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/* -*- c++ -*- */
/*
Reprap firmware 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/>.
*/
/*
This firmware is a mashup between Sprinter and grbl .
( https : //github.com/kliment/Sprinter)
( https : //github.com/simen/grbl/tree)
It has preliminary support for Matthew Roberts advance algorithm
http : //reprap.org/pipermail/reprap-dev/2011-May/003323.html
*/
# include "Marlin.h"
# ifdef ENABLE_AUTO_BED_LEVELING
# include "vector_3.h"
# ifdef AUTO_BED_LEVELING_GRID
# include "qr_solve.h"
# endif
# endif // ENABLE_AUTO_BED_LEVELING
# include "ultralcd.h"
# include "Configuration_prusa.h"
# include "planner.h"
# include "stepper.h"
# include "temperature.h"
# include "motion_control.h"
# include "cardreader.h"
# include "watchdog.h"
# include "ConfigurationStore.h"
# include "language.h"
# include "pins_arduino.h"
# include "math.h"
# ifdef BLINKM
# include "BlinkM.h"
# include "Wire.h"
# endif
# ifdef ULTRALCD
# include "ultralcd.h"
# endif
# if NUM_SERVOS > 0
# include "Servo.h"
# endif
# if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
# include <SPI.h>
# endif
# define VERSION_STRING "1.0.2"
# include "ultralcd.h"
// look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
//Implemented Codes
//-------------------
// PRUSA CODES
// P F - Returns FW versions
// P R - Returns revision of printer
// G0 -> G1
// G1 - Coordinated Movement X Y Z E
// G2 - CW ARC
// G3 - CCW ARC
// G4 - Dwell S<seconds> or P<milliseconds>
// G10 - retract filament according to settings of M207
// G11 - retract recover filament according to settings of M208
// G28 - Home all Axis
// G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
// G30 - Single Z Probe, probes bed at current XY location.
// G31 - Dock sled (Z_PROBE_SLED only)
// G32 - Undock sled (Z_PROBE_SLED only)
// G90 - Use Absolute Coordinates
// G91 - Use Relative Coordinates
// G92 - Set current position to coordinates given
// M Codes
// M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
// M1 - Same as M0
// M17 - Enable/Power all stepper motors
// M18 - Disable all stepper motors; same as M84
// M20 - List SD card
// M21 - Init SD card
// M22 - Release SD card
// M23 - Select SD file (M23 filename.g)
// M24 - Start/resume SD print
// M25 - Pause SD print
// M26 - Set SD position in bytes (M26 S12345)
// M27 - Report SD print status
// M28 - Start SD write (M28 filename.g)
// M29 - Stop SD write
// M30 - Delete file from SD (M30 filename.g)
// M31 - Output time since last M109 or SD card start to serial
// M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
// syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
// Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
// The '#' is necessary when calling from within sd files, as it stops buffer prereading
// M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
// M80 - Turn on Power Supply
// M81 - Turn off Power Supply
// M82 - Set E codes absolute (default)
// M83 - Set E codes relative while in Absolute Coordinates (G90) mode
// M84 - Disable steppers until next move,
// or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
// M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
// M92 - Set axis_steps_per_unit - same syntax as G92
// M104 - Set extruder target temp
// M105 - Read current temp
// M106 - Fan on
// M107 - Fan off
// M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
// Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
// IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
// M112 - Emergency stop
// M114 - Output current position to serial port
// M115 - Capabilities string
// M117 - display message
// M119 - Output Endstop status to serial port
// M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
// M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
// M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
// M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
// M140 - Set bed target temp
// M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
// M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
// Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
// M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
// M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
// M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) in mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
// M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
// M206 - set additional homing offset
// M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
// M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
// M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
// M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
// M220 S<factor in percent>- set speed factor override percentage
// M221 S<factor in percent>- set extrude factor override percentage
// M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
// M240 - Trigger a camera to take a photograph
// M250 - Set LCD contrast C<contrast value> (value 0..63)
// M280 - set servo position absolute. P: servo index, S: angle or microseconds
// M300 - Play beep sound S<frequency Hz> P<duration ms>
// M301 - Set PID parameters P I and D
// M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
// M304 - Set bed PID parameters P I and D
// M400 - Finish all moves
// M401 - Lower z-probe if present
// M402 - Raise z-probe if present
// M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
// M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
// M406 - Turn off Filament Sensor extrusion control
// M407 - Displays measured filament diameter
// M500 - stores parameters in EEPROM
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
// M503 - print the current settings (from memory not from EEPROM)
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// M509 - force language selection on next restart
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// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
// M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
// M665 - set delta configurations
// M666 - set delta endstop adjustment
// M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
// M907 - Set digital trimpot motor current using axis codes.
// M908 - Control digital trimpot directly.
// M350 - Set microstepping mode.
// M351 - Toggle MS1 MS2 pins directly.
// ************ SCARA Specific - This can change to suit future G-code regulations
// M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
// M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
// M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
// M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
// M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
// M365 - SCARA calibration: Scaling factor, X, Y, Z axis
//************* SCARA End ***************
// M928 - Start SD logging (M928 filename.g) - ended by M29
// M999 - Restart after being stopped by error
//Stepper Movement Variables
//===========================================================================
//=============================imported variables============================
//===========================================================================
//===========================================================================
//=============================public variables=============================
//===========================================================================
# ifdef SDSUPPORT
CardReader card ;
# endif
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union Data
{
byte b [ 2 ] ;
int value ;
} ;
int babystepLoad [ 3 ] ;
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float homing_feedrate [ ] = HOMING_FEEDRATE ;
bool axis_relative_modes [ ] = AXIS_RELATIVE_MODES ;
int feedmultiply = 100 ; //100->1 200->2
int saved_feedmultiply ;
int extrudemultiply = 100 ; //100->1 200->2
int extruder_multiply [ EXTRUDERS ] = { 100
# if EXTRUDERS > 1
, 100
# if EXTRUDERS > 2
, 100
# endif
# endif
} ;
int lcd_change_fil_state = 0 ;
int feedmultiplyBckp = 100 ;
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unsigned char lang_selected = 0 ;
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bool volumetric_enabled = false ;
float filament_size [ EXTRUDERS ] = { DEFAULT_NOMINAL_FILAMENT_DIA
# if EXTRUDERS > 1
, DEFAULT_NOMINAL_FILAMENT_DIA
# if EXTRUDERS > 2
, DEFAULT_NOMINAL_FILAMENT_DIA
# endif
# endif
} ;
float volumetric_multiplier [ EXTRUDERS ] = { 1.0
# if EXTRUDERS > 1
, 1.0
# if EXTRUDERS > 2
, 1.0
# endif
# endif
} ;
float current_position [ NUM_AXIS ] = { 0.0 , 0.0 , 0.0 , 0.0 } ;
float add_homing [ 3 ] = { 0 , 0 , 0 } ;
# ifdef DELTA
float endstop_adj [ 3 ] = { 0 , 0 , 0 } ;
# endif
float min_pos [ 3 ] = { X_MIN_POS , Y_MIN_POS , Z_MIN_POS } ;
float max_pos [ 3 ] = { X_MAX_POS , Y_MAX_POS , Z_MAX_POS } ;
bool axis_known_position [ 3 ] = { false , false , false } ;
float zprobe_zoffset ;
// Extruder offset
# if EXTRUDERS > 1
# ifndef DUAL_X_CARRIAGE
# define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
# else
# define NUM_EXTRUDER_OFFSETS 3 // supports offsets in XYZ plane
# endif
float extruder_offset [ NUM_EXTRUDER_OFFSETS ] [ EXTRUDERS ] = {
# if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
EXTRUDER_OFFSET_X , EXTRUDER_OFFSET_Y
# endif
} ;
# endif
uint8_t active_extruder = 0 ;
int fanSpeed = 0 ;
# ifdef SERVO_ENDSTOPS
int servo_endstops [ ] = SERVO_ENDSTOPS ;
int servo_endstop_angles [ ] = SERVO_ENDSTOP_ANGLES ;
# endif
# ifdef BARICUDA
int ValvePressure = 0 ;
int EtoPPressure = 0 ;
# endif
# ifdef FWRETRACT
bool autoretract_enabled = false ;
bool retracted [ EXTRUDERS ] = { false
# if EXTRUDERS > 1
, false
# if EXTRUDERS > 2
, false
# endif
# endif
} ;
bool retracted_swap [ EXTRUDERS ] = { false
# if EXTRUDERS > 1
, false
# if EXTRUDERS > 2
, false
# endif
# endif
} ;
float retract_length = RETRACT_LENGTH ;
float retract_length_swap = RETRACT_LENGTH_SWAP ;
float retract_feedrate = RETRACT_FEEDRATE ;
float retract_zlift = RETRACT_ZLIFT ;
float retract_recover_length = RETRACT_RECOVER_LENGTH ;
float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP ;
float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE ;
# endif
# ifdef ULTIPANEL
# ifdef PS_DEFAULT_OFF
bool powersupply = false ;
# else
bool powersupply = true ;
# endif
# endif
# ifdef DELTA
float delta [ 3 ] = { 0.0 , 0.0 , 0.0 } ;
# define SIN_60 0.8660254037844386
# define COS_60 0.5
// these are the default values, can be overriden with M665
float delta_radius = DELTA_RADIUS ;
float delta_tower1_x = - SIN_60 * delta_radius ; // front left tower
float delta_tower1_y = - COS_60 * delta_radius ;
float delta_tower2_x = SIN_60 * delta_radius ; // front right tower
float delta_tower2_y = - COS_60 * delta_radius ;
float delta_tower3_x = 0.0 ; // back middle tower
float delta_tower3_y = delta_radius ;
float delta_diagonal_rod = DELTA_DIAGONAL_ROD ;
float delta_diagonal_rod_2 = sq ( delta_diagonal_rod ) ;
float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND ;
# endif
# ifdef SCARA // Build size scaling
float axis_scaling [ 3 ] = { 1 , 1 , 1 } ; // Build size scaling, default to 1
# endif
bool cancel_heatup = false ;
# ifdef FILAMENT_SENSOR
//Variables for Filament Sensor input
float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA ; //Set nominal filament width, can be changed with M404
bool filament_sensor = false ; //M405 turns on filament_sensor control, M406 turns it off
float filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA ; //Stores the measured filament diameter
signed char measurement_delay [ MAX_MEASUREMENT_DELAY + 1 ] ; //ring buffer to delay measurement store extruder factor after subtracting 100
int delay_index1 = 0 ; //index into ring buffer
int delay_index2 = - 1 ; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
float delay_dist = 0 ; //delay distance counter
int meas_delay_cm = MEASUREMENT_DELAY_CM ; //distance delay setting
# endif
const char errormagic [ ] PROGMEM = " Error: " ;
const char echomagic [ ] PROGMEM = " echo: " ;
//===========================================================================
//=============================Private Variables=============================
//===========================================================================
const char axis_codes [ NUM_AXIS ] = { ' X ' , ' Y ' , ' Z ' , ' E ' } ;
static float destination [ NUM_AXIS ] = { 0.0 , 0.0 , 0.0 , 0.0 } ;
# ifndef DELTA
static float delta [ 3 ] = { 0.0 , 0.0 , 0.0 } ;
# endif
static float offset [ 3 ] = { 0.0 , 0.0 , 0.0 } ;
static bool home_all_axis = true ;
static float feedrate = 1500.0 , next_feedrate , saved_feedrate ;
static long gcode_N , gcode_LastN , Stopped_gcode_LastN = 0 ;
static bool relative_mode = false ; //Determines Absolute or Relative Coordinates
static char cmdbuffer [ BUFSIZE ] [ MAX_CMD_SIZE ] ;
static bool fromsd [ BUFSIZE ] ;
static int bufindr = 0 ;
static int bufindw = 0 ;
static int buflen = 0 ;
//static int i = 0;
static char serial_char ;
static int serial_count = 0 ;
static boolean comment_mode = false ;
static char * strchr_pointer ; // just a pointer to find chars in the command string like X, Y, Z, E, etc
const int sensitive_pins [ ] = SENSITIVE_PINS ; // Sensitive pin list for M42
//static float tt = 0;
//static float bt = 0;
//Inactivity shutdown variables
static unsigned long previous_millis_cmd = 0 ;
static unsigned long max_inactive_time = 0 ;
static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME * 1000l ;
unsigned long starttime = 0 ;
unsigned long stoptime = 0 ;
static uint8_t tmp_extruder ;
bool Stopped = false ;
# if NUM_SERVOS > 0
Servo servos [ NUM_SERVOS ] ;
# endif
bool CooldownNoWait = true ;
bool target_direction ;
//Insert variables if CHDK is defined
# ifdef CHDK
unsigned long chdkHigh = 0 ;
boolean chdkActive = false ;
# endif
//===========================================================================
//=============================Routines======================================
//===========================================================================
void get_arc_coordinates ( ) ;
bool setTargetedHotend ( int code ) ;
void serial_echopair_P ( const char * s_P , float v )
{ serialprintPGM ( s_P ) ; SERIAL_ECHO ( v ) ; }
void serial_echopair_P ( const char * s_P , double v )
{ serialprintPGM ( s_P ) ; SERIAL_ECHO ( v ) ; }
void serial_echopair_P ( const char * s_P , unsigned long v )
{ serialprintPGM ( s_P ) ; SERIAL_ECHO ( v ) ; }
# ifdef SDSUPPORT
# include "SdFatUtil.h"
int freeMemory ( ) { return SdFatUtil : : FreeRam ( ) ; }
# else
extern " C " {
extern unsigned int __bss_end ;
extern unsigned int __heap_start ;
extern void * __brkval ;
int freeMemory ( ) {
int free_memory ;
if ( ( int ) __brkval = = 0 )
free_memory = ( ( int ) & free_memory ) - ( ( int ) & __bss_end ) ;
else
free_memory = ( ( int ) & free_memory ) - ( ( int ) __brkval ) ;
return free_memory ;
}
}
# endif //!SDSUPPORT
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//adds an command to the main command buffer
//thats really done in a non-safe way.
//needs overworking someday
void enquecommand ( const char * cmd )
{
if ( buflen < BUFSIZE )
{
//this is dangerous if a mixing of serial and this happens
strcpy ( & ( cmdbuffer [ bufindw ] [ 0 ] ) , cmd ) ;
SERIAL_ECHO_START ;
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SERIAL_ECHORPGM ( MSG_Enqueing ) ;
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SERIAL_ECHO ( cmdbuffer [ bufindw ] ) ;
SERIAL_ECHOLNPGM ( " \" " ) ;
bufindw = ( bufindw + 1 ) % BUFSIZE ;
buflen + = 1 ;
}
}
void enquecommand_P ( const char * cmd )
{
if ( buflen < BUFSIZE )
{
//this is dangerous if a mixing of serial and this happens
strcpy_P ( & ( cmdbuffer [ bufindw ] [ 0 ] ) , cmd ) ;
SERIAL_ECHO_START ;
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SERIAL_ECHORPGM ( MSG_Enqueing ) ;
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SERIAL_ECHO ( cmdbuffer [ bufindw ] ) ;
SERIAL_ECHOLNPGM ( " \" " ) ;
bufindw = ( bufindw + 1 ) % BUFSIZE ;
buflen + = 1 ;
}
}
void setup_killpin ( )
{
# if defined(KILL_PIN) && KILL_PIN > -1
SET_INPUT ( KILL_PIN ) ;
WRITE ( KILL_PIN , HIGH ) ;
# endif
}
// Set home pin
void setup_homepin ( void )
{
# if defined(HOME_PIN) && HOME_PIN > -1
SET_INPUT ( HOME_PIN ) ;
WRITE ( HOME_PIN , HIGH ) ;
# endif
}
void setup_photpin ( )
{
# if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
SET_OUTPUT ( PHOTOGRAPH_PIN ) ;
WRITE ( PHOTOGRAPH_PIN , LOW ) ;
# endif
}
void setup_powerhold ( )
{
# if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
SET_OUTPUT ( SUICIDE_PIN ) ;
WRITE ( SUICIDE_PIN , HIGH ) ;
# endif
# if defined(PS_ON_PIN) && PS_ON_PIN > -1
SET_OUTPUT ( PS_ON_PIN ) ;
# if defined(PS_DEFAULT_OFF)
WRITE ( PS_ON_PIN , PS_ON_ASLEEP ) ;
# else
WRITE ( PS_ON_PIN , PS_ON_AWAKE ) ;
# endif
# endif
}
void suicide ( )
{
# if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
SET_OUTPUT ( SUICIDE_PIN ) ;
WRITE ( SUICIDE_PIN , LOW ) ;
# endif
}
void servo_init ( )
{
# if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
servos [ 0 ] . attach ( SERVO0_PIN ) ;
# endif
# if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
servos [ 1 ] . attach ( SERVO1_PIN ) ;
# endif
# if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
servos [ 2 ] . attach ( SERVO2_PIN ) ;
# endif
# if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
servos [ 3 ] . attach ( SERVO3_PIN ) ;
# endif
# if (NUM_SERVOS >= 5)
# error "TODO: enter initalisation code for more servos"
# endif
// Set position of Servo Endstops that are defined
# ifdef SERVO_ENDSTOPS
for ( int8_t i = 0 ; i < 3 ; i + + )
{
if ( servo_endstops [ i ] > - 1 ) {
servos [ servo_endstops [ i ] ] . write ( servo_endstop_angles [ i * 2 + 1 ] ) ;
}
}
# endif
# if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
delay ( PROBE_SERVO_DEACTIVATION_DELAY ) ;
servos [ servo_endstops [ Z_AXIS ] ] . detach ( ) ;
# endif
}
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static void lcd_language_menu ( ) ;
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void setup ( )
{
setup_killpin ( ) ;
setup_powerhold ( ) ;
MYSERIAL . begin ( BAUDRATE ) ;
SERIAL_PROTOCOLLNPGM ( " start " ) ;
SERIAL_ECHO_START ;
// Check startup - does nothing if bootloader sets MCUSR to 0
byte mcu = MCUSR ;
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if ( mcu & 1 ) SERIAL_ECHOLNRPGM ( MSG_POWERUP ) ;
if ( mcu & 2 ) SERIAL_ECHOLNRPGM ( MSG_EXTERNAL_RESET ) ;
if ( mcu & 4 ) SERIAL_ECHOLNRPGM ( MSG_BROWNOUT_RESET ) ;
if ( mcu & 8 ) SERIAL_ECHOLNRPGM ( MSG_WATCHDOG_RESET ) ;
if ( mcu & 32 ) SERIAL_ECHOLNRPGM ( MSG_SOFTWARE_RESET ) ;
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MCUSR = 0 ;
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SERIAL_ECHORPGM ( MSG_MARLIN ) ;
SERIAL_ECHOLNRPGM ( VERSION_STRING ) ;
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# ifdef STRING_VERSION_CONFIG_H
# ifdef STRING_CONFIG_H_AUTHOR
SERIAL_ECHO_START ;
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SERIAL_ECHORPGM ( MSG_CONFIGURATION_VER ) ;
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SERIAL_ECHOPGM ( STRING_VERSION_CONFIG_H ) ;
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SERIAL_ECHORPGM ( MSG_AUTHOR ) ;
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SERIAL_ECHOLNPGM ( STRING_CONFIG_H_AUTHOR ) ;
SERIAL_ECHOPGM ( " Compiled: " ) ;
SERIAL_ECHOLNPGM ( __DATE__ ) ;
# endif
# endif
SERIAL_ECHO_START ;
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SERIAL_ECHORPGM ( MSG_FREE_MEMORY ) ;
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SERIAL_ECHO ( freeMemory ( ) ) ;
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SERIAL_ECHORPGM ( MSG_PLANNER_BUFFER_BYTES ) ;
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SERIAL_ECHOLN ( ( int ) sizeof ( block_t ) * BLOCK_BUFFER_SIZE ) ;
for ( int8_t i = 0 ; i < BUFSIZE ; i + + )
{
fromsd [ i ] = false ;
}
// loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
Config_RetrieveSettings ( ) ;
tp_init ( ) ; // Initialize temperature loop
plan_init ( ) ; // Initialize planner;
watchdog_init ( ) ;
st_init ( ) ; // Initialize stepper, this enables interrupts!
