/* -*- 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
# define SERVO_LEVELING (defined(ENABLE_AUTO_BED_LEVELING) && PROBE_SERVO_DEACTIVATION_DELAY > 0)
# ifdef MESH_BED_LEVELING
# include "mesh_bed_leveling.h"
# endif
# include "ultralcd.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
# if NUM_SERVOS > 0
# include "Servo.h"
# endif
# if HAS_DIGIPOTSS
# include <SPI.h>
# endif
// 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
//-------------------
// 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 one or more axes
// 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.
// M48 - Measure Z_Probe repeatability. M48 [n # of points] [X position] [Y position] [V_erboseness #] [E_ngage Probe] [L # of legs of travel]
// 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
// M120 - Enable endstop detection
// M121 - Disable endstop detection
// 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: P for Printing moves, R for Retract only (no X, Y, Z) moves and T for Travel (non printing) moves (ex. M204 P800 T3000 R9000) in mm/sec^2
// 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
// M380 - Activate solenoid on active extruder
// M381 - Disable all solenoids
// 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 - Display measured filament diameter
// M500 - Store parameters in EEPROM
// M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
// M502 - Revert 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). Use S0 to leave off headings.
// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
Added a feature to have filament change by gcode or display trigger.
[default off for now]
syntax: M600 X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
if enabled, after a M600, the printer will retract by E, lift by Z, move to XY, retract even more filament.
Oh, and it will display "remove filament" and beep like crazy.
You are then supposed to insert a new filament (other color, e.g.) and click the display to continue.
After having the nozzle cleaned manually, aided by the disabled e-steppers.
After clicking, the printer will then go back the whole shebang, and continue printing with a fancy new color.
12 years ago
// 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
# ifdef SDSUPPORT
CardReader card ;
# endif
bool Running = true ;
static float feedrate = 1500.0 , next_feedrate , saved_feedrate ;
float current_position [ NUM_AXIS ] = { 0.0 } ;
static float destination [ NUM_AXIS ] = { 0.0 } ;
bool axis_known_position [ 3 ] = { false } ;
static long gcode_N , gcode_LastN , Stopped_gcode_LastN = 0 ;
static char cmdbuffer [ BUFSIZE ] [ MAX_CMD_SIZE ] ;
float homing_feedrate [ ] = HOMING_FEEDRATE ;
bool axis_relative_modes [ ] = AXIS_RELATIVE_MODES ;
int feedmultiply = 100 ; //100->1 200->2
int saved_feedmultiply ;
int extruder_multiply [ EXTRUDERS ] = ARRAY_BY_EXTRUDERS ( 100 , 100 , 100 , 100 ) ;
bool volumetric_enabled = false ;
float filament_size [ EXTRUDERS ] = ARRAY_BY_EXTRUDERS ( DEFAULT_NOMINAL_FILAMENT_DIA , DEFAULT_NOMINAL_FILAMENT_DIA , DEFAULT_NOMINAL_FILAMENT_DIA , DEFAULT_NOMINAL_FILAMENT_DIA ) ;
float volumetric_multiplier [ EXTRUDERS ] = ARRAY_BY_EXTRUDERS ( 1.0 , 1.0 , 1.0 , 1.0 ) ;
float home_offset [ 3 ] = { 0 } ;
float min_pos [ 3 ] = { X_MIN_POS , Y_MIN_POS , Z_MIN_POS } ;
float max_pos [ 3 ] = { X_MAX_POS , Y_MAX_POS , Z_MAX_POS } ;
uint8_t active_extruder = 0 ;
int fanSpeed = 0 ;
bool cancel_heatup = false ;
const char errormagic [ ] PROGMEM = " Error: " ;
const char echomagic [ ] PROGMEM = " echo: " ;
const char axis_codes [ NUM_AXIS ] = { ' X ' , ' Y ' , ' Z ' , ' E ' } ;
static float offset [ 3 ] = { 0 } ;
static bool relative_mode = false ; //Determines Absolute or Relative Coordinates
static int bufindr = 0 ;
static int bufindw = 0 ;
static int buflen = 0 ;
static char serial_char ;
static int serial_count = 0 ;
static boolean comment_mode = false ;
static char * strchr_pointer ; ///< A pointer to find chars in the command string (X, Y, Z, E, etc.)
