidth_delay_index[1] == -1) { // Initialize the ring buffer if not done since startup
const int8_t temp_ratio = thermalManager.widthFil_to_size_ratio();
for (uint8_t i = 0; i < COUNT(measurement_delay); ++i)
measurement_delay[i] = temp_ratio;
filwidth_delay_index[0] = filwidth_delay_index[1] = 0;
}
filament_sensor = true;
}
/**
* M406: Turn off filament sensor for control
*/
inline void gcode_M406() {
filament_sensor = false;
planner.calculate_volumetric_multipliers(); // Restore correct 'volumetric_multiplier' value
}
/**
* M407: Get measured filament diameter on serial output
*/
inline void gcode_M407() {
SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
SERIAL_PROTOCOLLN(filament_width_meas);
}
#endif // FILAMENT_WIDTH_SENSOR
void quickstop_stepper() {
planner.quick_stop();
planner.synchronize();
set_current_from_steppers_for_axis(ALL_AXES);
SYNC_PLAN_POSITION_KINEMATIC();
}
#if HAS_LEVELING
//#define M420_C_USE_MEAN
/**
* M420: Enable/Disable Bed Leveling and/or set the Z fade height.
*
* S[bool] Turns leveling on or off
* Z[height] Sets the Z fade height (0 or none to disable)
* V[bool] Verbose - Print the leveling grid
*
* With AUTO_BED_LEVELING_UBL only:
*
* L[index] Load UBL mesh from index (0 is default)
* T[map] 0:Human-readable 1:CSV 2:"LCD" 4:Compact
*
* With mesh-based leveling only:
*
* C Center mesh on the mean of the lowest and highest
*/
inline void gcode_M420() {
const bool seen_S = parser.seen('S');
bool to_enable = seen_S ? parser.value_bool() : planner.leveling_active;
// If disabling leveling do it right away
// (Don't disable for just M420 or M420 V)
if (seen_S && !to_enable) set_bed_leveling_enabled(false);
const float oldpos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
#if ENABLED(AUTO_BED_LEVELING_UBL)
// L to load a mesh from the EEPROM
if (parser.seen('L')) {
set_bed_leveling_enabled(false);
#if ENABLED(EEPROM_SETTINGS)
const int8_t storage_slot = parser.has_value() ? parser.value_int() : ubl.storage_slot;
const int16_t a = settings.calc_num_meshes();
if (!a) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
return;
}
if (!WITHIN(storage_slot, 0, a - 1)) {
SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
return;
}
settings.load_mesh(storage_slot);
ubl.storage_slot = storage_slot;
#else
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
return;
#endif
}
// L or V display the map info
if (parser.seen('L') || parser.seen('V')) {
ubl.display_map(parser.byteval('T'));
SERIAL_ECHOPGM("Mesh is ");
if (!ubl.mesh_is_valid()) SERIAL_ECHOPGM("in");
SERIAL_ECHOLNPAIR("valid\nStorage slot: ", ubl.storage_slot);
}
#endif // AUTO_BED_LEVELING_UBL
#if HAS_MESH
#if ENABLED(MESH_BED_LEVELING)
#define Z_VALUES(X,Y) mbl.z_values[X][Y]
#else
#define Z_VALUES(X,Y) z_values[X][Y]
#endif
// Subtract the given value or the mean from all mesh values
if (leveling_is_valid() && parser.seen('C')) {
const float cval = parser.value_float();
#if ENABLED(AUTO_BED_LEVELING_UBL)
set_bed_leveling_enabled(false);
ubl.adjust_mesh_to_mean(true, cval);
#else
#if ENABLED(M420_C_USE_MEAN)
// Get the sum and average of all mesh values
float mesh_sum = 0;
for (uint8_t x = GRID_MAX_POINTS_X; x--;)
for (uint8_t y = GRID_MAX_POINTS_Y; y--;)
mesh_sum += Z_VALUES(x, y);
const float zmean = mesh_sum / float(GRID_MAX_POINTS);
#else
// Find the low and high mesh values
float lo_val = 100, hi_val = -100;
for (uint8_t x = GRID_MAX_POINTS_X; x--;)
for (uint8_t y = GRID_MAX_POINTS_Y; y--;) {
const float z = Z_VALUES(x, y);
NOMORE(lo_val, z);
NOLESS(hi_val, z);
}
// Take the mean of the lowest and highest
const float zmean = (lo_val + hi_val) / 2.0 + cval;
#endif
// If not very close to 0, adjust the mesh
if (!NEAR_ZERO(zmean)) {
set_bed_leveling_enabled(false);
// Subtract the mean from all values
for (uint8_t x = GRID_MAX_POINTS_X; x--;)
for (uint8_t y = GRID_MAX_POINTS_Y; y--;)
Z_VALUES(x, y) -= zmean;
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate();
#endif
}
#endif
}
#endif // HAS_MESH
// V to print the matrix or mesh
if (parser.seen('V')) {
#if ABL_PLANAR
planner.bed_level_matrix.debug(PSTR("Bed Level Correction Matrix:"));
#else
if (leveling_is_valid()) {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
print_bilinear_leveling_grid();
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
print_bilinear_leveling_grid_virt();
#endif
#elif ENABLED(MESH_BED_LEVELING)
SERIAL_ECHOLNPGM("Mesh Bed Level data:");
mbl.report_mesh();
#endif
}
#endif
}
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
if (parser.seen('Z')) set_z_fade_height(parser.value_linear_units(), false);
#endif
// Enable leveling if specified, or if previously active
set_bed_leveling_enabled(to_enable);
// Error if leveling failed to enable or reenable
if (to_enable && !planner.leveling_active) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_M420_FAILED);
}
SERIAL_ECHO_START();
SERIAL_ECHOLNPAIR("Bed Leveling ", planner.leveling_active ? MSG_ON : MSG_OFF);
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
SERIAL_ECHO_START();
SERIAL_ECHOPGM("Fade Height ");
if (planner.z_fade_height > 0.0)
SERIAL_ECHOLN(planner.z_fade_height);
else
SERIAL_ECHOLNPGM(MSG_OFF);
#endif
// Report change in position
if (memcmp(oldpos, current_position, sizeof(oldpos)))
report_current_position();
}
#endif // HAS_LEVELING
#if ENABLED(MESH_BED_LEVELING)
/**
* M421: Set a single Mesh Bed Leveling Z coordinate
*
* Usage:
* M421 X<linear> Y<linear> Z<linear>
* M421 X<linear> Y<linear> Q<offset>
* M421 I<xindex> J<yindex> Z<linear>
* M421 I<xindex> J<yindex> Q<offset>
*/
inline void gcode_M421() {
const bool hasX = parser.seen('X'), hasI = parser.seen('I');
const int8_t ix = hasI ? parser.value_int() : hasX ? mbl.probe_index_x(parser.value_linear_units()) : -1;
const bool hasY = parser.seen('Y'), hasJ = parser.seen('J');
const int8_t iy = hasJ ? parser.value_int() : hasY ? mbl.probe_index_y(parser.value_linear_units()) : -1;
const bool hasZ = parser.seen('Z'), hasQ = !hasZ && parser.seen('Q');
if (int(hasI && hasJ) + int(hasX && hasY) != 1 || !(hasZ || hasQ)) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
}
else if (ix < 0 || iy < 0) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
}
else
mbl.set_z(ix, iy, parser.value_linear_units() + (hasQ ? mbl.z_values[ix][iy] : 0));
}
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
/**
* M421: Set a single Mesh Bed Leveling Z coordinate
*
* Usage:
* M421 I<xindex> J<yindex> Z<linear>
* M421 I<xindex> J<yindex> Q<offset>
*/
inline void gcode_M421() {
int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1);
const bool hasI = ix >= 0,
hasJ = iy >= 0,
hasZ = parser.seen('Z'),
hasQ = !hasZ && parser.seen('Q');
if (!hasI || !hasJ || !(hasZ || hasQ)) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
}
else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1)) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
}
else {
z_values[ix][iy] = parser.value_linear_units() + (hasQ ? z_values[ix][iy] : 0);
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate();
#endif
}
}
#elif ENABLED(AUTO_BED_LEVELING_UBL)
/**
* M421: Set a single Mesh Bed Leveling Z coordinate
*
* Usage:
* M421 I<xindex> J<yindex> Z<linear>
* M421 I<xindex> J<yindex> Q<offset>
* M421 I<xindex> J<yindex> N
* M421 C Z<linear>
* M421 C Q<offset>
*/
inline void gcode_M421() {
int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1);
const bool hasI = ix >= 0,
hasJ = iy >= 0,
hasC = parser.seen('C'),
hasN = parser.seen('N'),
hasZ = parser.seen('Z'),
hasQ = !hasZ && parser.seen('Q');
if (hasC) {
const mesh_index_pair location = ubl.find_closest_mesh_point_of_type(REAL, current_position[X_AXIS], current_position[Y_AXIS], USE_NOZZLE_AS_REFERENCE, NULL);
ix = location.x_index;
iy = location.y_index;
}
if (int(hasC) + int(hasI && hasJ) != 1 || !(hasZ || hasQ || hasN)) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
}
else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1)) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
}
else
ubl.z_values[ix][iy] = hasN ? NAN : parser.value_linear_units() + (hasQ ? ubl.z_values[ix][iy] : 0);
}
#endif // AUTO_BED_LEVELING_UBL
#if HAS_M206_COMMAND
/**
* M428: Set home_offset based on the distance between the
* current_position and the nearest "reference point."
* If an axis is past center its endstop position
* is the reference-point. Otherwise it uses 0. This allows
* the Z offset to be set near the bed when using a max endstop.
*
* M428 can't be used more than 2cm away from 0 or an endstop.
*
* Use M206 to set these values directly.
*/
inline void gcode_M428() {
if (axis_unhomed_error()) return;
float diff[XYZ];
LOOP_XYZ(i) {
diff[i] = base_home_pos((AxisEnum)i) - current_position[i];
if (!WITHIN(diff[i], -20, 20) && home_dir((AxisEnum)i) > 0)
diff[i] = -current_position[i];
if (!WITHIN(diff[i], -20, 20)) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
LCD_ALERTMESSAGEPGM("Err: Too far!");
BUZZ(200, 40);
return;
}
}
LOOP_XYZ(i) set_home_offset((AxisEnum)i, diff[i]);
report_current_position();
LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
BUZZ(100, 659);
BUZZ(100, 698);
}
#endif // HAS_M206_COMMAND
/**
* M500: Store settings in EEPROM
*/
inline void gcode_M500() {
(void)settings.save();
}
/**
* M501: Read settings from EEPROM
*/
inline void gcode_M501() {
(void)settings.load();
}
/**
* M502: Revert to default settings
*/
inline void gcode_M502() {
(void)settings.reset();
}
#if DISABLED(DISABLE_M503)
/**
* M503: print settings currently in memory
*/
inline void gcode_M503() {
(void)settings.report(parser.seen('S') && !parser.value_bool());
}
#endif
#if ENABLED(EEPROM_SETTINGS)
/**
* M504: Validate EEPROM Contents
*/
inline void gcode_M504() {
if (settings.validate()) {
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM("EEPROM OK");
}
}
#endif
#if ENABLED(SDSUPPORT)
/**
* M524: Abort the current SD print job (started with M24)
*/
inline void gcode_M524() {
if (IS_SD_PRINTING()) card.abort_sd_printing = true;
}
#endif // SDSUPPORT
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
/**
* M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
*/
inline void gcode_M540() {
if (parser.seen('S')) planner.abort_on_endstop_hit = parser.value_bool();
}
#endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
#if HAS_BED_PROBE
inline void gcode_M851() {
if (parser.seenval('Z')) {
const float value = parser.value_linear_units();
if (WITHIN(value, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX))
zprobe_zoffset = value;
else {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM("?Z out of range (" STRINGIFY(Z_PROBE_OFFSET_RANGE_MIN) " to " STRINGIFY(Z_PROBE_OFFSET_RANGE_MAX) ")");
}
return;
}
SERIAL_ECHO_START();
SERIAL_ECHOPGM(MSG_PROBE_Z_OFFSET);
SERIAL_ECHOLNPAIR(": ", zprobe_zoffset);
}
#endif // HAS_BED_PROBE
#if ENABLED(SKEW_CORRECTION_GCODE)
/**
* M852: Get or set the machine skew factors. Reports current values with no arguments.
*
* S[xy_factor] - Alias for 'I'
* I[xy_factor] - New XY skew factor
* J[xz_factor] - New XZ skew factor
* K[yz_factor] - New YZ skew factor
*/
inline void gcode_M852() {
uint8_t ijk = 0, badval = 0, setval = 0;
if (parser.seen('I') || parser.seen('S')) {
++ijk;
const float value = parser.value_linear_units();
if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX)) {
if (planner.xy_skew_factor != value) {
planner.xy_skew_factor = value;
++setval;
}
}
else
++badval;
}
#if ENABLED(SKEW_CORRECTION_FOR_Z)
if (parser.seen('J')) {
++ijk;
const float value = parser.value_linear_units();
if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX)) {
if (planner.xz_skew_factor != value) {
planner.xz_skew_factor = value;
++setval;
}
}
else
++badval;
}
if (parser.seen('K')) {
++ijk;
const float value = parser.value_linear_units();
if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX)) {
if (planner.yz_skew_factor != value) {
planner.yz_skew_factor = value;
++setval;
}
}
else
++badval;
}
#endif
if (badval)
SERIAL_ECHOLNPGM(MSG_SKEW_MIN " " STRINGIFY(SKEW_FACTOR_MIN) " " MSG_SKEW_MAX " " STRINGIFY(SKEW_FACTOR_MAX));
// When skew is changed the current position changes
if (setval) {
set_current_from_steppers_for_axis(ALL_AXES);
SYNC_PLAN_POSITION_KINEMATIC();
report_current_position();
}
if (!ijk) {
SERIAL_ECHO_START();
SERIAL_ECHOPGM(MSG_SKEW_FACTOR " XY: ");
SERIAL_ECHO_F(planner.xy_skew_factor, 6);
SERIAL_EOL();
#if ENABLED(SKEW_CORRECTION_FOR_Z)
SERIAL_ECHOPAIR(" XZ: ", planner.xz_skew_factor);
SERIAL_ECHOLNPAIR(" YZ: ", planner.yz_skew_factor);
#else
SERIAL_EOL();
#endif
}
}
#endif // SKEW_CORRECTION_GCODE
#if ENABLED(ADVANCED_PAUSE_FEATURE)
/**
* M600: Pause for filament change
*
* E[distance] - Retract the filament this far
* Z[distance] - Move the Z axis by this distance
* X[position] - Move to this X position, with Y
* Y[position] - Move to this Y position, with X
* U[distance] - Retract distance for removal (manual reload)
* L[distance] - Extrude distance for insertion (manual reload)
* B[count] - Number of times to beep, -1 for indefinite (if equipped with a buzzer)
* T[toolhead] - Select extruder for filament change
*
* Default values are used for omitted arguments.
*/
inline void gcode_M600() {
point_t park_point = NOZZLE_PARK_POINT;
if (get_target_extruder_from_command(600)) return;
// Show initial message
#if ENABLED(ULTIPANEL)
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INIT, ADVANCED_PAUSE_MODE_PAUSE_PRINT, target_extruder);
#endif
#if ENABLED(HOME_BEFORE_FILAMENT_CHANGE)
// Don't allow filament change without homing first
if (axis_unhomed_error()) home_all_axes();
#endif
#if EXTRUDERS > 1
// Change toolhead if specified
uint8_t active_extruder_before_filament_change = active_extruder;
if (active_extruder != target_extruder)
tool_change(target_extruder, 0, true);
#endif
// Initial retract before move to filament change position
const float retract = -ABS(parser.seen('E') ? parser.value_axis_units(E_AXIS) : 0
#ifdef PAUSE_PARK_RETRACT_LENGTH
+ (PAUSE_PARK_RETRACT_LENGTH)
#endif
);
// Lift Z axis
if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
// Move XY axes to filament change position or given position
if (parser.seenval('X')) park_point.x = parser.linearval('X');
if (parser.seenval('Y')) park_point.y = parser.linearval('Y');
#if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE) && DISABLED(DELTA)
park_point.x += (active_extruder ? hotend_offset[X_AXIS][active_extruder] : 0);
park_point.y += (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0);
#endif
// Unload filament
const float unload_length = -ABS(parser.seen('U') ? parser.value_axis_units(E_AXIS) :
filament_change_unload_length[active_extruder]);
// Slow load filament
constexpr float slow_load_length = FILAMENT_CHANGE_SLOW_LOAD_LENGTH;
// Fast load filament
const float fast_load_length = ABS(parser.seen('L') ? parser.value_axis_units(E_AXIS) :
filament_change_load_length[active_extruder]);
const int beep_count = parser.intval('B',
#ifdef FILAMENT_CHANGE_ALERT_BEEPS
FILAMENT_CHANGE_ALERT_BEEPS
#else
-1
#endif
);
const bool job_running = print_job_timer.isRunning();
if (pause_print(retract, park_point, unload_length, true)) {
wait_for_filament_reload(beep_count);
resume_print(slow_load_length, fast_load_length, ADVANCED_PAUSE_PURGE_LENGTH, beep_count);
}
#if EXTRUDERS > 1
// Restore toolhead if it was changed
if (active_extruder_before_filament_change != active_extruder)
tool_change(active_extruder_before_filament_change, 0, true);
#endif
// Resume the print job timer if it was running
if (job_running) print_job_timer.start();
}
/**
* M603: Configure filament change
*
* T[toolhead] - Select extruder to configure, active extruder if not specified
* U[distance] - Retract distance for removal, for the specified extruder
* L[distance] - Extrude distance for insertion, for the specified extruder
*
*/
inline void gcode_M603() {
if (get_target_extruder_from_command(603)) return;
// Unload length
if (parser.seen('U')) {
filament_change_unload_length[target_extruder] = ABS(parser.value_axis_units(E_AXIS));
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
NOMORE(filament_change_unload_length[target_extruder], EXTRUDE_MAXLENGTH);
#endif
}
// Load length
if (parser.seen('L')) {
filament_change_load_length[target_extruder] = ABS(parser.value_axis_units(E_AXIS));
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
NOMORE(filament_change_load_length[target_extruder], EXTRUDE_MAXLENGTH);
#endif
}
}
#endif // ADVANCED_PAUSE_FEATURE
#if ENABLED(MK2_MULTIPLEXER)
inline void select_multiplexed_stepper(const uint8_t e) {
planner.synchronize();
disable_e_steppers();
WRITE(E_MUX0_PIN, TEST(e, 0) ? HIGH : LOW);
WRITE(E_MUX1_PIN, TEST(e, 1) ? HIGH : LOW);
WRITE(E_MUX2_PIN, TEST(e, 2) ? HIGH : LOW);
safe_delay(100);
}
#endif // MK2_MULTIPLEXER
#if ENABLED(DUAL_X_CARRIAGE)
/**
* M605: Set dual x-carriage movement mode
*
* M605 S0: Full control mode. The slicer has full control over x-carriage movement
* M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
* M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
* units x-offset and an optional differential hotend temperature of
* mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
* the first with a spacing of 100mm in the x direction and 2 degrees hotter.
*
* Note: the X axis should be homed after changing dual x-carriage mode.
*/
inline void gcode_M605() {
planner.synchronize();
if (parser.seen('S')) dual_x_carriage_mode = (DualXMode)parser.value_byte();
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE:
case DXC_AUTO_PARK_MODE:
break;
case DXC_DUPLICATION_MODE:
if (parser.seen('X')) duplicate_extruder_x_offset = MAX(parser.value_linear_units(), X2_MIN_POS - x_home_pos(0));
if (parser.seen('R')) duplicate_extruder_temp_offset = parser.value_celsius_diff();
SERIAL_ECHO_START();
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
SERIAL_CHAR(' ');
SERIAL_ECHO(hotend_offset[X_AXIS][0]);
SERIAL_CHAR(',');
SERIAL_ECHO(hotend_offset[Y_AXIS][0]);
SERIAL_CHAR(' ');
SERIAL_ECHO(duplicate_extruder_x_offset);
SERIAL_CHAR(',');
SERIAL_ECHOLN(hotend_offset[Y_AXIS][1]);
break;
default:
dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
break;
}
active_extruder_parked = false;
extruder_duplication_enabled = false;
delayed_move_time = 0;
}
#elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
inline void gcode_M605() {
planner.synchronize();
extruder_duplication_enabled = parser.intval('S') == int(DXC_DUPLICATION_MODE);
SERIAL_ECHO_START();
SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
}
#endif // DUAL_NOZZLE_DUPLICATION_MODE
#if ENABLED(FILAMENT_LOAD_UNLOAD_GCODES)
/**
* M701: Load filament
*
* T<extruder> - Optional extruder number. Current extruder if omitted.