setup_photpin ( ) ;
servo_init ( ) ;
lcd_init ( ) ;
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if ( ! READ ( BTN_ENC ) ) {
_delay_ms ( 1000 ) ;
if ( ! READ ( BTN_ENC ) ) {
SET_OUTPUT ( BEEPER ) ;
WRITE ( BEEPER , HIGH ) ;
lcd_force_language_selection ( ) ;
while ( ! READ ( BTN_ENC ) ) ;
WRITE ( BEEPER , LOW ) ;
}
} else {
_delay_ms ( 1000 ) ; // wait 1sec to display the splash screen
}
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# if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
SET_OUTPUT ( CONTROLLERFAN_PIN ) ; //Set pin used for driver cooling fan
# endif
# ifdef DIGIPOT_I2C
digipot_i2c_init ( ) ;
# endif
# ifdef Z_PROBE_SLED
pinMode ( SERVO0_PIN , OUTPUT ) ;
digitalWrite ( SERVO0_PIN , LOW ) ; // turn it off
# endif // Z_PROBE_SLED
setup_homepin ( ) ;
}
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//unsigned char first_run_ever=1;
//void first_time_menu();
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void loop ( )
{
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if ( buflen < ( BUFSIZE - 1 ) )
get_command ( ) ;
# ifdef SDSUPPORT
card . checkautostart ( false ) ;
# endif
if ( buflen )
{
# ifdef SDSUPPORT
if ( card . saving )
{
if ( strstr_P ( cmdbuffer [ bufindr ] , PSTR ( " M29 " ) ) = = NULL )
{
card . write_command ( cmdbuffer [ bufindr ] ) ;
if ( card . logging )
{
process_commands ( ) ;
}
else
{
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SERIAL_PROTOCOLLNRPGM ( MSG_OK ) ;
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}
}
else
{
card . closefile ( ) ;
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SERIAL_PROTOCOLLNRPGM ( MSG_FILE_SAVED ) ;
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}
}
else
{
process_commands ( ) ;
}
# else
process_commands ( ) ;
# endif //SDSUPPORT
buflen = ( buflen - 1 ) ;
bufindr = ( bufindr + 1 ) % BUFSIZE ;
}
//check heater every n milliseconds
manage_heater ( ) ;
manage_inactivity ( ) ;
checkHitEndstops ( ) ;
lcd_update ( ) ;
}
void get_command ( )
{
while ( MYSERIAL . available ( ) > 0 & & buflen < BUFSIZE ) {
serial_char = MYSERIAL . read ( ) ;
if ( serial_char = = ' \n ' | |
serial_char = = ' \r ' | |
( serial_char = = ' : ' & & comment_mode = = false ) | |
serial_count > = ( MAX_CMD_SIZE - 1 ) )
{
if ( ! serial_count ) { //if empty line
comment_mode = false ; //for new command
return ;
}
cmdbuffer [ bufindw ] [ serial_count ] = 0 ; //terminate string
if ( ! comment_mode ) {
comment_mode = false ; //for new command
fromsd [ bufindw ] = false ;
if ( strchr ( cmdbuffer [ bufindw ] , ' N ' ) ! = NULL )
{
strchr_pointer = strchr ( cmdbuffer [ bufindw ] , ' N ' ) ;
gcode_N = ( strtol ( & cmdbuffer [ bufindw ] [ strchr_pointer - cmdbuffer [ bufindw ] + 1 ] , NULL , 10 ) ) ;
if ( gcode_N ! = gcode_LastN + 1 & & ( strstr_P ( cmdbuffer [ bufindw ] , PSTR ( " M110 " ) ) = = NULL ) ) {
SERIAL_ERROR_START ;
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SERIAL_ERRORRPGM ( MSG_ERR_LINE_NO ) ;
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SERIAL_ERRORLN ( gcode_LastN ) ;
//Serial.println(gcode_N);
FlushSerialRequestResend ( ) ;
serial_count = 0 ;
return ;
}
if ( strchr ( cmdbuffer [ bufindw ] , ' * ' ) ! = NULL )
{
byte checksum = 0 ;
byte count = 0 ;
while ( cmdbuffer [ bufindw ] [ count ] ! = ' * ' ) checksum = checksum ^ cmdbuffer [ bufindw ] [ count + + ] ;
strchr_pointer = strchr ( cmdbuffer [ bufindw ] , ' * ' ) ;
if ( ( int ) ( strtod ( & cmdbuffer [ bufindw ] [ strchr_pointer - cmdbuffer [ bufindw ] + 1 ] , NULL ) ) ! = checksum ) {
SERIAL_ERROR_START ;
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SERIAL_ERRORRPGM ( MSG_ERR_CHECKSUM_MISMATCH ) ;
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SERIAL_ERRORLN ( gcode_LastN ) ;
FlushSerialRequestResend ( ) ;
serial_count = 0 ;
return ;
}
//if no errors, continue parsing
}
else
{
SERIAL_ERROR_START ;
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SERIAL_ERRORRPGM ( MSG_ERR_NO_CHECKSUM ) ;
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SERIAL_ERRORLN ( gcode_LastN ) ;
FlushSerialRequestResend ( ) ;
serial_count = 0 ;
return ;
}
gcode_LastN = gcode_N ;
//if no errors, continue parsing
}
else // if we don't receive 'N' but still see '*'
{
if ( ( strchr ( cmdbuffer [ bufindw ] , ' * ' ) ! = NULL ) )
{
SERIAL_ERROR_START ;
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SERIAL_ERRORRPGM ( MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM ) ;
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SERIAL_ERRORLN ( gcode_LastN ) ;
serial_count = 0 ;
return ;
}
}
if ( ( strchr ( cmdbuffer [ bufindw ] , ' G ' ) ! = NULL ) ) {
strchr_pointer = strchr ( cmdbuffer [ bufindw ] , ' G ' ) ;
switch ( ( int ) ( ( strtod ( & cmdbuffer [ bufindw ] [ strchr_pointer - cmdbuffer [ bufindw ] + 1 ] , NULL ) ) ) ) {
case 0 :
case 1 :
case 2 :
case 3 :
if ( Stopped = = true ) {
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SERIAL_ERRORLNRPGM ( MSG_ERR_STOPPED ) ;
LCD_MESSAGERPGM ( MSG_STOPPED ) ;
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}
break ;
default :
break ;
}
}
//If command was e-stop process now
if ( strcmp ( cmdbuffer [ bufindw ] , " M112 " ) = = 0 )
kill ( ) ;
bufindw = ( bufindw + 1 ) % BUFSIZE ;
buflen + = 1 ;
}
serial_count = 0 ; //clear buffer
}
else
{
if ( serial_char = = ' ; ' ) comment_mode = true ;
if ( ! comment_mode ) cmdbuffer [ bufindw ] [ serial_count + + ] = serial_char ;
}
}
# ifdef SDSUPPORT
if ( ! card . sdprinting | | serial_count ! = 0 ) {
return ;
}
//'#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible
// if it occurs, stop_buffering is triggered and the buffer is ran dry.
// this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing
static bool stop_buffering = false ;
if ( buflen = = 0 ) stop_buffering = false ;
while ( ! card . eof ( ) & & buflen < BUFSIZE & & ! stop_buffering ) {
int16_t n = card . get ( ) ;
serial_char = ( char ) n ;
if ( serial_char = = ' \n ' | |
serial_char = = ' \r ' | |
( serial_char = = ' # ' & & comment_mode = = false ) | |
( serial_char = = ' : ' & & comment_mode = = false ) | |
serial_count > = ( MAX_CMD_SIZE - 1 ) | | n = = - 1 )
{
if ( card . eof ( ) ) {
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SERIAL_PROTOCOLLNRPGM ( MSG_FILE_PRINTED ) ;
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stoptime = millis ( ) ;
char time [ 30 ] ;
unsigned long t = ( stoptime - starttime ) / 1000 ;
int hours , minutes ;
minutes = ( t / 60 ) % 60 ;
hours = t / 60 / 60 ;
sprintf_P ( time , PSTR ( " %i hours %i minutes " ) , hours , minutes ) ;
SERIAL_ECHO_START ;
SERIAL_ECHOLN ( time ) ;
lcd_setstatus ( time ) ;
card . printingHasFinished ( ) ;
card . checkautostart ( true ) ;
}
if ( serial_char = = ' # ' )
stop_buffering = true ;
if ( ! serial_count )
{
comment_mode = false ; //for new command
return ; //if empty line
}
cmdbuffer [ bufindw ] [ serial_count ] = 0 ; //terminate string
// if(!comment_mode){
fromsd [ bufindw ] = true ;
buflen + = 1 ;
bufindw = ( bufindw + 1 ) % BUFSIZE ;
// }
comment_mode = false ; //for new command
serial_count = 0 ; //clear buffer
}
else
{
if ( serial_char = = ' ; ' ) comment_mode = true ;
if ( ! comment_mode ) cmdbuffer [ bufindw ] [ serial_count + + ] = serial_char ;
}
}
# endif //SDSUPPORT
}
float code_value ( )
{
return ( strtod ( & cmdbuffer [ bufindr ] [ strchr_pointer - cmdbuffer [ bufindr ] + 1 ] , NULL ) ) ;
}
long code_value_long ( )
{
return ( strtol ( & cmdbuffer [ bufindr ] [ strchr_pointer - cmdbuffer [ bufindr ] + 1 ] , NULL , 10 ) ) ;
}
bool code_seen ( char code )
{
strchr_pointer = strchr ( cmdbuffer [ bufindr ] , code ) ;
return ( strchr_pointer ! = NULL ) ; //Return True if a character was found
}
# define DEFINE_PGM_READ_ANY(type, reader) \
static inline type pgm_read_any ( const type * p ) \
{ return pgm_read_ # # reader # # _near ( p ) ; }
DEFINE_PGM_READ_ANY ( float , float ) ;
DEFINE_PGM_READ_ANY ( signed char , byte ) ;
# define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
static const PROGMEM type array # # _P [ 3 ] = \
{ X_ # # CONFIG , Y_ # # CONFIG , Z_ # # CONFIG } ; \
static inline type array ( int axis ) \
{ return pgm_read_any ( & array # # _P [ axis ] ) ; }
XYZ_CONSTS_FROM_CONFIG ( float , base_min_pos , MIN_POS ) ;
XYZ_CONSTS_FROM_CONFIG ( float , base_max_pos , MAX_POS ) ;
XYZ_CONSTS_FROM_CONFIG ( float , base_home_pos , HOME_POS ) ;
XYZ_CONSTS_FROM_CONFIG ( float , max_length , MAX_LENGTH ) ;
XYZ_CONSTS_FROM_CONFIG ( float , home_retract_mm , HOME_RETRACT_MM ) ;
XYZ_CONSTS_FROM_CONFIG ( signed char , home_dir , HOME_DIR ) ;
# ifdef DUAL_X_CARRIAGE
# if EXTRUDERS == 1 || defined(COREXY) \
| | ! defined ( X2_ENABLE_PIN ) | | ! defined ( X2_STEP_PIN ) | | ! defined ( X2_DIR_PIN ) \
| | ! defined ( X2_HOME_POS ) | | ! defined ( X2_MIN_POS ) | | ! defined ( X2_MAX_POS ) \
| | ! defined ( X_MAX_PIN ) | | X_MAX_PIN < 0
# error "Missing or invalid definitions for DUAL_X_CARRIAGE mode."
# endif
# if X_HOME_DIR != -1 || X2_HOME_DIR != 1
# error "Please use canonical x-carriage assignment" // the x-carriages are defined by their homing directions
# endif
# define DXC_FULL_CONTROL_MODE 0
# define DXC_AUTO_PARK_MODE 1
# define DXC_DUPLICATION_MODE 2
static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE ;
static float x_home_pos ( int extruder ) {
if ( extruder = = 0 )
return base_home_pos ( X_AXIS ) + add_homing [ X_AXIS ] ;
else
// In dual carriage mode the extruder offset provides an override of the
// second X-carriage offset when homed - otherwise X2_HOME_POS is used.
// This allow soft recalibration of the second extruder offset position without firmware reflash
// (through the M218 command).
return ( extruder_offset [ X_AXIS ] [ 1 ] > 0 ) ? extruder_offset [ X_AXIS ] [ 1 ] : X2_HOME_POS ;
}
static int x_home_dir ( int extruder ) {
return ( extruder = = 0 ) ? X_HOME_DIR : X2_HOME_DIR ;
}
static float inactive_extruder_x_pos = X2_MAX_POS ; // used in mode 0 & 1
static bool active_extruder_parked = false ; // used in mode 1 & 2
static float raised_parked_position [ NUM_AXIS ] ; // used in mode 1
static unsigned long delayed_move_time = 0 ; // used in mode 1
static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET ; // used in mode 2
static float duplicate_extruder_temp_offset = 0 ; // used in mode 2
bool extruder_duplication_enabled = false ; // used in mode 2
# endif //DUAL_X_CARRIAGE
static void axis_is_at_home ( int axis ) {
# ifdef DUAL_X_CARRIAGE
if ( axis = = X_AXIS ) {
if ( active_extruder ! = 0 ) {
current_position [ X_AXIS ] = x_home_pos ( active_extruder ) ;
min_pos [ X_AXIS ] = X2_MIN_POS ;
max_pos [ X_AXIS ] = max ( extruder_offset [ X_AXIS ] [ 1 ] , X2_MAX_POS ) ;
return ;
}
else if ( dual_x_carriage_mode = = DXC_DUPLICATION_MODE & & active_extruder = = 0 ) {
current_position [ X_AXIS ] = base_home_pos ( X_AXIS ) + add_homing [ X_AXIS ] ;
min_pos [ X_AXIS ] = base_min_pos ( X_AXIS ) + add_homing [ X_AXIS ] ;
max_pos [ X_AXIS ] = min ( base_max_pos ( X_AXIS ) + add_homing [ X_AXIS ] ,
max ( extruder_offset [ X_AXIS ] [ 1 ] , X2_MAX_POS ) - duplicate_extruder_x_offset ) ;
return ;
}
}
# endif
# ifdef SCARA
float homeposition [ 3 ] ;
char i ;
if ( axis < 2 )
{
for ( i = 0 ; i < 3 ; i + + )
{
homeposition [ i ] = base_home_pos ( i ) ;
}
// SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
// SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
// Works out real Homeposition angles using inverse kinematics,
// and calculates homing offset using forward kinematics
calculate_delta ( homeposition ) ;
// SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]);
// SERIAL_ECHOPGM(" base Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
for ( i = 0 ; i < 2 ; i + + )
{
delta [ i ] - = add_homing [ i ] ;
}
// SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(add_homing[X_AXIS]);
// SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(add_homing[Y_AXIS]);
// SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
// SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
calculate_SCARA_forward_Transform ( delta ) ;
// SERIAL_ECHOPGM("Delta X="); SERIAL_ECHO(delta[X_AXIS]);
// SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);
current_position [ axis ] = delta [ axis ] ;
// SCARA home positions are based on configuration since the actual limits are determined by the
// inverse kinematic transform.
min_pos [ axis ] = base_min_pos ( axis ) ; // + (delta[axis] - base_home_pos(axis));
max_pos [ axis ] = base_max_pos ( axis ) ; // + (delta[axis] - base_home_pos(axis));
}
else
{
current_position [ axis ] = base_home_pos ( axis ) + add_homing [ axis ] ;
min_pos [ axis ] = base_min_pos ( axis ) + add_homing [ axis ] ;
max_pos [ axis ] = base_max_pos ( axis ) + add_homing [ axis ] ;
}
# else
current_position [ axis ] = base_home_pos ( axis ) + add_homing [ axis ] ;
min_pos [ axis ] = base_min_pos ( axis ) + add_homing [ axis ] ;
max_pos [ axis ] = base_max_pos ( axis ) + add_homing [ axis ] ;
# endif
}
# ifdef ENABLE_AUTO_BED_LEVELING
# ifdef AUTO_BED_LEVELING_GRID
static void set_bed_level_equation_lsq ( double * plane_equation_coefficients )
{
vector_3 planeNormal = vector_3 ( - plane_equation_coefficients [ 0 ] , - plane_equation_coefficients [ 1 ] , 1 ) ;
planeNormal . debug ( " planeNormal " ) ;
plan_bed_level_matrix = matrix_3x3 : : create_look_at ( planeNormal ) ;
//bedLevel.debug("bedLevel");
//plan_bed_level_matrix.debug("bed level before");
//vector_3 uncorrected_position = plan_get_position_mm();
//uncorrected_position.debug("position before");
vector_3 corrected_position = plan_get_position ( ) ;
// corrected_position.debug("position after");
current_position [ X_AXIS ] = corrected_position . x ;
current_position [ Y_AXIS ] = corrected_position . y ;
current_position [ Z_AXIS ] = corrected_position . z ;
// put the bed at 0 so we don't go below it.
current_position [ Z_AXIS ] = zprobe_zoffset ; // in the lsq we reach here after raising the extruder due to the loop structure
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
}
# else // not AUTO_BED_LEVELING_GRID
static void set_bed_level_equation_3pts ( float z_at_pt_1 , float z_at_pt_2 , float z_at_pt_3 ) {
plan_bed_level_matrix . set_to_identity ( ) ;
vector_3 pt1 = vector_3 ( ABL_PROBE_PT_1_X , ABL_PROBE_PT_1_Y , z_at_pt_1 ) ;
vector_3 pt2 = vector_3 ( ABL_PROBE_PT_2_X , ABL_PROBE_PT_2_Y , z_at_pt_2 ) ;
vector_3 pt3 = vector_3 ( ABL_PROBE_PT_3_X , ABL_PROBE_PT_3_Y , z_at_pt_3 ) ;
vector_3 from_2_to_1 = ( pt1 - pt2 ) . get_normal ( ) ;
vector_3 from_2_to_3 = ( pt3 - pt2 ) . get_normal ( ) ;
vector_3 planeNormal = vector_3 : : cross ( from_2_to_1 , from_2_to_3 ) . get_normal ( ) ;
planeNormal = vector_3 ( planeNormal . x , planeNormal . y , abs ( planeNormal . z ) ) ;
plan_bed_level_matrix = matrix_3x3 : : create_look_at ( planeNormal ) ;
vector_3 corrected_position = plan_get_position ( ) ;
current_position [ X_AXIS ] = corrected_position . x ;
current_position [ Y_AXIS ] = corrected_position . y ;
current_position [ Z_AXIS ] = corrected_position . z ;
// put the bed at 0 so we don't go below it.
current_position [ Z_AXIS ] = zprobe_zoffset ;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
}
# endif // AUTO_BED_LEVELING_GRID
static void run_z_probe ( ) {
plan_bed_level_matrix . set_to_identity ( ) ;
feedrate = homing_feedrate [ Z_AXIS ] ;
// move down until you find the bed
float zPosition = - 10 ;
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , zPosition , current_position [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
// we have to let the planner know where we are right now as it is not where we said to go.
zPosition = st_get_position_mm ( Z_AXIS ) ;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , zPosition , current_position [ E_AXIS ] ) ;
// move up the retract distance
zPosition + = home_retract_mm ( Z_AXIS ) ;
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , zPosition , current_position [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
// move back down slowly to find bed
feedrate = homing_feedrate [ Z_AXIS ] / 4 ;
zPosition - = home_retract_mm ( Z_AXIS ) * 2 ;
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , zPosition , current_position [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
current_position [ Z_AXIS ] = st_get_position_mm ( Z_AXIS ) ;
// make sure the planner knows where we are as it may be a bit different than we last said to move to
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
}
static void do_blocking_move_to ( float x , float y , float z ) {
float oldFeedRate = feedrate ;
feedrate = homing_feedrate [ Z_AXIS ] ;
current_position [ Z_AXIS ] = z ;
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
feedrate = XY_TRAVEL_SPEED ;
current_position [ X_AXIS ] = x ;
current_position [ Y_AXIS ] = y ;
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
feedrate = oldFeedRate ;
}
static void do_blocking_move_relative ( float offset_x , float offset_y , float offset_z ) {
do_blocking_move_to ( current_position [ X_AXIS ] + offset_x , current_position [ Y_AXIS ] + offset_y , current_position [ Z_AXIS ] + offset_z ) ;
}
static void setup_for_endstop_move ( ) {
saved_feedrate = feedrate ;
saved_feedmultiply = feedmultiply ;
feedmultiply = 100 ;
previous_millis_cmd = millis ( ) ;
enable_endstops ( true ) ;
}
static void clean_up_after_endstop_move ( ) {
# ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops ( false ) ;
# endif
feedrate = saved_feedrate ;
feedmultiply = saved_feedmultiply ;
previous_millis_cmd = millis ( ) ;
}
static void engage_z_probe ( ) {
// Engage Z Servo endstop if enabled
# ifdef SERVO_ENDSTOPS
if ( servo_endstops [ Z_AXIS ] > - 1 ) {
# if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
servos [ servo_endstops [ Z_AXIS ] ] . attach ( 0 ) ;
# endif
servos [ servo_endstops [ Z_AXIS ] ] . write ( servo_endstop_angles [ Z_AXIS * 2 ] ) ;
# if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
delay ( PROBE_SERVO_DEACTIVATION_DELAY ) ;
servos [ servo_endstops [ Z_AXIS ] ] . detach ( ) ;
# endif
}
# endif
}
static void retract_z_probe ( ) {
// Retract Z Servo endstop if enabled
# ifdef SERVO_ENDSTOPS
if ( servo_endstops [ Z_AXIS ] > - 1 ) {
# if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
servos [ servo_endstops [ Z_AXIS ] ] . attach ( 0 ) ;
# endif
servos [ servo_endstops [ Z_AXIS ] ] . write ( servo_endstop_angles [ Z_AXIS * 2 + 1 ] ) ;
# if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
delay ( PROBE_SERVO_DEACTIVATION_DELAY ) ;
servos [ servo_endstops [ Z_AXIS ] ] . detach ( ) ;
# endif
}
# endif
}
/// Probe bed height at position (x,y), returns the measured z value
static float probe_pt ( float x , float y , float z_before ) {
// move to right place
do_blocking_move_to ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , z_before ) ;
do_blocking_move_to ( x - X_PROBE_OFFSET_FROM_EXTRUDER , y - Y_PROBE_OFFSET_FROM_EXTRUDER , current_position [ Z_AXIS ] ) ;
# ifndef Z_PROBE_SLED
engage_z_probe ( ) ; // Engage Z Servo endstop if available
# endif // Z_PROBE_SLED
run_z_probe ( ) ;
float measured_z = current_position [ Z_AXIS ] ;
# ifndef Z_PROBE_SLED
retract_z_probe ( ) ;
# endif // Z_PROBE_SLED
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SERIAL_PROTOCOLRPGM ( MSG_BED ) ;
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SERIAL_PROTOCOLPGM ( " x: " ) ;
SERIAL_PROTOCOL ( x ) ;
SERIAL_PROTOCOLPGM ( " y: " ) ;
SERIAL_PROTOCOL ( y ) ;
SERIAL_PROTOCOLPGM ( " z: " ) ;
SERIAL_PROTOCOL ( measured_z ) ;
SERIAL_PROTOCOLPGM ( " \n " ) ;
return measured_z ;
}
# endif // #ifdef ENABLE_AUTO_BED_LEVELING
static void homeaxis ( int axis ) {
# define HOMEAXIS_DO(LETTER) \
( ( LETTER # # _MIN_PIN > - 1 & & LETTER # # _HOME_DIR = = - 1 ) | | ( LETTER # # _MAX_PIN > - 1 & & LETTER # # _HOME_DIR = = 1 ) )
if ( axis = = X_AXIS ? HOMEAXIS_DO ( X ) :
axis = = Y_AXIS ? HOMEAXIS_DO ( Y ) :
axis = = Z_AXIS ? HOMEAXIS_DO ( Z ) :
0 ) {
int axis_home_dir = home_dir ( axis ) ;
# ifdef DUAL_X_CARRIAGE
if ( axis = = X_AXIS )
axis_home_dir = x_home_dir ( active_extruder ) ;
# endif
current_position [ axis ] = 0 ;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# ifndef Z_PROBE_SLED
// Engage Servo endstop if enabled
# ifdef SERVO_ENDSTOPS
# if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
if ( axis = = Z_AXIS ) {
engage_z_probe ( ) ;
}
else
# endif
if ( servo_endstops [ axis ] > - 1 ) {
servos [ servo_endstops [ axis ] ] . write ( servo_endstop_angles [ axis * 2 ] ) ;
}
# endif
# endif // Z_PROBE_SLED
destination [ axis ] = 1.5 * max_length ( axis ) * axis_home_dir ;
feedrate = homing_feedrate [ axis ] ;
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
current_position [ axis ] = 0 ;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
destination [ axis ] = - home_retract_mm ( axis ) * axis_home_dir ;
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
destination [ axis ] = 2 * home_retract_mm ( axis ) * axis_home_dir ;
# ifdef DELTA
feedrate = homing_feedrate [ axis ] / 10 ;
# else
feedrate = homing_feedrate [ axis ] / 2 ;
# endif
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
# ifdef DELTA
// retrace by the amount specified in endstop_adj
if ( endstop_adj [ axis ] * axis_home_dir < 0 ) {
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
destination [ axis ] = endstop_adj [ axis ] ;
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
}
# endif
axis_is_at_home ( axis ) ;
destination [ axis ] = current_position [ axis ] ;
feedrate = 0.0 ;
endstops_hit_on_purpose ( ) ;
axis_known_position [ axis ] = true ;
// Retract Servo endstop if enabled
# ifdef SERVO_ENDSTOPS
if ( servo_endstops [ axis ] > - 1 ) {
servos [ servo_endstops [ axis ] ] . write ( servo_endstop_angles [ axis * 2 + 1 ] ) ;
}
# endif
# if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
# ifndef Z_PROBE_SLED
if ( axis = = Z_AXIS ) retract_z_probe ( ) ;
# endif
# endif
}
}
# define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
void refresh_cmd_timeout ( void )
{
previous_millis_cmd = millis ( ) ;
}
# ifdef FWRETRACT
void retract ( bool retracting , bool swapretract = false ) {
if ( retracting & & ! retracted [ active_extruder ] ) {
destination [ X_AXIS ] = current_position [ X_AXIS ] ;
destination [ Y_AXIS ] = current_position [ Y_AXIS ] ;
destination [ Z_AXIS ] = current_position [ Z_AXIS ] ;
destination [ E_AXIS ] = current_position [ E_AXIS ] ;
if ( swapretract ) {
current_position [ E_AXIS ] + = retract_length_swap / volumetric_multiplier [ active_extruder ] ;
} else {
current_position [ E_AXIS ] + = retract_length / volumetric_multiplier [ active_extruder ] ;
}
plan_set_e_position ( current_position [ E_AXIS ] ) ;
float oldFeedrate = feedrate ;
feedrate = retract_feedrate * 60 ;
retracted [ active_extruder ] = true ;
prepare_move ( ) ;
current_position [ Z_AXIS ] - = retract_zlift ;
# ifdef DELTA
calculate_delta ( current_position ) ; // change cartesian kinematic to delta kinematic;
plan_set_position ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# else
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# endif
prepare_move ( ) ;
feedrate = oldFeedrate ;
} else if ( ! retracting & & retracted [ active_extruder ] ) {
destination [ X_AXIS ] = current_position [ X_AXIS ] ;
destination [ Y_AXIS ] = current_position [ Y_AXIS ] ;
destination [ Z_AXIS ] = current_position [ Z_AXIS ] ;
destination [ E_AXIS ] = current_position [ E_AXIS ] ;
current_position [ Z_AXIS ] + = retract_zlift ;
# ifdef DELTA
calculate_delta ( current_position ) ; // change cartesian kinematic to delta kinematic;
plan_set_position ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# else
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# endif
//prepare_move();
if ( swapretract ) {
current_position [ E_AXIS ] - = ( retract_length_swap + retract_recover_length_swap ) / volumetric_multiplier [ active_extruder ] ;
} else {
current_position [ E_AXIS ] - = ( retract_length + retract_recover_length ) / volumetric_multiplier [ active_extruder ] ;
}
plan_set_e_position ( current_position [ E_AXIS ] ) ;
float oldFeedrate = feedrate ;
feedrate = retract_recover_feedrate * 60 ;
retracted [ active_extruder ] = false ;
prepare_move ( ) ;
feedrate = oldFeedrate ;
}
} //retract
# endif //FWRETRACT
# ifdef Z_PROBE_SLED
//
// Method to dock/undock a sled designed by Charles Bell.