const char * queued_commands_P = NULL ; /* pointer to the current line in the active sequence of commands, or NULL when none */
const int sensitive_pins [ ] = SENSITIVE_PINS ; ///< Sensitive pin list for M42
// Inactivity shutdown
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 ; ///< Print job start time
unsigned long stoptime = 0 ; ///< Print job stop time
static uint8_t target_extruder ;
bool CooldownNoWait = true ;
bool target_direction ;
# ifdef ENABLE_AUTO_BED_LEVELING
int xy_travel_speed = XY_TRAVEL_SPEED ;
float zprobe_zoffset = - Z_PROBE_OFFSET_FROM_EXTRUDER ;
# endif
# if defined(Z_DUAL_ENDSTOPS) && !defined(DELTA)
float z_endstop_adj = 0 ;
# endif
// Extruder offsets
# if EXTRUDERS > 1
# ifndef EXTRUDER_OFFSET_X
# define EXTRUDER_OFFSET_X { 0 }
# endif
# ifndef EXTRUDER_OFFSET_Y
# define EXTRUDER_OFFSET_Y { 0 }
# endif
float extruder_offset [ ] [ EXTRUDERS ] = {
EXTRUDER_OFFSET_X ,
EXTRUDER_OFFSET_Y
# ifdef DUAL_X_CARRIAGE
, { 0 } // supports offsets in XYZ plane
# endif
} ;
# endif
# 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 } ;
bool retracted_swap [ EXTRUDERS ] = { false } ;
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 // FWRETRACT
# if defined(ULTIPANEL) && HAS_POWER_SWITCH
bool powersupply =
# ifdef PS_DEFAULT_OFF
false
# else
true
# endif
;
# endif
# ifdef DELTA
float delta [ 3 ] = { 0 } ;
# define SIN_60 0.8660254037844386
# define COS_60 0.5
float endstop_adj [ 3 ] = { 0 } ;
// 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 ; // 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 ;
# ifdef ENABLE_AUTO_BED_LEVELING
int delta_grid_spacing [ 2 ] = { 0 , 0 } ;
float bed_level [ AUTO_BED_LEVELING_GRID_POINTS ] [ AUTO_BED_LEVELING_GRID_POINTS ] ;
# endif
# else
static bool home_all_axis = true ;
# endif
# ifdef SCARA
static float delta [ 3 ] = { 0 } ;
float axis_scaling [ 3 ] = { 1 , 1 , 1 } ; // Build size scaling, default to 1
# endif
# 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
# ifdef FILAMENT_RUNOUT_SENSOR
static bool filrunoutEnqued = false ;
# endif
# ifdef SDSUPPORT
static bool fromsd [ BUFSIZE ] ;
# endif
# if NUM_SERVOS > 0
Servo servos [ NUM_SERVOS ] ;
# endif
# ifdef CHDK
unsigned long chdkHigh = 0 ;
boolean chdkActive = false ;
# endif
//===========================================================================
//================================ Functions ================================
//===========================================================================
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 PREVENT_DANGEROUS_EXTRUDE
float extrude_min_temp = EXTRUDE_MINTEMP ;
# endif
# 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
//Injects the next command from the pending sequence of commands, when possible
//Return false if and only if no command was pending
static bool drain_queued_commands_P ( ) {
if ( ! queued_commands_P ) return false ;
// Get the next 30 chars from the sequence of gcodes to run
char cmd [ 30 ] ;
strncpy_P ( cmd , queued_commands_P , sizeof ( cmd ) - 1 ) ;
cmd [ sizeof ( cmd ) - 1 ] = ' \0 ' ;
// Look for the end of line, or the end of sequence
size_t i = 0 ;
char c ;
while ( ( c = cmd [ i ] ) & & c ! = ' \n ' ) i + + ; // find the end of this gcode command
cmd [ i ] = ' \0 ' ;
if ( enquecommand ( cmd ) ) { // buffer was not full (else we will retry later)
if ( c )
queued_commands_P + = i + 1 ; // move to next command
else
queued_commands_P = NULL ; // will have no more commands in the sequence
}
return true ;
}
//Record one or many commands to run from program memory.