* Z<distance> - Move the Z axis by this distance
* L<distance> - Extrude distance for insertion (positive value) (manual reload)
*
* Default values are used for omitted arguments.
*/
inline void gcode_M701() {
point_t park_point = NOZZLE_PARK_POINT;
#if ENABLED(NO_MOTION_BEFORE_HOMING)
// Only raise Z if the machine is homed
if (axis_unhomed_error()) park_point.z = 0;
#endif
if (get_target_extruder_from_command(701)) return;
// Z axis lift
if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
// Show initial "wait for load" message
#if ENABLED(ULTIPANEL)
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_LOAD, ADVANCED_PAUSE_MODE_LOAD_FILAMENT, target_extruder);
#endif
#if EXTRUDERS > 1
// Change toolhead if specified
uint8_t active_extruder_before_filament_change = active_extruder;
if (active_extruder != target_extruder)
tool_change(target_extruder, 0, true);
#endif
// Lift Z axis
if (park_point.z > 0)
do_blocking_move_to_z(MIN(current_position[Z_AXIS] + park_point.z, Z_MAX_POS), NOZZLE_PARK_Z_FEEDRATE);
constexpr float slow_load_length = FILAMENT_CHANGE_SLOW_LOAD_LENGTH;
const float fast_load_length = ABS(parser.seen('L') ? parser.value_axis_units(E_AXIS) : filament_change_load_length[active_extruder]);
load_filament(slow_load_length, fast_load_length, ADVANCED_PAUSE_PURGE_LENGTH, FILAMENT_CHANGE_ALERT_BEEPS,
true, thermalManager.wait_for_heating(target_extruder), ADVANCED_PAUSE_MODE_LOAD_FILAMENT);
// Restore Z axis
if (park_point.z > 0)
do_blocking_move_to_z(MAX(current_position[Z_AXIS] - park_point.z, 0), NOZZLE_PARK_Z_FEEDRATE);
#if EXTRUDERS > 1
// Restore toolhead if it was changed
if (active_extruder_before_filament_change != active_extruder)
tool_change(active_extruder_before_filament_change, 0, true);
#endif
// Show status screen
#if ENABLED(ULTIPANEL)
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS);
#endif
}
/**
* M702: Unload filament
*
* T<extruder> - Optional extruder number. If omitted, current extruder
* (or ALL extruders with FILAMENT_UNLOAD_ALL_EXTRUDERS).
* Z<distance> - Move the Z axis by this distance
* U<distance> - Retract distance for removal (manual reload)
*
* Default values are used for omitted arguments.
*/
inline void gcode_M702() {
point_t park_point = NOZZLE_PARK_POINT;
#if ENABLED(NO_MOTION_BEFORE_HOMING)
// Only raise Z if the machine is homed
if (axis_unhomed_error()) park_point.z = 0;
#endif
if (get_target_extruder_from_command(702)) return;
// Z axis lift
if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
// Show initial message
#if ENABLED(ULTIPANEL)
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_UNLOAD, ADVANCED_PAUSE_MODE_UNLOAD_FILAMENT, target_extruder);
#endif
#if EXTRUDERS > 1
// Change toolhead if specified
uint8_t active_extruder_before_filament_change = active_extruder;
if (active_extruder != target_extruder)
tool_change(target_extruder, 0, true);
#endif
// Lift Z axis
if (park_point.z > 0)
do_blocking_move_to_z(MIN(current_position[Z_AXIS] + park_point.z, Z_MAX_POS), NOZZLE_PARK_Z_FEEDRATE);
// Unload filament
#if EXTRUDERS > 1 && ENABLED(FILAMENT_UNLOAD_ALL_EXTRUDERS)
if (!parser.seenval('T')) {
HOTEND_LOOP() {
if (e != active_extruder) tool_change(e, 0, true);
unload_filament(-filament_change_unload_length[e], true, ADVANCED_PAUSE_MODE_UNLOAD_FILAMENT);
}
}
else
#endif
{
// Unload length
const float unload_length = -ABS(parser.seen('U') ? parser.value_axis_units(E_AXIS) :
filament_change_unload_length[target_extruder]);
unload_filament(unload_length, true, ADVANCED_PAUSE_MODE_UNLOAD_FILAMENT);
}
// Restore Z axis
if (park_point.z > 0)
do_blocking_move_to_z(MAX(current_position[Z_AXIS] - park_point.z, 0), NOZZLE_PARK_Z_FEEDRATE);
#if EXTRUDERS > 1
// Restore toolhead if it was changed
if (active_extruder_before_filament_change != active_extruder)
tool_change(active_extruder_before_filament_change, 0, true);
#endif
// Show status screen
#if ENABLED(ULTIPANEL)
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS);
#endif
}
#endif // FILAMENT_LOAD_UNLOAD_GCODES
#if ENABLED(MAX7219_GCODE)
/**
* M7219: Control the Max7219 LED matrix
*
* I - Initialize (clear) the matrix
* F - Fill the matrix (set all bits)
* P - Dump the LEDs[] array values
* C<column> - Set a column to the 8-bit value V
* R<row> - Set a row to the 8-bit value V
* X<pos> - X position of an LED to set or toggle
* Y<pos> - Y position of an LED to set or toggle
* V<value> - The potentially 32-bit value or on/off state to set
* (for example: a chain of 4 Max7219 devices can have 32 bit
* rows or columns depending upon rotation)
*/
inline void gcode_M7219() {
if (parser.seen('I')) {
max7219.register_setup();
max7219.clear();
}
if (parser.seen('F')) max7219.fill();
const uint32_t v = parser.ulongval('V');
if (parser.seenval('R')) {
const uint8_t r = parser.value_byte();
max7219.set_row(r, v);
}
else if (parser.seenval('C')) {
const uint8_t c = parser.value_byte();
max7219.set_column(c, v);
}
else if (parser.seenval('X') || parser.seenval('Y')) {
const uint8_t x = parser.byteval('X'), y = parser.byteval('Y');
if (parser.seenval('V'))
max7219.led_set(x, y, parser.boolval('V'));
else
max7219.led_toggle(x, y);
}
else if (parser.seen('D')) {
const uint8_t line = parser.byteval('D') + (parser.byteval('U') << 3);
if (line < MAX7219_LINES) {
max7219.led_line[line] = v;
return max7219.refresh_line(line);
}
}
if (parser.seen('P')) {
for (uint8_t r = 0; r < MAX7219_LINES; r++) {
SERIAL_ECHOPGM("led_line[");
if (r < 10) SERIAL_CHAR(' ');
SERIAL_ECHO(int(r));
SERIAL_ECHOPGM("]=");
for (uint8_t b = 8; b--;) SERIAL_CHAR('0' + TEST(max7219.led_line[r], b));
SERIAL_EOL();
}
}
}
#endif // MAX7219_GCODE
#if ENABLED(LIN_ADVANCE)
/**
* M900: Get or Set Linear Advance K-factor
*
* K<factor> Set advance K factor
*/
inline void gcode_M900() {
if (parser.seenval('K')) {
const float newK = parser.floatval('K');
if (WITHIN(newK, 0, 10)) {
planner.synchronize();
planner.extruder_advance_K = newK;
}
else
SERIAL_PROTOCOLLNPGM("?K value out of range (0-10).");
}
else {
SERIAL_ECHO_START();
SERIAL_ECHOLNPAIR("Advance K=", planner.extruder_advance_K);
}
}
#endif // LIN_ADVANCE
#if HAS_TRINAMIC
#if ENABLED(TMC_DEBUG)
inline void gcode_M122() {
if (parser.seen('S'))
tmc_set_report_status(parser.value_bool());
else
tmc_report_all();
}
#endif // TMC_DEBUG
/**
* M906: Set motor current in milliamps using axis codes X, Y, Z, E
* Uses axis codes A, B, C, D, E for Hangprinter
* Report driver currents when no axis specified
*/
inline void gcode_M906() {
#define TMC_SAY_CURRENT(Q) tmc_get_current(stepper##Q, TMC_##Q)
#define TMC_SET_CURRENT(Q) tmc_set_current(stepper##Q, value)
bool report = true;
const uint8_t index = parser.byteval('I');
LOOP_NUM_AXIS(i) if (uint16_t value = parser.intval(RAW_AXIS_CODES(i))) {
report = false;
switch (i) {
// Assumes {A_AXIS, B_AXIS, C_AXIS} == {X_AXIS, Y_AXIS, Z_AXIS}
case X_AXIS:
#if AXIS_IS_TMC(X)
if (index < 2) TMC_SET_CURRENT(X);
#endif
#if AXIS_IS_TMC(X2)
if (!(index & 1)) TMC_SET_CURRENT(X2);
#endif
break;
case Y_AXIS:
#if AXIS_IS_TMC(Y)
if (index < 2) TMC_SET_CURRENT(Y);
#endif
#if AXIS_IS_TMC(Y2)
if (!(index & 1)) TMC_SET_CURRENT(Y2);
#endif
break;
case Z_AXIS:
#if AXIS_IS_TMC(Z)
if (index < 2) TMC_SET_CURRENT(Z);
#endif
#if AXIS_IS_TMC(Z2)
if (!(index & 1)) TMC_SET_CURRENT(Z2);
#endif
break;
case E_AXIS: {
if (get_target_extruder_from_command(906)) return;
switch (target_extruder) {
#if AXIS_IS_TMC(E0)
case 0: TMC_SET_CURRENT(E0); break;
#endif
#if ENABLED(HANGPRINTER)
// Avoid setting the D-current
#if AXIS_IS_TMC(E1) && EXTRUDERS > 1
case 1: TMC_SET_CURRENT(E1); break;
#endif
#if AXIS_IS_TMC(E2) && EXTRUDERS > 2
case 2: TMC_SET_CURRENT(E2); break;
#endif
#if AXIS_IS_TMC(E3) && EXTRUDERS > 3
case 3: TMC_SET_CURRENT(E3); break;
#endif
#if AXIS_IS_TMC(E4) && EXTRUDERS > 4
case 4: TMC_SET_CURRENT(E4); break;
#endif
#else
#if AXIS_IS_TMC(E1)
case 1: TMC_SET_CURRENT(E1); break;
#endif
#if AXIS_IS_TMC(E2)
case 2: TMC_SET_CURRENT(E2); break;
#endif
#if AXIS_IS_TMC(E3)
case 3: TMC_SET_CURRENT(E3); break;
#endif
#if AXIS_IS_TMC(E4)
case 4: TMC_SET_CURRENT(E4); break;
#endif
#endif
}
} break;
#if ENABLED(HANGPRINTER)
case D_AXIS:
// D is connected on the first of E1, E2, E3, E4 output that is not an extruder
#if AXIS_IS_TMC(E1) && EXTRUDERS == 1
TMC_SET_CURRENT(E1); break;
#endif
#if AXIS_IS_TMC(E2) && EXTRUDERS == 2
TMC_SET_CURRENT(E2); break;
#endif
#if AXIS_IS_TMC(E3) && EXTRUDERS == 3
TMC_SET_CURRENT(E3); break;
#endif
#if AXIS_IS_TMC(E4) && EXTRUDERS == 4
TMC_SET_CURRENT(E4); break;
#endif
#endif
}
}
if (report) {
#if AXIS_IS_TMC(X)
TMC_SAY_CURRENT(X);
#endif
#if AXIS_IS_TMC(X2)
TMC_SAY_CURRENT(X2);
#endif
#if AXIS_IS_TMC(Y)
TMC_SAY_CURRENT(Y);
#endif
#if AXIS_IS_TMC(Y2)
TMC_SAY_CURRENT(Y2);
#endif
#if AXIS_IS_TMC(Z)
TMC_SAY_CURRENT(Z);
#endif
#if AXIS_IS_TMC(Z2)
TMC_SAY_CURRENT(Z2);
#endif
#if AXIS_IS_TMC(E0)
TMC_SAY_CURRENT(E0);
#endif
#if ENABLED(HANGPRINTER)
// D is connected on the first of E1, E2, E3, E4 output that is not an extruder
#if AXIS_IS_TMC(E1) && EXTRUDERS == 1
TMC_SAY_CURRENT(E1);
#endif
#if AXIS_IS_TMC(E2) && EXTRUDERS == 2
TMC_SAY_CURRENT(E2);
#endif
#if AXIS_IS_TMC(E3) && EXTRUDERS == 3
TMC_SAY_CURRENT(E3);
#endif
#if AXIS_IS_TMC(E4) && EXTRUDERS == 4
TMC_SAY_CURRENT(E4);
#endif
#else
#if AXIS_IS_TMC(E1)
TMC_SAY_CURRENT(E1);
#endif
#if AXIS_IS_TMC(E2)
TMC_SAY_CURRENT(E2);
#endif
#if AXIS_IS_TMC(E3)
TMC_SAY_CURRENT(E3);
#endif
#if AXIS_IS_TMC(E4)
TMC_SAY_CURRENT(E4);
#endif
#endif
}
}
#define M91x_USE(ST) (AXIS_DRIVER_TYPE(ST, TMC2130) || (AXIS_DRIVER_TYPE(ST, TMC2208) && PIN_EXISTS(ST##_SERIAL_RX)))
#define M91x_USE_E(N) (E_STEPPERS > N && M91x_USE(E##N))
/**
* M911: Report TMC stepper driver overtemperature pre-warn flag
* This flag is held by the library, persisting until cleared by M912
*/
inline void gcode_M911() {
#if M91x_USE(X)
tmc_report_otpw(stepperX, TMC_X);
#endif
#if M91x_USE(X2)
tmc_report_otpw(stepperX2, TMC_X2);
#endif
#if M91x_USE(Y)
tmc_report_otpw(stepperY, TMC_Y);
#endif
#if M91x_USE(Y2)
tmc_report_otpw(stepperY2, TMC_Y2);
#endif
#if M91x_USE(Z)
tmc_report_otpw(stepperZ, TMC_Z);
#endif
#if M91x_USE(Z2)
tmc_report_otpw(stepperZ2, TMC_Z2);
#endif
#if M91x_USE_E(0)
tmc_report_otpw(stepperE0, TMC_E0);
#endif
#if M91x_USE_E(1)
tmc_report_otpw(stepperE1, TMC_E1);
#endif
#if M91x_USE_E(2)
tmc_report_otpw(stepperE2, TMC_E2);
#endif
#if M91x_USE_E(3)
tmc_report_otpw(stepperE3, TMC_E3);
#endif
#if M91x_USE_E(4)
tmc_report_otpw(stepperE4, TMC_E4);
#endif
}
/**
* M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library
* Specify one or more axes with X, Y, Z, X1, Y1, Z1, X2, Y2, Z2, and E[index].
* If no axes are given, clear all.
*
* Examples:
* M912 X ; clear X and X2
* M912 X1 ; clear X1 only
* M912 X2 ; clear X2 only
* M912 X E ; clear X, X2, and all E
* M912 E1 ; clear E1 only
*/
inline void gcode_M912() {
const bool hasX = parser.seen(axis_codes[X_AXIS]),
hasY = parser.seen(axis_codes[Y_AXIS]),
hasZ = parser.seen(axis_codes[Z_AXIS]),
hasE = parser.seen(axis_codes[E_CART]),
hasNone = !hasX && !hasY && !hasZ && !hasE;
#if M91x_USE(X) || M91x_USE(X2)
const uint8_t xval = parser.byteval(axis_codes[X_AXIS], 10);
#if M91x_USE(X)
if (hasNone || xval == 1 || (hasX && xval == 10)) tmc_clear_otpw(stepperX, TMC_X);
#endif
#if M91x_USE(X2)
if (hasNone || xval == 2 || (hasX && xval == 10)) tmc_clear_otpw(stepperX2, TMC_X2);
#endif
#endif
#if M91x_USE(Y) || M91x_USE(Y2)
const uint8_t yval = parser.byteval(axis_codes[Y_AXIS], 10);
#if M91x_USE(Y)
if (hasNone || yval == 1 || (hasY && yval == 10)) tmc_clear_otpw(stepperY, TMC_Y);
#endif
#if M91x_USE(Y2)
if (hasNone || yval == 2 || (hasY && yval == 10)) tmc_clear_otpw(stepperY2, TMC_Y2);
#endif
#endif
#if M91x_USE(Z) || M91x_USE(Z2)
const uint8_t zval = parser.byteval(axis_codes[Z_AXIS], 10);
#if M91x_USE(Z)
if (hasNone || zval == 1 || (hasZ && zval == 10)) tmc_clear_otpw(stepperZ, TMC_Z);
#endif
#if M91x_USE(Z2)
if (hasNone || zval == 2 || (hasZ && zval == 10)) tmc_clear_otpw(stepperZ2, TMC_Z2);
#endif
#endif
// TODO: If this is a Hangprinter, E_AXIS will not correspond to E0, E1, etc in this way
#if M91x_USE_E(0) || M91x_USE_E(1) || M91x_USE_E(2) || M91x_USE_E(3) || M91x_USE_E(4)
const uint8_t eval = parser.byteval(axis_codes[E_AXIS], 10);
#if M91x_USE_E(0)
if (hasNone || eval == 0 || (hasE && eval == 10)) tmc_clear_otpw(stepperE0, TMC_E0);
#endif
#if M91x_USE_E(1)
if (hasNone || eval == 1 || (hasE && eval == 10)) tmc_clear_otpw(stepperE1, TMC_E1);
#endif
#if M91x_USE_E(2)
if (hasNone || eval == 2 || (hasE && eval == 10)) tmc_clear_otpw(stepperE2, TMC_E2);
#endif
#if M91x_USE_E(3)
if (hasNone || eval == 3 || (hasE && eval == 10)) tmc_clear_otpw(stepperE3, TMC_E3);
#endif
#if M91x_USE_E(4)
if (hasNone || eval == 4 || (hasE && eval == 10)) tmc_clear_otpw(stepperE4, TMC_E4);
#endif
#endif
}
/**
* M913: Set HYBRID_THRESHOLD speed.
*/
#if ENABLED(HYBRID_THRESHOLD)
inline void gcode_M913() {
#define TMC_SAY_PWMTHRS(A,Q) tmc_get_pwmthrs(stepper##Q, TMC_##Q, planner.axis_steps_per_mm[_AXIS(A)])
#define TMC_SET_PWMTHRS(A,Q) tmc_set_pwmthrs(stepper##Q, value, planner.axis_steps_per_mm[_AXIS(A)])
#define TMC_SAY_PWMTHRS_E(E) do{ const uint8_t extruder = E; tmc_get_pwmthrs(stepperE##E, TMC_E##E, planner.axis_steps_per_mm[E_AXIS_N]); }while(0)
#define TMC_SET_PWMTHRS_E(E) do{ const uint8_t extruder = E; tmc_set_pwmthrs(stepperE##E, value, planner.axis_steps_per_mm[E_AXIS_N]); }while(0)
bool report = true;
const uint8_t index = parser.byteval('I');
LOOP_XYZE(i) if (int32_t value = parser.longval(axis_codes[i])) {
report = false;
switch (i) {
case X_AXIS:
#if AXIS_HAS_STEALTHCHOP(X)
if (index < 2) TMC_SET_PWMTHRS(X,X);
#endif
#if AXIS_HAS_STEALTHCHOP(X2)
if (!(index & 1)) TMC_SET_PWMTHRS(X,X2);
#endif
break;
case Y_AXIS:
#if AXIS_HAS_STEALTHCHOP(Y)
if (index < 2) TMC_SET_PWMTHRS(Y,Y);
#endif
#if AXIS_HAS_STEALTHCHOP(Y2)
if (!(index & 1)) TMC_SET_PWMTHRS(Y,Y2);
#endif
break;
case Z_AXIS:
#if AXIS_HAS_STEALTHCHOP(Z)
if (index < 2) TMC_SET_PWMTHRS(Z,Z);
#endif
#if AXIS_HAS_STEALTHCHOP(Z2)
if (!(index & 1)) TMC_SET_PWMTHRS(Z,Z2);
#endif
break;
case E_CART: {
if (get_target_extruder_from_command(913)) return;
switch (target_extruder) {
#if AXIS_HAS_STEALTHCHOP(E0)
case 0: TMC_SET_PWMTHRS_E(0); break;
#endif
#if E_STEPPERS > 1 && AXIS_HAS_STEALTHCHOP(E1)
case 1: TMC_SET_PWMTHRS_E(1); break;
#endif
#if E_STEPPERS > 2 && AXIS_HAS_STEALTHCHOP(E2)
case 2: TMC_SET_PWMTHRS_E(2); break;
#endif
#if E_STEPPERS > 3 && AXIS_HAS_STEALTHCHOP(E3)
case 3: TMC_SET_PWMTHRS_E(3); break;
#endif
#if E_STEPPERS > 4 && AXIS_HAS_STEALTHCHOP(E4)
case 4: TMC_SET_PWMTHRS_E(4); break;
#endif
}
} break;
}
}
if (report) {
#if AXIS_HAS_STEALTHCHOP(X)
TMC_SAY_PWMTHRS(X,X);
#endif
#if AXIS_HAS_STEALTHCHOP(X2)
TMC_SAY_PWMTHRS(X,X2);
#endif
#if AXIS_HAS_STEALTHCHOP(Y)
TMC_SAY_PWMTHRS(Y,Y);
#endif
#if AXIS_HAS_STEALTHCHOP(Y2)
TMC_SAY_PWMTHRS(Y,Y2);
#endif
#if AXIS_HAS_STEALTHCHOP(Z)
TMC_SAY_PWMTHRS(Z,Z);
#endif
#if AXIS_HAS_STEALTHCHOP(Z2)
TMC_SAY_PWMTHRS(Z,Z2);
#endif
#if AXIS_HAS_STEALTHCHOP(E0)
TMC_SAY_PWMTHRS_E(0);
#endif
#if E_STEPPERS > 1 && AXIS_HAS_STEALTHCHOP(E1)
TMC_SAY_PWMTHRS_E(1);
#endif
#if E_STEPPERS > 2 && AXIS_HAS_STEALTHCHOP(E2)
TMC_SAY_PWMTHRS_E(2);
#endif
#if E_STEPPERS > 3 && AXIS_HAS_STEALTHCHOP(E3)
TMC_SAY_PWMTHRS_E(3);
#endif
#if E_STEPPERS > 4 && AXIS_HAS_STEALTHCHOP(E4)
TMC_SAY_PWMTHRS_E(4);
#endif
}
}
#endif // HYBRID_THRESHOLD
/**
* M914: Set SENSORLESS_HOMING sensitivity.