//
// dock[in] If true, move to MAX_X and engage the electromagnet
// offset[in] The additional distance to move to adjust docking location
//
static void dock_sled ( bool dock , int offset = 0 ) {
int z_loc ;
if ( ! ( ( axis_known_position [ X_AXIS ] ) & & ( axis_known_position [ Y_AXIS ] ) ) ) {
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LCD_MESSAGERPGM ( MSG_POSITION_UNKNOWN ) ;
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SERIAL_ECHO_START ;
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SERIAL_ECHOLNRPGM ( MSG_POSITION_UNKNOWN ) ;
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return ;
}
if ( dock ) {
do_blocking_move_to ( X_MAX_POS + SLED_DOCKING_OFFSET + offset ,
current_position [ Y_AXIS ] ,
current_position [ Z_AXIS ] ) ;
// turn off magnet
digitalWrite ( SERVO0_PIN , LOW ) ;
} else {
if ( current_position [ Z_AXIS ] < ( Z_RAISE_BEFORE_PROBING + 5 ) )
z_loc = Z_RAISE_BEFORE_PROBING ;
else
z_loc = current_position [ Z_AXIS ] ;
do_blocking_move_to ( X_MAX_POS + SLED_DOCKING_OFFSET + offset ,
Y_PROBE_OFFSET_FROM_EXTRUDER , z_loc ) ;
// turn on magnet
digitalWrite ( SERVO0_PIN , HIGH ) ;
}
}
# endif
void process_commands ( )
{
# ifdef FILAMENT_RUNOUT_SUPPORT
SET_INPUT ( FR_SENS ) ;
# endif
unsigned long codenum ; //throw away variable
char * starpos = NULL ;
# ifdef ENABLE_AUTO_BED_LEVELING
float x_tmp , y_tmp , z_tmp , real_z ;
# endif
// PRUSA GCODES
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if ( code_seen ( ' PRUSA ' ) ) {
if ( code_seen ( ' Fir ' ) ) {
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SERIAL_PROTOCOLLN ( FW_version ) ;
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} else if ( code_seen ( ' Rev ' ) ) {
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SERIAL_PROTOCOLLN ( FILAMENT_SIZE " - " ELECTRONICS " - " NOZZLE_TYPE ) ;
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} else if ( code_seen ( ' Lang ' ) ) {
lcd_force_language_selection ( ) ;
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}
}
else if ( code_seen ( ' G ' ) )
{
switch ( ( int ) code_value ( ) )
{
case 0 : // G0 -> G1
case 1 : // G1
if ( Stopped = = false ) {
# ifdef FILAMENT_RUNOUT_SUPPORT
if ( READ ( FR_SENS ) ) {
feedmultiplyBckp = feedmultiply ;
float target [ 4 ] ;
float lastpos [ 4 ] ;
target [ X_AXIS ] = current_position [ X_AXIS ] ;
target [ Y_AXIS ] = current_position [ Y_AXIS ] ;
target [ Z_AXIS ] = current_position [ Z_AXIS ] ;
target [ E_AXIS ] = current_position [ E_AXIS ] ;
lastpos [ X_AXIS ] = current_position [ X_AXIS ] ;
lastpos [ Y_AXIS ] = current_position [ Y_AXIS ] ;
lastpos [ Z_AXIS ] = current_position [ Z_AXIS ] ;
lastpos [ E_AXIS ] = current_position [ E_AXIS ] ;
//retract by E
target [ E_AXIS ] + = FILAMENTCHANGE_FIRSTRETRACT ;
plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , 400 , active_extruder ) ;
target [ Z_AXIS ] + = FILAMENTCHANGE_ZADD ;
plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , 300 , active_extruder ) ;
target [ X_AXIS ] = FILAMENTCHANGE_XPOS ;
target [ Y_AXIS ] = FILAMENTCHANGE_YPOS ;
plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , 70 , active_extruder ) ;
target [ E_AXIS ] + = FILAMENTCHANGE_FINALRETRACT ;
plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , 20 , active_extruder ) ;
//finish moves
st_synchronize ( ) ;
//disable extruder steppers so filament can be removed
disable_e0 ( ) ;
disable_e1 ( ) ;
disable_e2 ( ) ;
delay ( 100 ) ;
//LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
uint8_t cnt = 0 ;
int counterBeep = 0 ;
lcd_wait_interact ( ) ;
while ( ! lcd_clicked ( ) ) {
cnt + + ;
manage_heater ( ) ;
manage_inactivity ( true ) ;
//lcd_update();
if ( cnt = = 0 )
{
# if BEEPER > 0
if ( counterBeep = = 500 ) {
counterBeep = 0 ;
}
SET_OUTPUT ( BEEPER ) ;
if ( counterBeep = = 0 ) {
WRITE ( BEEPER , HIGH ) ;
}
if ( counterBeep = = 20 ) {
WRITE ( BEEPER , LOW ) ;
}
counterBeep + + ;
# else
# if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
lcd_buzz ( 1000 / 6 , 100 ) ;
# else
lcd_buzz ( LCD_FEEDBACK_FREQUENCY_DURATION_MS , LCD_FEEDBACK_FREQUENCY_HZ ) ;
# endif
# endif
}
}
WRITE ( BEEPER , LOW ) ;
target [ E_AXIS ] + = FILAMENTCHANGE_FIRSTFEED ;
plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , 20 , active_extruder ) ;
target [ E_AXIS ] + = FILAMENTCHANGE_FINALFEED ;
plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , 2 , active_extruder ) ;
lcd_change_fil_state = 0 ;
lcd_loading_filament ( ) ;
while ( ( lcd_change_fil_state = = 0 ) | | ( lcd_change_fil_state ! = 1 ) ) {
lcd_change_fil_state = 0 ;
lcd_alright ( ) ;
switch ( lcd_change_fil_state ) {
case 2 :
target [ E_AXIS ] + = FILAMENTCHANGE_FIRSTFEED ;
plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , 20 , active_extruder ) ;
target [ E_AXIS ] + = FILAMENTCHANGE_FINALFEED ;
plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , 2 , active_extruder ) ;
lcd_loading_filament ( ) ;
break ;
case 3 :
target [ E_AXIS ] + = FILAMENTCHANGE_FINALFEED ;
plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , 2 , active_extruder ) ;
lcd_loading_color ( ) ;
break ;
default :
lcd_change_success ( ) ;
break ;
}
}
target [ E_AXIS ] + = 5 ;
plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , 2 , active_extruder ) ;
target [ E_AXIS ] + = FILAMENTCHANGE_FIRSTRETRACT ;
plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , 400 , active_extruder ) ;
//current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
//plan_set_e_position(current_position[E_AXIS]);
plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , 70 , active_extruder ) ; //should do nothing
plan_buffer_line ( lastpos [ X_AXIS ] , lastpos [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , 70 , active_extruder ) ; //move xy back
plan_buffer_line ( lastpos [ X_AXIS ] , lastpos [ Y_AXIS ] , lastpos [ Z_AXIS ] , target [ E_AXIS ] , 200 , active_extruder ) ; //move z back
target [ E_AXIS ] = target [ E_AXIS ] - FILAMENTCHANGE_FIRSTRETRACT ;
plan_buffer_line ( lastpos [ X_AXIS ] , lastpos [ Y_AXIS ] , lastpos [ Z_AXIS ] , target [ E_AXIS ] , 5 , active_extruder ) ; //final untretract
plan_set_e_position ( lastpos [ E_AXIS ] ) ;
feedmultiply = feedmultiplyBckp ;
char cmd [ 9 ] ;
sprintf_P ( cmd , PSTR ( " M220 S%i " ) , feedmultiplyBckp ) ;
enquecommand ( cmd ) ;
}
# endif
get_coordinates ( ) ; // For X Y Z E F
# ifdef FWRETRACT
if ( autoretract_enabled )
if ( ! ( code_seen ( ' X ' ) | | code_seen ( ' Y ' ) | | code_seen ( ' Z ' ) ) & & code_seen ( ' E ' ) ) {
float echange = destination [ E_AXIS ] - current_position [ E_AXIS ] ;
if ( ( echange < - MIN_RETRACT & & ! retracted ) | | ( echange > MIN_RETRACT & & retracted ) ) { //move appears to be an attempt to retract or recover
current_position [ E_AXIS ] = destination [ E_AXIS ] ; //hide the slicer-generated retract/recover from calculations
plan_set_e_position ( current_position [ E_AXIS ] ) ; //AND from the planner
retract ( ! retracted ) ;
return ;
}
}
# endif //FWRETRACT
prepare_move ( ) ;
//ClearToSend();
}
break ;
# ifndef SCARA //disable arc support
case 2 : // G2 - CW ARC
if ( Stopped = = false ) {
get_arc_coordinates ( ) ;
prepare_arc_move ( true ) ;
}
break ;
case 3 : // G3 - CCW ARC
if ( Stopped = = false ) {
get_arc_coordinates ( ) ;
prepare_arc_move ( false ) ;
}
break ;
# endif
case 4 : // G4 dwell
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LCD_MESSAGERPGM ( MSG_DWELL ) ;
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codenum = 0 ;
if ( code_seen ( ' P ' ) ) codenum = code_value ( ) ; // milliseconds to wait
if ( code_seen ( ' S ' ) ) codenum = code_value ( ) * 1000 ; // seconds to wait
st_synchronize ( ) ;
codenum + = millis ( ) ; // keep track of when we started waiting
previous_millis_cmd = millis ( ) ;
while ( millis ( ) < codenum ) {
manage_heater ( ) ;
manage_inactivity ( ) ;
lcd_update ( ) ;
}
break ;
# ifdef FWRETRACT
case 10 : // G10 retract
# if EXTRUDERS > 1
retracted_swap [ active_extruder ] = ( code_seen ( ' S ' ) & & code_value_long ( ) = = 1 ) ; // checks for swap retract argument
retract ( true , retracted_swap [ active_extruder ] ) ;
# else
retract ( true ) ;
# endif
break ;
case 11 : // G11 retract_recover
# if EXTRUDERS > 1
retract ( false , retracted_swap [ active_extruder ] ) ;
# else
retract ( false ) ;
# endif
break ;
# endif //FWRETRACT
case 28 : //G28 Home all Axis one at a time
# ifdef ENABLE_AUTO_BED_LEVELING
plan_bed_level_matrix . set_to_identity ( ) ; //Reset the plane ("erase" all leveling data)
# endif //ENABLE_AUTO_BED_LEVELING
saved_feedrate = feedrate ;
saved_feedmultiply = feedmultiply ;
feedmultiply = 100 ;
previous_millis_cmd = millis ( ) ;
enable_endstops ( true ) ;
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
destination [ i ] = current_position [ i ] ;
}
feedrate = 0.0 ;
# ifdef DELTA
// A delta can only safely home all axis at the same time
// all axis have to home at the same time
// Move all carriages up together until the first endstop is hit.
current_position [ X_AXIS ] = 0 ;
current_position [ Y_AXIS ] = 0 ;
current_position [ Z_AXIS ] = 0 ;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
destination [ X_AXIS ] = 3 * Z_MAX_LENGTH ;
destination [ Y_AXIS ] = 3 * Z_MAX_LENGTH ;
destination [ Z_AXIS ] = 3 * Z_MAX_LENGTH ;
feedrate = 1.732 * homing_feedrate [ X_AXIS ] ;
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
endstops_hit_on_purpose ( ) ;
current_position [ X_AXIS ] = destination [ X_AXIS ] ;
current_position [ Y_AXIS ] = destination [ Y_AXIS ] ;
current_position [ Z_AXIS ] = destination [ Z_AXIS ] ;
// take care of back off and rehome now we are all at the top
HOMEAXIS ( X ) ;
HOMEAXIS ( Y ) ;
HOMEAXIS ( Z ) ;
calculate_delta ( current_position ) ;
plan_set_position ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# else // NOT DELTA
home_all_axis = ! ( ( code_seen ( axis_codes [ X_AXIS ] ) ) | | ( code_seen ( axis_codes [ Y_AXIS ] ) ) | | ( code_seen ( axis_codes [ Z_AXIS ] ) ) ) ;
# if Z_HOME_DIR > 0 // If homing away from BED do Z first
if ( ( home_all_axis ) | | ( code_seen ( axis_codes [ Z_AXIS ] ) ) ) {
HOMEAXIS ( Z ) ;
}
# endif
# ifdef QUICK_HOME
if ( ( home_all_axis ) | | ( code_seen ( axis_codes [ X_AXIS ] ) & & code_seen ( axis_codes [ Y_AXIS ] ) ) ) //first diagonal move
{
current_position [ X_AXIS ] = 0 ; current_position [ Y_AXIS ] = 0 ;
# ifndef DUAL_X_CARRIAGE
int x_axis_home_dir = home_dir ( X_AXIS ) ;
# else
int x_axis_home_dir = x_home_dir ( active_extruder ) ;
extruder_duplication_enabled = false ;
# endif
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
destination [ X_AXIS ] = 1.5 * max_length ( X_AXIS ) * x_axis_home_dir ; destination [ Y_AXIS ] = 1.5 * max_length ( Y_AXIS ) * home_dir ( Y_AXIS ) ;
feedrate = homing_feedrate [ X_AXIS ] ;
if ( homing_feedrate [ Y_AXIS ] < feedrate )
feedrate = homing_feedrate [ Y_AXIS ] ;
if ( max_length ( X_AXIS ) > max_length ( Y_AXIS ) ) {
feedrate * = sqrt ( pow ( max_length ( Y_AXIS ) / max_length ( X_AXIS ) , 2 ) + 1 ) ;
} else {
feedrate * = sqrt ( pow ( max_length ( X_AXIS ) / max_length ( Y_AXIS ) , 2 ) + 1 ) ;
}
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
axis_is_at_home ( X_AXIS ) ;
axis_is_at_home ( Y_AXIS ) ;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
destination [ X_AXIS ] = current_position [ X_AXIS ] ;
destination [ Y_AXIS ] = current_position [ Y_AXIS ] ;
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
feedrate = 0.0 ;
st_synchronize ( ) ;
endstops_hit_on_purpose ( ) ;
current_position [ X_AXIS ] = destination [ X_AXIS ] ;
current_position [ Y_AXIS ] = destination [ Y_AXIS ] ;
# ifndef SCARA
current_position [ Z_AXIS ] = destination [ Z_AXIS ] ;
# endif
}
# endif
if ( ( home_all_axis ) | | ( code_seen ( axis_codes [ X_AXIS ] ) ) )
{
# ifdef DUAL_X_CARRIAGE
int tmp_extruder = active_extruder ;
extruder_duplication_enabled = false ;
active_extruder = ! active_extruder ;
HOMEAXIS ( X ) ;
inactive_extruder_x_pos = current_position [ X_AXIS ] ;
active_extruder = tmp_extruder ;
HOMEAXIS ( X ) ;
// reset state used by the different modes
memcpy ( raised_parked_position , current_position , sizeof ( raised_parked_position ) ) ;
delayed_move_time = 0 ;
active_extruder_parked = true ;
# else
HOMEAXIS ( X ) ;
# endif
}
if ( ( home_all_axis ) | | ( code_seen ( axis_codes [ Y_AXIS ] ) ) ) {
HOMEAXIS ( Y ) ;
}
if ( code_seen ( axis_codes [ X_AXIS ] ) )
{
if ( code_value_long ( ) ! = 0 ) {
# ifdef SCARA
current_position [ X_AXIS ] = code_value ( ) ;
# else
current_position [ X_AXIS ] = code_value ( ) + add_homing [ X_AXIS ] ;
# endif
}
}
if ( code_seen ( axis_codes [ Y_AXIS ] ) ) {
if ( code_value_long ( ) ! = 0 ) {
# ifdef SCARA
current_position [ Y_AXIS ] = code_value ( ) ;
# else
current_position [ Y_AXIS ] = code_value ( ) + add_homing [ Y_AXIS ] ;
# endif
}
}
# if Z_HOME_DIR < 0 // If homing towards BED do Z last
# ifndef Z_SAFE_HOMING
if ( ( home_all_axis ) | | ( code_seen ( axis_codes [ Z_AXIS ] ) ) ) {
# if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
destination [ Z_AXIS ] = Z_RAISE_BEFORE_HOMING * home_dir ( Z_AXIS ) * ( - 1 ) ; // Set destination away from bed
feedrate = max_feedrate [ Z_AXIS ] ;
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate , active_extruder ) ;
st_synchronize ( ) ;
# endif
HOMEAXIS ( Z ) ;
}
# else // Z Safe mode activated.
if ( home_all_axis ) {
destination [ X_AXIS ] = round ( Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER ) ;
destination [ Y_AXIS ] = round ( Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER ) ;
destination [ Z_AXIS ] = Z_RAISE_BEFORE_HOMING * home_dir ( Z_AXIS ) * ( - 1 ) ; // Set destination away from bed
feedrate = XY_TRAVEL_SPEED / 60 ;
current_position [ Z_AXIS ] = 0 ;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate , active_extruder ) ;
st_synchronize ( ) ;
current_position [ X_AXIS ] = destination [ X_AXIS ] ;
current_position [ Y_AXIS ] = destination [ Y_AXIS ] ;
HOMEAXIS ( Z ) ;
}
// Let's see if X and Y are homed and probe is inside bed area.
if ( code_seen ( axis_codes [ Z_AXIS ] ) ) {
if ( ( axis_known_position [ X_AXIS ] ) & & ( axis_known_position [ Y_AXIS ] ) \
& & ( current_position [ X_AXIS ] + X_PROBE_OFFSET_FROM_EXTRUDER > = X_MIN_POS ) \
& & ( current_position [ X_AXIS ] + X_PROBE_OFFSET_FROM_EXTRUDER < = X_MAX_POS ) \
& & ( current_position [ Y_AXIS ] + Y_PROBE_OFFSET_FROM_EXTRUDER > = Y_MIN_POS ) \
& & ( current_position [ Y_AXIS ] + Y_PROBE_OFFSET_FROM_EXTRUDER < = Y_MAX_POS ) ) {
current_position [ Z_AXIS ] = 0 ;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
destination [ Z_AXIS ] = Z_RAISE_BEFORE_HOMING * home_dir ( Z_AXIS ) * ( - 1 ) ; // Set destination away from bed
feedrate = max_feedrate [ Z_AXIS ] ;
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate , active_extruder ) ;
st_synchronize ( ) ;
HOMEAXIS ( Z ) ;
} else if ( ! ( ( axis_known_position [ X_AXIS ] ) & & ( axis_known_position [ Y_AXIS ] ) ) ) {
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LCD_MESSAGERPGM ( MSG_POSITION_UNKNOWN ) ;
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SERIAL_ECHO_START ;
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SERIAL_ECHOLNRPGM ( MSG_POSITION_UNKNOWN ) ;
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} else {
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LCD_MESSAGERPGM ( MSG_ZPROBE_OUT ) ;
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SERIAL_ECHO_START ;
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SERIAL_ECHOLNRPGM ( MSG_ZPROBE_OUT ) ;
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}
}
# endif
# endif
if ( code_seen ( axis_codes [ Z_AXIS ] ) ) {
if ( code_value_long ( ) ! = 0 ) {
current_position [ Z_AXIS ] = code_value ( ) + add_homing [ Z_AXIS ] ;
}
}
# ifdef ENABLE_AUTO_BED_LEVELING
if ( ( home_all_axis ) | | ( code_seen ( axis_codes [ Z_AXIS ] ) ) ) {
current_position [ Z_AXIS ] + = zprobe_zoffset ; //Add Z_Probe offset (the distance is negative)
}
# endif
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# endif // else DELTA
# ifdef SCARA
calculate_delta ( current_position ) ;
plan_set_position ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# endif // SCARA
# ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops ( false ) ;
# endif
feedrate = saved_feedrate ;
feedmultiply = saved_feedmultiply ;
previous_millis_cmd = millis ( ) ;
endstops_hit_on_purpose ( ) ;
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if ( card . sdprinting ) {
EEPROM_read_B ( 4089 , & babystepLoad [ 2 ] ) ;
if ( babystepLoad [ 2 ] ! = 0 ) {
lcd_adjust_z ( ) ;
}
}
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break ;
# ifdef ENABLE_AUTO_BED_LEVELING
case 29 : // G29 Detailed Z-Probe, probes the bed at 3 or more points.