//Aborts the current queue, if any.
//Note: drain_queued_commands_P() must be called repeatedly to drain the commands afterwards
void enquecommands_P ( const char * pgcode ) {
queued_commands_P = pgcode ;
drain_queued_commands_P ( ) ; // first command executed asap (when possible)
}
//adds a single command to the main command buffer, from RAM
//that is really done in a non-safe way.
//needs overworking someday
//Returns false if it failed to do so
bool enquecommand ( const char * cmd )
{
if ( * cmd = = ' ; ' )
return false ;
if ( buflen > = BUFSIZE )
return false ;
//this is dangerous if a mixing of serial and this happens
strcpy ( & ( cmdbuffer [ bufindw ] [ 0 ] ) , cmd ) ;
SERIAL_ECHO_START ;
SERIAL_ECHOPGM ( MSG_Enqueing ) ;
SERIAL_ECHO ( cmdbuffer [ bufindw ] ) ;
SERIAL_ECHOLNPGM ( " \" " ) ;
bufindw = ( bufindw + 1 ) % BUFSIZE ;
buflen + = 1 ;
return true ;
}
void setup_killpin ( )
{
# if HAS_KILL
SET_INPUT ( KILL_PIN ) ;
WRITE ( KILL_PIN , HIGH ) ;
# endif
}
void setup_filrunoutpin ( )
{
# if HAS_FILRUNOUT
pinMode ( FILRUNOUT_PIN , INPUT ) ;
# ifdef ENDSTOPPULLUP_FIL_RUNOUT
WRITE ( FILLRUNOUT_PIN , HIGH ) ;
# endif
# endif
}
// Set home pin
void setup_homepin ( void )
{
# if HAS_HOME
SET_INPUT ( HOME_PIN ) ;
WRITE ( HOME_PIN , HIGH ) ;
# endif
}
void setup_photpin ( )
{
# if HAS_PHOTOGRAPH
OUT_WRITE ( PHOTOGRAPH_PIN , LOW ) ;
# endif
}
void setup_powerhold ( )
{
# if HAS_SUICIDE
OUT_WRITE ( SUICIDE_PIN , HIGH ) ;
# endif
# if HAS_POWER_SWITCH
# ifdef PS_DEFAULT_OFF
OUT_WRITE ( PS_ON_PIN , PS_ON_ASLEEP ) ;
# else
OUT_WRITE ( PS_ON_PIN , PS_ON_AWAKE ) ;
# endif
# endif
}
void suicide ( )
{
# if HAS_SUICIDE
OUT_WRITE ( SUICIDE_PIN , LOW ) ;
# endif
}
void servo_init ( )
{
# if NUM_SERVOS >= 1 && HAS_SERVO_0
servos [ 0 ] . attach ( SERVO0_PIN ) ;
# endif
# if NUM_SERVOS >= 2 && HAS_SERVO_1
servos [ 1 ] . attach ( SERVO1_PIN ) ;
# endif
# if NUM_SERVOS >= 3 && HAS_SERVO_2
servos [ 2 ] . attach ( SERVO2_PIN ) ;
# endif
# if NUM_SERVOS >= 4 && HAS_SERVO_3
servos [ 3 ] . attach ( SERVO3_PIN ) ;
# endif
// Set position of Servo Endstops that are defined
# ifdef SERVO_ENDSTOPS
for ( int i = 0 ; i < 3 ; i + + )
if ( servo_endstops [ i ] > = 0 )
servos [ servo_endstops [ i ] ] . write ( servo_endstop_angles [ i * 2 + 1 ] ) ;
# endif
# if SERVO_LEVELING
delay ( PROBE_SERVO_DEACTIVATION_DELAY ) ;
servos [ servo_endstops [ Z_AXIS ] ] . detach ( ) ;
# endif
}
void setup ( ) {