*/
#if ENABLED(SENSORLESS_HOMING)
inline void gcode_M914() {
#define TMC_SAY_SGT(Q) tmc_get_sgt(stepper##Q, TMC_##Q)
#define TMC_SET_SGT(Q) tmc_set_sgt(stepper##Q, value)
bool report = true;
const uint8_t index = parser.byteval('I');
LOOP_XYZ(i) if (parser.seen(axis_codes[i])) {
const int8_t value = (int8_t)constrain(parser.value_int(), -64, 63);
report = false;
switch (i) {
#if X_SENSORLESS
case X_AXIS:
#if AXIS_HAS_STALLGUARD(X)
if (index < 2) TMC_SET_SGT(X);
#endif
#if AXIS_HAS_STALLGUARD(X2)
if (!(index & 1)) TMC_SET_SGT(X2);
#endif
break;
#endif
#if Y_SENSORLESS
case Y_AXIS:
#if AXIS_HAS_STALLGUARD(Y)
if (index < 2) TMC_SET_SGT(Y);
#endif
#if AXIS_HAS_STALLGUARD(Y2)
if (!(index & 1)) TMC_SET_SGT(Y2);
#endif
break;
#endif
#if Z_SENSORLESS
case Z_AXIS:
#if AXIS_HAS_STALLGUARD(Z)
if (index < 2) TMC_SET_SGT(Z);
#endif
#if AXIS_HAS_STALLGUARD(Z2)
if (!(index & 1)) TMC_SET_SGT(Z2);
#endif
break;
#endif
}
}
if (report) {
#if X_SENSORLESS
#if AXIS_HAS_STALLGUARD(X)
TMC_SAY_SGT(X);
#endif
#if AXIS_HAS_STALLGUARD(X2)
TMC_SAY_SGT(X2);
#endif
#endif
#if Y_SENSORLESS
#if AXIS_HAS_STALLGUARD(Y)
TMC_SAY_SGT(Y);
#endif
#if AXIS_HAS_STALLGUARD(Y2)
TMC_SAY_SGT(Y2);
#endif
#endif
#if Z_SENSORLESS
#if AXIS_HAS_STALLGUARD(Z)
TMC_SAY_SGT(Z);
#endif
#if AXIS_HAS_STALLGUARD(Z2)
TMC_SAY_SGT(Z2);
#endif
#endif
}
}
#endif // SENSORLESS_HOMING
/**
* TMC Z axis calibration routine
*/
#if ENABLED(TMC_Z_CALIBRATION)
inline void gcode_M915() {
const uint16_t _rms = parser.seenval('S') ? parser.value_int() : CALIBRATION_CURRENT,
_z = parser.seenval('Z') ? parser.value_linear_units() : CALIBRATION_EXTRA_HEIGHT;
if (!TEST(axis_known_position, Z_AXIS)) {
SERIAL_ECHOLNPGM("\nPlease home Z axis first");
return;
}
#if AXIS_IS_TMC(Z)
const uint16_t Z_current_1 = stepperZ.getCurrent();
stepperZ.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
#endif
#if AXIS_IS_TMC(Z2)
const uint16_t Z2_current_1 = stepperZ2.getCurrent();
stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
#endif
SERIAL_ECHOPAIR("\nCalibration current: Z", _rms);
soft_endstops_enabled = false;
do_blocking_move_to_z(Z_MAX_POS+_z);
#if AXIS_IS_TMC(Z)
stepperZ.setCurrent(Z_current_1, R_SENSE, HOLD_MULTIPLIER);
#endif
#if AXIS_IS_TMC(Z2)
stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER);
#endif
do_blocking_move_to_z(Z_MAX_POS);
soft_endstops_enabled = true;
SERIAL_ECHOLNPGM("\nHoming Z due to lost steps");
enqueue_and_echo_commands_P(PSTR("G28 Z"));
}
#endif
#endif // HAS_TRINAMIC
/**
* M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
*/
inline void gcode_M907() {
#if HAS_DIGIPOTSS
LOOP_XYZE(i) if (parser.seen(axis_codes[i])) stepper.digipot_current(i, parser.value_int());
if (parser.seen('B')) stepper.digipot_current(4, parser.value_int());
if (parser.seen('S')) for (uint8_t i = 0; i <= 4; i++) stepper.digipot_current(i, parser.value_int());
#elif HAS_MOTOR_CURRENT_PWM
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
if (parser.seen('X')) stepper.digipot_current(0, parser.value_int());
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
if (parser.seen('Z')) stepper.digipot_current(1, parser.value_int());
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
if (parser.seen('E')) stepper.digipot_current(2, parser.value_int());
#endif
#endif
#if ENABLED(DIGIPOT_I2C)
// this one uses actual amps in floating point
LOOP_XYZE(i) if (parser.seen(axis_codes[i])) digipot_i2c_set_current(i, parser.value_float());
// for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
for (uint8_t i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (parser.seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, parser.value_float());
#endif
#if ENABLED(DAC_STEPPER_CURRENT)
if (parser.seen('S')) {
const float dac_percent = parser.value_float();
for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
}
LOOP_XYZE(i) if (parser.seen(axis_codes[i])) dac_current_percent(i, parser.value_float());
#endif
}
#if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
/**
* M908: Control digital trimpot directly (M908 P<pin> S<current>)
*/
inline void gcode_M908() {
#if HAS_DIGIPOTSS
stepper.digitalPotWrite(
parser.intval('P'),
parser.intval('S')
);
#endif
#ifdef DAC_STEPPER_CURRENT
dac_current_raw(
parser.byteval('P', -1),
parser.ushortval('S', 0)
);
#endif
}
#if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
inline void gcode_M909() { dac_print_values(); }
inline void gcode_M910() { dac_commit_eeprom(); }
#endif
#endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
#if HAS_MICROSTEPS
// M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
inline void gcode_M350() {
if (parser.seen('S')) for (int i = 0; i <= 4; i++) stepper.microstep_mode(i, parser.value_byte());
LOOP_XYZE(i) if (parser.seen(axis_codes[i])) stepper.microstep_mode(i, parser.value_byte());
if (parser.seen('B')) stepper.microstep_mode(4, parser.value_byte());
stepper.microstep_readings();
}
/**
* M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
* S# determines MS1 or MS2, X# sets the pin high/low.
*/
inline void gcode_M351() {
if (parser.seenval('S')) switch (parser.value_byte()) {
case 1:
LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, parser.value_byte(), -1);
if (parser.seenval('B')) stepper.microstep_ms(4, parser.value_byte(), -1);
break;
case 2:
LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, -1, parser.value_byte());
if (parser.seenval('B')) stepper.microstep_ms(4, -1, parser.value_byte());
break;
}
stepper.microstep_readings();
}
#endif // HAS_MICROSTEPS
#if HAS_CASE_LIGHT
#ifndef INVERT_CASE_LIGHT
#define INVERT_CASE_LIGHT false
#endif
uint8_t case_light_brightness; // LCD routine wants INT
bool case_light_on;
#if ENABLED(CASE_LIGHT_USE_NEOPIXEL)
LEDColor case_light_color =
#ifdef CASE_LIGHT_NEOPIXEL_COLOR
CASE_LIGHT_NEOPIXEL_COLOR
#else
{ 255, 255, 255, 255 }
#endif
;
#endif
void update_case_light() {
const uint8_t i = case_light_on ? case_light_brightness : 0, n10ct = INVERT_CASE_LIGHT ? 255 - i : i;
#if ENABLED(CASE_LIGHT_USE_NEOPIXEL)
leds.set_color(
MakeLEDColor(case_light_color.r, case_light_color.g, case_light_color.b, case_light_color.w, n10ct),
false
);
#else // !CASE_LIGHT_USE_NEOPIXEL
SET_OUTPUT(CASE_LIGHT_PIN);
if (USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN))
analogWrite(CASE_LIGHT_PIN, n10ct);
else {
const bool s = case_light_on ? !INVERT_CASE_LIGHT : INVERT_CASE_LIGHT;
WRITE(CASE_LIGHT_PIN, s ? HIGH : LOW);
}
#endif // !CASE_LIGHT_USE_NEOPIXEL
}
#endif // HAS_CASE_LIGHT
/**
* M355: Turn case light on/off and set brightness
*
* P<byte> Set case light brightness (PWM pin required - ignored otherwise)
*
* S<bool> Set case light on/off
*
* When S turns on the light on a PWM pin then the current brightness level is used/restored
*
* M355 P200 S0 turns off the light & sets the brightness level
* M355 S1 turns on the light with a brightness of 200 (assuming a PWM pin)
*/
inline void gcode_M355() {
#if HAS_CASE_LIGHT
uint8_t args = 0;
if (parser.seenval('P')) ++args, case_light_brightness = parser.value_byte();
if (parser.seenval('S')) ++args, case_light_on = parser.value_bool();
if (args) update_case_light();
// always report case light status
SERIAL_ECHO_START();
if (!case_light_on) {
SERIAL_ECHOLNPGM("Case light: off");
}
else {
if (!USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN)) SERIAL_ECHOLNPGM("Case light: on");
else SERIAL_ECHOLNPAIR("Case light: ", int(case_light_brightness));
}
#else
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_M355_NONE);
#endif // HAS_CASE_LIGHT
}
#if ENABLED(MIXING_EXTRUDER)
/**
* M163: Set a single mix factor for a mixing extruder
* This is called "weight" by some systems.
* The 'P' values must sum to 1.0 or must be followed by M164 to normalize them.
*
* S[index] The channel index to set
* P[float] The mix value
*/
inline void gcode_M163() {
const int mix_index = parser.intval('S');
if (mix_index < MIXING_STEPPERS)
mixing_factor[mix_index] = MAX(parser.floatval('P'), 0.0);
}
/**
* M164: Normalize and commit the mix.
* If 'S' is given store as a virtual tool. (Requires MIXING_VIRTUAL_TOOLS > 1)
*
* S[index] The virtual tool to store
*/
inline void gcode_M164() {
normalize_mix();
#if MIXING_VIRTUAL_TOOLS > 1
const int tool_index = parser.intval('S', -1);
if (WITHIN(tool_index, 0, MIXING_VIRTUAL_TOOLS - 1)) {
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i];
}
#endif
}
#if ENABLED(DIRECT_MIXING_IN_G1)
/**
* M165: Set multiple mix factors for a mixing extruder.
* Factors that are left out will be set to 0.
* All factors should sum to 1.0, but they will be normalized regardless.
*
* A[factor] Mix factor for extruder stepper 1
* B[factor] Mix factor for extruder stepper 2
* C[factor] Mix factor for extruder stepper 3
* D[factor] Mix factor for extruder stepper 4
* H[factor] Mix factor for extruder stepper 5
* I[factor] Mix factor for extruder stepper 6
*/
inline void gcode_M165() { gcode_get_mix(); }
#endif
#endif // MIXING_EXTRUDER
/**
* M999: Restart after being stopped
*
* Default behaviour is to flush the serial buffer and request
* a resend to the host starting on the last N line received.
*
* Sending "M999 S1" will resume printing without flushing the
* existing command buffer.
*
*/
inline void gcode_M999() {
Running = true;
lcd_reset_alert_level();
if (parser.boolval('S')) return;
// gcode_LastN = Stopped_gcode_LastN;
flush_and_request_resend();
}
#if DO_SWITCH_EXTRUDER
#if EXTRUDERS > 3
#define REQ_ANGLES 4
#define _SERVO_NR (e < 2 ? SWITCHING_EXTRUDER_SERVO_NR : SWITCHING_EXTRUDER_E23_SERVO_NR)
#else
#define REQ_ANGLES 2
#define _SERVO_NR SWITCHING_EXTRUDER_SERVO_NR
#endif
inline void move_extruder_servo(const uint8_t e) {
constexpr int16_t angles[] = SWITCHING_EXTRUDER_SERVO_ANGLES;
static_assert(COUNT(angles) == REQ_ANGLES, "SWITCHING_EXTRUDER_SERVO_ANGLES needs " STRINGIFY(REQ_ANGLES) " angles.");
planner.synchronize();
#if EXTRUDERS & 1
if (e < EXTRUDERS - 1)
#endif
{
MOVE_SERVO(_SERVO_NR, angles[e]);
safe_delay(500);
}
}
#endif // DO_SWITCH_EXTRUDER
#if ENABLED(SWITCHING_NOZZLE)
inline void move_nozzle_servo(const uint8_t e) {
const int16_t angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES;
planner.synchronize();
MOVE_SERVO(SWITCHING_NOZZLE_SERVO_NR, angles[e]);
safe_delay(500);
}
#endif
inline void invalid_extruder_error(const uint8_t e) {
SERIAL_ECHO_START();
SERIAL_CHAR('T');
SERIAL_ECHO_F(e, DEC);
SERIAL_CHAR(' ');
SERIAL_ECHOLNPGM(MSG_INVALID_EXTRUDER);
}
#if ENABLED(PARKING_EXTRUDER)
#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
#define PE_MAGNET_ON_STATE !PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE
#else
#define PE_MAGNET_ON_STATE PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE
#endif
void pe_set_magnet(const uint8_t extruder_num, const uint8_t state) {
switch (extruder_num) {
case 1: OUT_WRITE(SOL1_PIN, state); break;
default: OUT_WRITE(SOL0_PIN, state); break;
}
#if PARKING_EXTRUDER_SOLENOIDS_DELAY > 0
dwell(PARKING_EXTRUDER_SOLENOIDS_DELAY);
#endif
}
inline void pe_activate_magnet(const uint8_t extruder_num) { pe_set_magnet(extruder_num, PE_MAGNET_ON_STATE); }
inline void pe_deactivate_magnet(const uint8_t extruder_num) { pe_set_magnet(extruder_num, !PE_MAGNET_ON_STATE); }
#endif // PARKING_EXTRUDER
#if HAS_FANMUX
void fanmux_switch(const uint8_t e) {
WRITE(FANMUX0_PIN, TEST(e, 0) ? HIGH : LOW);
#if PIN_EXISTS(FANMUX1)
WRITE(FANMUX1_PIN, TEST(e, 1) ? HIGH : LOW);
#if PIN_EXISTS(FANMUX2)
WRITE(FANMUX2, TEST(e, 2) ? HIGH : LOW);
#endif
#endif
}
FORCE_INLINE void fanmux_init(void) {
SET_OUTPUT(FANMUX0_PIN);
#if PIN_EXISTS(FANMUX1)
SET_OUTPUT(FANMUX1_PIN);
#if PIN_EXISTS(FANMUX2)
SET_OUTPUT(FANMUX2_PIN);
#endif
#endif
fanmux_switch(0);
}
#endif // HAS_FANMUX
/**
* Tool Change functions
*/
#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
inline void mixing_tool_change(const uint8_t tmp_extruder) {
if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
return invalid_extruder_error(tmp_extruder);
// T0-Tnnn: Switch virtual tool by changing the mix
for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
}
#endif // MIXING_EXTRUDER && MIXING_VIRTUAL_TOOLS > 1
#if ENABLED(DUAL_X_CARRIAGE)
inline void dualx_tool_change(const uint8_t tmp_extruder, bool &no_move) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("Dual X Carriage Mode ");
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
}
}
#endif
const float xhome = x_home_pos(active_extruder);
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
&& IsRunning()
&& (delayed_move_time || current_position[X_AXIS] != xhome)
) {
float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT;
#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
NOMORE(raised_z, soft_endstop_max[Z_AXIS]);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("Raise to ", raised_z);
SERIAL_ECHOLNPAIR("MoveX to ", xhome);
SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
}
#endif
// Park old head: 1) raise 2) move to park position 3) lower
for (uint8_t i = 0; i < 3; i++)
planner.buffer_line(
i == 0 ? current_position[X_AXIS] : xhome,
current_position[Y_AXIS],
i == 2 ? current_position[Z_AXIS] : raised_z,
current_position[E_CART],
planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
active_extruder
);
planner.synchronize();
}
// Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
// Activate the new extruder ahead of calling set_axis_is_at_home!
active_extruder = tmp_extruder;
// This function resets the max/min values - the current position may be overwritten below.
set_axis_is_at_home(X_AXIS);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
#endif
// Only when auto-parking are carriages safe to move
if (dual_x_carriage_mode != DXC_AUTO_PARK_MODE) no_move = true;
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE:
// New current position is the position of the activated extruder
current_position[X_AXIS] = inactive_extruder_x_pos;
// Save the inactive extruder's position (from the old current_position)
inactive_extruder_x_pos = destination[X_AXIS];
break;
case DXC_AUTO_PARK_MODE:
// record raised toolhead position for use by unpark
COPY(raised_parked_position, current_position);
raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
NOMORE(raised_parked_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
#endif
active_extruder_parked = true;
delayed_move_time = 0;
break;
case DXC_DUPLICATION_MODE:
// If the new extruder is the left one, set it "parked"
// This triggers the second extruder to move into the duplication position
active_extruder_parked = (active_extruder == 0);
current_position[X_AXIS] = active_extruder_parked ? inactive_extruder_x_pos : destination[X_AXIS] + duplicate_extruder_x_offset;
inactive_extruder_x_pos = destination[X_AXIS];
extruder_duplication_enabled = false;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("Set inactive_extruder_x_pos=", inactive_extruder_x_pos);
SERIAL_ECHOLNPGM("Clear extruder_duplication_enabled");
}
#endif
break;
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
DEBUG_POS("New extruder (parked)", current_position);
}
#endif
// No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
}
#endif // DUAL_X_CARRIAGE
#if ENABLED(PARKING_EXTRUDER)
inline void parking_extruder_tool_change(const uint8_t tmp_extruder, bool no_move) {
constexpr float z_raise = PARKING_EXTRUDER_SECURITY_RAISE;
if (!no_move) {
const float parkingposx[] = PARKING_EXTRUDER_PARKING_X,
midpos = (parkingposx[0] + parkingposx[1]) * 0.5 + hotend_offset[X_AXIS][active_extruder],
grabpos = parkingposx[tmp_extruder] + hotend_offset[X_AXIS][active_extruder]
+ (tmp_extruder == 0 ? -(PARKING_EXTRUDER_GRAB_DISTANCE) : PARKING_EXTRUDER_GRAB_DISTANCE);
/**
* Steps:
* 1. Raise Z-Axis to give enough clearance
* 2. Move to park position of old extruder
* 3. Disengage magnetic field, wait for delay
* 4. Move near new extruder
* 5. Engage magnetic field for new extruder
* 6. Move to parking incl. offset of new extruder
* 7. Lower Z-Axis
*/
// STEP 1
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("Starting Autopark");
if (DEBUGGING(LEVELING)) DEBUG_POS("current position:", current_position);
#endif
current_position[Z_AXIS] += z_raise;
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("(1) Raise Z-Axis ");
if (DEBUGGING(LEVELING)) DEBUG_POS("Moving to Raised Z-Position", current_position);
#endif
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
planner.synchronize();
// STEP 2
current_position[X_AXIS] = parkingposx[active_extruder] + hotend_offset[X_AXIS][active_extruder];
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPAIR("(2) Park extruder ", active_extruder);
if (DEBUGGING(LEVELING)) DEBUG_POS("Moving ParkPos", current_position);
#endif
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
planner.synchronize();
// STEP 3
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("(3) Disengage magnet ");
#endif
pe_deactivate_magnet(active_extruder);
// STEP 4
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("(4) Move to position near new extruder");
#endif
current_position[X_AXIS] += (active_extruder == 0 ? 10 : -10); // move 10mm away from parked extruder
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Moving away from parked extruder", current_position);
#endif
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
planner.synchronize();
// STEP 5
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("(5) Engage magnetic field");
#endif
#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
pe_activate_magnet(active_extruder); //just save power for inverted magnets
#endif
pe_activate_magnet(tmp_extruder);
// STEP 6
current_position[X_AXIS] = grabpos + (tmp_extruder == 0 ? (+10) : (-10));
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
current_position[X_AXIS] = grabpos;
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPAIR("(6) Unpark extruder ", tmp_extruder);
if (DEBUGGING(LEVELING)) DEBUG_POS("Move UnparkPos", current_position);
#endif
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS]/2, active_extruder);
planner.synchronize();
// Step 7
current_position[X_AXIS] = midpos - hotend_offset[X_AXIS][tmp_extruder];
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("(7) Move midway between hotends");
if (DEBUGGING(LEVELING)) DEBUG_POS("Move midway to new extruder", current_position);
#endif
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
planner.synchronize();
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("Autopark done.");
#endif
}
else { // nomove == true
// Only engage magnetic field for new extruder
pe_activate_magnet(tmp_extruder);
#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
pe_activate_magnet(active_extruder); // Just save power for inverted magnets
#endif
}
current_position[Z_AXIS] += hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Applying Z-offset", current_position);
#endif
}
#endif // PARKING_EXTRUDER
/**
* Perform a tool-change, which may result in moving the
* previous tool out of the way and the new tool into place.