{
# if Z_MIN_PIN == -1
# error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature!!! Z_MIN_PIN must point to a valid hardware pin."
# endif
// Prevent user from running a G29 without first homing in X and Y
if ( ! ( axis_known_position [ X_AXIS ] & & axis_known_position [ Y_AXIS ] ) )
{
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LCD_MESSAGERPGM ( MSG_POSITION_UNKNOWN ) ;
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SERIAL_ECHO_START ;
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SERIAL_ECHOLNRPGM ( MSG_POSITION_UNKNOWN ) ;
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break ; // abort G29, since we don't know where we are
}
# ifdef Z_PROBE_SLED
dock_sled ( false ) ;
# endif // Z_PROBE_SLED
st_synchronize ( ) ;
// make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
//vector_3 corrected_position = plan_get_position_mm();
//corrected_position.debug("position before G29");
plan_bed_level_matrix . set_to_identity ( ) ;
vector_3 uncorrected_position = plan_get_position ( ) ;
//uncorrected_position.debug("position durring G29");
current_position [ X_AXIS ] = uncorrected_position . x ;
current_position [ Y_AXIS ] = uncorrected_position . y ;
current_position [ Z_AXIS ] = uncorrected_position . z ;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
setup_for_endstop_move ( ) ;
feedrate = homing_feedrate [ Z_AXIS ] ;
# ifdef AUTO_BED_LEVELING_GRID
// probe at the points of a lattice grid
int xGridSpacing = ( RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION ) / ( AUTO_BED_LEVELING_GRID_POINTS - 1 ) ;
int yGridSpacing = ( BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION ) / ( AUTO_BED_LEVELING_GRID_POINTS - 1 ) ;
// solve the plane equation ax + by + d = z
// A is the matrix with rows [x y 1] for all the probed points
// B is the vector of the Z positions
// the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
// so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
// "A" matrix of the linear system of equations
double eqnAMatrix [ AUTO_BED_LEVELING_GRID_POINTS * AUTO_BED_LEVELING_GRID_POINTS * 3 ] ;
// "B" vector of Z points
double eqnBVector [ AUTO_BED_LEVELING_GRID_POINTS * AUTO_BED_LEVELING_GRID_POINTS ] ;
int probePointCounter = 0 ;
bool zig = true ;
for ( int yProbe = FRONT_PROBE_BED_POSITION ; yProbe < = BACK_PROBE_BED_POSITION ; yProbe + = yGridSpacing )
{
int xProbe , xInc ;
if ( zig )
{
xProbe = LEFT_PROBE_BED_POSITION ;
//xEnd = RIGHT_PROBE_BED_POSITION;
xInc = xGridSpacing ;
zig = false ;
} else // zag
{
xProbe = RIGHT_PROBE_BED_POSITION ;
//xEnd = LEFT_PROBE_BED_POSITION;
xInc = - xGridSpacing ;
zig = true ;
}
for ( int xCount = 0 ; xCount < AUTO_BED_LEVELING_GRID_POINTS ; xCount + + )
{
float z_before ;
if ( probePointCounter = = 0 )
{
// raise before probing
z_before = Z_RAISE_BEFORE_PROBING ;
} else
{
// raise extruder
z_before = current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS ;
}
float measured_z = probe_pt ( xProbe , yProbe , z_before ) ;
eqnBVector [ probePointCounter ] = measured_z ;
eqnAMatrix [ probePointCounter + 0 * AUTO_BED_LEVELING_GRID_POINTS * AUTO_BED_LEVELING_GRID_POINTS ] = xProbe ;
eqnAMatrix [ probePointCounter + 1 * AUTO_BED_LEVELING_GRID_POINTS * AUTO_BED_LEVELING_GRID_POINTS ] = yProbe ;
eqnAMatrix [ probePointCounter + 2 * AUTO_BED_LEVELING_GRID_POINTS * AUTO_BED_LEVELING_GRID_POINTS ] = 1 ;
probePointCounter + + ;
xProbe + = xInc ;
}
}
clean_up_after_endstop_move ( ) ;
// solve lsq problem
double * plane_equation_coefficients = qr_solve ( AUTO_BED_LEVELING_GRID_POINTS * AUTO_BED_LEVELING_GRID_POINTS , 3 , eqnAMatrix , eqnBVector ) ;
SERIAL_PROTOCOLPGM ( " Eqn coefficients: a: " ) ;
SERIAL_PROTOCOL ( plane_equation_coefficients [ 0 ] ) ;
SERIAL_PROTOCOLPGM ( " b: " ) ;
SERIAL_PROTOCOL ( plane_equation_coefficients [ 1 ] ) ;
SERIAL_PROTOCOLPGM ( " d: " ) ;
SERIAL_PROTOCOLLN ( plane_equation_coefficients [ 2 ] ) ;
set_bed_level_equation_lsq ( plane_equation_coefficients ) ;
free ( plane_equation_coefficients ) ;
# else // AUTO_BED_LEVELING_GRID not defined
// Probe at 3 arbitrary points
// probe 1
float z_at_pt_1 = probe_pt ( ABL_PROBE_PT_1_X , ABL_PROBE_PT_1_Y , Z_RAISE_BEFORE_PROBING ) ;
// probe 2
float z_at_pt_2 = probe_pt ( ABL_PROBE_PT_2_X , ABL_PROBE_PT_2_Y , current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS ) ;
// probe 3
float z_at_pt_3 = probe_pt ( ABL_PROBE_PT_3_X , ABL_PROBE_PT_3_Y , current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS ) ;
clean_up_after_endstop_move ( ) ;
set_bed_level_equation_3pts ( z_at_pt_1 , z_at_pt_2 , z_at_pt_3 ) ;
# endif // AUTO_BED_LEVELING_GRID
st_synchronize ( ) ;
// The following code correct the Z height difference from z-probe position and hotend tip position.
// The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
// When the bed is uneven, this height must be corrected.
real_z = float ( st_get_position ( Z_AXIS ) ) / axis_steps_per_unit [ Z_AXIS ] ; //get the real Z (since the auto bed leveling is already correcting the plane)
x_tmp = current_position [ X_AXIS ] + X_PROBE_OFFSET_FROM_EXTRUDER ;
y_tmp = current_position [ Y_AXIS ] + Y_PROBE_OFFSET_FROM_EXTRUDER ;
z_tmp = current_position [ Z_AXIS ] ;
apply_rotation_xyz ( plan_bed_level_matrix , x_tmp , y_tmp , z_tmp ) ; //Apply the correction sending the probe offset
current_position [ Z_AXIS ] = z_tmp - real_z + current_position [ Z_AXIS ] ; //The difference is added to current position and sent to planner.
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# ifdef Z_PROBE_SLED
dock_sled ( true , - SLED_DOCKING_OFFSET ) ; // correct for over travel.
# endif // Z_PROBE_SLED
}
break ;
# ifndef Z_PROBE_SLED
case 30 : // G30 Single Z Probe
{
engage_z_probe ( ) ; // Engage Z Servo endstop if available
st_synchronize ( ) ;
// TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
setup_for_endstop_move ( ) ;
feedrate = homing_feedrate [ Z_AXIS ] ;
run_z_probe ( ) ;
SERIAL_PROTOCOLPGM ( MSG_BED ) ;
SERIAL_PROTOCOLPGM ( " X: " ) ;
SERIAL_PROTOCOL ( current_position [ X_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Y: " ) ;
SERIAL_PROTOCOL ( current_position [ Y_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Z: " ) ;
SERIAL_PROTOCOL ( current_position [ Z_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " \n " ) ;
clean_up_after_endstop_move ( ) ;
retract_z_probe ( ) ; // Retract Z Servo endstop if available
}
break ;
# else
case 31 : // dock the sled
dock_sled ( true ) ;
break ;
case 32 : // undock the sled
dock_sled ( false ) ;
break ;
# endif // Z_PROBE_SLED
# endif // ENABLE_AUTO_BED_LEVELING
case 90 : // G90
relative_mode = false ;
break ;
case 91 : // G91
relative_mode = true ;
break ;
case 92 : // G92
if ( ! code_seen ( axis_codes [ E_AXIS ] ) )
st_synchronize ( ) ;
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) ) {
if ( i = = E_AXIS ) {
current_position [ i ] = code_value ( ) ;
plan_set_e_position ( current_position [ E_AXIS ] ) ;
}
else {
# ifdef SCARA
if ( i = = X_AXIS | | i = = Y_AXIS ) {
current_position [ i ] = code_value ( ) ;
}
else {
current_position [ i ] = code_value ( ) + add_homing [ i ] ;
}
# else
current_position [ i ] = code_value ( ) + add_homing [ i ] ;
# endif
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
}
}
}
break ;
}
}
else if ( code_seen ( ' M ' ) )
{
switch ( ( int ) code_value ( ) )
{
# ifdef ULTIPANEL
case 0 : // M0 - Unconditional stop - Wait for user button press on LCD
case 1 : // M1 - Conditional stop - Wait for user button press on LCD
{
char * src = strchr_pointer + 2 ;
codenum = 0 ;
bool hasP = false , hasS = false ;
if ( code_seen ( ' P ' ) ) {
codenum = code_value ( ) ; // milliseconds to wait
hasP = codenum > 0 ;
}
if ( code_seen ( ' S ' ) ) {
codenum = code_value ( ) * 1000 ; // seconds to wait
hasS = codenum > 0 ;
}
starpos = strchr ( src , ' * ' ) ;
if ( starpos ! = NULL ) * ( starpos ) = ' \0 ' ;
while ( * src = = ' ' ) + + src ;
if ( ! hasP & & ! hasS & & * src ! = ' \0 ' ) {
lcd_setstatus ( src ) ;
} else {
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LCD_MESSAGERPGM ( MSG_USERWAIT ) ;
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}
lcd_ignore_click ( ) ;
st_synchronize ( ) ;
previous_millis_cmd = millis ( ) ;
if ( codenum > 0 ) {
codenum + = millis ( ) ; // keep track of when we started waiting
while ( millis ( ) < codenum & & ! lcd_clicked ( ) ) {
manage_heater ( ) ;
manage_inactivity ( ) ;
lcd_update ( ) ;
}
lcd_ignore_click ( false ) ;
} else {
if ( ! lcd_detected ( ) )
break ;
while ( ! lcd_clicked ( ) ) {
manage_heater ( ) ;
manage_inactivity ( ) ;
lcd_update ( ) ;
}
}
if ( IS_SD_PRINTING )
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LCD_MESSAGERPGM ( MSG_RESUMING ) ;
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else
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LCD_MESSAGERPGM ( WELCOME_MSG ) ;
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}
break ;
# endif
case 17 :
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LCD_MESSAGERPGM ( MSG_NO_MOVE ) ;
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enable_x ( ) ;
enable_y ( ) ;
enable_z ( ) ;
enable_e0 ( ) ;
enable_e1 ( ) ;
enable_e2 ( ) ;
break ;
# ifdef SDSUPPORT
case 20 : // M20 - list SD card
2016-02-19 16:54:24 +00:00
SERIAL_PROTOCOLLNRPGM ( MSG_BEGIN_FILE_LIST ) ;
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card . ls ( ) ;
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SERIAL_PROTOCOLLNRPGM ( MSG_END_FILE_LIST ) ;
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break ;
case 21 : // M21 - init SD card
card . initsd ( ) ;
break ;
case 22 : //M22 - release SD card
card . release ( ) ;
break ;
case 23 : //M23 - Select file
starpos = ( strchr ( strchr_pointer + 4 , ' * ' ) ) ;
if ( starpos ! = NULL )
* ( starpos ) = ' \0 ' ;
card . openFile ( strchr_pointer + 4 , true ) ;
break ;
case 24 : //M24 - Start SD print
card . startFileprint ( ) ;
starttime = millis ( ) ;
break ;
case 25 : //M25 - Pause SD print
card . pauseSDPrint ( ) ;
break ;
case 26 : //M26 - Set SD index
if ( card . cardOK & & code_seen ( ' S ' ) ) {
card . setIndex ( code_value_long ( ) ) ;
}
break ;
case 27 : //M27 - Get SD status
card . getStatus ( ) ;
break ;
case 28 : //M28 - Start SD write
starpos = ( strchr ( strchr_pointer + 4 , ' * ' ) ) ;
if ( starpos ! = NULL ) {
char * npos = strchr ( cmdbuffer [ bufindr ] , ' N ' ) ;
strchr_pointer = strchr ( npos , ' ' ) + 1 ;
* ( starpos ) = ' \0 ' ;
}
card . openFile ( strchr_pointer + 4 , false ) ;
break ;
case 29 : //M29 - Stop SD write
//processed in write to file routine above
//card,saving = false;
break ;
case 30 : //M30 <filename> Delete File
if ( card . cardOK ) {
card . closefile ( ) ;
starpos = ( strchr ( strchr_pointer + 4 , ' * ' ) ) ;
if ( starpos ! = NULL ) {
char * npos = strchr ( cmdbuffer [ bufindr ] , ' N ' ) ;
strchr_pointer = strchr ( npos , ' ' ) + 1 ;
* ( starpos ) = ' \0 ' ;
}
card . removeFile ( strchr_pointer + 4 ) ;
}
break ;
case 32 : //M32 - Select file and start SD print
{
if ( card . sdprinting ) {
st_synchronize ( ) ;
}
starpos = ( strchr ( strchr_pointer + 4 , ' * ' ) ) ;
char * namestartpos = ( strchr ( strchr_pointer + 4 , ' ! ' ) ) ; //find ! to indicate filename string start.
if ( namestartpos = = NULL )
{
namestartpos = strchr_pointer + 4 ; //default name position, 4 letters after the M
}
else
namestartpos + + ; //to skip the '!'
if ( starpos ! = NULL )
* ( starpos ) = ' \0 ' ;
bool call_procedure = ( code_seen ( ' P ' ) ) ;
if ( strchr_pointer > namestartpos )
call_procedure = false ; //false alert, 'P' found within filename
if ( card . cardOK )
{
card . openFile ( namestartpos , true , ! call_procedure ) ;
if ( code_seen ( ' S ' ) )
if ( strchr_pointer < namestartpos ) //only if "S" is occuring _before_ the filename
card . setIndex ( code_value_long ( ) ) ;
card . startFileprint ( ) ;
if ( ! call_procedure )
starttime = millis ( ) ; //procedure calls count as normal print time.
}
} break ;
case 928 : //M928 - Start SD write
starpos = ( strchr ( strchr_pointer + 5 , ' * ' ) ) ;
if ( starpos ! = NULL ) {
char * npos = strchr ( cmdbuffer [ bufindr ] , ' N ' ) ;
strchr_pointer = strchr ( npos , ' ' ) + 1 ;
* ( starpos ) = ' \0 ' ;
}
card . openLogFile ( strchr_pointer + 5 ) ;
break ;
# endif //SDSUPPORT
case 31 : //M31 take time since the start of the SD print or an M109 command
{
stoptime = millis ( ) ;
char time [ 30 ] ;
unsigned long t = ( stoptime - starttime ) / 1000 ;
int sec , min ;
min = t / 60 ;
sec = t % 60 ;
sprintf_P ( time , PSTR ( " %i min, %i sec " ) , min , sec ) ;
SERIAL_ECHO_START ;
SERIAL_ECHOLN ( time ) ;
lcd_setstatus ( time ) ;
autotempShutdown ( ) ;
}
break ;
case 42 : //M42 -Change pin status via gcode
if ( code_seen ( ' S ' ) )
{
int pin_status = code_value ( ) ;
int pin_number = LED_PIN ;
if ( code_seen ( ' P ' ) & & pin_status > = 0 & & pin_status < = 255 )
pin_number = code_value ( ) ;
for ( int8_t i = 0 ; i < ( int8_t ) ( sizeof ( sensitive_pins ) / sizeof ( int ) ) ; i + + )
{
if ( sensitive_pins [ i ] = = pin_number )
{
pin_number = - 1 ;
break ;
}
}
# if defined(FAN_PIN) && FAN_PIN > -1
if ( pin_number = = FAN_PIN )
fanSpeed = pin_status ;
# endif
if ( pin_number > - 1 )
{
pinMode ( pin_number , OUTPUT ) ;
digitalWrite ( pin_number , pin_status ) ;
analogWrite ( pin_number , pin_status ) ;
}
}
break ;
// M48 Z-Probe repeatability measurement function.
//
// Usage: M48 <n #_samples> <X X_position_for_samples> <Y Y_position_for_samples> <V Verbose_Level> <Engage_probe_for_each_reading> <L legs_of_movement_prior_to_doing_probe>
//
// This function assumes the bed has been homed. Specificaly, that a G28 command
// as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
// Any information generated by a prior G29 Bed leveling command will be lost and need to be
// regenerated.
//
// The number of samples will default to 10 if not specified. You can use upper or lower case
// letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
// N for its communication protocol and will get horribly confused if you send it a capital N.
//
# ifdef ENABLE_AUTO_BED_LEVELING
# ifdef Z_PROBE_REPEATABILITY_TEST
case 48 : // M48 Z-Probe repeatability
{
# if Z_MIN_PIN == -1
# error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
# endif
double sum = 0.0 ;
double mean = 0.0 ;
double sigma = 0.0 ;
double sample_set [ 50 ] ;
int verbose_level = 1 , n = 0 , j , n_samples = 10 , n_legs = 0 , engage_probe_for_each_reading = 0 ;
double X_current , Y_current , Z_current ;
double X_probe_location , Y_probe_location , Z_start_location , ext_position ;
if ( code_seen ( ' V ' ) | | code_seen ( ' v ' ) ) {
verbose_level = code_value ( ) ;
if ( verbose_level < 0 | | verbose_level > 4 ) {
SERIAL_PROTOCOLPGM ( " ?Verbose Level not plausable. \n " ) ;
goto Sigma_Exit ;
}
}
if ( verbose_level > 0 ) {
SERIAL_PROTOCOLPGM ( " M48 Z-Probe Repeatability test. Version 2.00 \n " ) ;
SERIAL_PROTOCOLPGM ( " Full support at: http://3dprintboard.com/forum.php \n " ) ;
}
if ( code_seen ( ' n ' ) ) {
n_samples = code_value ( ) ;
if ( n_samples < 4 | | n_samples > 50 ) {
SERIAL_PROTOCOLPGM ( " ?Specified sample size not plausable. \n " ) ;
goto Sigma_Exit ;
}
}
X_current = X_probe_location = st_get_position_mm ( X_AXIS ) ;
Y_current = Y_probe_location = st_get_position_mm ( Y_AXIS ) ;
Z_current = st_get_position_mm ( Z_AXIS ) ;
Z_start_location = st_get_position_mm ( Z_AXIS ) + Z_RAISE_BEFORE_PROBING ;
ext_position = st_get_position_mm ( E_AXIS ) ;
if ( code_seen ( ' E ' ) | | code_seen ( ' e ' ) )
engage_probe_for_each_reading + + ;
if ( code_seen ( ' X ' ) | | code_seen ( ' x ' ) ) {
X_probe_location = code_value ( ) - X_PROBE_OFFSET_FROM_EXTRUDER ;
if ( X_probe_location < X_MIN_POS | | X_probe_location > X_MAX_POS ) {
SERIAL_PROTOCOLPGM ( " ?Specified X position out of range. \n " ) ;
goto Sigma_Exit ;
}
}
if ( code_seen ( ' Y ' ) | | code_seen ( ' y ' ) ) {
Y_probe_location = code_value ( ) - Y_PROBE_OFFSET_FROM_EXTRUDER ;
if ( Y_probe_location < Y_MIN_POS | | Y_probe_location > Y_MAX_POS ) {
SERIAL_PROTOCOLPGM ( " ?Specified Y position out of range. \n " ) ;
goto Sigma_Exit ;
}
}
if ( code_seen ( ' L ' ) | | code_seen ( ' l ' ) ) {
n_legs = code_value ( ) ;
if ( n_legs = = 1 )
n_legs = 2 ;
if ( n_legs < 0 | | n_legs > 15 ) {
SERIAL_PROTOCOLPGM ( " ?Specified number of legs in movement not plausable. \n " ) ;
goto Sigma_Exit ;
}
}
//
// Do all the preliminary setup work. First raise the probe.
//
st_synchronize ( ) ;
plan_bed_level_matrix . set_to_identity ( ) ;
plan_buffer_line ( X_current , Y_current , Z_start_location ,
ext_position ,
homing_feedrate [ Z_AXIS ] / 60 ,
active_extruder ) ;
st_synchronize ( ) ;
//
// Now get everything to the specified probe point So we can safely do a probe to
// get us close to the bed. If the Z-Axis is far from the bed, we don't want to
// use that as a starting point for each probe.
//
if ( verbose_level > 2 )
SERIAL_PROTOCOL ( " Positioning probe for the test. \n " ) ;
plan_buffer_line ( X_probe_location , Y_probe_location , Z_start_location ,
ext_position ,
homing_feedrate [ X_AXIS ] / 60 ,
active_extruder ) ;
st_synchronize ( ) ;
current_position [ X_AXIS ] = X_current = st_get_position_mm ( X_AXIS ) ;
current_position [ Y_AXIS ] = Y_current = st_get_position_mm ( Y_AXIS ) ;
current_position [ Z_AXIS ] = Z_current = st_get_position_mm ( Z_AXIS ) ;
current_position [ E_AXIS ] = ext_position = st_get_position_mm ( E_AXIS ) ;
//
// OK, do the inital probe to get us close to the bed.