setup_killpin ( ) ;
setup_filrunoutpin ( ) ;
setup_powerhold ( ) ;
MYSERIAL . begin ( BAUDRATE ) ;
SERIAL_PROTOCOLLNPGM ( " start " ) ;
SERIAL_ECHO_START ;
// Check startup - does nothing if bootloader sets MCUSR to 0
byte mcu = MCUSR ;
if ( mcu & 1 ) SERIAL_ECHOLNPGM ( MSG_POWERUP ) ;
if ( mcu & 2 ) SERIAL_ECHOLNPGM ( MSG_EXTERNAL_RESET ) ;
if ( mcu & 4 ) SERIAL_ECHOLNPGM ( MSG_BROWNOUT_RESET ) ;
if ( mcu & 8 ) SERIAL_ECHOLNPGM ( MSG_WATCHDOG_RESET ) ;
if ( mcu & 32 ) SERIAL_ECHOLNPGM ( MSG_SOFTWARE_RESET ) ;
MCUSR = 0 ;
SERIAL_ECHOPGM ( MSG_MARLIN ) ;
SERIAL_ECHOLNPGM ( " " STRING_VERSION ) ;
# ifdef STRING_VERSION_CONFIG_H
# ifdef STRING_CONFIG_H_AUTHOR
SERIAL_ECHO_START ;
SERIAL_ECHOPGM ( MSG_CONFIGURATION_VER ) ;
SERIAL_ECHOPGM ( STRING_VERSION_CONFIG_H ) ;
SERIAL_ECHOPGM ( MSG_AUTHOR ) ;
SERIAL_ECHOLNPGM ( STRING_CONFIG_H_AUTHOR ) ;
SERIAL_ECHOPGM ( " Compiled: " ) ;
SERIAL_ECHOLNPGM ( __DATE__ ) ;
# endif // STRING_CONFIG_H_AUTHOR
# endif // STRING_VERSION_CONFIG_H
SERIAL_ECHO_START ;
SERIAL_ECHOPGM ( MSG_FREE_MEMORY ) ;
SERIAL_ECHO ( freeMemory ( ) ) ;
SERIAL_ECHOPGM ( MSG_PLANNER_BUFFER_BYTES ) ;
SERIAL_ECHOLN ( ( int ) sizeof ( block_t ) * BLOCK_BUFFER_SIZE ) ;
# ifdef SDSUPPORT
for ( int8_t i = 0 ; i < BUFSIZE ; i + + ) fromsd [ i ] = false ;
# endif // !SDSUPPORT
Allow Edit menu to call fn after edit; Fix PID Ki and Kd display in menus; Actually use changed PID and Max Accel values
Add new 'callback' edit-menu types that call a function after the edit is done. Use this to display and edit Ki and Kd correctly (removing the scaling first and reapplying it after). Also use it to reset maximum stepwise acceleration rates, after updating mm/s^2 rates via menus. (Previously, changes did nothing to affect planner unless saved back to EEPROM, and the machine reset).
Add calls to updatePID() so that PID loop uses updated values whether set by gcode (it already did this), or by restoring defaults, or loading from EEPROM (it didn't do those last two). Similarly, update the maximum step/s^2 accel rates when the mm/s^2 values are changed - whether by menu edits, restore defaults, or EEPROM read.
Refactor the acceleration rate update logic, and the PID scaling logic, into new functions that can be called from wherever, including the callbacks.
Add menu items to allow the z jerk and e jerk to be viewed/edited in the Control->Motion menu, as per xy jerk.