*/
void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
planner.synchronize();
#if HAS_LEVELING
// Set current position to the physical position
const bool leveling_was_active = planner.leveling_active;
set_bed_leveling_enabled(false);
#endif
#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
mixing_tool_change(tmp_extruder);
#else // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
if (tmp_extruder >= EXTRUDERS)
return invalid_extruder_error(tmp_extruder);
#if HOTENDS > 1
const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
if (tmp_extruder != active_extruder) {
if (!no_move && axis_unhomed_error()) {
no_move = true;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("No move on toolchange");
#endif
}
#if ENABLED(DUAL_X_CARRIAGE)
#if HAS_SOFTWARE_ENDSTOPS
// Update the X software endstops early
active_extruder = tmp_extruder;
update_software_endstops(X_AXIS);
active_extruder = !tmp_extruder;
#endif
// Don't move the new extruder out of bounds
if (!WITHIN(current_position[X_AXIS], soft_endstop_min[X_AXIS], soft_endstop_max[X_AXIS]))
no_move = true;
if (!no_move) set_destination_from_current();
dualx_tool_change(tmp_extruder, no_move); // Can modify no_move
#else // !DUAL_X_CARRIAGE
set_destination_from_current();
#if ENABLED(PARKING_EXTRUDER)
parking_extruder_tool_change(tmp_extruder, no_move);
#endif
#if ENABLED(SWITCHING_NOZZLE)
// Always raise by at least 1 to avoid workpiece
const float zdiff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
current_position[Z_AXIS] += (zdiff > 0.0 ? zdiff : 0.0) + 1;
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
move_nozzle_servo(tmp_extruder);
#endif
const float xdiff = hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
ydiff = hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Offset Tool XY by { ", xdiff);
SERIAL_ECHOPAIR(", ", ydiff);
SERIAL_ECHOLNPGM(" }");
}
#endif
// The newly-selected extruder XY is actually at...
current_position[X_AXIS] += xdiff;
current_position[Y_AXIS] += ydiff;
// Set the new active extruder
active_extruder = tmp_extruder;
#endif // !DUAL_X_CARRIAGE
#if ENABLED(SWITCHING_NOZZLE)
// The newly-selected extruder Z is actually at...
current_position[Z_AXIS] -= zdiff;
#endif
// Tell the planner the new "current position"
SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DELTA)
//LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function
const bool safe_to_move = current_position[Z_AXIS] < delta_clip_start_height - 1;
#else
constexpr bool safe_to_move = true;
#endif
// Raise, move, and lower again
if (safe_to_move && !no_move && IsRunning()) {
#if DISABLED(SWITCHING_NOZZLE)
// Do a small lift to avoid the workpiece in the move back (below)
current_position[Z_AXIS] += 1.0;
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
#endif
// Move back to the original (or tweaked) position
do_blocking_move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS]);
#if ENABLED(DUAL_X_CARRIAGE)
active_extruder_parked = false;
#endif
}
#if ENABLED(SWITCHING_NOZZLE)
else {
// Move back down. (Including when the new tool is higher.)
do_blocking_move_to_z(destination[Z_AXIS], planner.max_feedrate_mm_s[Z_AXIS]);
}
#endif
} // (tmp_extruder != active_extruder)
planner.synchronize();
#if ENABLED(EXT_SOLENOID) && !ENABLED(PARKING_EXTRUDER)
disable_all_solenoids();
enable_solenoid_on_active_extruder();
#endif
feedrate_mm_s = old_feedrate_mm_s;
#if HAS_SOFTWARE_ENDSTOPS && ENABLED(DUAL_X_CARRIAGE)
update_software_endstops(X_AXIS);
#endif
#else // HOTENDS <= 1
UNUSED(fr_mm_s);
UNUSED(no_move);
#if ENABLED(MK2_MULTIPLEXER)
if (tmp_extruder >= E_STEPPERS)
return invalid_extruder_error(tmp_extruder);
select_multiplexed_stepper(tmp_extruder);
#endif
// Set the new active extruder
active_extruder = tmp_extruder;
#endif // HOTENDS <= 1
#if DO_SWITCH_EXTRUDER
planner.synchronize();
move_extruder_servo(active_extruder);
#endif
#if HAS_FANMUX
fanmux_switch(active_extruder);
#endif
#if HAS_LEVELING
// Restore leveling to re-establish the logical position
set_bed_leveling_enabled(leveling_was_active);
#endif
SERIAL_ECHO_START();
SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, int(active_extruder));
#endif // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
}
/**
* T0-T3: Switch tool, usually switching extruders
*
* F[units/min] Set the movement feedrate
* S1 Don't move the tool in XY after change
*/
inline void gcode_T(const uint8_t tmp_extruder) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> gcode_T(", tmp_extruder);
SERIAL_CHAR(')');
SERIAL_EOL();
DEBUG_POS("BEFORE", current_position);
}
#endif
#if HOTENDS == 1 || (ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1)
tool_change(tmp_extruder);
#elif HOTENDS > 1
tool_change(
tmp_extruder,
MMM_TO_MMS(parser.linearval('F')),
(tmp_extruder == active_extruder) || parser.boolval('S')
);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
DEBUG_POS("AFTER", current_position);
SERIAL_ECHOLNPGM("<<< gcode_T");
}
#endif
}
/**
* Process the parsed command and dispatch it to its handler
*/
void process_parsed_command() {
KEEPALIVE_STATE(IN_HANDLER);
// Handle a known G, M, or T
switch (parser.command_letter) {
case 'G': switch (parser.codenum) {
case 0: case 1: gcode_G0_G1( // G0: Fast Move, G1: Linear Move
#if IS_SCARA
parser.codenum == 0
#endif
); break;
#if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
case 2: case 3: gcode_G2_G3(parser.codenum == 2); break; // G2: CW ARC, G3: CCW ARC
#endif
case 4: gcode_G4(); break; // G4: Dwell
#if ENABLED(BEZIER_CURVE_SUPPORT)
case 5: gcode_G5(); break; // G5: Cubic B_spline
#endif
#if ENABLED(UNREGISTERED_MOVE_SUPPORT)
case 6: gcode_G6(); break; // G6: Direct stepper move
#endif
#if ENABLED(FWRETRACT)
case 10: gcode_G10(); break; // G10: Retract
case 11: gcode_G11(); break; // G11: Prime
#endif
#if ENABLED(NOZZLE_CLEAN_FEATURE)
case 12: gcode_G12(); break; // G12: Clean Nozzle
#endif
#if ENABLED(CNC_WORKSPACE_PLANES)
case 17: gcode_G17(); break; // G17: Select Plane XY
case 18: gcode_G18(); break; // G18: Select Plane ZX
case 19: gcode_G19(); break; // G19: Select Plane YZ
#endif
#if ENABLED(INCH_MODE_SUPPORT)
case 20: gcode_G20(); break; // G20: Inch Units
case 21: gcode_G21(); break; // G21: Millimeter Units
#endif
#if ENABLED(G26_MESH_VALIDATION)
case 26: gcode_G26(); break; // G26: Mesh Validation Pattern
#endif
#if ENABLED(NOZZLE_PARK_FEATURE)
case 27: gcode_G27(); break; // G27: Park Nozzle
#endif
case 28: gcode_G28(false); break; // G28: Home one or more axes
#if HAS_LEVELING
case 29: gcode_G29(); break; // G29: Detailed Z probe
#endif
#if HAS_BED_PROBE
case 30: gcode_G30(); break; // G30: Single Z probe
#endif
#if ENABLED(Z_PROBE_SLED)
case 31: gcode_G31(); break; // G31: Dock sled
case 32: gcode_G32(); break; // G32: Undock sled
#endif
#if ENABLED(DELTA_AUTO_CALIBRATION)
case 33: gcode_G33(); break; // G33: Delta Auto-Calibration
#endif
#if ENABLED(G38_PROBE_TARGET)
case 38:
if (parser.subcode == 2 || parser.subcode == 3)
gcode_G38(parser.subcode == 2); // G38.2, G38.3: Probe towards object
break;
#endif
#if HAS_MESH
case 42: gcode_G42(); break; // G42: Move to mesh point
#endif
case 90: relative_mode = false; break; // G90: Absolute coordinates
case 91: relative_mode = true; break; // G91: Relative coordinates
case 92: gcode_G92(); break; // G92: Set Position
#if ENABLED(MECHADUINO_I2C_COMMANDS)
case 95: gcode_G95(); break; // G95: Set torque mode
case 96: gcode_G96(); break; // G96: Mark encoder reference point
#endif
#if ENABLED(DEBUG_GCODE_PARSER)
case 800: parser.debug(); break; // G800: GCode Parser Test for G
#endif
default: parser.unknown_command_error();
}
break;
case 'M': switch (parser.codenum) {
#if HAS_RESUME_CONTINUE
case 0: case 1: gcode_M0_M1(); break; // M0: Unconditional stop, M1: Conditional stop
#endif
#if ENABLED(SPINDLE_LASER_ENABLE)
case 3: gcode_M3_M4(true); break; // M3: Laser/CW-Spindle Power
case 4: gcode_M3_M4(false); break; // M4: Laser/CCW-Spindle Power
case 5: gcode_M5(); break; // M5: Laser/Spindle OFF
#endif
case 17: gcode_M17(); break; // M17: Enable all steppers
#if ENABLED(SDSUPPORT)
case 20: gcode_M20(); break; // M20: List SD Card
case 21: gcode_M21(); break; // M21: Init SD Card
case 22: gcode_M22(); break; // M22: Release SD Card
case 23: gcode_M23(); break; // M23: Select File
case 24: gcode_M24(); break; // M24: Start SD Print
case 25: gcode_M25(); break; // M25: Pause SD Print
case 26: gcode_M26(); break; // M26: Set SD Index
case 27: gcode_M27(); break; // M27: Get SD Status
case 28: gcode_M28(); break; // M28: Start SD Write
case 29: gcode_M29(); break; // M29: Stop SD Write
case 30: gcode_M30(); break; // M30: Delete File
case 32: gcode_M32(); break; // M32: Select file, Start SD Print
#if ENABLED(LONG_FILENAME_HOST_SUPPORT)
case 33: gcode_M33(); break; // M33: Report longname path
#endif
#if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
case 34: gcode_M34(); break; // M34: Set SD card sorting options
#endif
case 928: gcode_M928(); break; // M928: Start SD write
#endif // SDSUPPORT
case 31: gcode_M31(); break; // M31: Report print job elapsed time
case 42: gcode_M42(); break; // M42: Change pin state
#if ENABLED(PINS_DEBUGGING)
case 43: gcode_M43(); break; // M43: Read/monitor pin and endstop states
#endif
#if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
case 48: gcode_M48(); break; // M48: Z probe repeatability test
#endif
#if ENABLED(G26_MESH_VALIDATION)
case 49: gcode_M49(); break; // M49: Toggle the G26 Debug Flag
#endif
#if ENABLED(ULTRA_LCD) && ENABLED(LCD_SET_PROGRESS_MANUALLY)
case 73: gcode_M73(); break; // M73: Set Print Progress %
#endif
case 75: gcode_M75(); break; // M75: Start Print Job Timer
case 76: gcode_M76(); break; // M76: Pause Print Job Timer
case 77: gcode_M77(); break; // M77: Stop Print Job Timer
#if ENABLED(PRINTCOUNTER)
case 78: gcode_M78(); break; // M78: Report Print Statistics
#endif
#if ENABLED(M100_FREE_MEMORY_WATCHER)
case 100: gcode_M100(); break; // M100: Free Memory Report
#endif
case 104: gcode_M104(); break; // M104: Set Hotend Temperature
case 110: gcode_M110(); break; // M110: Set Current Line Number
case 111: gcode_M111(); break; // M111: Set Debug Flags
#if DISABLED(EMERGENCY_PARSER)
case 108: gcode_M108(); break; // M108: Cancel Waiting
case 112: gcode_M112(); break; // M112: Emergency Stop
case 410: gcode_M410(); break; // M410: Quickstop. Abort all planned moves
#else
case 108: case 112: case 410: break; // Silently drop as handled by emergency parser
#endif
#if ENABLED(HOST_KEEPALIVE_FEATURE)
case 113: gcode_M113(); break; // M113: Set Host Keepalive Interval
#endif
case 105: gcode_M105(); KEEPALIVE_STATE(NOT_BUSY); return; // M105: Report Temperatures (and say "ok")
#if ENABLED(AUTO_REPORT_TEMPERATURES)
case 155: gcode_M155(); break; // M155: Set Temperature Auto-report Interval
#endif
case 109: gcode_M109(); break; // M109: Set Hotend Temperature. Wait for target.
#if HAS_HEATED_BED
case 140: gcode_M140(); break; // M140: Set Bed Temperature
case 190: gcode_M190(); break; // M190: Set Bed Temperature. Wait for target.
#endif
#if FAN_COUNT > 0
case 106: gcode_M106(); break; // M106: Set Fan Speed
case 107: gcode_M107(); break; // M107: Fan Off
#endif
#if ENABLED(PARK_HEAD_ON_PAUSE)
case 125: gcode_M125(); break; // M125: Park (for Filament Change)
#endif
#if ENABLED(BARICUDA)
#if HAS_HEATER_1
case 126: gcode_M126(); break; // M126: Valve 1 Open
case 127: gcode_M127(); break; // M127: Valve 1 Closed
#endif
#if HAS_HEATER_2
case 128: gcode_M128(); break; // M128: Valve 2 Open
case 129: gcode_M129(); break; // M129: Valve 2 Closed
#endif
#endif
#if HAS_POWER_SWITCH
case 80: gcode_M80(); break; // M80: Turn on Power Supply
#endif
case 81: gcode_M81(); break; // M81: Turn off Power and Power Supply
case 82: gcode_M82(); break; // M82: Disable Relative E-Axis
case 83: gcode_M83(); break; // M83: Set Relative E-Axis
case 18: case 84: gcode_M18_M84(); break; // M18/M84: Disable Steppers / Set Timeout
case 85: gcode_M85(); break; // M85: Set inactivity stepper shutdown timeout
case 92: gcode_M92(); break; // M92: Set steps-per-unit
case 114: gcode_M114(); break; // M114: Report Current Position
case 115: gcode_M115(); break; // M115: Capabilities Report
case 117: gcode_M117(); break; // M117: Set LCD message text
case 118: gcode_M118(); break; // M118: Print a message in the host console
case 119: gcode_M119(); break; // M119: Report Endstop states
case 120: gcode_M120(); break; // M120: Enable Endstops
case 121: gcode_M121(); break; // M121: Disable Endstops
#if ENABLED(ULTIPANEL)
case 145: gcode_M145(); break; // M145: Set material heatup parameters
#endif
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
case 149: gcode_M149(); break; // M149: Set Temperature Units, C F K
#endif
#if HAS_COLOR_LEDS
case 150: gcode_M150(); break; // M150: Set Status LED Color
#endif
#if ENABLED(MIXING_EXTRUDER)
case 163: gcode_M163(); break; // M163: Set Mixing Component
#if MIXING_VIRTUAL_TOOLS > 1
case 164: gcode_M164(); break; // M164: Save Current Mix
#endif
#if ENABLED(DIRECT_MIXING_IN_G1)
case 165: gcode_M165(); break; // M165: Set Multiple Mixing Components
#endif
#endif
#if DISABLED(NO_VOLUMETRICS)
case 200: gcode_M200(); break; // M200: Set Filament Diameter, Volumetric Extrusion
#endif
case 201: gcode_M201(); break; // M201: Set Max Printing Acceleration (units/sec^2)
#if 0
case 202: gcode_M202(); break; // M202: Not used for Sprinter/grbl gen6
#endif
case 203: gcode_M203(); break; // M203: Set Max Feedrate (units/sec)
case 204: gcode_M204(); break; // M204: Set Acceleration
case 205: gcode_M205(); break; // M205: Set Advanced settings
#if HAS_M206_COMMAND
case 206: gcode_M206(); break; // M206: Set Home Offsets
case 428: gcode_M428(); break; // M428: Set Home Offsets based on current position
#endif
#if ENABLED(FWRETRACT)
case 207: gcode_M207(); break; // M207: Set Retract Length, Feedrate, Z lift
case 208: gcode_M208(); break; // M208: Set Additional Prime Length and Feedrate
case 209:
if (MIN_AUTORETRACT <= MAX_AUTORETRACT) gcode_M209(); // M209: Turn Auto-Retract on/off
break;
#endif
case 211: gcode_M211(); break; // M211: Enable/Disable/Report Software Endstops
#if HOTENDS > 1
case 218: gcode_M218(); break; // M218: Set Tool Offset
#endif
case 220: gcode_M220(); break; // M220: Set Feedrate Percentage
case 221: gcode_M221(); break; // M221: Set Flow Percentage
case 226: gcode_M226(); break; // M226: Wait for Pin State
#if defined(CHDK) || HAS_PHOTOGRAPH
case 240: gcode_M240(); break; // M240: Trigger Camera
#endif
#if HAS_LCD_CONTRAST
case 250: gcode_M250(); break; // M250: Set LCD Contrast
#endif
#if ENABLED(EXPERIMENTAL_I2CBUS)
case 260: gcode_M260(); break; // M260: Send Data to i2c slave
case 261: gcode_M261(); break; // M261: Request Data from i2c slave
#endif
#if HAS_SERVOS
case 280: gcode_M280(); break; // M280: Set Servo Position
#endif
#if ENABLED(BABYSTEPPING)
case 290: gcode_M290(); break; // M290: Babystepping
#endif
#if HAS_BUZZER
case 300: gcode_M300(); break; // M300: Add Tone/Buzz to Queue
#endif
#if ENABLED(PIDTEMP)
case 301: gcode_M301(); break; // M301: Set Hotend PID parameters
#endif
#if ENABLED(PREVENT_COLD_EXTRUSION)
case 302: gcode_M302(); break; // M302: Set Minimum Extrusion Temp
#endif
case 303: gcode_M303(); break; // M303: PID Autotune
#if ENABLED(PIDTEMPBED)
case 304: gcode_M304(); break; // M304: Set Bed PID parameters
#endif
#if HAS_MICROSTEPS
case 350: gcode_M350(); break; // M350: Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
case 351: gcode_M351(); break; // M351: Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
#endif
case 355: gcode_M355(); break; // M355: Set Case Light brightness
#if ENABLED(MORGAN_SCARA)
case 360: if (gcode_M360()) return; break; // M360: SCARA Theta pos1
case 361: if (gcode_M361()) return; break; // M361: SCARA Theta pos2
case 362: if (gcode_M362()) return; break; // M362: SCARA Psi pos1
case 363: if (gcode_M363()) return; break; // M363: SCARA Psi pos2
case 364: if (gcode_M364()) return; break; // M364: SCARA Psi pos3 (90 deg to Theta)
#endif
case 400: gcode_M400(); break; // M400: Synchronize. Wait for moves to finish.