// Then retrace the right amount and use that in subsequent probes
//
engage_z_probe ( ) ;
setup_for_endstop_move ( ) ;
run_z_probe ( ) ;
current_position [ Z_AXIS ] = Z_current = st_get_position_mm ( Z_AXIS ) ;
Z_start_location = st_get_position_mm ( Z_AXIS ) + Z_RAISE_BEFORE_PROBING ;
plan_buffer_line ( X_probe_location , Y_probe_location , Z_start_location ,
ext_position ,
homing_feedrate [ X_AXIS ] / 60 ,
active_extruder ) ;
st_synchronize ( ) ;
current_position [ Z_AXIS ] = Z_current = st_get_position_mm ( Z_AXIS ) ;
if ( engage_probe_for_each_reading )
retract_z_probe ( ) ;
for ( n = 0 ; n < n_samples ; n + + ) {
do_blocking_move_to ( X_probe_location , Y_probe_location , Z_start_location ) ; // Make sure we are at the probe location
if ( n_legs ) {
double radius = 0.0 , theta = 0.0 , x_sweep , y_sweep ;
int rotational_direction , l ;
rotational_direction = ( unsigned long ) millis ( ) & 0x0001 ; // clockwise or counter clockwise
radius = ( unsigned long ) millis ( ) % ( long ) ( X_MAX_LENGTH / 4 ) ; // limit how far out to go
theta = ( float ) ( ( unsigned long ) millis ( ) % ( long ) 360 ) / ( 360. / ( 2 * 3.1415926 ) ) ; // turn into radians
//SERIAL_ECHOPAIR("starting radius: ",radius);
//SERIAL_ECHOPAIR(" theta: ",theta);
//SERIAL_ECHOPAIR(" direction: ",rotational_direction);
//SERIAL_PROTOCOLLNPGM("");
for ( l = 0 ; l < n_legs - 1 ; l + + ) {
if ( rotational_direction = = 1 )
theta + = ( float ) ( ( unsigned long ) millis ( ) % ( long ) 20 ) / ( 360.0 / ( 2 * 3.1415926 ) ) ; // turn into radians
else
theta - = ( float ) ( ( unsigned long ) millis ( ) % ( long ) 20 ) / ( 360.0 / ( 2 * 3.1415926 ) ) ; // turn into radians
radius + = ( float ) ( ( ( long ) ( ( unsigned long ) millis ( ) % ( long ) 10 ) ) - 5 ) ;
if ( radius < 0.0 )
radius = - radius ;
X_current = X_probe_location + cos ( theta ) * radius ;
Y_current = Y_probe_location + sin ( theta ) * radius ;
if ( X_current < X_MIN_POS ) // Make sure our X & Y are sane
X_current = X_MIN_POS ;
if ( X_current > X_MAX_POS )
X_current = X_MAX_POS ;
if ( Y_current < Y_MIN_POS ) // Make sure our X & Y are sane
Y_current = Y_MIN_POS ;
if ( Y_current > Y_MAX_POS )
Y_current = Y_MAX_POS ;
if ( verbose_level > 3 ) {
SERIAL_ECHOPAIR ( " x: " , X_current ) ;
SERIAL_ECHOPAIR ( " y: " , Y_current ) ;
SERIAL_PROTOCOLLNPGM ( " " ) ;
}
do_blocking_move_to ( X_current , Y_current , Z_current ) ;
}
do_blocking_move_to ( X_probe_location , Y_probe_location , Z_start_location ) ; // Go back to the probe location
}
if ( engage_probe_for_each_reading ) {
engage_z_probe ( ) ;
delay ( 1000 ) ;
}
setup_for_endstop_move ( ) ;
run_z_probe ( ) ;
sample_set [ n ] = current_position [ Z_AXIS ] ;
//
// Get the current mean for the data points we have so far
//
sum = 0.0 ;
for ( j = 0 ; j < = n ; j + + ) {
sum = sum + sample_set [ j ] ;
}
mean = sum / ( double ( n + 1 ) ) ;
//
// Now, use that mean to calculate the standard deviation for the
// data points we have so far
//
sum = 0.0 ;
for ( j = 0 ; j < = n ; j + + ) {
sum = sum + ( sample_set [ j ] - mean ) * ( sample_set [ j ] - mean ) ;
}
sigma = sqrt ( sum / ( double ( n + 1 ) ) ) ;
if ( verbose_level > 1 ) {
SERIAL_PROTOCOL ( n + 1 ) ;
SERIAL_PROTOCOL ( " of " ) ;
SERIAL_PROTOCOL ( n_samples ) ;
SERIAL_PROTOCOLPGM ( " z: " ) ;
SERIAL_PROTOCOL_F ( current_position [ Z_AXIS ] , 6 ) ;
}
if ( verbose_level > 2 ) {
SERIAL_PROTOCOL ( " mean: " ) ;
SERIAL_PROTOCOL_F ( mean , 6 ) ;
SERIAL_PROTOCOL ( " sigma: " ) ;
SERIAL_PROTOCOL_F ( sigma , 6 ) ;
}
if ( verbose_level > 0 )
SERIAL_PROTOCOLPGM ( " \n " ) ;
plan_buffer_line ( X_probe_location , Y_probe_location , Z_start_location ,
current_position [ E_AXIS ] , homing_feedrate [ Z_AXIS ] / 60 , active_extruder ) ;
st_synchronize ( ) ;
if ( engage_probe_for_each_reading ) {
retract_z_probe ( ) ;
delay ( 1000 ) ;
}
}
retract_z_probe ( ) ;
delay ( 1000 ) ;
clean_up_after_endstop_move ( ) ;
// enable_endstops(true);
if ( verbose_level > 0 ) {
SERIAL_PROTOCOLPGM ( " Mean: " ) ;
SERIAL_PROTOCOL_F ( mean , 6 ) ;
SERIAL_PROTOCOLPGM ( " \n " ) ;
}
SERIAL_PROTOCOLPGM ( " Standard Deviation: " ) ;
SERIAL_PROTOCOL_F ( sigma , 6 ) ;
SERIAL_PROTOCOLPGM ( " \n \n " ) ;
Sigma_Exit :
break ;
}
# endif // Z_PROBE_REPEATABILITY_TEST
# endif // ENABLE_AUTO_BED_LEVELING
case 104 : // M104
if ( setTargetedHotend ( 104 ) ) {
break ;
}
if ( code_seen ( ' S ' ) ) setTargetHotend ( code_value ( ) , tmp_extruder ) ;
# ifdef DUAL_X_CARRIAGE
if ( dual_x_carriage_mode = = DXC_DUPLICATION_MODE & & tmp_extruder = = 0 )
setTargetHotend1 ( code_value ( ) = = 0.0 ? 0.0 : code_value ( ) + duplicate_extruder_temp_offset ) ;
# endif
setWatch ( ) ;
break ;
case 112 : // M112 -Emergency Stop
kill ( ) ;
break ;
case 140 : // M140 set bed temp
if ( code_seen ( ' S ' ) ) setTargetBed ( code_value ( ) ) ;
break ;
case 105 : // M105
if ( setTargetedHotend ( 105 ) ) {
break ;
}
# if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
SERIAL_PROTOCOLPGM ( " ok T: " ) ;
SERIAL_PROTOCOL_F ( degHotend ( tmp_extruder ) , 1 ) ;
SERIAL_PROTOCOLPGM ( " / " ) ;
SERIAL_PROTOCOL_F ( degTargetHotend ( tmp_extruder ) , 1 ) ;
# if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
SERIAL_PROTOCOLPGM ( " B: " ) ;
SERIAL_PROTOCOL_F ( degBed ( ) , 1 ) ;
SERIAL_PROTOCOLPGM ( " / " ) ;
SERIAL_PROTOCOL_F ( degTargetBed ( ) , 1 ) ;
# endif //TEMP_BED_PIN
for ( int8_t cur_extruder = 0 ; cur_extruder < EXTRUDERS ; + + cur_extruder ) {
SERIAL_PROTOCOLPGM ( " T " ) ;
SERIAL_PROTOCOL ( cur_extruder ) ;
SERIAL_PROTOCOLPGM ( " : " ) ;
SERIAL_PROTOCOL_F ( degHotend ( cur_extruder ) , 1 ) ;
SERIAL_PROTOCOLPGM ( " / " ) ;
SERIAL_PROTOCOL_F ( degTargetHotend ( cur_extruder ) , 1 ) ;
}
# else
SERIAL_ERROR_START ;
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SERIAL_ERRORLNRPGM ( MSG_ERR_NO_THERMISTORS ) ;
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# endif
SERIAL_PROTOCOLPGM ( " @: " ) ;
# ifdef EXTRUDER_WATTS
SERIAL_PROTOCOL ( ( EXTRUDER_WATTS * getHeaterPower ( tmp_extruder ) ) / 127 ) ;
SERIAL_PROTOCOLPGM ( " W " ) ;
# else
SERIAL_PROTOCOL ( getHeaterPower ( tmp_extruder ) ) ;
# endif
SERIAL_PROTOCOLPGM ( " B@: " ) ;
# ifdef BED_WATTS
SERIAL_PROTOCOL ( ( BED_WATTS * getHeaterPower ( - 1 ) ) / 127 ) ;
SERIAL_PROTOCOLPGM ( " W " ) ;
# else
SERIAL_PROTOCOL ( getHeaterPower ( - 1 ) ) ;
# endif
# ifdef SHOW_TEMP_ADC_VALUES
# if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
SERIAL_PROTOCOLPGM ( " ADC B: " ) ;
SERIAL_PROTOCOL_F ( degBed ( ) , 1 ) ;
SERIAL_PROTOCOLPGM ( " C-> " ) ;
SERIAL_PROTOCOL_F ( rawBedTemp ( ) / OVERSAMPLENR , 0 ) ;
# endif
for ( int8_t cur_extruder = 0 ; cur_extruder < EXTRUDERS ; + + cur_extruder ) {
SERIAL_PROTOCOLPGM ( " T " ) ;
SERIAL_PROTOCOL ( cur_extruder ) ;
SERIAL_PROTOCOLPGM ( " : " ) ;
SERIAL_PROTOCOL_F ( degHotend ( cur_extruder ) , 1 ) ;
SERIAL_PROTOCOLPGM ( " C-> " ) ;
SERIAL_PROTOCOL_F ( rawHotendTemp ( cur_extruder ) / OVERSAMPLENR , 0 ) ;
}
# endif
SERIAL_PROTOCOLLN ( " " ) ;
return ;
break ;
case 109 :
{ // M109 - Wait for extruder heater to reach target.
if ( setTargetedHotend ( 109 ) ) {
break ;
}
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LCD_MESSAGERPGM ( MSG_HEATING ) ;
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# ifdef AUTOTEMP
autotemp_enabled = false ;
# endif
if ( code_seen ( ' S ' ) ) {
setTargetHotend ( code_value ( ) , tmp_extruder ) ;
# ifdef DUAL_X_CARRIAGE
if ( dual_x_carriage_mode = = DXC_DUPLICATION_MODE & & tmp_extruder = = 0 )
setTargetHotend1 ( code_value ( ) = = 0.0 ? 0.0 : code_value ( ) + duplicate_extruder_temp_offset ) ;
# endif
CooldownNoWait = true ;
} else if ( code_seen ( ' R ' ) ) {
setTargetHotend ( code_value ( ) , tmp_extruder ) ;
# ifdef DUAL_X_CARRIAGE
if ( dual_x_carriage_mode = = DXC_DUPLICATION_MODE & & tmp_extruder = = 0 )
setTargetHotend1 ( code_value ( ) = = 0.0 ? 0.0 : code_value ( ) + duplicate_extruder_temp_offset ) ;
# endif
CooldownNoWait = false ;
}
# ifdef AUTOTEMP
if ( code_seen ( ' S ' ) ) autotemp_min = code_value ( ) ;
if ( code_seen ( ' B ' ) ) autotemp_max = code_value ( ) ;
if ( code_seen ( ' F ' ) )
{
autotemp_factor = code_value ( ) ;
autotemp_enabled = true ;
}
# endif
setWatch ( ) ;
codenum = millis ( ) ;
/* See if we are heating up or cooling down */
target_direction = isHeatingHotend ( tmp_extruder ) ; // true if heating, false if cooling
cancel_heatup = false ;
# ifdef TEMP_RESIDENCY_TIME
long residencyStart ;
residencyStart = - 1 ;
/* continue to loop until we have reached the target temp
_and_ until TEMP_RESIDENCY_TIME hasn ' t passed since we reached it */
while ( ( ! cancel_heatup ) & & ( ( residencyStart = = - 1 ) | |
( residencyStart > = 0 & & ( ( ( unsigned int ) ( millis ( ) - residencyStart ) ) < ( TEMP_RESIDENCY_TIME * 1000UL ) ) ) ) ) {
# else
while ( target_direction ? ( isHeatingHotend ( tmp_extruder ) ) : ( isCoolingHotend ( tmp_extruder ) & & ( CooldownNoWait = = false ) ) ) {
# endif //TEMP_RESIDENCY_TIME
if ( ( millis ( ) - codenum ) > 1000UL )
{ //Print Temp Reading and remaining time every 1 second while heating up/cooling down
SERIAL_PROTOCOLPGM ( " T: " ) ;
SERIAL_PROTOCOL_F ( degHotend ( tmp_extruder ) , 1 ) ;
SERIAL_PROTOCOLPGM ( " E: " ) ;
SERIAL_PROTOCOL ( ( int ) tmp_extruder ) ;
# ifdef TEMP_RESIDENCY_TIME
SERIAL_PROTOCOLPGM ( " W: " ) ;
if ( residencyStart > - 1 )
{
codenum = ( ( TEMP_RESIDENCY_TIME * 1000UL ) - ( millis ( ) - residencyStart ) ) / 1000UL ;
SERIAL_PROTOCOLLN ( codenum ) ;
}
else
{
SERIAL_PROTOCOLLN ( " ? " ) ;
}
# else
SERIAL_PROTOCOLLN ( " " ) ;
# endif
codenum = millis ( ) ;
}
manage_heater ( ) ;
manage_inactivity ( ) ;
lcd_update ( ) ;
# ifdef TEMP_RESIDENCY_TIME
/* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
or when current temp falls outside the hysteresis after target temp was reached */
if ( ( residencyStart = = - 1 & & target_direction & & ( degHotend ( tmp_extruder ) > = ( degTargetHotend ( tmp_extruder ) - TEMP_WINDOW ) ) ) | |
( residencyStart = = - 1 & & ! target_direction & & ( degHotend ( tmp_extruder ) < = ( degTargetHotend ( tmp_extruder ) + TEMP_WINDOW ) ) ) | |
( residencyStart > - 1 & & labs ( degHotend ( tmp_extruder ) - degTargetHotend ( tmp_extruder ) ) > TEMP_HYSTERESIS ) )
{
residencyStart = millis ( ) ;
}
# endif //TEMP_RESIDENCY_TIME
}
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LCD_MESSAGERPGM ( MSG_HEATING_COMPLETE ) ;
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if ( IS_SD_PRINTING ) {
lcd_setstatus ( " SD-PRINTING " ) ;
}
starttime = millis ( ) ;
previous_millis_cmd = millis ( ) ;
}
break ;
case 190 : // M190 - Wait for bed heater to reach target.
# if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
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LCD_MESSAGERPGM ( MSG_BED_HEATING ) ;
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if ( code_seen ( ' S ' ) ) {
setTargetBed ( code_value ( ) ) ;
CooldownNoWait = true ;
} else if ( code_seen ( ' R ' ) ) {
setTargetBed ( code_value ( ) ) ;
CooldownNoWait = false ;
}
codenum = millis ( ) ;
cancel_heatup = false ;
target_direction = isHeatingBed ( ) ; // true if heating, false if cooling
while ( ( target_direction ) & & ( ! cancel_heatup ) ? ( isHeatingBed ( ) ) : ( isCoolingBed ( ) & & ( CooldownNoWait = = false ) ) )
{
if ( ( millis ( ) - codenum ) > 1000 ) //Print Temp Reading every 1 second while heating up.
{
float tt = degHotend ( active_extruder ) ;
SERIAL_PROTOCOLPGM ( " T: " ) ;
SERIAL_PROTOCOL ( tt ) ;
SERIAL_PROTOCOLPGM ( " E: " ) ;
SERIAL_PROTOCOL ( ( int ) active_extruder ) ;
SERIAL_PROTOCOLPGM ( " B: " ) ;
SERIAL_PROTOCOL_F ( degBed ( ) , 1 ) ;
SERIAL_PROTOCOLLN ( " " ) ;
codenum = millis ( ) ;
}
manage_heater ( ) ;
manage_inactivity ( ) ;
lcd_update ( ) ;
}
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LCD_MESSAGERPGM ( MSG_BED_DONE ) ;
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if ( IS_SD_PRINTING ) {
lcd_setstatus ( " SD-PRINTING " ) ;
}
previous_millis_cmd = millis ( ) ;
# endif
break ;
# if defined(FAN_PIN) && FAN_PIN > -1
case 106 : //M106 Fan On
if ( code_seen ( ' S ' ) ) {
fanSpeed = constrain ( code_value ( ) , 0 , 255 ) ;
}
else {
fanSpeed = 255 ;
}
break ;
case 107 : //M107 Fan Off
fanSpeed = 0 ;
break ;
# endif //FAN_PIN
# ifdef BARICUDA
// PWM for HEATER_1_PIN
# if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
case 126 : //M126 valve open
if ( code_seen ( ' S ' ) ) {
ValvePressure = constrain ( code_value ( ) , 0 , 255 ) ;
}
else {
ValvePressure = 255 ;
}
break ;
case 127 : //M127 valve closed
ValvePressure = 0 ;
break ;
# endif //HEATER_1_PIN
// PWM for HEATER_2_PIN
# if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
case 128 : //M128 valve open
if ( code_seen ( ' S ' ) ) {
EtoPPressure = constrain ( code_value ( ) , 0 , 255 ) ;
}
else {
EtoPPressure = 255 ;
}
break ;
case 129 : //M129 valve closed
EtoPPressure = 0 ;
break ;
# endif //HEATER_2_PIN
# endif
# if defined(PS_ON_PIN) && PS_ON_PIN > -1
case 80 : // M80 - Turn on Power Supply
SET_OUTPUT ( PS_ON_PIN ) ; //GND
WRITE ( PS_ON_PIN , PS_ON_AWAKE ) ;
// If you have a switch on suicide pin, this is useful
// if you want to start another print with suicide feature after
// a print without suicide...
# if defined SUICIDE_PIN && SUICIDE_PIN > -1
SET_OUTPUT ( SUICIDE_PIN ) ;
WRITE ( SUICIDE_PIN , HIGH ) ;
# endif
# ifdef ULTIPANEL
powersupply = true ;
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LCD_MESSAGERPGM ( WELCOME_MSG ) ;
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lcd_update ( ) ;
# endif
break ;
# endif
case 81 : // M81 - Turn off Power Supply
disable_heater ( ) ;
st_synchronize ( ) ;
disable_e0 ( ) ;
disable_e1 ( ) ;
disable_e2 ( ) ;
finishAndDisableSteppers ( ) ;
fanSpeed = 0 ;
delay ( 1000 ) ; // Wait a little before to switch off
# if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
st_synchronize ( ) ;
suicide ( ) ;
# elif defined(PS_ON_PIN) && PS_ON_PIN > -1
SET_OUTPUT ( PS_ON_PIN ) ;
WRITE ( PS_ON_PIN , PS_ON_ASLEEP ) ;
# endif
# ifdef ULTIPANEL
powersupply = false ;
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LCD_MESSAGERPGM ( CAT4 ( MACHINE_NAME , PSTR ( " " ) , MSG_OFF , PSTR ( " . " ) ) ) ; //!!!!!!!!!!!!!!
/*
MACHNAME = " Prusa i3 "
MSGOFF = " Vypnuto "
" Prusai3 " " " " vypnuto " " . "
" Prusa i3 " " " MSG_ALL [ lang_selected ] [ 50 ] " . "
*/
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lcd_update ( ) ;
# endif
break ;
case 82 :
axis_relative_modes [ 3 ] = false ;
break ;
case 83 :
axis_relative_modes [ 3 ] = true ;
break ;
case 18 : //compatibility
case 84 : // M84
if ( code_seen ( ' S ' ) ) {
stepper_inactive_time = code_value ( ) * 1000 ;
}
else
{
bool all_axis = ! ( ( code_seen ( axis_codes [ X_AXIS ] ) ) | | ( code_seen ( axis_codes [ Y_AXIS ] ) ) | | ( code_seen ( axis_codes [ Z_AXIS ] ) ) | | ( code_seen ( axis_codes [ E_AXIS ] ) ) ) ;
if ( all_axis )
{
st_synchronize ( ) ;
disable_e0 ( ) ;
disable_e1 ( ) ;
disable_e2 ( ) ;
finishAndDisableSteppers ( ) ;
}
else
{
st_synchronize ( ) ;
if ( code_seen ( ' X ' ) ) disable_x ( ) ;
if ( code_seen ( ' Y ' ) ) disable_y ( ) ;
if ( code_seen ( ' Z ' ) ) disable_z ( ) ;
# if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
if ( code_seen ( ' E ' ) ) {
disable_e0 ( ) ;
disable_e1 ( ) ;
disable_e2 ( ) ;
}
# endif
}
}
break ;
case 85 : // M85
if ( code_seen ( ' S ' ) ) {
max_inactive_time = code_value ( ) * 1000 ;
}
break ;
case 92 : // M92
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + )
{
if ( code_seen ( axis_codes [ i ] ) )
{
if ( i = = 3 ) { // E
float value = code_value ( ) ;
if ( value < 20.0 ) {
float factor = axis_steps_per_unit [ i ] / value ; // increase e constants if M92 E14 is given for netfab.
max_e_jerk * = factor ;
max_feedrate [ i ] * = factor ;
axis_steps_per_sqr_second [ i ] * = factor ;
}
axis_steps_per_unit [ i ] = value ;
}
else {
axis_steps_per_unit [ i ] = code_value ( ) ;
}
}
}
break ;
case 115 : // M115
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SERIAL_PROTOCOLRPGM ( MSG_M115_REPORT ) ;
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break ;
case 117 : // M117 display message
starpos = ( strchr ( strchr_pointer + 5 , ' * ' ) ) ;
if ( starpos ! = NULL )
* ( starpos ) = ' \0 ' ;
lcd_setstatus ( strchr_pointer + 5 ) ;
break ;
case 114 : // M114
SERIAL_PROTOCOLPGM ( " X: " ) ;
SERIAL_PROTOCOL ( current_position [ X_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Y: " ) ;
SERIAL_PROTOCOL ( current_position [ Y_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Z: " ) ;
SERIAL_PROTOCOL ( current_position [ Z_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " E: " ) ;
SERIAL_PROTOCOL ( current_position [ E_AXIS ] ) ;
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SERIAL_PROTOCOLRPGM ( MSG_COUNT_X ) ;
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SERIAL_PROTOCOL ( float ( st_get_position ( X_AXIS ) ) / axis_steps_per_unit [ X_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Y: " ) ;
SERIAL_PROTOCOL ( float ( st_get_position ( Y_AXIS ) ) / axis_steps_per_unit [ Y_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Z: " ) ;
SERIAL_PROTOCOL ( float ( st_get_position ( Z_AXIS ) ) / axis_steps_per_unit [ Z_AXIS ] ) ;
SERIAL_PROTOCOLLN ( " " ) ;
# ifdef SCARA
SERIAL_PROTOCOLPGM ( " SCARA Theta: " ) ;
SERIAL_PROTOCOL ( delta [ X_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Psi+Theta: " ) ;
SERIAL_PROTOCOL ( delta [ Y_AXIS ] ) ;
SERIAL_PROTOCOLLN ( " " ) ;
SERIAL_PROTOCOLPGM ( " SCARA Cal - Theta: " ) ;
SERIAL_PROTOCOL ( delta [ X_AXIS ] + add_homing [ X_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Psi+Theta (90): " ) ;
SERIAL_PROTOCOL ( delta [ Y_AXIS ] - delta [ X_AXIS ] - 90 + add_homing [ Y_AXIS ] ) ;
SERIAL_PROTOCOLLN ( " " ) ;
SERIAL_PROTOCOLPGM ( " SCARA step Cal - Theta: " ) ;
SERIAL_PROTOCOL ( delta [ X_AXIS ] / 90 * axis_steps_per_unit [ X_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Psi+Theta: " ) ;
SERIAL_PROTOCOL ( ( delta [ Y_AXIS ] - delta [ X_AXIS ] ) / 90 * axis_steps_per_unit [ Y_AXIS ] ) ;
SERIAL_PROTOCOLLN ( " " ) ;
SERIAL_PROTOCOLLN ( " " ) ;
# endif
break ;
case 120 : // M120
enable_endstops ( false ) ;
break ;
case 121 : // M121
enable_endstops ( true ) ;
break ;
case 119 : // M119
SERIAL_PROTOCOLLN ( MSG_M119_REPORT ) ;
# if defined(X_MIN_PIN) && X_MIN_PIN > -1
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SERIAL_PROTOCOLRPGM ( MSG_X_MIN ) ;
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SERIAL_PROTOCOLLN ( ( ( READ ( X_MIN_PIN ) ^ X_MIN_ENDSTOP_INVERTING ) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN ) ) ;
# endif
# if defined(X_MAX_PIN) && X_MAX_PIN > -1
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SERIAL_PROTOCOLRPGM ( MSG_X_MAX ) ;
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SERIAL_PROTOCOLLN ( ( ( READ ( X_MAX_PIN ) ^ X_MAX_ENDSTOP_INVERTING ) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN ) ) ;
# endif
# if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
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SERIAL_PROTOCOLRPGM ( MSG_Y_MIN ) ;
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SERIAL_PROTOCOLLN ( ( ( READ ( Y_MIN_PIN ) ^ Y_MIN_ENDSTOP_INVERTING ) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN ) ) ;
# endif
# if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
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SERIAL_PROTOCOLRPGM ( MSG_Y_MAX ) ;
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SERIAL_PROTOCOLLN ( ( ( READ ( Y_MAX_PIN ) ^ Y_MAX_ENDSTOP_INVERTING ) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN ) ) ;
# endif
# if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
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SERIAL_PROTOCOLRPGM ( MSG_Z_MIN ) ;
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SERIAL_PROTOCOLLN ( ( ( READ ( Z_MIN_PIN ) ^ Z_MIN_ENDSTOP_INVERTING ) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN ) ) ;
# endif
# if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
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SERIAL_PROTOCOLRPGM ( MSG_Z_MAX ) ;
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SERIAL_PROTOCOLLN ( ( ( READ ( Z_MAX_PIN ) ^ Z_MAX_ENDSTOP_INVERTING ) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN ) ) ;
# endif
break ;
//TODO: update for all axis, use for loop
# ifdef BLINKM
case 150 : // M150
{
byte red ;
byte grn ;
byte blu ;
if ( code_seen ( ' R ' ) ) red = code_value ( ) ;
if ( code_seen ( ' U ' ) ) grn = code_value ( ) ;
if ( code_seen ( ' B ' ) ) blu = code_value ( ) ;
SendColors ( red , grn , blu ) ;
}
break ;
# endif //BLINKM
case 200 : // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
{
tmp_extruder = active_extruder ;
if ( code_seen ( ' T ' ) ) {
tmp_extruder = code_value ( ) ;
if ( tmp_extruder > = EXTRUDERS ) {
SERIAL_ECHO_START ;
SERIAL_ECHO ( MSG_M200_INVALID_EXTRUDER ) ;
break ;
}
}
float area = .0 ;
if ( code_seen ( ' D ' ) ) {
float diameter = ( float ) code_value ( ) ;
if ( diameter = = 0.0 ) {
// setting any extruder filament size disables volumetric on the assumption that
// slicers either generate in extruder values as cubic mm or as as filament feeds
// for all extruders
volumetric_enabled = false ;
} else {
filament_size [ tmp_extruder ] = ( float ) code_value ( ) ;
// make sure all extruders have some sane value for the filament size
filament_size [ 0 ] = ( filament_size [ 0 ] = = 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size [ 0 ] ) ;
# if EXTRUDERS > 1
filament_size [ 1 ] = ( filament_size [ 1 ] = = 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size [ 1 ] ) ;
# if EXTRUDERS > 2
filament_size [ 2 ] = ( filament_size [ 2 ] = = 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size [ 2 ] ) ;
# endif
# endif
volumetric_enabled = true ;
}
} else {
//reserved for setting filament diameter via UFID or filament measuring device
break ;
}
calculate_volumetric_multipliers ( ) ;
}
break ;
case 201 : // M201
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + )
{
if ( code_seen ( axis_codes [ i ] ) )
{
max_acceleration_units_per_sq_second [ i ] = code_value ( ) ;
}
}
// steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
reset_acceleration_rates ( ) ;
break ;
#if 0 // Not used for Sprinter/grbl gen6
case 202 : // M202
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) ) axis_travel_steps_per_sqr_second [ i ] = code_value ( ) * axis_steps_per_unit [ i ] ;
}
break ;
# endif
case 203 : // M203 max feedrate mm/sec
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) ) max_feedrate [ i ] = code_value ( ) ;
}
break ;
case 204 : // M204 acclereration S normal moves T filmanent only moves
{
if ( code_seen ( ' S ' ) ) acceleration = code_value ( ) ;
if ( code_seen ( ' T ' ) ) retract_acceleration = code_value ( ) ;
}
break ;
case 205 : //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
{
if ( code_seen ( ' S ' ) ) minimumfeedrate = code_value ( ) ;
if ( code_seen ( ' T ' ) ) mintravelfeedrate = code_value ( ) ;
if ( code_seen ( ' B ' ) ) minsegmenttime = code_value ( ) ;
if ( code_seen ( ' X ' ) ) max_xy_jerk = code_value ( ) ;
if ( code_seen ( ' Z ' ) ) max_z_jerk = code_value ( ) ;
if ( code_seen ( ' E ' ) ) max_e_jerk = code_value ( ) ;
}
break ;
case 206 : // M206 additional homing offset
for ( int8_t i = 0 ; i < 3 ; i + + )
{
if ( code_seen ( axis_codes [ i ] ) ) add_homing [ i ] = code_value ( ) ;
}
# ifdef SCARA
if ( code_seen ( ' T ' ) ) // Theta
{
add_homing [ X_AXIS ] = code_value ( ) ;
}
if ( code_seen ( ' P ' ) ) // Psi
{
add_homing [ Y_AXIS ] = code_value ( ) ;
}
# endif
break ;
# ifdef DELTA
case 665 : // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
if ( code_seen ( ' L ' ) ) {
delta_diagonal_rod = code_value ( ) ;
}
if ( code_seen ( ' R ' ) ) {
delta_radius = code_value ( ) ;
}
if ( code_seen ( ' S ' ) ) {
delta_segments_per_second = code_value ( ) ;
}
recalc_delta_settings ( delta_radius , delta_diagonal_rod ) ;
break ;
case 666 : // M666 set delta endstop adjustemnt
for ( int8_t i = 0 ; i < 3 ; i + + )
{
if ( code_seen ( axis_codes [ i ] ) ) endstop_adj [ i ] = code_value ( ) ;
}
break ;
# endif
# ifdef FWRETRACT
case 207 : //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
{
if ( code_seen ( ' S ' ) )
{
retract_length = code_value ( ) ;
}
if ( code_seen ( ' F ' ) )
{
retract_feedrate = code_value ( ) / 60 ;
}
if ( code_seen ( ' Z ' ) )
{
retract_zlift = code_value ( ) ;
}
} break ;
case 208 : // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
{
if ( code_seen ( ' S ' ) )
{
retract_recover_length = code_value ( ) ;
}
if ( code_seen ( ' F ' ) )
{
retract_recover_feedrate = code_value ( ) / 60 ;
}
} break ;
case 209 : // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
{
if ( code_seen ( ' S ' ) )
{
int t = code_value ( ) ;
switch ( t )
{
case 0 :
{
autoretract_enabled = false ;
retracted [ 0 ] = false ;
# if EXTRUDERS > 1
retracted [ 1 ] = false ;
# endif
# if EXTRUDERS > 2
retracted [ 2 ] = false ;
# endif
} break ;
case 1 :
{
autoretract_enabled = true ;
retracted [ 0 ] = false ;
# if EXTRUDERS > 1
retracted [ 1 ] = false ;
# endif
# if EXTRUDERS > 2
retracted [ 2 ] = false ;
# endif
} break ;
default :
SERIAL_ECHO_START ;
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SERIAL_ECHORPGM ( MSG_UNKNOWN_COMMAND ) ;
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SERIAL_ECHO ( cmdbuffer [ bufindr ] ) ;
SERIAL_ECHOLNPGM ( " \" " ) ;
}
}
} break ;
# endif // FWRETRACT
# if EXTRUDERS > 1
case 218 : // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
{
if ( setTargetedHotend ( 218 ) ) {
break ;
}
if ( code_seen ( ' X ' ) )
{
extruder_offset [ X_AXIS ] [ tmp_extruder ] = code_value ( ) ;
}
if ( code_seen ( ' Y ' ) )
{
extruder_offset [ Y_AXIS ] [ tmp_extruder ] = code_value ( ) ;
}
# ifdef DUAL_X_CARRIAGE
if ( code_seen ( ' Z ' ) )
{
extruder_offset [ Z_AXIS ] [ tmp_extruder ] = code_value ( ) ;
}
# endif
SERIAL_ECHO_START ;
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SERIAL_ECHORPGM ( MSG_HOTEND_OFFSET ) ;
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for ( tmp_extruder = 0 ; tmp_extruder < EXTRUDERS ; tmp_extruder + + )
{
SERIAL_ECHO ( " " ) ;
SERIAL_ECHO ( extruder_offset [ X_AXIS ] [ tmp_extruder ] ) ;
SERIAL_ECHO ( " , " ) ;
SERIAL_ECHO ( extruder_offset [ Y_AXIS ] [ tmp_extruder ] ) ;
# ifdef DUAL_X_CARRIAGE
SERIAL_ECHO ( " , " ) ;
SERIAL_ECHO ( extruder_offset [ Z_AXIS ] [ tmp_extruder ] ) ;
# endif
}
SERIAL_ECHOLN ( " " ) ;
} break ;
# endif
case 220 : // M220 S<factor in percent>- set speed factor override percentage
{
if ( code_seen ( ' S ' ) )
{
feedmultiply = code_value ( ) ;
}
}
break ;
case 221 : // M221 S<factor in percent>- set extrude factor override percentage
{
if ( code_seen ( ' S ' ) )
{
int tmp_code = code_value ( ) ;
if ( code_seen ( ' T ' ) )
{
if ( setTargetedHotend ( 221 ) ) {
break ;
}
extruder_multiply [ tmp_extruder ] = tmp_code ;
}
else
{
extrudemultiply = tmp_code ;
}
}
}
break ;
case 226 : // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
{
if ( code_seen ( ' P ' ) ) {
int pin_number = code_value ( ) ; // pin number
int pin_state = - 1 ; // required pin state - default is inverted
if ( code_seen ( ' S ' ) ) pin_state = code_value ( ) ; // required pin state
if ( pin_state > = - 1 & & pin_state < = 1 ) {
for ( int8_t i = 0 ; i < ( int8_t ) ( sizeof ( sensitive_pins ) / sizeof ( int ) ) ; i + + )
{
if ( sensitive_pins [ i ] = = pin_number )
{
pin_number = - 1 ;
break ;
}
}
if ( pin_number > - 1 )
{
int target = LOW ;
st_synchronize ( ) ;
pinMode ( pin_number , INPUT ) ;
switch ( pin_state ) {
case 1 :
target = HIGH ;
break ;
case 0 :
target = LOW ;
break ;
case - 1 :
target = ! digitalRead ( pin_number ) ;
break ;
}
while ( digitalRead ( pin_number ) ! = target ) {
manage_heater ( ) ;
manage_inactivity ( ) ;
lcd_update ( ) ;
}
}
}
}
}
break ;
# if NUM_SERVOS > 0
case 280 : // M280 - set servo position absolute. P: servo index, S: angle or microseconds
{
int servo_index = - 1 ;
int servo_position = 0 ;
if ( code_seen ( ' P ' ) )
servo_index = code_value ( ) ;
if ( code_seen ( ' S ' ) ) {
servo_position = code_value ( ) ;
if ( ( servo_index > = 0 ) & & ( servo_index < NUM_SERVOS ) ) {
# if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
servos [ servo_index ] . attach ( 0 ) ;
# endif
servos [ servo_index ] . write ( servo_position ) ;
# if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
delay ( PROBE_SERVO_DEACTIVATION_DELAY ) ;
servos [ servo_index ] . detach ( ) ;
# endif
}
else {
SERIAL_ECHO_START ;
SERIAL_ECHO ( " Servo " ) ;
SERIAL_ECHO ( servo_index ) ;
SERIAL_ECHOLN ( " out of range " ) ;
}
}
else if ( servo_index > = 0 ) {
SERIAL_PROTOCOL ( MSG_OK ) ;
SERIAL_PROTOCOL ( " Servo " ) ;
SERIAL_PROTOCOL ( servo_index ) ;
SERIAL_PROTOCOL ( " : " ) ;
SERIAL_PROTOCOL ( servos [ servo_index ] . read ( ) ) ;
SERIAL_PROTOCOLLN ( " " ) ;
}
}
break ;
# endif // NUM_SERVOS > 0
# if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
case 300 : // M300
{
int beepS = code_seen ( ' S ' ) ? code_value ( ) : 110 ;
int beepP = code_seen ( ' P ' ) ? code_value ( ) : 1000 ;
if ( beepS > 0 )
{
# if BEEPER > 0
tone ( BEEPER , beepS ) ;
delay ( beepP ) ;
noTone ( BEEPER ) ;
# elif defined(ULTRALCD)
lcd_buzz ( beepS , beepP ) ;
# elif defined(LCD_USE_I2C_BUZZER)
lcd_buzz ( beepP , beepS ) ;
# endif
}
else
{
delay ( beepP ) ;
}
}
break ;
# endif // M300
# ifdef PIDTEMP
case 301 : // M301
{
if ( code_seen ( ' P ' ) ) Kp = code_value ( ) ;
if ( code_seen ( ' I ' ) ) Ki = scalePID_i ( code_value ( ) ) ;
if ( code_seen ( ' D ' ) ) Kd = scalePID_d ( code_value ( ) ) ;
# ifdef PID_ADD_EXTRUSION_RATE
if ( code_seen ( ' C ' ) ) Kc = code_value ( ) ;
# endif
updatePID ( ) ;
SERIAL_PROTOCOL ( MSG_OK ) ;
SERIAL_PROTOCOL ( " p: " ) ;
SERIAL_PROTOCOL ( Kp ) ;
SERIAL_PROTOCOL ( " i: " ) ;
SERIAL_PROTOCOL ( unscalePID_i ( Ki ) ) ;
SERIAL_PROTOCOL ( " d: " ) ;
SERIAL_PROTOCOL ( unscalePID_d ( Kd ) ) ;
# ifdef PID_ADD_EXTRUSION_RATE
SERIAL_PROTOCOL ( " c: " ) ;
//Kc does not have scaling applied above, or in resetting defaults
SERIAL_PROTOCOL ( Kc ) ;
# endif
SERIAL_PROTOCOLLN ( " " ) ;
}
break ;
# endif //PIDTEMP
# ifdef PIDTEMPBED
case 304 : // M304
{
if ( code_seen ( ' P ' ) ) bedKp = code_value ( ) ;
if ( code_seen ( ' I ' ) ) bedKi = scalePID_i ( code_value ( ) ) ;
if ( code_seen ( ' D ' ) ) bedKd = scalePID_d ( code_value ( ) ) ;
updatePID ( ) ;
SERIAL_PROTOCOL ( MSG_OK ) ;
SERIAL_PROTOCOL ( " p: " ) ;
SERIAL_PROTOCOL ( bedKp ) ;
SERIAL_PROTOCOL ( " i: " ) ;
SERIAL_PROTOCOL ( unscalePID_i ( bedKi ) ) ;
SERIAL_PROTOCOL ( " d: " ) ;
SERIAL_PROTOCOL ( unscalePID_d ( bedKd ) ) ;
SERIAL_PROTOCOLLN ( " " ) ;
}
break ;
# endif //PIDTEMP
case 240 : // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
{
# ifdef CHDK
SET_OUTPUT ( CHDK ) ;
WRITE ( CHDK , HIGH ) ;
chdkHigh = millis ( ) ;
chdkActive = true ;
# else
# if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
const uint8_t NUM_PULSES = 16 ;
const float PULSE_LENGTH = 0.01524 ;
for ( int i = 0 ; i < NUM_PULSES ; i + + ) {
WRITE ( PHOTOGRAPH_PIN , HIGH ) ;
_delay_ms ( PULSE_LENGTH ) ;
WRITE ( PHOTOGRAPH_PIN , LOW ) ;
_delay_ms ( PULSE_LENGTH ) ;
}
delay ( 7.33 ) ;
for ( int i = 0 ; i < NUM_PULSES ; i + + ) {
WRITE ( PHOTOGRAPH_PIN , HIGH ) ;
_delay_ms ( PULSE_LENGTH ) ;
WRITE ( PHOTOGRAPH_PIN , LOW ) ;
_delay_ms ( PULSE_LENGTH ) ;
}
# endif
# endif //chdk end if
}
break ;
# ifdef DOGLCD
case 250 : // M250 Set LCD contrast value: C<value> (value 0..63)
{
if ( code_seen ( ' C ' ) ) {
lcd_setcontrast ( ( ( int ) code_value ( ) ) & 63 ) ;
}
SERIAL_PROTOCOLPGM ( " lcd contrast value: " ) ;
SERIAL_PROTOCOL ( lcd_contrast ) ;
SERIAL_PROTOCOLLN ( " " ) ;
}
break ;
# endif
# ifdef PREVENT_DANGEROUS_EXTRUDE
case 302 : // allow cold extrudes, or set the minimum extrude temperature
{
float temp = .0 ;
if ( code_seen ( ' S ' ) ) temp = code_value ( ) ;
set_extrude_min_temp ( temp ) ;
}
break ;
# endif
case 303 : // M303 PID autotune
{
float temp = 150.0 ;
int e = 0 ;
int c = 5 ;
if ( code_seen ( ' E ' ) ) e = code_value ( ) ;
if ( e < 0 )
temp = 70 ;
if ( code_seen ( ' S ' ) ) temp = code_value ( ) ;
if ( code_seen ( ' C ' ) ) c = code_value ( ) ;
PID_autotune ( temp , e , c ) ;
}
break ;
# ifdef SCARA
case 360 : // M360 SCARA Theta pos1
SERIAL_ECHOLN ( " Cal: Theta 0 " ) ;
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if ( Stopped = = false ) {
//get_coordinates(); // For X Y Z E F
delta [ X_AXIS ] = 0 ;
delta [ Y_AXIS ] = 120 ;
calculate_SCARA_forward_Transform ( delta ) ;
destination [ X_AXIS ] = delta [ X_AXIS ] / axis_scaling [ X_AXIS ] ;
destination [ Y_AXIS ] = delta [ Y_AXIS ] / axis_scaling [ Y_AXIS ] ;
prepare_move ( ) ;
//ClearToSend();
return ;
}
break ;
case 361 : // SCARA Theta pos2
SERIAL_ECHOLN ( " Cal: Theta 90 " ) ;
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if ( Stopped = = false ) {
//get_coordinates(); // For X Y Z E F
delta [ X_AXIS ] = 90 ;
delta [ Y_AXIS ] = 130 ;
calculate_SCARA_forward_Transform ( delta ) ;
destination [ X_AXIS ] = delta [ X_AXIS ] / axis_scaling [ X_AXIS ] ;
destination [ Y_AXIS ] = delta [ Y_AXIS ] / axis_scaling [ Y_AXIS ] ;
prepare_move ( ) ;
//ClearToSend();
return ;
}
break ;
case 362 : // SCARA Psi pos1
SERIAL_ECHOLN ( " Cal: Psi 0 " ) ;
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if ( Stopped = = false ) {
//get_coordinates(); // For X Y Z E F
delta [ X_AXIS ] = 60 ;
delta [ Y_AXIS ] = 180 ;
calculate_SCARA_forward_Transform ( delta ) ;
destination [ X_AXIS ] = delta [ X_AXIS ] / axis_scaling [ X_AXIS ] ;
destination [ Y_AXIS ] = delta [ Y_AXIS ] / axis_scaling [ Y_AXIS ] ;
prepare_move ( ) ;
//ClearToSend();
return ;
}
break ;
case 363 : // SCARA Psi pos2
SERIAL_ECHOLN ( " Cal: Psi 90 " ) ;
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if ( Stopped = = false ) {
//get_coordinates(); // For X Y Z E F
delta [ X_AXIS ] = 50 ;
delta [ Y_AXIS ] = 90 ;
calculate_SCARA_forward_Transform ( delta ) ;
destination [ X_AXIS ] = delta [ X_AXIS ] / axis_scaling [ X_AXIS ] ;
destination [ Y_AXIS ] = delta [ Y_AXIS ] / axis_scaling [ Y_AXIS ] ;
prepare_move ( ) ;
//ClearToSend();
return ;
}
break ;
case 364 : // SCARA Psi pos3 (90 deg to Theta)
SERIAL_ECHOLN ( " Cal: Theta-Psi 90 " ) ;
// SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if ( Stopped = = false ) {
//get_coordinates(); // For X Y Z E F
delta [ X_AXIS ] = 45 ;
delta [ Y_AXIS ] = 135 ;
calculate_SCARA_forward_Transform ( delta ) ;
destination [ X_AXIS ] = delta [ X_AXIS ] / axis_scaling [ X_AXIS ] ;
destination [ Y_AXIS ] = delta [ Y_AXIS ] / axis_scaling [ Y_AXIS ] ;
prepare_move ( ) ;
//ClearToSend();
return ;
}
break ;
case 365 : // M364 Set SCARA scaling for X Y Z
for ( int8_t i = 0 ; i < 3 ; i + + )
{
if ( code_seen ( axis_codes [ i ] ) )
{
axis_scaling [ i ] = code_value ( ) ;
}
}
break ;
# endif
case 400 : // M400 finish all moves
{
st_synchronize ( ) ;
}
break ;
# if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
case 401 :
{
engage_z_probe ( ) ; // Engage Z Servo endstop if available
}
break ;
case 402 :
{
retract_z_probe ( ) ; // Retract Z Servo endstop if enabled
}
break ;
# endif
# ifdef FILAMENT_SENSOR
case 404 : //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
{
# if (FILWIDTH_PIN > -1)
if ( code_seen ( ' N ' ) ) filament_width_nominal = code_value ( ) ;
else {
SERIAL_PROTOCOLPGM ( " Filament dia (nominal mm): " ) ;
SERIAL_PROTOCOLLN ( filament_width_nominal ) ;
}
# endif
}
break ;
case 405 : //M405 Turn on filament sensor for control
{
if ( code_seen ( ' D ' ) ) meas_delay_cm = code_value ( ) ;
if ( meas_delay_cm > MAX_MEASUREMENT_DELAY )
meas_delay_cm = MAX_MEASUREMENT_DELAY ;
if ( delay_index2 = = - 1 ) //initialize the ring buffer if it has not been done since startup
{
int temp_ratio = widthFil_to_size_ratio ( ) ;
for ( delay_index1 = 0 ; delay_index1 < ( MAX_MEASUREMENT_DELAY + 1 ) ; + + delay_index1 ) {
measurement_delay [ delay_index1 ] = temp_ratio - 100 ; //subtract 100 to scale within a signed byte
}
delay_index1 = 0 ;
delay_index2 = 0 ;
}
filament_sensor = true ;
//SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
//SERIAL_PROTOCOL(filament_width_meas);
//SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
//SERIAL_PROTOCOL(extrudemultiply);
}
break ;
case 406 : //M406 Turn off filament sensor for control
{
filament_sensor = false ;
}
break ;
case 407 : //M407 Display measured filament diameter
{
SERIAL_PROTOCOLPGM ( " Filament dia (measured mm): " ) ;
SERIAL_PROTOCOLLN ( filament_width_meas ) ;
}
break ;
# endif
case 500 : // M500 Store settings in EEPROM
{
Config_StoreSettings ( ) ;
}
break ;
case 501 : // M501 Read settings from EEPROM
{
Config_RetrieveSettings ( ) ;
}
break ;
case 502 : // M502 Revert to default settings
{
Config_ResetDefault ( ) ;
}
break ;
case 503 : // M503 print settings currently in memory
{
Config_PrintSettings ( ) ;
}
break ;
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case 509 : //M509 Force language selection
{
lcd_force_language_selection ( ) ;
SERIAL_ECHO_START ;
SERIAL_PROTOCOLPGM ( ( " LANG SEL FORCED " ) ) ;
}
break ;
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# ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
case 540 :
{
if ( code_seen ( ' S ' ) ) abort_on_endstop_hit = code_value ( ) > 0 ;
}
break ;
# endif
# ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET :
{
float value ;
if ( code_seen ( ' Z ' ) )
{
value = code_value ( ) ;
if ( ( Z_PROBE_OFFSET_RANGE_MIN < = value ) & & ( value < = Z_PROBE_OFFSET_RANGE_MAX ) )
{
zprobe_zoffset = - value ; // compare w/ line 278 of ConfigurationStore.cpp
SERIAL_ECHO_START ;
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SERIAL_ECHOLNRPGM ( CAT4 ( MSG_ZPROBE_ZOFFSET , " " , MSG_OK , PSTR ( " " ) ) ) ;
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SERIAL_PROTOCOLLN ( " " ) ;
}
else
{
SERIAL_ECHO_START ;
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SERIAL_ECHORPGM ( MSG_ZPROBE_ZOFFSET ) ;
SERIAL_ECHORPGM ( MSG_Z_MIN ) ;
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SERIAL_ECHO ( Z_PROBE_OFFSET_RANGE_MIN ) ;
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SERIAL_ECHORPGM ( MSG_Z_MAX ) ;
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SERIAL_ECHO ( Z_PROBE_OFFSET_RANGE_MAX ) ;
SERIAL_PROTOCOLLN ( " " ) ;
}
}
else
{
SERIAL_ECHO_START ;
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SERIAL_ECHOLNRPGM ( CAT2 ( MSG_ZPROBE_ZOFFSET , PSTR ( " : " ) ) ) ;
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SERIAL_ECHO ( - zprobe_zoffset ) ;
SERIAL_PROTOCOLLN ( " " ) ;
}
break ;
}
# endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
# ifdef FILAMENTCHANGEENABLE
case 600 : //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
{
feedmultiplyBckp = feedmultiply ;
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int8_t TooLowZ = 0 ;
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float target [ 4 ] ;
float lastpos [ 4 ] ;
target [ X_AXIS ] = current_position [ X_AXIS ] ;
target [ Y_AXIS ] = current_position [ Y_AXIS ] ;