#if HAS_BED_PROBE
case 401: gcode_M401(); break; // M401: Deploy Probe
case 402: gcode_M402(); break; // M402: Stow Probe
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
case 404: gcode_M404(); break; // M404: Set/Report Nominal Filament Width
case 405: gcode_M405(); break; // M405: Enable Filament Width Sensor
case 406: gcode_M406(); break; // M406: Disable Filament Width Sensor
case 407: gcode_M407(); break; // M407: Report Measured Filament Width
#endif
#if HAS_LEVELING
case 420: gcode_M420(); break; // M420: Set Bed Leveling Enabled / Fade
#endif
#if HAS_MESH
case 421: gcode_M421(); break; // M421: Set a Mesh Z value
#endif
case 500: gcode_M500(); break; // M500: Store Settings in EEPROM
case 501: gcode_M501(); break; // M501: Read Settings from EEPROM
case 502: gcode_M502(); break; // M502: Revert Settings to defaults
#if DISABLED(DISABLE_M503)
case 503: gcode_M503(); break; // M503: Report Settings (in SRAM)
#endif
#if ENABLED(EEPROM_SETTINGS)
case 504: gcode_M504(); break; // M504: Validate EEPROM
#endif
#if ENABLED(SDSUPPORT)
case 524: gcode_M524(); break; // M524: Abort SD print job
#endif
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
case 540: gcode_M540(); break; // M540: Set Abort on Endstop Hit for SD Printing
#endif
#if ENABLED(ADVANCED_PAUSE_FEATURE)
case 600: gcode_M600(); break; // M600: Pause for Filament Change
case 603: gcode_M603(); break; // M603: Configure Filament Change
#endif
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
case 605: gcode_M605(); break; // M605: Set Dual X Carriage movement mode
#endif
#if ENABLED(DELTA) || ENABLED(HANGPRINTER)
case 665: gcode_M665(); break; // M665: Delta / Hangprinter Configuration
#endif
#if ENABLED(DELTA) || ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
case 666: gcode_M666(); break; // M666: DELTA/Dual Endstop Adjustment
#endif
#if ENABLED(FILAMENT_LOAD_UNLOAD_GCODES)
case 701: gcode_M701(); break; // M701: Load Filament
case 702: gcode_M702(); break; // M702: Unload Filament
#endif
#if ENABLED(MAX7219_GCODE)
case 7219: gcode_M7219(); break; // M7219: Set LEDs, columns, and rows
#endif
#if ENABLED(DEBUG_GCODE_PARSER)
case 800: parser.debug(); break; // M800: GCode Parser Test for M
#endif
#if HAS_BED_PROBE
case 851: gcode_M851(); break; // M851: Set Z Probe Z Offset
#endif
#if ENABLED(SKEW_CORRECTION_GCODE)
case 852: gcode_M852(); break; // M852: Set Skew factors
#endif
#if ENABLED(I2C_POSITION_ENCODERS)
case 860: gcode_M860(); break; // M860: Report encoder module position
case 861: gcode_M861(); break; // M861: Report encoder module status
case 862: gcode_M862(); break; // M862: Perform axis test
case 863: gcode_M863(); break; // M863: Calibrate steps/mm
case 864: gcode_M864(); break; // M864: Change module address
case 865: gcode_M865(); break; // M865: Check module firmware version
case 866: gcode_M866(); break; // M866: Report axis error count
case 867: gcode_M867(); break; // M867: Toggle error correction
case 868: gcode_M868(); break; // M868: Set error correction threshold
case 869: gcode_M869(); break; // M869: Report axis error
#endif
#if ENABLED(LIN_ADVANCE)
case 900: gcode_M900(); break; // M900: Set Linear Advance K factor
#endif
case 907: gcode_M907(); break; // M907: Set Digital Trimpot Motor Current using axis codes.
#if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
case 908: gcode_M908(); break; // M908: Direct Control Digital Trimpot
#if ENABLED(DAC_STEPPER_CURRENT)
case 909: gcode_M909(); break; // M909: Print Digipot/DAC current value (As with Printrbot RevF)
case 910: gcode_M910(); break; // M910: Commit Digipot/DAC value to External EEPROM (As with Printrbot RevF)
#endif
#endif
#if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2208)
#if ENABLED(TMC_DEBUG)
case 122: gcode_M122(); break; // M122: Debug TMC steppers
#endif
case 906: gcode_M906(); break; // M906: Set motor current in milliamps using axis codes X, Y, Z, E
case 911: gcode_M911(); break; // M911: Report TMC prewarn triggered flags
case 912: gcode_M912(); break; // M911: Clear TMC prewarn triggered flags
#if ENABLED(HYBRID_THRESHOLD)
case 913: gcode_M913(); break; // M913: Set HYBRID_THRESHOLD speed.
#endif
#if ENABLED(SENSORLESS_HOMING)
case 914: gcode_M914(); break; // M914: Set SENSORLESS_HOMING sensitivity.
#endif
#if ENABLED(TMC_Z_CALIBRATION)
case 915: gcode_M915(); break; // M915: TMC Z axis calibration routine
#endif
#endif
case 999: gcode_M999(); break; // M999: Restart after being Stopped
default: parser.unknown_command_error();
}
break;
case 'T': gcode_T(parser.codenum); break; // T: Tool Select
default: parser.unknown_command_error();
}
KEEPALIVE_STATE(NOT_BUSY);
ok_to_send();
}
void process_next_command() {
char * const current_command = command_queue[cmd_queue_index_r];
if (DEBUGGING(ECHO)) {
SERIAL_ECHO_START();
SERIAL_ECHOLN(current_command);
#if ENABLED(M100_FREE_MEMORY_WATCHER)
SERIAL_ECHOPAIR("slot:", cmd_queue_index_r);
M100_dump_routine(" Command Queue:", (const char*)command_queue, (const char*)(command_queue + sizeof(command_queue)));
#endif
}
// Parse the next command in the queue
parser.parse(current_command);
process_parsed_command();
}
/**
* Send a "Resend: nnn" message to the host to
* indicate that a command needs to be re-sent.
*/
void flush_and_request_resend() {
//char command_queue[cmd_queue_index_r][100]="Resend:";
SERIAL_FLUSH();
SERIAL_PROTOCOLPGM(MSG_RESEND);
SERIAL_PROTOCOLLN(gcode_LastN + 1);
ok_to_send();
}
/**
* Send an "ok" message to the host, indicating
* that a command was successfully processed.
*
* If ADVANCED_OK is enabled also include:
* N<int> Line number of the command, if any
* P<int> Planner space remaining
* B<int> Block queue space remaining
*/
void ok_to_send() {
if (!send_ok[cmd_queue_index_r]) return;
SERIAL_PROTOCOLPGM(MSG_OK);
#if ENABLED(ADVANCED_OK)
char* p = command_queue[cmd_queue_index_r];
if (*p == 'N') {
SERIAL_PROTOCOL(' ');
SERIAL_ECHO(*p++);
while (NUMERIC_SIGNED(*p))
SERIAL_ECHO(*p++);
}
SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
#endif
SERIAL_EOL();
}
#if HAS_SOFTWARE_ENDSTOPS
/**
* Constrain the given coordinates to the software endstops.
*
* For DELTA/SCARA the XY constraint is based on the smallest
* radius within the set software endstops.
*/
void clamp_to_software_endstops(float target[XYZ]) {
if (!soft_endstops_enabled) return;
#if IS_KINEMATIC
const float dist_2 = HYPOT2(target[X_AXIS], target[Y_AXIS]);
if (dist_2 > soft_endstop_radius_2) {
const float ratio = soft_endstop_radius / SQRT(dist_2); // 200 / 300 = 0.66
target[X_AXIS] *= ratio;
target[Y_AXIS] *= ratio;
}
#else
#if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
#endif
#if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
#endif
#if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
#endif
#if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
#endif
#endif
#if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
#endif
#if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
#endif
}
#endif
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Get the Z adjustment for non-linear bed leveling
float bilinear_z_offset(const float raw[XYZ]) {
static float z1, d2, z3, d4, L, D, ratio_x, ratio_y,
last_x = -999.999, last_y = -999.999;
// Whole units for the grid line indices. Constrained within bounds.
static int8_t gridx, gridy, nextx, nexty,
last_gridx = -99, last_gridy = -99;
// XY relative to the probed area
const float rx = raw[X_AXIS] - bilinear_start[X_AXIS],
ry = raw[Y_AXIS] - bilinear_start[Y_AXIS];
#if ENABLED(EXTRAPOLATE_BEYOND_GRID)
// Keep using the last grid box
#define FAR_EDGE_OR_BOX 2
#else
// Just use the grid far edge
#define FAR_EDGE_OR_BOX 1
#endif
if (last_x != rx) {
last_x = rx;
ratio_x = rx * ABL_BG_FACTOR(X_AXIS);
const float gx = constrain(FLOOR(ratio_x), 0, ABL_BG_POINTS_X - FAR_EDGE_OR_BOX);
ratio_x -= gx; // Subtract whole to get the ratio within the grid box
#if DISABLED(EXTRAPOLATE_BEYOND_GRID)
// Beyond the grid maintain height at grid edges
NOLESS(ratio_x, 0); // Never < 0.0. (> 1.0 is ok when nextx==gridx.)
#endif
gridx = gx;
nextx = MIN(gridx + 1, ABL_BG_POINTS_X - 1);
}
if (last_y != ry || last_gridx != gridx) {
if (last_y != ry) {
last_y = ry;
ratio_y = ry * ABL_BG_FACTOR(Y_AXIS);
const float gy = constrain(FLOOR(ratio_y), 0, ABL_BG_POINTS_Y - FAR_EDGE_OR_BOX);
ratio_y -= gy;
#if DISABLED(EXTRAPOLATE_BEYOND_GRID)
// Beyond the grid maintain height at grid edges
NOLESS(ratio_y, 0); // Never < 0.0. (> 1.0 is ok when nexty==gridy.)
#endif
gridy = gy;
nexty = MIN(gridy + 1, ABL_BG_POINTS_Y - 1);
}
if (last_gridx != gridx || last_gridy != gridy) {
last_gridx = gridx;
last_gridy = gridy;
// Z at the box corners
z1 = ABL_BG_GRID(gridx, gridy); // left-front
d2 = ABL_BG_GRID(gridx, nexty) - z1; // left-back (delta)
z3 = ABL_BG_GRID(nextx, gridy); // right-front
d4 = ABL_BG_GRID(nextx, nexty) - z3; // right-back (delta)
}
// Bilinear interpolate. Needed since ry or gridx has changed.
L = z1 + d2 * ratio_y; // Linear interp. LF -> LB
const float R = z3 + d4 * ratio_y; // Linear interp. RF -> RB
D = R - L;
}
const float offset = L + ratio_x * D; // the offset almost always changes
/*
static float last_offset = 0;
if (ABS(last_offset - offset) > 0.2) {
SERIAL_ECHOPGM("Sudden Shift at ");
SERIAL_ECHOPAIR("x=", rx);
SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[X_AXIS]);
SERIAL_ECHOLNPAIR(" -> gridx=", gridx);
SERIAL_ECHOPAIR(" y=", ry);
SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[Y_AXIS]);
SERIAL_ECHOLNPAIR(" -> gridy=", gridy);
SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
SERIAL_ECHOLNPAIR(" ratio_y=", ratio_y);
SERIAL_ECHOPAIR(" z1=", z1);
SERIAL_ECHOPAIR(" z2=", z2);
SERIAL_ECHOPAIR(" z3=", z3);
SERIAL_ECHOLNPAIR(" z4=", z4);
SERIAL_ECHOPAIR(" L=", L);
SERIAL_ECHOPAIR(" R=", R);
SERIAL_ECHOLNPAIR(" offset=", offset);
}
last_offset = offset;
//*/
return offset;
}
#endif // AUTO_BED_LEVELING_BILINEAR
#if ENABLED(DELTA)
/**
* Recalculate factors used for delta kinematics whenever
* settings have been changed (e.g., by M665).
*/
void recalc_delta_settings() {
const float trt[ABC] = DELTA_RADIUS_TRIM_TOWER,
drt[ABC] = DELTA_DIAGONAL_ROD_TRIM_TOWER;
delta_tower[A_AXIS][X_AXIS] = cos(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (delta_radius + trt[A_AXIS]); // front left tower
delta_tower[A_AXIS][Y_AXIS] = sin(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (delta_radius + trt[A_AXIS]);
delta_tower[B_AXIS][X_AXIS] = cos(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (delta_radius + trt[B_AXIS]); // front right tower
delta_tower[B_AXIS][Y_AXIS] = sin(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (delta_radius + trt[B_AXIS]);
delta_tower[C_AXIS][X_AXIS] = cos(RADIANS( 90 + delta_tower_angle_trim[C_AXIS])) * (delta_radius + trt[C_AXIS]); // back middle tower
delta_tower[C_AXIS][Y_AXIS] = sin(RADIANS( 90 + delta_tower_angle_trim[C_AXIS])) * (delta_radius + trt[C_AXIS]);
delta_diagonal_rod_2_tower[A_AXIS] = sq(delta_diagonal_rod + drt[A_AXIS]);
delta_diagonal_rod_2_tower[B_AXIS] = sq(delta_diagonal_rod + drt[B_AXIS]);
delta_diagonal_rod_2_tower[C_AXIS] = sq(delta_diagonal_rod + drt[C_AXIS]);
update_software_endstops(Z_AXIS);
axis_homed = 0;
}
/**
* Delta Inverse Kinematics
*
* Calculate the tower positions for a given machine
* position, storing the result in the delta[] array.
*
* This is an expensive calculation, requiring 3 square
* roots per segmented linear move, and strains the limits
* of a Mega2560 with a Graphical Display.
*
* Suggested optimizations include:
*
* - Disable the home_offset (M206) and/or position_shift (G92)
* features to remove up to 12 float additions.
*/
#define DELTA_DEBUG(VAR) do { \
SERIAL_ECHOPAIR("cartesian X:", VAR[X_AXIS]); \
SERIAL_ECHOPAIR(" Y:", VAR[Y_AXIS]); \
SERIAL_ECHOLNPAIR(" Z:", VAR[Z_AXIS]); \
SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]); \
SERIAL_ECHOPAIR(" B:", delta[B_AXIS]); \
SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); \
}while(0)
void inverse_kinematics(const float raw[XYZ]) {
#if HOTENDS > 1
// Delta hotend offsets must be applied in Cartesian space with no "spoofing"
const float pos[XYZ] = {
raw[X_AXIS] - hotend_offset[X_AXIS][active_extruder],
raw[Y_AXIS] - hotend_offset[Y_AXIS][active_extruder],
raw[Z_AXIS]
};
DELTA_IK(pos);
//DELTA_DEBUG(pos);
#else
DELTA_IK(raw);
//DELTA_DEBUG(raw);
#endif
}
/**
* Calculate the highest Z position where the
* effector has the full range of XY motion.
*/
float delta_safe_distance_from_top() {
float cartesian[XYZ] = { 0, 0, 0 };
inverse_kinematics(cartesian);
const float centered_extent = delta[A_AXIS];
cartesian[Y_AXIS] = DELTA_PRINTABLE_RADIUS;
inverse_kinematics(cartesian);
return ABS(centered_extent - delta[A_AXIS]);
}
/**
* Delta Forward Kinematics
*
* See the Wikipedia article "Trilateration"
* https://en.wikipedia.org/wiki/Trilateration
*
* Establish a new coordinate system in the plane of the
* three carriage points. This system has its origin at
* tower1, with tower2 on the X axis. Tower3 is in the X-Y
* plane with a Z component of zero.
* We will define unit vectors in this coordinate system
* in our original coordinate system. Then when we calculate
* the Xnew, Ynew and Znew values, we can translate back into
* the original system by moving along those unit vectors
* by the corresponding values.
*
* Variable names matched to Marlin, c-version, and avoid the
* use of any vector library.
*
* by Andreas Hardtung 2016-06-07
* based on a Java function from "Delta Robot Kinematics V3"
* by Steve Graves
*
* The result is stored in the cartes[] array.
*/
void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3) {
// Create a vector in old coordinates along x axis of new coordinate
const float p12[] = {
delta_tower[B_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS],
delta_tower[B_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS],
z2 - z1
},
// Get the reciprocal of Magnitude of vector.
d2 = sq(p12[0]) + sq(p12[1]) + sq(p12[2]), inv_d = RSQRT(d2),
// Create unit vector by multiplying by the inverse of the magnitude.
ex[3] = { p12[0] * inv_d, p12[1] * inv_d, p12[2] * inv_d },
// Get the vector from the origin of the new system to the third point.
p13[3] = {
delta_tower[C_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS],
delta_tower[C_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS],
z3 - z1
},
// Use the dot product to find the component of this vector on the X axis.
i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2],
// Create a vector along the x axis that represents the x component of p13.
iex[] = { ex[0] * i, ex[1] * i, ex[2] * i };
// Subtract the X component from the original vector leaving only Y. We use the
// variable that will be the unit vector after we scale it.
float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] };
// The magnitude and the inverse of the magnitude of Y component
const float j2 = sq(ey[0]) + sq(ey[1]) + sq(ey[2]), inv_j = RSQRT(j2);
// Convert to a unit vector
ey[0] *= inv_j; ey[1] *= inv_j; ey[2] *= inv_j;
// The cross product of the unit x and y is the unit z
// float[] ez = vectorCrossProd(ex, ey);
const float ez[3] = {
ex[1] * ey[2] - ex[2] * ey[1],
ex[2] * ey[0] - ex[0] * ey[2],
ex[0] * ey[1] - ex[1] * ey[0]
},
// We now have the d, i and j values defined in Wikipedia.
// Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
Xnew = (delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[B_AXIS] + d2) * inv_d * 0.5,
Ynew = ((delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[C_AXIS] + sq(i) + j2) * 0.5 - i * Xnew) * inv_j,
Znew = SQRT(delta_diagonal_rod_2_tower[A_AXIS] - HYPOT2(Xnew, Ynew));
// Start from the origin of the old coordinates and add vectors in the
// old coords that represent the Xnew, Ynew and Znew to find the point
// in the old system.
cartes[X_AXIS] = delta_tower[A_AXIS][X_AXIS] + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew;
cartes[Y_AXIS] = delta_tower[A_AXIS][Y_AXIS] + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew;
cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
}
void forward_kinematics_DELTA(const float (&point)[ABC]) {
forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
}
#endif // DELTA
#if ENABLED(HANGPRINTER)
/**
* Recalculate factors used for hangprinter kinematics whenever
* settings have been changed (e.g., by M665).
*/
void recalc_hangprinter_settings(){
HANGPRINTER_IK_ORIGIN(line_lengths_origin);
#if ENABLED(LINE_BUILDUP_COMPENSATION_FEATURE)
const uint8_t mech_adv_tmp[MOV_AXIS] = MECHANICAL_ADVANTAGE,
actn_pts_tmp[MOV_AXIS] = ACTION_POINTS;
const uint16_t m_g_t_tmp[MOV_AXIS] = MOTOR_GEAR_TEETH,
s_g_t_tmp[MOV_AXIS] = SPOOL_GEAR_TEETH;
const float mnt_l_tmp[MOV_AXIS] = MOUNTED_LINE;
float s_r2_tmp[MOV_AXIS] = SPOOL_RADII,
steps_per_unit_times_r_tmp[MOV_AXIS];
uint8_t nr_lines_dir_tmp[MOV_AXIS];
LOOP_MOV_AXIS(i){
steps_per_unit_times_r_tmp[i] = (float(mech_adv_tmp[i])*STEPS_PER_MOTOR_REVOLUTION*s_g_t_tmp[i])/(2*M_PI*m_g_t_tmp[i]);
nr_lines_dir_tmp[i] = mech_adv_tmp[i]*actn_pts_tmp[i];
s_r2_tmp[i] *= s_r2_tmp[i];
planner.k2[i] = -(float)nr_lines_dir_tmp[i]*SPOOL_BUILDUP_FACTOR;
planner.k0[i] = 2.0*steps_per_unit_times_r_tmp[i]/planner.k2[i];
}
// Assumes spools are mounted near D-anchor in ceiling
#define HYP3D(x,y,z) SQRT(sq(x) + sq(y) + sq(z))
float line_on_spool_origin_tmp[MOV_AXIS];
line_on_spool_origin_tmp[A_AXIS] = actn_pts_tmp[A_AXIS] * mnt_l_tmp[A_AXIS]
- actn_pts_tmp[A_AXIS] * HYPOT(anchor_A_y, anchor_D_z - anchor_A_z)
- nr_lines_dir_tmp[A_AXIS] * line_lengths_origin[A_AXIS];
line_on_spool_origin_tmp[B_AXIS] = actn_pts_tmp[B_AXIS] * mnt_l_tmp[B_AXIS]
- actn_pts_tmp[B_AXIS] * HYP3D(anchor_B_x, anchor_B_y, anchor_D_z - anchor_B_z)
- nr_lines_dir_tmp[B_AXIS] * line_lengths_origin[B_AXIS];
line_on_spool_origin_tmp[C_AXIS] = actn_pts_tmp[C_AXIS] * mnt_l_tmp[C_AXIS]
- actn_pts_tmp[C_AXIS] * HYP3D(anchor_C_x, anchor_C_y, anchor_D_z - anchor_C_z)
- nr_lines_dir_tmp[C_AXIS] * line_lengths_origin[C_AXIS];
line_on_spool_origin_tmp[D_AXIS] = actn_pts_tmp[D_AXIS] * mnt_l_tmp[D_AXIS]
- nr_lines_dir_tmp[D_AXIS] * line_lengths_origin[D_AXIS];
LOOP_MOV_AXIS(i) {
planner.axis_steps_per_mm[i] = steps_per_unit_times_r_tmp[i] /
SQRT((SPOOL_BUILDUP_FACTOR) * line_on_spool_origin_tmp[i] + s_r2_tmp[i]);
planner.k1[i] = (SPOOL_BUILDUP_FACTOR) *
(line_on_spool_origin_tmp[i] + nr_lines_dir_tmp[i] * line_lengths_origin[i]) + s_r2_tmp[i];
planner.sqrtk1[i] = SQRT(planner.k1[i]);
}
planner.axis_steps_per_mm[E_AXIS] = DEFAULT_E_AXIS_STEPS_PER_UNIT;
#endif // LINE_BUILDUP_COMPENSATION_FEATURE
SYNC_PLAN_POSITION_KINEMATIC(); // recalcs line lengths in case anchor was moved
}
/**
* Hangprinter inverse kinematics
*/
void inverse_kinematics(const float raw[XYZ]) {
HANGPRINTER_IK(raw);
}
/**
* Hangprinter forward kinematics
* Basic idea is to subtract squared line lengths to get linear equations.