target [ Z_AXIS ] = current_position [ Z_AXIS ] ;
target [ E_AXIS ] = current_position [ E_AXIS ] ;
lastpos [ X_AXIS ] = current_position [ X_AXIS ] ;
lastpos [ Y_AXIS ] = current_position [ Y_AXIS ] ;
lastpos [ Z_AXIS ] = current_position [ Z_AXIS ] ;
lastpos [ E_AXIS ] = current_position [ E_AXIS ] ;
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//Restract extruder
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if ( code_seen ( ' E ' ) )
{
target [ E_AXIS ] + = code_value ( ) ;
}
else
{
# ifdef FILAMENTCHANGE_FIRSTRETRACT
target [ E_AXIS ] + = FILAMENTCHANGE_FIRSTRETRACT ;
# endif
}
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plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , FILAMENTCHANGE_RFEED , active_extruder ) ;
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//Lift Z
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if ( code_seen ( ' Z ' ) )
{
target [ Z_AXIS ] + = code_value ( ) ;
}
else
{
# ifdef FILAMENTCHANGE_ZADD
target [ Z_AXIS ] + = FILAMENTCHANGE_ZADD ;
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if ( target [ Z_AXIS ] < 10 ) {
target [ Z_AXIS ] + = 10 ;
TooLowZ = 1 ;
} else {
TooLowZ = 0 ;
}
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# endif
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}
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plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , FILAMENTCHANGE_ZFEED , active_extruder ) ;
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//Move XY to side
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if ( code_seen ( ' X ' ) )
{
target [ X_AXIS ] + = code_value ( ) ;
}
else
{
# ifdef FILAMENTCHANGE_XPOS
target [ X_AXIS ] = FILAMENTCHANGE_XPOS ;
# endif
}
if ( code_seen ( ' Y ' ) )
{
target [ Y_AXIS ] = code_value ( ) ;
}
else
{
# ifdef FILAMENTCHANGE_YPOS
target [ Y_AXIS ] = FILAMENTCHANGE_YPOS ;
# endif
}
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plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , FILAMENTCHANGE_XYFEED , active_extruder ) ;
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// Unload filament
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if ( code_seen ( ' L ' ) )
{
target [ E_AXIS ] + = code_value ( ) ;
}
else
{
# ifdef FILAMENTCHANGE_FINALRETRACT
target [ E_AXIS ] + = FILAMENTCHANGE_FINALRETRACT ;
# endif
}
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plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , FILAMENTCHANGE_RFEED , active_extruder ) ;
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//finish moves
st_synchronize ( ) ;
//disable extruder steppers so filament can be removed
disable_e0 ( ) ;
disable_e1 ( ) ;
disable_e2 ( ) ;
delay ( 100 ) ;
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//Wait for user to insert filament
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uint8_t cnt = 0 ;
int counterBeep = 0 ;
lcd_wait_interact ( ) ;
while ( ! lcd_clicked ( ) ) {
cnt + + ;
manage_heater ( ) ;
manage_inactivity ( true ) ;
if ( cnt = = 0 )
{
# if BEEPER > 0
if ( counterBeep = = 500 ) {
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counterBeep = 0 ;
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}
SET_OUTPUT ( BEEPER ) ;
if ( counterBeep = = 0 ) {
WRITE ( BEEPER , HIGH ) ;
}
if ( counterBeep = = 20 ) {
WRITE ( BEEPER , LOW ) ;
}
counterBeep + + ;
# else
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# if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
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lcd_buzz ( 1000 / 6 , 100 ) ;
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# else
lcd_buzz ( LCD_FEEDBACK_FREQUENCY_DURATION_MS , LCD_FEEDBACK_FREQUENCY_HZ ) ;
# endif
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# endif
}
}
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//Filament inserted
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WRITE ( BEEPER , LOW ) ;
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//Feed the filament to the end of nozzle quickly
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target [ E_AXIS ] + = FILAMENTCHANGE_FIRSTFEED ;
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plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , FILAMENTCHANGE_EFEED , active_extruder ) ;
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//Extrude some filament
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target [ E_AXIS ] + = FILAMENTCHANGE_FINALFEED ;
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plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , FILAMENTCHANGE_EXFEED , active_extruder ) ;
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//Wait for user to check the state
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lcd_change_fil_state = 0 ;
lcd_loading_filament ( ) ;
while ( ( lcd_change_fil_state = = 0 ) | | ( lcd_change_fil_state ! = 1 ) ) {
lcd_change_fil_state = 0 ;
lcd_alright ( ) ;
switch ( lcd_change_fil_state ) {
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// Filament failed to load so load it again
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case 2 :
target [ E_AXIS ] + = FILAMENTCHANGE_FIRSTFEED ;
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plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , FILAMENTCHANGE_EFEED , active_extruder ) ;
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target [ E_AXIS ] + = FILAMENTCHANGE_FINALFEED ;
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plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , FILAMENTCHANGE_EXFEED , active_extruder ) ;
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lcd_loading_filament ( ) ;
break ;
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// Filament loaded properly but color is not clear
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case 3 :
target [ E_AXIS ] + = FILAMENTCHANGE_FINALFEED ;
plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , 2 , active_extruder ) ;
lcd_loading_color ( ) ;
break ;
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// Everything good
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default :
lcd_change_success ( ) ;
break ;
}
}
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//Not let's go back to print
//Feed a little of filament to stabilize pressure
target [ E_AXIS ] + = FILAMENTCHANGE_RECFEED ;
plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , FILAMENTCHANGE_EXFEED , active_extruder ) ;
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//Retract
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target [ E_AXIS ] + = FILAMENTCHANGE_FIRSTRETRACT ;
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plan_buffer_line ( target [ X_AXIS ] , target [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , FILAMENTCHANGE_RFEED , active_extruder ) ;
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//plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
//Move XY back
plan_buffer_line ( lastpos [ X_AXIS ] , lastpos [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , FILAMENTCHANGE_XYFEED , active_extruder ) ;
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//Move Z back
plan_buffer_line ( lastpos [ X_AXIS ] , lastpos [ Y_AXIS ] , lastpos [ Z_AXIS ] , target [ E_AXIS ] , FILAMENTCHANGE_ZFEED , active_extruder ) ;
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target [ E_AXIS ] = target [ E_AXIS ] - FILAMENTCHANGE_FIRSTRETRACT ;
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//Unretract
plan_buffer_line ( lastpos [ X_AXIS ] , lastpos [ Y_AXIS ] , lastpos [ Z_AXIS ] , target [ E_AXIS ] , FILAMENTCHANGE_RFEED , active_extruder ) ;
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//Set E position to original
plan_set_e_position ( lastpos [ E_AXIS ] ) ;
//Recover feed rate
feedmultiply = feedmultiplyBckp ;
char cmd [ 9 ] ;
sprintf_P ( cmd , PSTR ( " M220 S%i " ) , feedmultiplyBckp ) ;
enquecommand ( cmd ) ;
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}
break ;
# endif //FILAMENTCHANGEENABLE
# ifdef DUAL_X_CARRIAGE
case 605 : // Set dual x-carriage movement mode:
// M605 S0: Full control mode. The slicer has full control over x-carriage movement
// M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
// M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
// millimeters x-offset and an optional differential hotend temperature of
// mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
// the first with a spacing of 100mm in the x direction and 2 degrees hotter.
//
// Note: the X axis should be homed after changing dual x-carriage mode.
{
st_synchronize ( ) ;
if ( code_seen ( ' S ' ) )
dual_x_carriage_mode = code_value ( ) ;
if ( dual_x_carriage_mode = = DXC_DUPLICATION_MODE )
{
if ( code_seen ( ' X ' ) )
duplicate_extruder_x_offset = max ( code_value ( ) , X2_MIN_POS - x_home_pos ( 0 ) ) ;
if ( code_seen ( ' R ' ) )
duplicate_extruder_temp_offset = code_value ( ) ;
SERIAL_ECHO_START ;
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SERIAL_ECHORPGM ( MSG_HOTEND_OFFSET ) ;
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SERIAL_ECHO ( " " ) ;
SERIAL_ECHO ( extruder_offset [ X_AXIS ] [ 0 ] ) ;
SERIAL_ECHO ( " , " ) ;
SERIAL_ECHO ( extruder_offset [ Y_AXIS ] [ 0 ] ) ;
SERIAL_ECHO ( " " ) ;
SERIAL_ECHO ( duplicate_extruder_x_offset ) ;
SERIAL_ECHO ( " , " ) ;
SERIAL_ECHOLN ( extruder_offset [ Y_AXIS ] [ 1 ] ) ;
}
else if ( dual_x_carriage_mode ! = DXC_FULL_CONTROL_MODE & & dual_x_carriage_mode ! = DXC_AUTO_PARK_MODE )
{
dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE ;
}
active_extruder_parked = false ;
extruder_duplication_enabled = false ;
delayed_move_time = 0 ;
}
break ;
# endif //DUAL_X_CARRIAGE
case 907 : // M907 Set digital trimpot motor current using axis codes.
{
# if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
for ( int i = 0 ; i < NUM_AXIS ; i + + ) if ( code_seen ( axis_codes [ i ] ) ) digipot_current ( i , code_value ( ) ) ;
if ( code_seen ( ' B ' ) ) digipot_current ( 4 , code_value ( ) ) ;
if ( code_seen ( ' S ' ) ) for ( int i = 0 ; i < = 4 ; i + + ) digipot_current ( i , code_value ( ) ) ;
# endif
# ifdef MOTOR_CURRENT_PWM_XY_PIN
if ( code_seen ( ' X ' ) ) digipot_current ( 0 , code_value ( ) ) ;
# endif
# ifdef MOTOR_CURRENT_PWM_Z_PIN
if ( code_seen ( ' Z ' ) ) digipot_current ( 1 , code_value ( ) ) ;
# endif
# ifdef MOTOR_CURRENT_PWM_E_PIN
if ( code_seen ( ' E ' ) ) digipot_current ( 2 , code_value ( ) ) ;
# endif
# ifdef DIGIPOT_I2C
// this one uses actual amps in floating point
for ( int i = 0 ; i < NUM_AXIS ; i + + ) if ( code_seen ( axis_codes [ i ] ) ) digipot_i2c_set_current ( i , code_value ( ) ) ;
// for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
for ( int i = NUM_AXIS ; i < DIGIPOT_I2C_NUM_CHANNELS ; i + + ) if ( code_seen ( ' B ' + i - NUM_AXIS ) ) digipot_i2c_set_current ( i , code_value ( ) ) ;
# endif
}
break ;
case 908 : // M908 Control digital trimpot directly.
{
# if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
uint8_t channel , current ;
if ( code_seen ( ' P ' ) ) channel = code_value ( ) ;
if ( code_seen ( ' S ' ) ) current = code_value ( ) ;
digitalPotWrite ( channel , current ) ;
# endif
}
break ;
case 350 : // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
{
# if defined(X_MS1_PIN) && X_MS1_PIN > -1
if ( code_seen ( ' S ' ) ) for ( int i = 0 ; i < = 4 ; i + + ) microstep_mode ( i , code_value ( ) ) ;
for ( int i = 0 ; i < NUM_AXIS ; i + + ) if ( code_seen ( axis_codes [ i ] ) ) microstep_mode ( i , ( uint8_t ) code_value ( ) ) ;
if ( code_seen ( ' B ' ) ) microstep_mode ( 4 , code_value ( ) ) ;
microstep_readings ( ) ;
# endif
}
break ;
case 351 : // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
{
# if defined(X_MS1_PIN) && X_MS1_PIN > -1
if ( code_seen ( ' S ' ) ) switch ( ( int ) code_value ( ) )
{
case 1 :
for ( int i = 0 ; i < NUM_AXIS ; i + + ) if ( code_seen ( axis_codes [ i ] ) ) microstep_ms ( i , code_value ( ) , - 1 ) ;
if ( code_seen ( ' B ' ) ) microstep_ms ( 4 , code_value ( ) , - 1 ) ;
break ;
case 2 :
for ( int i = 0 ; i < NUM_AXIS ; i + + ) if ( code_seen ( axis_codes [ i ] ) ) microstep_ms ( i , - 1 , code_value ( ) ) ;
if ( code_seen ( ' B ' ) ) microstep_ms ( 4 , - 1 , code_value ( ) ) ;
break ;
}
microstep_readings ( ) ;
# endif
}
break ;
case 999 : // M999: Restart after being stopped
Stopped = false ;
lcd_reset_alert_level ( ) ;
gcode_LastN = Stopped_gcode_LastN ;
FlushSerialRequestResend ( ) ;
break ;
}
}
else if ( code_seen ( ' T ' ) )
{
tmp_extruder = code_value ( ) ;
if ( tmp_extruder > = EXTRUDERS ) {
SERIAL_ECHO_START ;
SERIAL_ECHO ( " T " ) ;
SERIAL_ECHO ( tmp_extruder ) ;
SERIAL_ECHOLN ( MSG_INVALID_EXTRUDER ) ;
}
else {
boolean make_move = false ;
if ( code_seen ( ' F ' ) ) {
make_move = true ;
next_feedrate = code_value ( ) ;
if ( next_feedrate > 0.0 ) {
feedrate = next_feedrate ;
}
}
# if EXTRUDERS > 1
if ( tmp_extruder ! = active_extruder ) {
// Save current position to return to after applying extruder offset
memcpy ( destination , current_position , sizeof ( destination ) ) ;
# ifdef DUAL_X_CARRIAGE
if ( dual_x_carriage_mode = = DXC_AUTO_PARK_MODE & & Stopped = = false & &
( delayed_move_time ! = 0 | | current_position [ X_AXIS ] ! = x_home_pos ( active_extruder ) ) )
{
// Park old head: 1) raise 2) move to park position 3) lower
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] + TOOLCHANGE_PARK_ZLIFT ,
current_position [ E_AXIS ] , max_feedrate [ Z_AXIS ] , active_extruder ) ;
plan_buffer_line ( x_home_pos ( active_extruder ) , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] + TOOLCHANGE_PARK_ZLIFT ,
current_position [ E_AXIS ] , max_feedrate [ X_AXIS ] , active_extruder ) ;
plan_buffer_line ( x_home_pos ( active_extruder ) , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] ,
current_position [ E_AXIS ] , max_feedrate [ Z_AXIS ] , active_extruder ) ;
st_synchronize ( ) ;
}
// apply Y & Z extruder offset (x offset is already used in determining home pos)
current_position [ Y_AXIS ] = current_position [ Y_AXIS ] -
extruder_offset [ Y_AXIS ] [ active_extruder ] +
extruder_offset [ Y_AXIS ] [ tmp_extruder ] ;
current_position [ Z_AXIS ] = current_position [ Z_AXIS ] -
extruder_offset [ Z_AXIS ] [ active_extruder ] +
extruder_offset [ Z_AXIS ] [ tmp_extruder ] ;
active_extruder = tmp_extruder ;
// This function resets the max/min values - the current position may be overwritten below.
axis_is_at_home ( X_AXIS ) ;
if ( dual_x_carriage_mode = = DXC_FULL_CONTROL_MODE )
{
current_position [ X_AXIS ] = inactive_extruder_x_pos ;
inactive_extruder_x_pos = destination [ X_AXIS ] ;
}
else if ( dual_x_carriage_mode = = DXC_DUPLICATION_MODE )
{
active_extruder_parked = ( active_extruder = = 0 ) ; // this triggers the second extruder to move into the duplication position
if ( active_extruder = = 0 | | active_extruder_parked )
current_position [ X_AXIS ] = inactive_extruder_x_pos ;
else
current_position [ X_AXIS ] = destination [ X_AXIS ] + duplicate_extruder_x_offset ;
inactive_extruder_x_pos = destination [ X_AXIS ] ;
extruder_duplication_enabled = false ;
}
else
{
// record raised toolhead position for use by unpark
memcpy ( raised_parked_position , current_position , sizeof ( raised_parked_position ) ) ;
raised_parked_position [ Z_AXIS ] + = TOOLCHANGE_UNPARK_ZLIFT ;
active_extruder_parked = true ;
delayed_move_time = 0 ;
}
# else
// Offset extruder (only by XY)
int i ;
for ( i = 0 ; i < 2 ; i + + ) {
current_position [ i ] = current_position [ i ] -
extruder_offset [ i ] [ active_extruder ] +
extruder_offset [ i ] [ tmp_extruder ] ;
}
// Set the new active extruder and position
active_extruder = tmp_extruder ;
# endif //else DUAL_X_CARRIAGE
# ifdef DELTA
calculate_delta ( current_position ) ; // change cartesian kinematic to delta kinematic;
//sent position to plan_set_position();
plan_set_position ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# else
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# endif
// Move to the old position if 'F' was in the parameters
if ( make_move & & Stopped = = false ) {
prepare_move ( ) ;
}
}
# endif
SERIAL_ECHO_START ;
SERIAL_ECHO ( MSG_ACTIVE_EXTRUDER ) ;
SERIAL_PROTOCOLLN ( ( int ) active_extruder ) ;
}
}
else
{
SERIAL_ECHO_START ;
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SERIAL_ECHORPGM ( MSG_UNKNOWN_COMMAND ) ;
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SERIAL_ECHO ( cmdbuffer [ bufindr ] ) ;
SERIAL_ECHOLNPGM ( " \" " ) ;
}
ClearToSend ( ) ;
}
void FlushSerialRequestResend ( )
{
//char cmdbuffer[bufindr][100]="Resend:";
MYSERIAL . flush ( ) ;
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SERIAL_PROTOCOLRPGM ( MSG_RESEND ) ;
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SERIAL_PROTOCOLLN ( gcode_LastN + 1 ) ;
ClearToSend ( ) ;
}
void ClearToSend ( )
{
previous_millis_cmd = millis ( ) ;
# ifdef SDSUPPORT
if ( fromsd [ bufindr ] )
return ;
# endif //SDSUPPORT
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SERIAL_PROTOCOLLNRPGM ( MSG_OK ) ;
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}
void get_coordinates ( )
{
bool seen [ 4 ] = { false , false , false , false } ;
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) )
{
destination [ i ] = ( float ) code_value ( ) + ( axis_relative_modes [ i ] | | relative_mode ) * current_position [ i ] ;
seen [ i ] = true ;
}
else destination [ i ] = current_position [ i ] ; //Are these else lines really needed?
}
if ( code_seen ( ' F ' ) ) {
next_feedrate = code_value ( ) ;
if ( next_feedrate > 0.0 ) feedrate = next_feedrate ;
}
}
void get_arc_coordinates ( )
{
# ifdef SF_ARC_FIX
bool relative_mode_backup = relative_mode ;
relative_mode = true ;
# endif
get_coordinates ( ) ;
# ifdef SF_ARC_FIX
relative_mode = relative_mode_backup ;
# endif
if ( code_seen ( ' I ' ) ) {
offset [ 0 ] = code_value ( ) ;
}
else {
offset [ 0 ] = 0.0 ;
}
if ( code_seen ( ' J ' ) ) {
offset [ 1 ] = code_value ( ) ;
}
else {
offset [ 1 ] = 0.0 ;
}
}
void clamp_to_software_endstops ( float target [ 3 ] )
{
if ( min_software_endstops ) {
if ( target [ X_AXIS ] < min_pos [ X_AXIS ] ) target [ X_AXIS ] = min_pos [ X_AXIS ] ;
if ( target [ Y_AXIS ] < min_pos [ Y_AXIS ] ) target [ Y_AXIS ] = min_pos [ Y_AXIS ] ;
float negative_z_offset = 0 ;
# ifdef ENABLE_AUTO_BED_LEVELING
if ( Z_PROBE_OFFSET_FROM_EXTRUDER < 0 ) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER ;
if ( add_homing [ Z_AXIS ] < 0 ) negative_z_offset = negative_z_offset + add_homing [ Z_AXIS ] ;
# endif
if ( target [ Z_AXIS ] < min_pos [ Z_AXIS ] + negative_z_offset ) target [ Z_AXIS ] = min_pos [ Z_AXIS ] + negative_z_offset ;
}
if ( max_software_endstops ) {
if ( target [ X_AXIS ] > max_pos [ X_AXIS ] ) target [ X_AXIS ] = max_pos [ X_AXIS ] ;
if ( target [ Y_AXIS ] > max_pos [ Y_AXIS ] ) target [ Y_AXIS ] = max_pos [ Y_AXIS ] ;
if ( target [ Z_AXIS ] > max_pos [ Z_AXIS ] ) target [ Z_AXIS ] = max_pos [ Z_AXIS ] ;
}
}
# ifdef DELTA
void recalc_delta_settings ( float radius , float diagonal_rod )
{
delta_tower1_x = - SIN_60 * radius ; // front left tower
delta_tower1_y = - COS_60 * radius ;
delta_tower2_x = SIN_60 * radius ; // front right tower
delta_tower2_y = - COS_60 * radius ;
delta_tower3_x = 0.0 ; // back middle tower
delta_tower3_y = radius ;
delta_diagonal_rod_2 = sq ( diagonal_rod ) ;
}
void calculate_delta ( float cartesian [ 3 ] )
{
delta [ X_AXIS ] = sqrt ( delta_diagonal_rod_2
- sq ( delta_tower1_x - cartesian [ X_AXIS ] )
- sq ( delta_tower1_y - cartesian [ Y_AXIS ] )
) + cartesian [ Z_AXIS ] ;
delta [ Y_AXIS ] = sqrt ( delta_diagonal_rod_2
- sq ( delta_tower2_x - cartesian [ X_AXIS ] )
- sq ( delta_tower2_y - cartesian [ Y_AXIS ] )
) + cartesian [ Z_AXIS ] ;
delta [ Z_AXIS ] = sqrt ( delta_diagonal_rod_2
- sq ( delta_tower3_x - cartesian [ X_AXIS ] )
- sq ( delta_tower3_y - cartesian [ Y_AXIS ] )
) + cartesian [ Z_AXIS ] ;
/*
SERIAL_ECHOPGM ( " cartesian x= " ) ; SERIAL_ECHO ( cartesian [ X_AXIS ] ) ;
SERIAL_ECHOPGM ( " y= " ) ; SERIAL_ECHO ( cartesian [ Y_AXIS ] ) ;
SERIAL_ECHOPGM ( " z= " ) ; SERIAL_ECHOLN ( cartesian [ Z_AXIS ] ) ;
SERIAL_ECHOPGM ( " delta x= " ) ; SERIAL_ECHO ( delta [ X_AXIS ] ) ;
SERIAL_ECHOPGM ( " y= " ) ; SERIAL_ECHO ( delta [ Y_AXIS ] ) ;
SERIAL_ECHOPGM ( " z= " ) ; SERIAL_ECHOLN ( delta [ Z_AXIS ] ) ;
*/
}
# endif
void prepare_move ( )
{
clamp_to_software_endstops ( destination ) ;
previous_millis_cmd = millis ( ) ;
# ifdef SCARA //for now same as delta-code
float difference [ NUM_AXIS ] ;
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
difference [ i ] = destination [ i ] - current_position [ i ] ;
}
float cartesian_mm = sqrt ( sq ( difference [ X_AXIS ] ) +
sq ( difference [ Y_AXIS ] ) +
sq ( difference [ Z_AXIS ] ) ) ;
if ( cartesian_mm < 0.000001 ) { cartesian_mm = abs ( difference [ E_AXIS ] ) ; }
if ( cartesian_mm < 0.000001 ) { return ; }
float seconds = 6000 * cartesian_mm / feedrate / feedmultiply ;
int steps = max ( 1 , int ( scara_segments_per_second * seconds ) ) ;
//SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
//SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
//SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
for ( int s = 1 ; s < = steps ; s + + ) {
float fraction = float ( s ) / float ( steps ) ;
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
destination [ i ] = current_position [ i ] + difference [ i ] * fraction ;
}
calculate_delta ( destination ) ;
//SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
//SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
//SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]);
//SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]);
//SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
//SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
plan_buffer_line ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] ,
destination [ E_AXIS ] , feedrate * feedmultiply / 60 / 100.0 ,
active_extruder ) ;
}
# endif // SCARA
# ifdef DELTA
float difference [ NUM_AXIS ] ;
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
difference [ i ] = destination [ i ] - current_position [ i ] ;
}
float cartesian_mm = sqrt ( sq ( difference [ X_AXIS ] ) +
sq ( difference [ Y_AXIS ] ) +
sq ( difference [ Z_AXIS ] ) ) ;
if ( cartesian_mm < 0.000001 ) { cartesian_mm = abs ( difference [ E_AXIS ] ) ; }
if ( cartesian_mm < 0.000001 ) { return ; }
float seconds = 6000 * cartesian_mm / feedrate / feedmultiply ;
int steps = max ( 1 , int ( delta_segments_per_second * seconds ) ) ;
// SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
// SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
// SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
for ( int s = 1 ; s < = steps ; s + + ) {
float fraction = float ( s ) / float ( steps ) ;
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
destination [ i ] = current_position [ i ] + difference [ i ] * fraction ;
}
calculate_delta ( destination ) ;
plan_buffer_line ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] ,
destination [ E_AXIS ] , feedrate * feedmultiply / 60 / 100.0 ,
active_extruder ) ;
}
# endif // DELTA
# ifdef DUAL_X_CARRIAGE
if ( active_extruder_parked )
{
if ( dual_x_carriage_mode = = DXC_DUPLICATION_MODE & & active_extruder = = 0 )
{
// move duplicate extruder into correct duplication position.