* Subtracting d*d from a*a, b*b, and c*c gives the cleanest derivation:
*
* a*a - d*d = k1 + k2*y + k3*z <---- a line (I)
* b*b - d*d = k4 + k5*x + k6*y + k7*z <---- a plane (II)
* c*c - d*d = k8 + k9*x + k10*y + k11*z <---- a plane (III)
*
* Use (I) to reduce (II) and (III) into lines. Eliminate y, keep z.
*
* (II): b*b - d*d = k12 + k13*x + k14*z
* <=> x = k0b + k1b*z, <---- a line (IV)
*
* (III): c*c - d*d = k15 + k16*x + k17*z
* <=> x = k0c + k1c*z, <---- a line (V)
*
* where k1, k2, ..., k17, k0b, k0c, k1b, and k1c are known constants.
*
* These two straight lines are not parallel, so they will cross in exactly one point.
* Find z by setting (IV) = (V)
* Find x by inserting z into (V)
* Find y by inserting z into (I)
*
* Warning: truncation errors will typically be in the order of a few tens of microns.
*/
void forward_kinematics_HANGPRINTER(float a, float b, float c, float d){
const float Asq = sq(anchor_A_y) + sq(anchor_A_z),
Bsq = sq(anchor_B_x) + sq(anchor_B_y) + sq(anchor_B_z),
Csq = sq(anchor_C_x) + sq(anchor_C_y) + sq(anchor_C_z),
Dsq = sq(anchor_D_z),
aa = sq(a),
dd = sq(d),
k0b = (-sq(b) + Bsq - Dsq + dd) / (2.0 * anchor_B_x) + (anchor_B_y / (2.0 * anchor_A_y * anchor_B_x)) * (Dsq - Asq + aa - dd),
k0c = (-sq(c) + Csq - Dsq + dd) / (2.0 * anchor_C_x) + (anchor_C_y / (2.0 * anchor_A_y * anchor_C_x)) * (Dsq - Asq + aa - dd),
k1b = (anchor_B_y * (anchor_A_z - anchor_D_z)) / (anchor_A_y * anchor_B_x) + (anchor_D_z - anchor_B_z) / anchor_B_x,
k1c = (anchor_C_y * (anchor_A_z - anchor_D_z)) / (anchor_A_y * anchor_C_x) + (anchor_D_z - anchor_C_z) / anchor_C_x;
cartes[Z_AXIS] = (k0b - k0c) / (k1c - k1b);
cartes[X_AXIS] = k0c + k1c * cartes[Z_AXIS];
cartes[Y_AXIS] = (Asq - Dsq - aa + dd) / (2.0 * anchor_A_y) + ((anchor_D_z - anchor_A_z) / anchor_A_y) * cartes[Z_AXIS];
}
#endif // HANGPRINTER
/**
* Get the stepper positions in the cartes[] array.
* Forward kinematics are applied for DELTA and SCARA.
*
* The result is in the current coordinate space with
* leveling applied. The coordinates need to be run through
* unapply_leveling to obtain machine coordinates suitable
* for current_position, etc.
*/
void get_cartesian_from_steppers() {
#if ENABLED(DELTA)
forward_kinematics_DELTA(
planner.get_axis_position_mm(A_AXIS),
planner.get_axis_position_mm(B_AXIS),
planner.get_axis_position_mm(C_AXIS)
);
#elif ENABLED(HANGPRINTER)
forward_kinematics_HANGPRINTER(
planner.get_axis_position_mm(A_AXIS),
planner.get_axis_position_mm(B_AXIS),
planner.get_axis_position_mm(C_AXIS),
planner.get_axis_position_mm(D_AXIS)
);
#else
#if IS_SCARA
forward_kinematics_SCARA(
planner.get_axis_position_degrees(A_AXIS),
planner.get_axis_position_degrees(B_AXIS)
);
#else
cartes[X_AXIS] = planner.get_axis_position_mm(X_AXIS);
cartes[Y_AXIS] = planner.get_axis_position_mm(Y_AXIS);
#endif
cartes[Z_AXIS] = planner.get_axis_position_mm(Z_AXIS);
#endif
}
/**
* Set the current_position for an axis based on
* the stepper positions, removing any leveling that
* may have been applied.
*
* To prevent small shifts in axis position always call
* SYNC_PLAN_POSITION_KINEMATIC after updating axes with this.
*
* To keep hosts in sync, always call report_current_position
* after updating the current_position.
*/
void set_current_from_steppers_for_axis(const AxisEnum axis) {
get_cartesian_from_steppers();
#if PLANNER_LEVELING
planner.unapply_leveling(cartes);
#endif
if (axis == ALL_AXES)
COPY(current_position, cartes);
else
current_position[axis] = cartes[axis];
}
#if IS_CARTESIAN
#if ENABLED(SEGMENT_LEVELED_MOVES)
/**
* Prepare a segmented move on a CARTESIAN setup.
*
* This calls planner.buffer_line several times, adding
* small incremental moves. This allows the planner to
* apply more detailed bed leveling to the full move.
*/
inline void segmented_line_to_destination(const float &fr_mm_s, const float segment_size=LEVELED_SEGMENT_LENGTH) {
const float xdiff = destination[X_AXIS] - current_position[X_AXIS],
ydiff = destination[Y_AXIS] - current_position[Y_AXIS];
// If the move is only in Z/E don't split up the move
if (!xdiff && !ydiff) {
planner.buffer_line_kinematic(destination, fr_mm_s, active_extruder);
return;
}
// Remaining cartesian distances
const float zdiff = destination[Z_AXIS] - current_position[Z_AXIS],
ediff = destination[E_CART] - current_position[E_CART];
// Get the linear distance in XYZ
// If the move is very short, check the E move distance
// No E move either? Game over.
float cartesian_mm = SQRT(sq(xdiff) + sq(ydiff) + sq(zdiff));
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(ediff);
if (UNEAR_ZERO(cartesian_mm)) return;
// The length divided by the segment size
// At least one segment is required
uint16_t segments = cartesian_mm / segment_size;
NOLESS(segments, 1);
// The approximate length of each segment
const float inv_segments = 1.0f / float(segments),
cartesian_segment_mm = cartesian_mm * inv_segments,
segment_distance[XYZE] = {
xdiff * inv_segments,
ydiff * inv_segments,
zdiff * inv_segments,
ediff * inv_segments
};
// SERIAL_ECHOPAIR("mm=", cartesian_mm);
// SERIAL_ECHOLNPAIR(" segments=", segments);
// SERIAL_ECHOLNPAIR(" segment_mm=", cartesian_segment_mm);
// Get the raw current position as starting point
float raw[XYZE];
COPY(raw, current_position);
// Calculate and execute the segments
while (--segments) {
static millis_t next_idle_ms = millis() + 200UL;
thermalManager.manage_heater(); // This returns immediately if not really needed.
if (ELAPSED(millis(), next_idle_ms)) {
next_idle_ms = millis() + 200UL;
idle();
}
LOOP_XYZE(i) raw[i] += segment_distance[i];
if (!planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder, cartesian_segment_mm))
break;
}
// Since segment_distance is only approximate,
// the final move must be to the exact destination.
planner.buffer_line_kinematic(destination, fr_mm_s, active_extruder, cartesian_segment_mm);
}
#elif ENABLED(MESH_BED_LEVELING)
/**
* Prepare a mesh-leveled linear move in a Cartesian setup,
* splitting the move where it crosses mesh borders.
*/
void mesh_line_to_destination(const float fr_mm_s, uint8_t x_splits=0xFF, uint8_t y_splits=0xFF) {
// Get current and destination cells for this line
int cx1 = mbl.cell_index_x(current_position[X_AXIS]),
cy1 = mbl.cell_index_y(current_position[Y_AXIS]),
cx2 = mbl.cell_index_x(destination[X_AXIS]),
cy2 = mbl.cell_index_y(destination[Y_AXIS]);
NOMORE(cx1, GRID_MAX_POINTS_X - 2);
NOMORE(cy1, GRID_MAX_POINTS_Y - 2);
NOMORE(cx2, GRID_MAX_POINTS_X - 2);
NOMORE(cy2, GRID_MAX_POINTS_Y - 2);
// Start and end in the same cell? No split needed.
if (cx1 == cx2 && cy1 == cy2) {
buffer_line_to_destination(fr_mm_s);
set_current_from_destination();
return;
}
#define MBL_SEGMENT_END(A) (current_position[_AXIS(A)] + (destination[_AXIS(A)] - current_position[_AXIS(A)]) * normalized_dist)
#define MBL_SEGMENT_END_E (current_position[E_CART] + (destination[E_CART] - current_position[E_CART]) * normalized_dist)
float normalized_dist, end[XYZE];
const int8_t gcx = MAX(cx1, cx2), gcy = MAX(cy1, cy2);
// Crosses on the X and not already split on this X?
// The x_splits flags are insurance against rounding errors.
if (cx2 != cx1 && TEST(x_splits, gcx)) {
// Split on the X grid line
CBI(x_splits, gcx);
COPY(end, destination);
destination[X_AXIS] = mbl.index_to_xpos[gcx];
normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
destination[Y_AXIS] = MBL_SEGMENT_END(Y);
}
// Crosses on the Y and not already split on this Y?
else if (cy2 != cy1 && TEST(y_splits, gcy)) {
// Split on the Y grid line
CBI(y_splits, gcy);
COPY(end, destination);
destination[Y_AXIS] = mbl.index_to_ypos[gcy];
normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
destination[X_AXIS] = MBL_SEGMENT_END(X);
}
else {
// Must already have been split on these border(s)
buffer_line_to_destination(fr_mm_s);
set_current_from_destination();
return;
}
destination[Z_AXIS] = MBL_SEGMENT_END(Z);
destination[E_CART] = MBL_SEGMENT_END_E;
// Do the split and look for more borders
mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
// Restore destination from stack
COPY(destination, end);
mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
}
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
#define CELL_INDEX(A,V) ((V - bilinear_start[_AXIS(A)]) * ABL_BG_FACTOR(_AXIS(A)))
/**
* Prepare a bilinear-leveled linear move on Cartesian,
* splitting the move where it crosses grid borders.
*/
void bilinear_line_to_destination(const float fr_mm_s, uint16_t x_splits=0xFFFF, uint16_t y_splits=0xFFFF) {
// Get current and destination cells for this line
int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
cx2 = CELL_INDEX(X, destination[X_AXIS]),
cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2);
cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2);
cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2);
cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2);
// Start and end in the same cell? No split needed.
if (cx1 == cx2 && cy1 == cy2) {
buffer_line_to_destination(fr_mm_s);
set_current_from_destination();
return;
}
#define LINE_SEGMENT_END(A) (current_position[_AXIS(A)] + (destination[_AXIS(A)] - current_position[_AXIS(A)]) * normalized_dist)
#define LINE_SEGMENT_END_E (current_position[E_CART] + (destination[E_CART] - current_position[E_CART]) * normalized_dist)
float normalized_dist, end[XYZE];
const int8_t gcx = MAX(cx1, cx2), gcy = MAX(cy1, cy2);
// Crosses on the X and not already split on this X?
// The x_splits flags are insurance against rounding errors.
if (cx2 != cx1 && TEST(x_splits, gcx)) {
// Split on the X grid line
CBI(x_splits, gcx);
COPY(end, destination);
destination[X_AXIS] = bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx;
normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
destination[Y_AXIS] = LINE_SEGMENT_END(Y);
}
// Crosses on the Y and not already split on this Y?
else if (cy2 != cy1 && TEST(y_splits, gcy)) {
// Split on the Y grid line
CBI(y_splits, gcy);
COPY(end, destination);
destination[Y_AXIS] = bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy;
normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
destination[X_AXIS] = LINE_SEGMENT_END(X);
}
else {
// Must already have been split on these border(s)
buffer_line_to_destination(fr_mm_s);
set_current_from_destination();
return;
}
destination[Z_AXIS] = LINE_SEGMENT_END(Z);
destination[E_CART] = LINE_SEGMENT_END_E;
// Do the split and look for more borders
bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
// Restore destination from stack
COPY(destination, end);
bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
}
#endif // AUTO_BED_LEVELING_BILINEAR
#endif // IS_CARTESIAN
#if !UBL_SEGMENTED
#if IS_KINEMATIC
#if IS_SCARA
/**
* Before raising this value, use M665 S[seg_per_sec] to decrease
* the number of segments-per-second. Default is 200. Some deltas
* do better with 160 or lower. It would be good to know how many
* segments-per-second are actually possible for SCARA on AVR.
*
* Longer segments result in less kinematic overhead
* but may produce jagged lines. Try 0.5mm, 1.0mm, and 2.0mm
* and compare the difference.
*/
#define SCARA_MIN_SEGMENT_LENGTH 0.5f
#endif
/**
* Prepare a linear move in a DELTA, SCARA or HANGPRINTER setup.
*
* This calls planner.buffer_line several times, adding
* small incremental moves for DELTA, SCARA or HANGPRINTER.
*
* For Unified Bed Leveling (Delta or Segmented Cartesian)
* the ubl.prepare_segmented_line_to method replaces this.
*/
inline bool prepare_kinematic_move_to(const float (&rtarget)[XYZE]) {
// Get the top feedrate of the move in the XY plane
const float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
const float xdiff = rtarget[X_AXIS] - current_position[X_AXIS],
ydiff = rtarget[Y_AXIS] - current_position[Y_AXIS]
#if ENABLED(HANGPRINTER)
, zdiff = rtarget[Z_AXIS] - current_position[Z_AXIS]
#endif
;
// If the move is only in Z/E (for Hangprinter only in E) don't split up the move
if (!xdiff && !ydiff
#if ENABLED(HANGPRINTER)
&& !zdiff
#endif
) {
planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder);
return false; // caller will update current_position
}
// Fail if attempting move outside printable radius
if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS])) return true;
// Remaining cartesian distances
const float
#if DISABLED(HANGPRINTER)
zdiff = rtarget[Z_AXIS] - current_position[Z_AXIS],
#endif
ediff = rtarget[E_CART] - current_position[E_CART];
// Get the linear distance in XYZ
// If the move is very short, check the E move distance
// No E move either? Game over.
float cartesian_mm = SQRT(sq(xdiff) + sq(ydiff) + sq(zdiff));
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(ediff);
if (UNEAR_ZERO(cartesian_mm)) return true;
// Minimum number of seconds to move the given distance
const float seconds = cartesian_mm / _feedrate_mm_s;
// The number of segments-per-second times the duration
// gives the number of segments
uint16_t segments = delta_segments_per_second * seconds;
// For SCARA enforce a minimum segment size
#if IS_SCARA
NOMORE(segments, cartesian_mm * (1.0f / float(SCARA_MIN_SEGMENT_LENGTH)));
#endif
// At least one segment is required
NOLESS(segments, 1);
// The approximate length of each segment
const float inv_segments = 1.0f / float(segments),
segment_distance[XYZE] = {
xdiff * inv_segments,
ydiff * inv_segments,
zdiff * inv_segments,
ediff * inv_segments
};
#if !HAS_FEEDRATE_SCALING
const float cartesian_segment_mm = cartesian_mm * inv_segments;
#endif
/*
SERIAL_ECHOPAIR("mm=", cartesian_mm);
SERIAL_ECHOPAIR(" seconds=", seconds);
SERIAL_ECHOPAIR(" segments=", segments);
#if !HAS_FEEDRATE_SCALING
SERIAL_ECHOPAIR(" segment_mm=", cartesian_segment_mm);
#endif
SERIAL_EOL();
//*/
#if HAS_FEEDRATE_SCALING
// SCARA needs to scale the feed rate from mm/s to degrees/s
// i.e., Complete the angular vector in the given time.
const float segment_length = cartesian_mm * inv_segments,
inv_segment_length = 1.0f / segment_length, // 1/mm/segs
inverse_secs = inv_segment_length * _feedrate_mm_s;
float oldA = planner.position_float[A_AXIS],
oldB = planner.position_float[B_AXIS]
#if ENABLED(DELTA_FEEDRATE_SCALING)
, oldC = planner.position_float[C_AXIS]
#endif
;
/*
SERIAL_ECHOPGM("Scaled kinematic move: ");
SERIAL_ECHOPAIR(" segment_length (inv)=", segment_length);
SERIAL_ECHOPAIR(" (", inv_segment_length);
SERIAL_ECHOPAIR(") _feedrate_mm_s=", _feedrate_mm_s);
SERIAL_ECHOPAIR(" inverse_secs=", inverse_secs);
SERIAL_ECHOPAIR(" oldA=", oldA);
SERIAL_ECHOPAIR(" oldB=", oldB);
#if ENABLED(DELTA_FEEDRATE_SCALING)
SERIAL_ECHOPAIR(" oldC=", oldC);
#endif
SERIAL_EOL();
safe_delay(5);
//*/
#endif
// Get the current position as starting point
float raw[XYZE];
COPY(raw, current_position);
// Calculate and execute the segments
while (--segments) {
static millis_t next_idle_ms = millis() + 200UL;
thermalManager.manage_heater(); // This returns immediately if not really needed.
if (ELAPSED(millis(), next_idle_ms)) {
next_idle_ms = millis() + 200UL;
idle();
}
LOOP_XYZE(i) raw[i] += segment_distance[i];
#if ENABLED(DELTA) && HOTENDS < 2
DELTA_IK(raw); // Delta can inline its kinematics
#elif ENABLED(HANGPRINTER)
HANGPRINTER_IK(raw); // Modifies line_lengths[ABCD]
#else
inverse_kinematics(raw);
#endif
ADJUST_DELTA(raw); // Adjust Z if bed leveling is enabled
#if ENABLED(SCARA_FEEDRATE_SCALING)
// For SCARA scale the feed rate from mm/s to degrees/s
// i.e., Complete the angular vector in the given time.
if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_CART], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder, segment_length))
break;
/*
SERIAL_ECHO(segments);
SERIAL_ECHOPAIR(": X=", raw[X_AXIS]); SERIAL_ECHOPAIR(" Y=", raw[Y_AXIS]);
SERIAL_ECHOPAIR(" A=", delta[A_AXIS]); SERIAL_ECHOPAIR(" B=", delta[B_AXIS]);
SERIAL_ECHOLNPAIR(" F", HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs * 60);
safe_delay(5);
//*/
oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
#elif ENABLED(DELTA_FEEDRATE_SCALING)
// For DELTA scale the feed rate from Effector mm/s to Carriage mm/s
// i.e., Complete the linear vector in the given time.
if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], SQRT(sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC)) * inverse_secs, active_extruder, segment_length))
break;
/*
SERIAL_ECHO(segments);
SERIAL_ECHOPAIR(": X=", raw[X_AXIS]); SERIAL_ECHOPAIR(" Y=", raw[Y_AXIS]);
SERIAL_ECHOPAIR(" A=", delta[A_AXIS]); SERIAL_ECHOPAIR(" B=", delta[B_AXIS]); SERIAL_ECHOPAIR(" C=", delta[C_AXIS]);
SERIAL_ECHOLNPAIR(" F", SQRT(sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC)) * inverse_secs * 60);
safe_delay(5);
//*/
oldA = delta[A_AXIS]; oldB = delta[B_AXIS]; oldC = delta[C_AXIS];
#elif ENABLED(HANGPRINTER)
if (!planner.buffer_line(line_lengths[A_AXIS], line_lengths[B_AXIS], line_lengths[C_AXIS], line_lengths[D_AXIS], raw[E_CART], _feedrate_mm_s, active_extruder, cartesian_segment_mm))
break;
#else
if (!planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_CART], _feedrate_mm_s, active_extruder, cartesian_segment_mm))
break;
#endif
}
// Ensure last segment arrives at target location.
#if HAS_FEEDRATE_SCALING
inverse_kinematics(rtarget);
ADJUST_DELTA(rtarget);
#endif
#if ENABLED(SCARA_FEEDRATE_SCALING)
const float diff2 = HYPOT2(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB);
if (diff2) {
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], rtarget[Z_AXIS], rtarget[E_CART], SQRT(diff2) * inverse_secs, active_extruder, segment_length);
/*
SERIAL_ECHOPAIR("final: A=", delta[A_AXIS]); SERIAL_ECHOPAIR(" B=", delta[B_AXIS]);
SERIAL_ECHOPAIR(" adiff=", delta[A_AXIS] - oldA); SERIAL_ECHOPAIR(" bdiff=", delta[B_AXIS] - oldB);
SERIAL_ECHOLNPAIR(" F", SQRT(diff2) * inverse_secs * 60);
SERIAL_EOL();
safe_delay(5);
//*/
}
#elif ENABLED(DELTA_FEEDRATE_SCALING)
const float diff2 = sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC);
if (diff2) {
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], rtarget[E_AXIS], SQRT(diff2) * inverse_secs, active_extruder, segment_length);
/*
SERIAL_ECHOPAIR("final: A=", delta[A_AXIS]); SERIAL_ECHOPAIR(" B=", delta[B_AXIS]); SERIAL_ECHOPAIR(" C=", delta[C_AXIS]);
SERIAL_ECHOPAIR(" adiff=", delta[A_AXIS] - oldA); SERIAL_ECHOPAIR(" bdiff=", delta[B_AXIS] - oldB); SERIAL_ECHOPAIR(" cdiff=", delta[C_AXIS] - oldC);
SERIAL_ECHOLNPAIR(" F", SQRT(diff2) * inverse_secs * 60);
SERIAL_EOL();
safe_delay(5);
//*/
}
#else
planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder, cartesian_segment_mm);
#endif
return false; // caller will update current_position
}
#else // !IS_KINEMATIC
/**
* Prepare a linear move in a Cartesian setup.
*
* When a mesh-based leveling system is active, moves are segmented
* according to the configuration of the leveling system.
*
* Returns true if current_position[] was set to destination[]
*/
inline bool prepare_move_to_destination_cartesian() {
#if HAS_MESH
if (planner.leveling_active && planner.leveling_active_at_z(destination[Z_AXIS])) {
#if ENABLED(AUTO_BED_LEVELING_UBL)
ubl.line_to_destination_cartesian(MMS_SCALED(feedrate_mm_s), active_extruder); // UBL's motion routine needs to know about
return true; // all moves, including Z-only moves.
#elif ENABLED(SEGMENT_LEVELED_MOVES)
segmented_line_to_destination(MMS_SCALED(feedrate_mm_s));
return false; // caller will update current_position
#else
/**
* For MBL and ABL-BILINEAR only segment moves when X or Y are involved.
* Otherwise fall through to do a direct single move.
*/
if (current_position[X_AXIS] != destination[X_AXIS] || current_position[Y_AXIS] != destination[Y_AXIS]) {
#if ENABLED(MESH_BED_LEVELING)
mesh_line_to_destination(MMS_SCALED(feedrate_mm_s));
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
bilinear_line_to_destination(MMS_SCALED(feedrate_mm_s));
#endif
return true;
}
#endif
}
#endif // HAS_MESH
buffer_line_to_destination(MMS_SCALED(feedrate_mm_s));
return false; // caller will update current_position
}
#endif // !IS_KINEMATIC
#endif // !UBL_SEGMENTED
#if ENABLED(DUAL_X_CARRIAGE)
/**
* Unpark the carriage, if needed
*/
inline bool dual_x_carriage_unpark() {
if (active_extruder_parked)
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE: break;
case DXC_AUTO_PARK_MODE:
if (current_position[E_CART] == destination[E_CART]) {
// This is a travel move (with no extrusion)
// Skip it, but keep track of the current position
// (so it can be used as the start of the next non-travel move)
if (delayed_move_time != 0xFFFFFFFFUL) {
set_current_from_destination();
NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
delayed_move_time = millis();
return true;
}
}
// unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
for (uint8_t i = 0; i < 3; i++)
if (!planner.buffer_line(
i == 0 ? raised_parked_position[X_AXIS] : current_position[X_AXIS],
i == 0 ? raised_parked_position[Y_AXIS] : current_position[Y_AXIS],
i == 2 ? current_position[Z_AXIS] : raised_parked_position[Z_AXIS],
current_position[E_CART],
i == 1 ? PLANNER_XY_FEEDRATE() : planner.max_feedrate_mm_s[Z_AXIS],
active_extruder)
) break;
delayed_move_time = 0;
active_extruder_parked = false;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Clear active_extruder_parked");
#endif
break;
case DXC_DUPLICATION_MODE:
if (active_extruder == 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Set planner X", inactive_extruder_x_pos);
SERIAL_ECHOLNPAIR(" ... Line to X", current_position[X_AXIS] + duplicate_extruder_x_offset);
}
#endif
// move duplicate extruder into correct duplication position.
planner.set_position_mm(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_CART]);
if (!planner.buffer_line(
current_position[X_AXIS] + duplicate_extruder_x_offset,
current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_CART],
planner.max_feedrate_mm_s[X_AXIS], 1)
) break;
planner.synchronize();
SYNC_PLAN_POSITION_KINEMATIC();
extruder_duplication_enabled = true;
active_extruder_parked = false;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Set extruder_duplication_enabled\nClear active_extruder_parked");
#endif
}
else {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Active extruder not 0");
#endif
}
break;
}
return false;
}
#endif // DUAL_X_CARRIAGE
/**
* Prepare a single move and get ready for the next one
*
* This may result in several calls to planner.buffer_line to
* do smaller moves for DELTA, SCARA, HANGPRINTER, mesh moves, etc.
*
* Make sure current_position[E] and destination[E] are good
* before calling or cold/lengthy extrusion may get missed.
*/
void prepare_move_to_destination() {
clamp_to_software_endstops(destination);
#if ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE)
if (!DEBUGGING(DRYRUN)) {
if (destination[E_CART] != current_position[E_CART]) {
#if ENABLED(PREVENT_COLD_EXTRUSION)
if (thermalManager.tooColdToExtrude(active_extruder)) {
current_position[E_CART] = destination[E_CART]; // Behave as if the move really took place, but ignore E part
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
}
#endif // PREVENT_COLD_EXTRUSION
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
if (ABS(destination[E_CART] - current_position[E_CART]) * planner.e_factor[active_extruder] > (EXTRUDE_MAXLENGTH)) {
current_position[E_CART] = destination[E_CART]; // Behave as if the move really took place, but ignore E part
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
}
#endif // PREVENT_LENGTHY_EXTRUDE
}
}
#endif
#if ENABLED(DUAL_X_CARRIAGE)
if (dual_x_carriage_unpark()) return;
#endif
if (
#if UBL_SEGMENTED
ubl.prepare_segmented_line_to(destination, MMS_SCALED(feedrate_mm_s))
#elif IS_KINEMATIC
prepare_kinematic_move_to(destination)
#else
prepare_move_to_destination_cartesian()
#endif
) return;
set_current_from_destination();
}
#if ENABLED(ARC_SUPPORT)
#if N_ARC_CORRECTION < 1
#undef N_ARC_CORRECTION
#define N_ARC_CORRECTION 1
#endif
/**
* Plan an arc in 2 dimensions
*
* The arc is approximated by generating many small linear segments.
* The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
* Arcs should only be made relatively large (over 5mm), as larger arcs with
* larger segments will tend to be more efficient. Your slicer should have
* options for G2/G3 arc generation. In future these options may be GCode tunable.
*/
void plan_arc(
const float (&cart)[XYZE], // Destination position
const float (&offset)[2], // Center of rotation relative to current_position
const bool clockwise // Clockwise?
) {
#if ENABLED(CNC_WORKSPACE_PLANES)
AxisEnum p_axis, q_axis, l_axis;
switch (workspace_plane) {
default:
case PLANE_XY: p_axis = X_AXIS; q_axis = Y_AXIS; l_axis = Z_AXIS; break;
case PLANE_ZX: p_axis = Z_AXIS; q_axis = X_AXIS; l_axis = Y_AXIS; break;
case PLANE_YZ: p_axis = Y_AXIS; q_axis = Z_AXIS; l_axis = X_AXIS; break;
}
#else
constexpr AxisEnum p_axis = X_AXIS, q_axis = Y_AXIS, l_axis = Z_AXIS;
#endif
// Radius vector from center to current location
float r_P = -offset[0], r_Q = -offset[1];
const float radius = HYPOT(r_P, r_Q),
center_P = current_position[p_axis] - r_P,
center_Q = current_position[q_axis] - r_Q,
rt_X = cart[p_axis] - center_P,
rt_Y = cart[q_axis] - center_Q,
linear_travel = cart[l_axis] - current_position[l_axis],
extruder_travel = cart[E_CART] - current_position[E_CART];
// CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
float angular_travel = ATAN2(r_P * rt_Y - r_Q * rt_X, r_P * rt_X + r_Q * rt_Y);
if (angular_travel < 0) angular_travel += RADIANS(360);
if (clockwise) angular_travel -= RADIANS(360);
// Make a circle if the angular rotation is 0 and the target is current position
if (angular_travel == 0 && current_position[p_axis] == cart[p_axis] && current_position[q_axis] == cart[q_axis])
angular_travel = RADIANS(360);
const float flat_mm = radius * angular_travel,
mm_of_travel = linear_travel ? HYPOT(flat_mm, linear_travel) : ABS(flat_mm);
if (mm_of_travel < 0.001f) return;
uint16_t segments = FLOOR(mm_of_travel / (MM_PER_ARC_SEGMENT));
NOLESS(segments, 1);
/**
* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
* and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
* r_T = [cos(phi) -sin(phi);
* sin(phi) cos(phi)] * r ;
*
* For arc generation, the center of the circle is the axis of rotation and the radius vector is
* defined from the circle center to the initial position. Each line segment is formed by successive
* vector rotations. This requires only two cos() and sin() computations to form the rotation
* matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
* all double numbers are single precision on the Arduino. (True double precision will not have
* round off issues for CNC applications.) Single precision error can accumulate to be greater than
* tool precision in some cases. Therefore, arc path correction is implemented.
*
* Small angle approximation may be used to reduce computation overhead further. This approximation
* holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
* theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
* to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
* numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
* issue for CNC machines with the single precision Arduino calculations.
*
* This approximation also allows plan_arc to immediately insert a line segment into the planner
* without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
* a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
* This is important when there are successive arc motions.
*/
// Vector rotation matrix values
float raw[XYZE];
const float theta_per_segment = angular_travel / segments,
linear_per_segment = linear_travel / segments,
extruder_per_segment = extruder_travel / segments,
sin_T = theta_per_segment,
cos_T = 1 - 0.5f * sq(theta_per_segment); // Small angle approximation
// Initialize the linear axis
raw[l_axis] = current_position[l_axis];
// Initialize the extruder axis
raw[E_CART] = current_position[E_CART];
const float fr_mm_s = MMS_SCALED(feedrate_mm_s);
millis_t next_idle_ms = millis() + 200UL;
#if HAS_FEEDRATE_SCALING
// SCARA needs to scale the feed rate from mm/s to degrees/s
const float inv_segment_length = 1.0f / (MM_PER_ARC_SEGMENT),
inverse_secs = inv_segment_length * fr_mm_s;
float oldA = planner.position_float[A_AXIS],
oldB = planner.position_float[B_AXIS]
#if ENABLED(DELTA_FEEDRATE_SCALING)
, oldC = planner.position_float[C_AXIS]
#endif
;
#endif
#if N_ARC_CORRECTION > 1
int8_t arc_recalc_count = N_ARC_CORRECTION;
#endif
for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
thermalManager.manage_heater();
if (ELAPSED(millis(), next_idle_ms)) {
next_idle_ms = millis() + 200UL;
idle();
}
#if N_ARC_CORRECTION > 1
if (--arc_recalc_count) {
// Apply vector rotation matrix to previous r_P / 1
const float r_new_Y = r_P * sin_T + r_Q * cos_T;
r_P = r_P * cos_T - r_Q * sin_T;
r_Q = r_new_Y;
}
else
#endif
{
#if N_ARC_CORRECTION > 1
arc_recalc_count = N_ARC_CORRECTION;
#endif
// Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
// Compute exact location by applying transformation matrix from initial radius vector(=-offset).
// To reduce stuttering, the sin and cos could be computed at different times.
// For now, compute both at the same time.
const float cos_Ti = cos(i * theta_per_segment), sin_Ti = sin(i * theta_per_segment);
r_P = -offset[0] * cos_Ti + offset[1] * sin_Ti;
r_Q = -offset[0] * sin_Ti - offset[1] * cos_Ti;
}
// Update raw location
raw[p_axis] = center_P + r_P;
raw[q_axis] = center_Q + r_Q;
raw[l_axis] += linear_per_segment;
raw[E_CART] += extruder_per_segment;
clamp_to_software_endstops(raw);
#if HAS_FEEDRATE_SCALING
inverse_kinematics(raw);
ADJUST_DELTA(raw);
#endif
#if ENABLED(SCARA_FEEDRATE_SCALING)
// For SCARA scale the feed rate from mm/s to degrees/s
// i.e., Complete the angular vector in the given time.
if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_CART], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder, MM_PER_ARC_SEGMENT))
break;
oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
#elif ENABLED(DELTA_FEEDRATE_SCALING)
// For DELTA scale the feed rate from Effector mm/s to Carriage mm/s
// i.e., Complete the linear vector in the given time.
if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], SQRT(sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC)) * inverse_secs, active_extruder, MM_PER_ARC_SEGMENT))
break;
oldA = delta[A_AXIS]; oldB = delta[B_AXIS]; oldC = delta[C_AXIS];
#elif HAS_UBL_AND_CURVES
float pos[XYZ] = { raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] };
planner.apply_leveling(pos);
if (!planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], raw[E_CART], fr_mm_s, active_extruder, MM_PER_ARC_SEGMENT))
break;
#else
if (!planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder))
break;
#endif
}
// Ensure last segment arrives at target location.
#if HAS_FEEDRATE_SCALING
inverse_kinematics(cart);
ADJUST_DELTA(cart);
#endif
#if ENABLED(SCARA_FEEDRATE_SCALING)
const float diff2 = HYPOT2(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB);
if (diff2)
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], cart[Z_AXIS], cart[E_CART], SQRT(diff2) * inverse_secs, active_extruder, MM_PER_ARC_SEGMENT);
#elif ENABLED(DELTA_FEEDRATE_SCALING)
const float diff2 = sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC);
if (diff2)
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_CART], SQRT(diff2) * inverse_secs, active_extruder, MM_PER_ARC_SEGMENT);
#elif HAS_UBL_AND_CURVES
float pos[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
planner.apply_leveling(pos);
planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], cart[E_CART], fr_mm_s, active_extruder, MM_PER_ARC_SEGMENT);
#else
planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder);
#endif
COPY(current_position, cart);
} // plan_arc
#endif // ARC_SUPPORT
#if ENABLED(BEZIER_CURVE_SUPPORT)
void plan_cubic_move(const float (&cart)[XYZE], const float (&offset)[4]) {
cubic_b_spline(current_position, cart, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
COPY(current_position, cart);
}
#endif // BEZIER_CURVE_SUPPORT
#if ENABLED(USE_CONTROLLER_FAN)
void controllerFan() {
static millis_t lastMotorOn = 0, // Last time a motor was turned on
nextMotorCheck = 0; // Last time the state was checked
const millis_t ms = millis();
if (ELAPSED(ms, nextMotorCheck)) {
nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s
// If any of the drivers or the bed are enabled...
if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON
#if HAS_HEATED_BED
|| thermalManager.soft_pwm_amount_bed > 0
#endif
#if HAS_X2_ENABLE
|| X2_ENABLE_READ == X_ENABLE_ON
#endif
#if HAS_Y2_ENABLE
|| Y2_ENABLE_READ == Y_ENABLE_ON
#endif
#if HAS_Z2_ENABLE
|| Z2_ENABLE_READ == Z_ENABLE_ON
#endif
|| E0_ENABLE_READ == E_ENABLE_ON
#if E_STEPPERS > 1
|| E1_ENABLE_READ == E_ENABLE_ON
#if E_STEPPERS > 2
|| E2_ENABLE_READ == E_ENABLE_ON
#if E_STEPPERS > 3
|| E3_ENABLE_READ == E_ENABLE_ON
#if E_STEPPERS > 4
|| E4_ENABLE_READ == E_ENABLE_ON
#endif
#endif
#endif
#endif
) {
lastMotorOn = ms; //... set time to NOW so the fan will turn on
}
// Fan off if no steppers have been enabled for CONTROLLERFAN_SECS seconds
const uint8_t speed = (lastMotorOn && PENDING(ms, lastMotorOn + (CONTROLLERFAN_SECS) * 1000UL)) ? CONTROLLERFAN_SPEED : 0;
controllerFanSpeed = speed;
// allows digital or PWM fan output to be used (see M42 handling)
WRITE(CONTROLLER_FAN_PIN, speed);
analogWrite(CONTROLLER_FAN_PIN, speed);
}
}
#endif // USE_CONTROLLER_FAN
#if ENABLED(MORGAN_SCARA)
/**
* Morgan SCARA Forward Kinematics. Results in cartes[].
* Maths and first version by QHARLEY.
* Integrated into Marlin and slightly restructured by Joachim Cerny.
*/
void forward_kinematics_SCARA(const float &a, const float &b) {
float a_sin = sin(RADIANS(a)) * L1,
a_cos = cos(RADIANS(a)) * L1,
b_sin = sin(RADIANS(b)) * L2,
b_cos = cos(RADIANS(b)) * L2;
cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta
cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
/*
SERIAL_ECHOPAIR("SCARA FK Angle a=", a);
SERIAL_ECHOPAIR(" b=", b);
SERIAL_ECHOPAIR(" a_sin=", a_sin);
SERIAL_ECHOPAIR(" a_cos=", a_cos);
SERIAL_ECHOPAIR(" b_sin=", b_sin);
SERIAL_ECHOLNPAIR(" b_cos=", b_cos);
SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]);
SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]);
//*/
}
/**
* Morgan SCARA Inverse Kinematics. Results in delta[].
*
* See http://forums.reprap.org/read.php?185,283327
*
* Maths and first version by QHARLEY.
* Integrated into Marlin and slightly restructured by Joachim Cerny.