plan_set_position ( inactive_extruder_x_pos , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
plan_buffer_line ( current_position [ X_AXIS ] + duplicate_extruder_x_offset , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] ,
current_position [ E_AXIS ] , max_feedrate [ X_AXIS ] , 1 ) ;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
st_synchronize ( ) ;
extruder_duplication_enabled = true ;
active_extruder_parked = false ;
}
else if ( dual_x_carriage_mode = = DXC_AUTO_PARK_MODE ) // handle unparking of head
{
if ( current_position [ E_AXIS ] = = destination [ E_AXIS ] )
{
// this is a travel move - skit it but keep track of current position (so that it can later
// be used as start of first non-travel move)
if ( delayed_move_time ! = 0xFFFFFFFFUL )
{
memcpy ( current_position , destination , sizeof ( current_position ) ) ;
if ( destination [ Z_AXIS ] > raised_parked_position [ Z_AXIS ] )
raised_parked_position [ Z_AXIS ] = destination [ Z_AXIS ] ;
delayed_move_time = millis ( ) ;
return ;
}
}
delayed_move_time = 0 ;
// unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
plan_buffer_line ( raised_parked_position [ X_AXIS ] , raised_parked_position [ Y_AXIS ] , raised_parked_position [ Z_AXIS ] , current_position [ E_AXIS ] , max_feedrate [ Z_AXIS ] , active_extruder ) ;
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , raised_parked_position [ Z_AXIS ] ,
current_position [ E_AXIS ] , min ( max_feedrate [ X_AXIS ] , max_feedrate [ Y_AXIS ] ) , active_extruder ) ;
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] ,
current_position [ E_AXIS ] , max_feedrate [ Z_AXIS ] , active_extruder ) ;
active_extruder_parked = false ;
}
}
# endif //DUAL_X_CARRIAGE
# if ! (defined DELTA || defined SCARA)
// Do not use feedmultiply for E or Z only moves
if ( ( current_position [ X_AXIS ] = = destination [ X_AXIS ] ) & & ( current_position [ Y_AXIS ] = = destination [ Y_AXIS ] ) ) {
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
}
else {
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate * feedmultiply / 60 / 100.0 , active_extruder ) ;
}
# endif // !(DELTA || SCARA)
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
current_position [ i ] = destination [ i ] ;
}
}
void prepare_arc_move ( char isclockwise ) {
float r = hypot ( offset [ X_AXIS ] , offset [ Y_AXIS ] ) ; // Compute arc radius for mc_arc
// Trace the arc
mc_arc ( current_position , destination , offset , X_AXIS , Y_AXIS , Z_AXIS , feedrate * feedmultiply / 60 / 100.0 , r , isclockwise , active_extruder ) ;
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position
// in any intermediate location.
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
current_position [ i ] = destination [ i ] ;
}
previous_millis_cmd = millis ( ) ;
}
# if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
# if defined(FAN_PIN)
# if CONTROLLERFAN_PIN == FAN_PIN
# error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
# endif
# endif
unsigned long lastMotor = 0 ; //Save the time for when a motor was turned on last
unsigned long lastMotorCheck = 0 ;
void controllerFan ( )
{
if ( ( millis ( ) - lastMotorCheck ) > = 2500 ) //Not a time critical function, so we only check every 2500ms
{
lastMotorCheck = millis ( ) ;
if ( ! READ ( X_ENABLE_PIN ) | | ! READ ( Y_ENABLE_PIN ) | | ! READ ( Z_ENABLE_PIN ) | | ( soft_pwm_bed > 0 )
# if EXTRUDERS > 2
| | ! READ ( E2_ENABLE_PIN )
# endif
# if EXTRUDER > 1
# if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
| | ! READ ( X2_ENABLE_PIN )
# endif
| | ! READ ( E1_ENABLE_PIN )
# endif
| | ! READ ( E0_ENABLE_PIN ) ) //If any of the drivers are enabled...
{
lastMotor = millis ( ) ; //... set time to NOW so the fan will turn on
}
if ( ( millis ( ) - lastMotor ) > = ( CONTROLLERFAN_SECS * 1000UL ) | | lastMotor = = 0 ) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
{
digitalWrite ( CONTROLLERFAN_PIN , 0 ) ;
analogWrite ( CONTROLLERFAN_PIN , 0 ) ;
}
else
{
// allows digital or PWM fan output to be used (see M42 handling)
digitalWrite ( CONTROLLERFAN_PIN , CONTROLLERFAN_SPEED ) ;
analogWrite ( CONTROLLERFAN_PIN , CONTROLLERFAN_SPEED ) ;
}
}
}
# endif
# ifdef SCARA
void calculate_SCARA_forward_Transform ( float f_scara [ 3 ] )
{
// Perform forward kinematics, and place results in delta[3]
// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
float x_sin , x_cos , y_sin , y_cos ;
//SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]);
//SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]);
x_sin = sin ( f_scara [ X_AXIS ] / SCARA_RAD2DEG ) * Linkage_1 ;
x_cos = cos ( f_scara [ X_AXIS ] / SCARA_RAD2DEG ) * Linkage_1 ;
y_sin = sin ( f_scara [ Y_AXIS ] / SCARA_RAD2DEG ) * Linkage_2 ;
y_cos = cos ( f_scara [ Y_AXIS ] / SCARA_RAD2DEG ) * Linkage_2 ;
// SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin);
// SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos);
// SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin);
// SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos);
delta [ X_AXIS ] = x_cos + y_cos + SCARA_offset_x ; //theta
delta [ Y_AXIS ] = x_sin + y_sin + SCARA_offset_y ; //theta+phi
//SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
//SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
}
void calculate_delta ( float cartesian [ 3 ] ) {
//reverse kinematics.
// Perform reversed kinematics, and place results in delta[3]
// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
float SCARA_pos [ 2 ] ;
static float SCARA_C2 , SCARA_S2 , SCARA_K1 , SCARA_K2 , SCARA_theta , SCARA_psi ;
SCARA_pos [ X_AXIS ] = cartesian [ X_AXIS ] * axis_scaling [ X_AXIS ] - SCARA_offset_x ; //Translate SCARA to standard X Y
SCARA_pos [ Y_AXIS ] = cartesian [ Y_AXIS ] * axis_scaling [ Y_AXIS ] - SCARA_offset_y ; // With scaling factor.
# if (Linkage_1 == Linkage_2)
SCARA_C2 = ( ( sq ( SCARA_pos [ X_AXIS ] ) + sq ( SCARA_pos [ Y_AXIS ] ) ) / ( 2 * ( float ) L1_2 ) ) - 1 ;
# else
SCARA_C2 = ( sq ( SCARA_pos [ X_AXIS ] ) + sq ( SCARA_pos [ Y_AXIS ] ) - ( float ) L1_2 - ( float ) L2_2 ) / 45000 ;
# endif
SCARA_S2 = sqrt ( 1 - sq ( SCARA_C2 ) ) ;
SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2 ;
SCARA_K2 = Linkage_2 * SCARA_S2 ;
SCARA_theta = ( atan2 ( SCARA_pos [ X_AXIS ] , SCARA_pos [ Y_AXIS ] ) - atan2 ( SCARA_K1 , SCARA_K2 ) ) * - 1 ;
SCARA_psi = atan2 ( SCARA_S2 , SCARA_C2 ) ;
delta [ X_AXIS ] = SCARA_theta * SCARA_RAD2DEG ; // Multiply by 180/Pi - theta is support arm angle
delta [ Y_AXIS ] = ( SCARA_theta + SCARA_psi ) * SCARA_RAD2DEG ; // - equal to sub arm angle (inverted motor)
delta [ Z_AXIS ] = cartesian [ Z_AXIS ] ;
/*
SERIAL_ECHOPGM ( " cartesian x= " ) ; SERIAL_ECHO ( cartesian [ X_AXIS ] ) ;
SERIAL_ECHOPGM ( " y= " ) ; SERIAL_ECHO ( cartesian [ Y_AXIS ] ) ;
SERIAL_ECHOPGM ( " z= " ) ; SERIAL_ECHOLN ( cartesian [ Z_AXIS ] ) ;
SERIAL_ECHOPGM ( " scara x= " ) ; SERIAL_ECHO ( SCARA_pos [ X_AXIS ] ) ;
SERIAL_ECHOPGM ( " y= " ) ; SERIAL_ECHOLN ( SCARA_pos [ Y_AXIS ] ) ;
SERIAL_ECHOPGM ( " delta x= " ) ; SERIAL_ECHO ( delta [ X_AXIS ] ) ;
SERIAL_ECHOPGM ( " y= " ) ; SERIAL_ECHO ( delta [ Y_AXIS ] ) ;
SERIAL_ECHOPGM ( " z= " ) ; SERIAL_ECHOLN ( delta [ Z_AXIS ] ) ;
SERIAL_ECHOPGM ( " C2= " ) ; SERIAL_ECHO ( SCARA_C2 ) ;
SERIAL_ECHOPGM ( " S2= " ) ; SERIAL_ECHO ( SCARA_S2 ) ;
SERIAL_ECHOPGM ( " Theta= " ) ; SERIAL_ECHO ( SCARA_theta ) ;
SERIAL_ECHOPGM ( " Psi= " ) ; SERIAL_ECHOLN ( SCARA_psi ) ;
SERIAL_ECHOLN ( " " ) ; */
}
# endif
# ifdef TEMP_STAT_LEDS
static bool blue_led = false ;
static bool red_led = false ;
static uint32_t stat_update = 0 ;
void handle_status_leds ( void ) {
float max_temp = 0.0 ;
if ( millis ( ) > stat_update ) {
stat_update + = 500 ; // Update every 0.5s
for ( int8_t cur_extruder = 0 ; cur_extruder < EXTRUDERS ; + + cur_extruder ) {
max_temp = max ( max_temp , degHotend ( cur_extruder ) ) ;
max_temp = max ( max_temp , degTargetHotend ( cur_extruder ) ) ;
}
# if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
max_temp = max ( max_temp , degTargetBed ( ) ) ;
max_temp = max ( max_temp , degBed ( ) ) ;
# endif
if ( ( max_temp > 55.0 ) & & ( red_led = = false ) ) {
digitalWrite ( STAT_LED_RED , 1 ) ;
digitalWrite ( STAT_LED_BLUE , 0 ) ;
red_led = true ;
blue_led = false ;
}
if ( ( max_temp < 54.0 ) & & ( blue_led = = false ) ) {
digitalWrite ( STAT_LED_RED , 0 ) ;
digitalWrite ( STAT_LED_BLUE , 1 ) ;
red_led = false ;
blue_led = true ;
}
}
}
# endif
void manage_inactivity ( bool ignore_stepper_queue /*=false*/ ) //default argument set in Marlin.h
{
# if defined(KILL_PIN) && KILL_PIN > -1
static int killCount = 0 ; // make the inactivity button a bit less responsive
const int KILL_DELAY = 10000 ;
# endif
# if defined(HOME_PIN) && HOME_PIN > -1
static int homeDebounceCount = 0 ; // poor man's debouncing count
const int HOME_DEBOUNCE_DELAY = 10000 ;
# endif
if ( buflen < ( BUFSIZE - 1 ) )
get_command ( ) ;
if ( ( millis ( ) - previous_millis_cmd ) > max_inactive_time )
if ( max_inactive_time )
kill ( ) ;
if ( stepper_inactive_time ) {
if ( ( millis ( ) - previous_millis_cmd ) > stepper_inactive_time )
{
if ( blocks_queued ( ) = = false & & ignore_stepper_queue = = false ) {
disable_x ( ) ;
disable_y ( ) ;
disable_z ( ) ;
disable_e0 ( ) ;
disable_e1 ( ) ;
disable_e2 ( ) ;
}
}
}
# ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
if ( chdkActive & & ( millis ( ) - chdkHigh > CHDK_DELAY ) )
{
chdkActive = false ;
WRITE ( CHDK , LOW ) ;
}
# endif
# if defined(KILL_PIN) && KILL_PIN > -1
// Check if the kill button was pressed and wait just in case it was an accidental
// key kill key press
// -------------------------------------------------------------------------------
if ( 0 = = READ ( KILL_PIN ) )
{
killCount + + ;
}
else if ( killCount > 0 )
{
killCount - - ;
}
// Exceeded threshold and we can confirm that it was not accidental
// KILL the machine
// ----------------------------------------------------------------
if ( killCount > = KILL_DELAY )
{
kill ( ) ;
}
# endif
# if defined(HOME_PIN) && HOME_PIN > -1
// Check to see if we have to home, use poor man's debouncer
// ---------------------------------------------------------
if ( 0 = = READ ( HOME_PIN ) )
{
if ( homeDebounceCount = = 0 )
{
enquecommand_P ( ( PSTR ( " G28 " ) ) ) ;
homeDebounceCount + + ;
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LCD_ALERTMESSAGERPGM ( MSG_AUTO_HOME ) ;
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}
else if ( homeDebounceCount < HOME_DEBOUNCE_DELAY )
{
homeDebounceCount + + ;
}
else
{
homeDebounceCount = 0 ;
}
}
# endif
# if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
controllerFan ( ) ; //Check if fan should be turned on to cool stepper drivers down
# endif
# ifdef EXTRUDER_RUNOUT_PREVENT
if ( ( millis ( ) - previous_millis_cmd ) > EXTRUDER_RUNOUT_SECONDS * 1000 )
if ( degHotend ( active_extruder ) > EXTRUDER_RUNOUT_MINTEMP )
{
bool oldstatus = READ ( E0_ENABLE_PIN ) ;
enable_e0 ( ) ;
float oldepos = current_position [ E_AXIS ] ;
float oldedes = destination [ E_AXIS ] ;
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] ,
destination [ E_AXIS ] + EXTRUDER_RUNOUT_EXTRUDE * EXTRUDER_RUNOUT_ESTEPS / axis_steps_per_unit [ E_AXIS ] ,
EXTRUDER_RUNOUT_SPEED / 60. * EXTRUDER_RUNOUT_ESTEPS / axis_steps_per_unit [ E_AXIS ] , active_extruder ) ;
current_position [ E_AXIS ] = oldepos ;
destination [ E_AXIS ] = oldedes ;
plan_set_e_position ( oldepos ) ;
previous_millis_cmd = millis ( ) ;
st_synchronize ( ) ;
WRITE ( E0_ENABLE_PIN , oldstatus ) ;
}
# endif
# if defined(DUAL_X_CARRIAGE)
// handle delayed move timeout
if ( delayed_move_time ! = 0 & & ( millis ( ) - delayed_move_time ) > 1000 & & Stopped = = false )
{
// travel moves have been received so enact them
delayed_move_time = 0xFFFFFFFFUL ; // force moves to be done
memcpy ( destination , current_position , sizeof ( destination ) ) ;
prepare_move ( ) ;
}
# endif
# ifdef TEMP_STAT_LEDS
handle_status_leds ( ) ;
# endif
check_axes_activity ( ) ;
}
void kill ( )
{
cli ( ) ; // Stop interrupts
disable_heater ( ) ;
disable_x ( ) ;
disable_y ( ) ;
disable_z ( ) ;
disable_e0 ( ) ;
disable_e1 ( ) ;
disable_e2 ( ) ;
# if defined(PS_ON_PIN) && PS_ON_PIN > -1
pinMode ( PS_ON_PIN , INPUT ) ;
# endif
SERIAL_ERROR_START ;
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SERIAL_ERRORLNRPGM ( MSG_ERR_KILLED ) ;
LCD_ALERTMESSAGERPGM ( MSG_KILLED ) ;
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// FMC small patch to update the LCD before ending
sei ( ) ; // enable interrupts
for ( int i = 5 ; i - - ; lcd_update ( ) )
{
delay ( 200 ) ;
}
cli ( ) ; // disable interrupts
suicide ( ) ;
while ( 1 ) { /* Intentionally left empty */ } // Wait for reset
}
void Stop ( )
{
disable_heater ( ) ;
if ( Stopped = = false ) {
Stopped = true ;
Stopped_gcode_LastN = gcode_LastN ; // Save last g_code for restart
SERIAL_ERROR_START ;
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SERIAL_ERRORLNRPGM ( MSG_ERR_STOPPED ) ;
LCD_MESSAGERPGM ( MSG_STOPPED ) ;
2015-12-23 15:13:49 +00:00
}
}
bool IsStopped ( ) { return Stopped ; } ;
# ifdef FAST_PWM_FAN
void setPwmFrequency ( uint8_t pin , int val )
{
val & = 0x07 ;
switch ( digitalPinToTimer ( pin ) )
{
# if defined(TCCR0A)
case TIMER0A :
case TIMER0B :
// TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
// TCCR0B |= val;
break ;
# endif
# if defined(TCCR1A)
case TIMER1A :
case TIMER1B :
// TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
// TCCR1B |= val;
break ;
# endif
# if defined(TCCR2)
case TIMER2 :
case TIMER2 :
TCCR2 & = ~ ( _BV ( CS10 ) | _BV ( CS11 ) | _BV ( CS12 ) ) ;
TCCR2 | = val ;
break ;
# endif
# if defined(TCCR2A)
case TIMER2A :
case TIMER2B :
TCCR2B & = ~ ( _BV ( CS20 ) | _BV ( CS21 ) | _BV ( CS22 ) ) ;
TCCR2B | = val ;
break ;
# endif
# if defined(TCCR3A)
case TIMER3A :
case TIMER3B :
case TIMER3C :
TCCR3B & = ~ ( _BV ( CS30 ) | _BV ( CS31 ) | _BV ( CS32 ) ) ;
TCCR3B | = val ;
break ;
# endif
# if defined(TCCR4A)
case TIMER4A :
case TIMER4B :
case TIMER4C :
TCCR4B & = ~ ( _BV ( CS40 ) | _BV ( CS41 ) | _BV ( CS42 ) ) ;
TCCR4B | = val ;
break ;
# endif
# if defined(TCCR5A)
case TIMER5A :
case TIMER5B :
case TIMER5C :
TCCR5B & = ~ ( _BV ( CS50 ) | _BV ( CS51 ) | _BV ( CS52 ) ) ;
TCCR5B | = val ;
break ;
# endif
}
}
# endif //FAST_PWM_FAN
bool setTargetedHotend ( int code ) {
tmp_extruder = active_extruder ;
if ( code_seen ( ' T ' ) ) {
tmp_extruder = code_value ( ) ;
if ( tmp_extruder > = EXTRUDERS ) {
SERIAL_ECHO_START ;
switch ( code ) {
case 104 :
SERIAL_ECHO ( MSG_M104_INVALID_EXTRUDER ) ;
break ;
case 105 :
SERIAL_ECHO ( MSG_M105_INVALID_EXTRUDER ) ;
break ;
case 109 :
SERIAL_ECHO ( MSG_M109_INVALID_EXTRUDER ) ;
break ;
case 218 :
SERIAL_ECHO ( MSG_M218_INVALID_EXTRUDER ) ;
break ;
case 221 :
SERIAL_ECHO ( MSG_M221_INVALID_EXTRUDER ) ;
break ;
}
SERIAL_ECHOLN ( tmp_extruder ) ;
return true ;
}
}
return false ;
}
float calculate_volumetric_multiplier ( float diameter ) {
float area = .0 ;
float radius = .0 ;
radius = diameter * .5 ;
if ( ! volumetric_enabled | | radius = = 0 ) {
area = 1 ;
}
else {
area = M_PI * pow ( radius , 2 ) ;
}
return 1.0 / area ;
}
void calculate_volumetric_multipliers ( ) {
volumetric_multiplier [ 0 ] = calculate_volumetric_multiplier ( filament_size [ 0 ] ) ;
# if EXTRUDERS > 1
volumetric_multiplier [ 1 ] = calculate_volumetric_multiplier ( filament_size [ 1 ] ) ;
# if EXTRUDERS > 2
volumetric_multiplier [ 2 ] = calculate_volumetric_multiplier ( filament_size [ 2 ] ) ;
# endif
# endif
}