*/
void inverse_kinematics(const float raw[XYZ]) {
static float C2, S2, SK1, SK2, THETA, PSI;
float sx = raw[X_AXIS] - SCARA_OFFSET_X, // Translate SCARA to standard X Y
sy = raw[Y_AXIS] - SCARA_OFFSET_Y; // With scaling factor.
if (L1 == L2)
C2 = HYPOT2(sx, sy) / L1_2_2 - 1;
else
C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2);
S2 = SQRT(1 - sq(C2));
// Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
SK1 = L1 + L2 * C2;
// Rotated Arm2 gives the distance from Arm1 to Arm2
SK2 = L2 * S2;
// Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
THETA = ATAN2(SK1, SK2) - ATAN2(sx, sy);
// Angle of Arm2
PSI = ATAN2(S2, C2);
delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
delta[C_AXIS] = raw[Z_AXIS];
/*
DEBUG_POS("SCARA IK", raw);
DEBUG_POS("SCARA IK", delta);
SERIAL_ECHOPAIR(" SCARA (x,y) ", sx);
SERIAL_ECHOPAIR(",", sy);
SERIAL_ECHOPAIR(" C2=", C2);
SERIAL_ECHOPAIR(" S2=", S2);
SERIAL_ECHOPAIR(" Theta=", THETA);
SERIAL_ECHOLNPAIR(" Phi=", PHI);
//*/
}
#endif // MORGAN_SCARA
#if ENABLED(TEMP_STAT_LEDS)
static bool red_led = false;
static millis_t next_status_led_update_ms = 0;
void handle_status_leds(void) {
if (ELAPSED(millis(), next_status_led_update_ms)) {
next_status_led_update_ms += 500; // Update every 0.5s
float max_temp = 0.0;
#if HAS_HEATED_BED
max_temp = MAX3(max_temp, thermalManager.degTargetBed(), thermalManager.degBed());
#endif
HOTEND_LOOP()
max_temp = MAX3(max_temp, thermalManager.degHotend(e), thermalManager.degTargetHotend(e));
const bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
if (new_led != red_led) {
red_led = new_led;
#if PIN_EXISTS(STAT_LED_RED)
WRITE(STAT_LED_RED_PIN, new_led ? HIGH : LOW);
#if PIN_EXISTS(STAT_LED_BLUE)
WRITE(STAT_LED_BLUE_PIN, new_led ? LOW : HIGH);
#endif
#else
WRITE(STAT_LED_BLUE_PIN, new_led ? HIGH : LOW);
#endif
}
}
}
#endif
void enable_all_steppers() {
#if ENABLED(AUTO_POWER_CONTROL)
powerManager.power_on();
#endif
#if ENABLED(HANGPRINTER)
enable_A();
enable_B();
enable_C();
enable_D();
#else
enable_X();
enable_Y();
enable_Z();
enable_E4();
#endif
enable_E0();
enable_E1();
enable_E2();
enable_E3();
}
void disable_e_stepper(const uint8_t e) {
switch (e) {
case 0: disable_E0(); break;
case 1: disable_E1(); break;
case 2: disable_E2(); break;
case 3: disable_E3(); break;
case 4: disable_E4(); break;
}
}
void disable_e_steppers() {
disable_E0();
disable_E1();
disable_E2();
disable_E3();
disable_E4();
}
void disable_all_steppers() {
disable_X();
disable_Y();
disable_Z();
disable_e_steppers();
}
/**
* Manage several activities:
* - Check for Filament Runout
* - Keep the command buffer full
* - Check for maximum inactive time between commands
* - Check for maximum inactive time between stepper commands
* - Check if pin CHDK needs to go LOW
* - Check for KILL button held down
* - Check for HOME button held down
* - Check if cooling fan needs to be switched on
* - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
*/
void manage_inactivity(const bool ignore_stepper_queue/*=false*/) {
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
runout.run();
#endif
if (commands_in_queue < BUFSIZE) get_available_commands();
const millis_t ms = millis();
if (max_inactive_time && ELAPSED(ms, previous_move_ms + max_inactive_time)) {
SERIAL_ERROR_START();
SERIAL_ECHOLNPAIR(MSG_KILL_INACTIVE_TIME, parser.command_ptr);
kill(PSTR(MSG_KILLED));
}
// Prevent steppers timing-out in the middle of M600
#if ENABLED(ADVANCED_PAUSE_FEATURE) && ENABLED(PAUSE_PARK_NO_STEPPER_TIMEOUT)
#define MOVE_AWAY_TEST !did_pause_print
#else
#define MOVE_AWAY_TEST true
#endif
if (stepper_inactive_time) {
if (planner.has_blocks_queued())
previous_move_ms = ms; // reset_stepper_timeout to keep steppers powered
else if (MOVE_AWAY_TEST && !ignore_stepper_queue && ELAPSED(ms, previous_move_ms + stepper_inactive_time)) {
#if ENABLED(DISABLE_INACTIVE_X)
disable_X();
#endif
#if ENABLED(DISABLE_INACTIVE_Y)
disable_Y();
#endif
#if ENABLED(DISABLE_INACTIVE_Z)
disable_Z();
#endif
#if ENABLED(DISABLE_INACTIVE_E)
disable_e_steppers();
#endif
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTIPANEL) // Only needed with an LCD
if (ubl.lcd_map_control) ubl.lcd_map_control = defer_return_to_status = false;
#endif
}
}
#ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
if (chdkActive && ELAPSED(ms, chdkHigh + CHDK_DELAY)) {
chdkActive = false;
WRITE(CHDK, LOW);
}
#endif
#if HAS_KILL
// Check if the kill button was pressed and wait just in case it was an accidental
// key kill key press
// -------------------------------------------------------------------------------
static int killCount = 0; // make the inactivity button a bit less responsive
const int KILL_DELAY = 750;
if (!READ(KILL_PIN))
killCount++;
else if (killCount > 0)
killCount--;
// Exceeded threshold and we can confirm that it was not accidental
// KILL the machine
// ----------------------------------------------------------------
if (killCount >= KILL_DELAY) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_KILL_BUTTON);
kill(PSTR(MSG_KILLED));
}
#endif
#if HAS_HOME
// Check to see if we have to home, use poor man's debouncer
// ---------------------------------------------------------
static int homeDebounceCount = 0; // poor man's debouncing count
const int HOME_DEBOUNCE_DELAY = 2500;
if (!IS_SD_PRINTING() && !READ(HOME_PIN)) {
if (!homeDebounceCount) {
enqueue_and_echo_commands_P(PSTR("G28"));
LCD_MESSAGEPGM(MSG_AUTO_HOME);
}
if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
homeDebounceCount++;
else
homeDebounceCount = 0;
}
#endif
#if ENABLED(USE_CONTROLLER_FAN)
controllerFan(); // Check if fan should be turned on to cool stepper drivers down
#endif
#if ENABLED(AUTO_POWER_CONTROL)
powerManager.check();
#endif
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
if (thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP
&& ELAPSED(ms, previous_move_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
&& !planner.has_blocks_queued()
) {
#if ENABLED(SWITCHING_EXTRUDER)
bool oldstatus;
switch (active_extruder) {
default: oldstatus = E0_ENABLE_READ; enable_E0(); break;
#if E_STEPPERS > 1
case 2: case 3: oldstatus = E1_ENABLE_READ; enable_E1(); break;
#if E_STEPPERS > 2
case 4: oldstatus = E2_ENABLE_READ; enable_E2(); break;
#endif // E_STEPPERS > 2
#endif // E_STEPPERS > 1
}
#else // !SWITCHING_EXTRUDER
bool oldstatus;
switch (active_extruder) {
default: oldstatus = E0_ENABLE_READ; enable_E0(); break;
#if E_STEPPERS > 1
case 1: oldstatus = E1_ENABLE_READ; enable_E1(); break;
#if E_STEPPERS > 2
case 2: oldstatus = E2_ENABLE_READ; enable_E2(); break;
#if E_STEPPERS > 3
case 3: oldstatus = E3_ENABLE_READ; enable_E3(); break;
#if E_STEPPERS > 4
case 4: oldstatus = E4_ENABLE_READ; enable_E4(); break;
#endif // E_STEPPERS > 4
#endif // E_STEPPERS > 3
#endif // E_STEPPERS > 2
#endif // E_STEPPERS > 1
}
#endif // !SWITCHING_EXTRUDER
const float olde = current_position[E_CART];
current_position[E_CART] += EXTRUDER_RUNOUT_EXTRUDE;
planner.buffer_line_kinematic(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
current_position[E_CART] = olde;
planner.set_e_position_mm(olde);
planner.synchronize();
#if ENABLED(SWITCHING_EXTRUDER)
switch (active_extruder) {
default: oldstatus = E0_ENABLE_WRITE(oldstatus); break;
#if E_STEPPERS > 1
case 2: case 3: oldstatus = E1_ENABLE_WRITE(oldstatus); break;
#if E_STEPPERS > 2
case 4: oldstatus = E2_ENABLE_WRITE(oldstatus); break;
#endif // E_STEPPERS > 2
#endif // E_STEPPERS > 1
}
#else // !SWITCHING_EXTRUDER
switch (active_extruder) {
case 0: E0_ENABLE_WRITE(oldstatus); break;
#if E_STEPPERS > 1
case 1: E1_ENABLE_WRITE(oldstatus); break;
#if E_STEPPERS > 2
case 2: E2_ENABLE_WRITE(oldstatus); break;
#if E_STEPPERS > 3
case 3: E3_ENABLE_WRITE(oldstatus); break;
#if E_STEPPERS > 4
case 4: E4_ENABLE_WRITE(oldstatus); break;
#endif // E_STEPPERS > 4
#endif // E_STEPPERS > 3
#endif // E_STEPPERS > 2
#endif // E_STEPPERS > 1
}
#endif // !SWITCHING_EXTRUDER
previous_move_ms = ms; // reset_stepper_timeout to keep steppers powered
}
#endif // EXTRUDER_RUNOUT_PREVENT
#if ENABLED(DUAL_X_CARRIAGE)
// handle delayed move timeout
if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
// travel moves have been received so enact them
delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
set_destination_from_current();
prepare_move_to_destination();
}
#endif
#if ENABLED(TEMP_STAT_LEDS)
handle_status_leds();
#endif
#if ENABLED(MONITOR_DRIVER_STATUS)
monitor_tmc_driver();
#endif
planner.check_axes_activity();
}
/**
* Standard idle routine keeps the machine alive
*/
void idle(
#if ENABLED(ADVANCED_PAUSE_FEATURE)
bool no_stepper_sleep/*=false*/
#endif
) {
#if ENABLED(MAX7219_DEBUG)
max7219.idle_tasks();
#endif
lcd_update();
host_keepalive();
manage_inactivity(
#if ENABLED(ADVANCED_PAUSE_FEATURE)
no_stepper_sleep
#endif
);
thermalManager.manage_heater();
#if ENABLED(PRINTCOUNTER)
print_job_timer.tick();
#endif
#if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
buzzer.tick();
#endif
#if ENABLED(I2C_POSITION_ENCODERS)
static millis_t i2cpem_next_update_ms;
if (planner.has_blocks_queued() && ELAPSED(millis(), i2cpem_next_update_ms)) {
I2CPEM.update();
i2cpem_next_update_ms = millis() + I2CPE_MIN_UPD_TIME_MS;
}
#endif
#if HAS_AUTO_REPORTING
if (!suspend_auto_report) {
#if ENABLED(AUTO_REPORT_TEMPERATURES)
thermalManager.auto_report_temperatures();
#endif
#if ENABLED(AUTO_REPORT_SD_STATUS)
card.auto_report_sd_status();
#endif
}
#endif
}
/**
* Kill all activity and lock the machine.
* After this the machine will need to be reset.
*/
void kill(const char* lcd_msg) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
thermalManager.disable_all_heaters();
disable_all_steppers();
#if ENABLED(ULTRA_LCD)
kill_screen(lcd_msg);
#else
UNUSED(lcd_msg);
#endif
_delay_ms(600); // Wait a short time (allows messages to get out before shutting down.
cli(); // Stop interrupts
_delay_ms(250); //Wait to ensure all interrupts routines stopped
thermalManager.disable_all_heaters(); //turn off heaters again
#ifdef ACTION_ON_KILL
SERIAL_ECHOLNPGM("//action:" ACTION_ON_KILL);
#endif
#if HAS_POWER_SWITCH
PSU_OFF();
#endif
suicide();
while (1) {
#if ENABLED(USE_WATCHDOG)
watchdog_reset();
#endif
} // Wait for reset
}
/**
* Turn off heaters and stop the print in progress
* After a stop the machine may be resumed with M999
*/
void stop() {
thermalManager.disable_all_heaters(); // 'unpause' taken care of in here
#if ENABLED(PROBING_FANS_OFF)
if (fans_paused) fans_pause(false); // put things back the way they were
#endif
if (IsRunning()) {
Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
LCD_MESSAGEPGM(MSG_STOPPED);
safe_delay(350); // allow enough time for messages to get out before stopping
Running = false;
}
}
/**
* Marlin entry-point: Set up before the program loop
* - Set up the kill pin, filament runout, power hold
* - Start the serial port
* - Print startup messages and diagnostics
* - Get EEPROM or default settings
* - Initialize managers for:
* • temperature
* • planner
* • watchdog
* • stepper
* • photo pin
* • servos
* • LCD controller
* • Digipot I2C
* • Z probe sled
* • status LEDs
*/
void setup() {
#if ENABLED(MAX7219_DEBUG)
max7219.init();
#endif
#if ENABLED(DISABLE_JTAG)
// Disable JTAG on AT90USB chips to free up pins for IO
MCUCR = 0x80;
MCUCR = 0x80;
#endif
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
runout.setup();
#endif
setup_killpin();
setup_powerhold();
#if HAS_STEPPER_RESET
disableStepperDrivers();
#endif
MYSERIAL0.begin(BAUDRATE);
SERIAL_PROTOCOLLNPGM("start");
SERIAL_ECHO_START();
// Prepare communication for TMC drivers
#if HAS_DRIVER(TMC2130)
tmc_init_cs_pins();
#endif
#if HAS_DRIVER(TMC2208)
tmc2208_serial_begin();
#endif
// 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_CHAR(' ');
SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION);
SERIAL_EOL();
#if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
SERIAL_ECHO_START();
SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
SERIAL_ECHOLNPGM(MSG_AUTHOR STRING_CONFIG_H_AUTHOR);
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM("Compiled: " __DATE__);
#endif
SERIAL_ECHO_START();
SERIAL_ECHOPAIR(MSG_FREE_MEMORY, freeMemory());
SERIAL_ECHOLNPAIR(MSG_PLANNER_BUFFER_BYTES, int(sizeof(block_t))*(BLOCK_BUFFER_SIZE));
// Send "ok" after commands by default
for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
// Load data from EEPROM if available (or use defaults)
// This also updates variables in the planner, elsewhere
(void)settings.load();
#if HAS_M206_COMMAND
// Initialize current position based on home_offset
COPY(current_position, home_offset);
#else
ZERO(current_position);
#endif
// Vital to init stepper/planner equivalent for current_position
SYNC_PLAN_POSITION_KINEMATIC();
thermalManager.init(); // Initialize temperature loop
print_job_timer.init(); // Initial setup of print job timer
endstops.init(); // Init endstops and pullups
stepper.init(); // Init stepper. This enables interrupts!
servo_init(); // Initialize all servos, stow servo probe
#if HAS_PHOTOGRAPH
OUT_WRITE(PHOTOGRAPH_PIN, LOW);
#endif
#if HAS_CASE_LIGHT
case_light_on = CASE_LIGHT_DEFAULT_ON;
case_light_brightness = CASE_LIGHT_DEFAULT_BRIGHTNESS;
update_case_light();
#endif
#if ENABLED(SPINDLE_LASER_ENABLE)
OUT_WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // init spindle to off
#if SPINDLE_DIR_CHANGE
OUT_WRITE(SPINDLE_DIR_PIN, SPINDLE_INVERT_DIR ? 255 : 0); // init rotation to clockwise (M3)
#endif
#if ENABLED(SPINDLE_LASER_PWM)
SET_OUTPUT(SPINDLE_LASER_PWM_PIN);
analogWrite(SPINDLE_LASER_PWM_PIN, SPINDLE_LASER_PWM_INVERT ? 255 : 0); // set to lowest speed
#endif
#endif
#if HAS_BED_PROBE
endstops.enable_z_probe(false);
#endif
#if ENABLED(USE_CONTROLLER_FAN)
SET_OUTPUT(CONTROLLER_FAN_PIN); //Set pin used for driver cooling fan
#endif
#if HAS_STEPPER_RESET
enableStepperDrivers();
#endif
#if ENABLED(DIGIPOT_I2C)
digipot_i2c_init();
#endif
#if ENABLED(DAC_STEPPER_CURRENT)
dac_init();
#endif
#if (ENABLED(Z_PROBE_SLED) || ENABLED(SOLENOID_PROBE)) && HAS_SOLENOID_1
OUT_WRITE(SOL1_PIN, LOW); // turn it off
#endif
#if HAS_HOME
SET_INPUT_PULLUP(HOME_PIN);
#endif
#if PIN_EXISTS(STAT_LED_RED)
OUT_WRITE(STAT_LED_RED_PIN, LOW); // turn it off
#endif
#if PIN_EXISTS(STAT_LED_BLUE)
OUT_WRITE(STAT_LED_BLUE_PIN, LOW); // turn it off
#endif
#if HAS_COLOR_LEDS
leds.setup();
#endif
#if ENABLED(RGB_LED) || ENABLED(RGBW_LED)
SET_OUTPUT(RGB_LED_R_PIN);
SET_OUTPUT(RGB_LED_G_PIN);
SET_OUTPUT(RGB_LED_B_PIN);
#if ENABLED(RGBW_LED)
SET_OUTPUT(RGB_LED_W_PIN);
#endif
#endif
#if ENABLED(MK2_MULTIPLEXER)
SET_OUTPUT(E_MUX0_PIN);
SET_OUTPUT(E_MUX1_PIN);
SET_OUTPUT(E_MUX2_PIN);
#endif
#if HAS_FANMUX
fanmux_init();
#endif
lcd_init();
lcd_reset_status();
#if ENABLED(SHOW_BOOTSCREEN)
lcd_bootscreen();
#endif
#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
// Virtual Tools 0, 1, 2, 3 = Filament 1, 2, 3, 4, etc.
for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS && t < MIXING_STEPPERS; t++)
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
mixing_virtual_tool_mix[t][i] = (t == i) ? 1.0 : 0.0;
// Remaining virtual tools are 100% filament 1
#if MIXING_STEPPERS < MIXING_VIRTUAL_TOOLS
for (uint8_t t = MIXING_STEPPERS; t < MIXING_VIRTUAL_TOOLS; t++)
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
mixing_virtual_tool_mix[t][i] = (i == 0) ? 1.0 : 0.0;
#endif
// Initialize mixing to tool 0 color
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
mixing_factor[i] = mixing_virtual_tool_mix[0][i];
#endif
#if ENABLED(BLTOUCH)
// Make sure any BLTouch error condition is cleared
bltouch_command(BLTOUCH_RESET);
set_bltouch_deployed(false);
#endif
#if ENABLED(I2C_POSITION_ENCODERS)
I2CPEM.init();
#endif
#if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
i2c.onReceive(i2c_on_receive);
i2c.onRequest(i2c_on_request);
#endif
#if DO_SWITCH_EXTRUDER
move_extruder_servo(0); // Initialize extruder servo
#endif
#if ENABLED(SWITCHING_NOZZLE)
move_nozzle_servo(0); // Initialize nozzle servo
#endif
#if ENABLED(PARKING_EXTRUDER)
#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
pe_activate_magnet(0);
pe_activate_magnet(1);
#else
pe_deactivate_magnet(0);
pe_deactivate_magnet(1);
#endif
#endif
#if ENABLED(POWER_LOSS_RECOVERY)
check_print_job_recovery();
#endif
#if ENABLED(USE_WATCHDOG)
watchdog_init();
#endif
#if ENABLED(HANGPRINTER)
enable_A();
enable_B();
enable_C();
enable_D();
#endif
#if ENABLED(SDSUPPORT) && DISABLED(ULTRA_LCD)
card.beginautostart();
#endif
}
/**
* The main Marlin program loop
*
* - Abort SD printing if flagged
* - Save or log commands to SD
* - Process available commands (if not saving)
* - Call heater manager
* - Call inactivity manager
* - Call endstop manager
* - Call LCD update
*/
void loop() {
#if ENABLED(SDSUPPORT)
card.checkautostart();
if (card.abort_sd_printing) {
card.stopSDPrint(
#if SD_RESORT
true
#endif
);
clear_command_queue();
quickstop_stepper();
print_job_timer.stop();
thermalManager.disable_all_heaters();
#if FAN_COUNT > 0
for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
#endif
wait_for_heatup = false;
#if ENABLED(POWER_LOSS_RECOVERY)
card.removeJobRecoveryFile();
#endif
}
#endif // SDSUPPORT
if (commands_in_queue < BUFSIZE) get_available_commands();
if (commands_in_queue) {
#if ENABLED(SDSUPPORT)
if (card.saving) {
char* command = command_queue[cmd_queue_index_r];
if (strstr_P(command, PSTR("M29"))) {
// M29 closes the file
card.closefile();
SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
#if USE_MARLINSERIAL
#if ENABLED(SERIAL_STATS_DROPPED_RX)
SERIAL_ECHOLNPAIR("Dropped bytes: ", customizedSerial.dropped());
#endif
#if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
SERIAL_ECHOLNPAIR("Max RX Queue Size: ", customizedSerial.rxMaxEnqueued());
#endif
#endif
ok_to_send();
}
else {
// Write the string from the read buffer to SD
card.write_command(command);
if (card.logging)
process_next_command(); // The card is saving because it's logging
else
ok_to_send();
}
}
else {
process_next_command();
#if ENABLED(POWER_LOSS_RECOVERY)
if (card.cardOK && card.sdprinting) save_job_recovery_info();
#endif
}
#else
process_next_command();
#endif // SDSUPPORT
// The queue may be reset by a command handler or by code invoked by idle() within a handler
if (commands_in_queue) {
--commands_in_queue;
if (++cmd_queue_index_r >= BUFSIZE) cmd_queue_index_r = 0;
}
}
endstops.event_handler();
idle();
}
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