Conflicts:
Marlin/language.h
12 years ago
// loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
Config_RetrieveSettings ( ) ;
tp_init ( ) ; // Initialize temperature loop
plan_init ( ) ; // Initialize planner;
watchdog_init ( ) ;
st_init ( ) ; // Initialize stepper, this enables interrupts!
setup_photpin ( ) ;
servo_init ( ) ;
lcd_init ( ) ;
_delay_ms ( 1000 ) ; // wait 1sec to display the splash screen
# if HAS_CONTROLLERFAN
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 ( ) ;
# ifdef STAT_LED_RED
pinMode ( STAT_LED_RED , OUTPUT ) ;
digitalWrite ( STAT_LED_RED , LOW ) ; // turn it off
# endif
# ifdef STAT_LED_BLUE
pinMode ( STAT_LED_BLUE , OUTPUT ) ;
digitalWrite ( STAT_LED_BLUE , LOW ) ; // turn it off
# endif
}
void loop ( ) {
if ( buflen < BUFSIZE - 1 ) get_command ( ) ;
# ifdef SDSUPPORT
card . checkautostart ( false ) ;
# endif
if ( buflen ) {
# ifdef SDSUPPORT
if ( card . saving ) {
if ( strstr_P ( cmdbuffer [ bufindr ] , PSTR ( " M29 " ) ) = = NULL ) {
card . write_command ( cmdbuffer [ bufindr ] ) ;
if ( card . logging )
process_commands ( ) ;
else
SERIAL_PROTOCOLLNPGM ( MSG_OK ) ;
}
else {
card . closefile ( ) ;
SERIAL_PROTOCOLLNPGM ( MSG_FILE_SAVED ) ;
}
}
else
process_commands ( ) ;
# else
process_commands ( ) ;
# endif // SDSUPPORT
buflen - - ;
bufindr = ( bufindr + 1 ) % BUFSIZE ;
}
// Check heater every n milliseconds
manage_heater ( ) ;
manage_inactivity ( ) ;
checkHitEndstops ( ) ;
lcd_update ( ) ;
}
void get_command ( )
{
if ( drain_queued_commands_P ( ) ) // priority is given to non-serial commands
return ;
while ( MYSERIAL . available ( ) > 0 & & buflen < BUFSIZE ) {
serial_char = MYSERIAL . read ( ) ;
if ( serial_char = = ' \n ' | |
serial_char = = ' \r ' | |
serial_count > = ( MAX_CMD_SIZE - 1 ) )
{
// end of line == end of comment
comment_mode = false ;
if ( ! serial_count ) {
// short cut for empty lines
return ;
}
cmdbuffer [ bufindw ] [ serial_count ] = 0 ; //terminate string
# ifdef SDSUPPORT
fromsd [ bufindw ] = false ;
# endif //!SDSUPPORT
if ( strchr ( cmdbuffer [ bufindw ] , ' N ' ) ! = NULL )
{
strchr_pointer = strchr ( cmdbuffer [ bufindw ] , ' N ' ) ;
gcode_N = ( strtol ( strchr_pointer + 1 , NULL , 10 ) ) ;
if ( gcode_N ! = gcode_LastN + 1 & & ( strstr_P ( cmdbuffer [ bufindw ] , PSTR ( " M110 " ) ) = = NULL ) ) {
SERIAL_ERROR_START ;
SERIAL_ERRORPGM ( MSG_ERR_LINE_NO ) ;
SERIAL_ERRORLN ( gcode_LastN ) ;
//Serial.println(gcode_N);
FlushSerialRequestResend ( ) ;
serial_count = 0 ;
return ;
}
if ( strchr ( cmdbuffer [ bufindw ] , ' * ' ) ! = NULL )
{
byte checksum = 0 ;
byte count = 0 ;
while ( cmdbuffer [ bufindw ] [ count ] ! = ' * ' ) checksum = checksum ^ cmdbuffer [ bufindw ] [ count + + ] ;
strchr_pointer = strchr ( cmdbuffer [ bufindw ] , ' * ' ) ;
if ( strtol ( strchr_pointer + 1 , NULL , 10 ) ! = checksum ) {
SERIAL_ERROR_START ;
SERIAL_ERRORPGM ( MSG_ERR_CHECKSUM_MISMATCH ) ;
SERIAL_ERRORLN ( gcode_LastN ) ;
FlushSerialRequestResend ( ) ;
serial_count = 0 ;
return ;
}
//if no errors, continue parsing
}
else
{
SERIAL_ERROR_START ;
SERIAL_ERRORPGM ( MSG_ERR_NO_CHECKSUM ) ;
SERIAL_ERRORLN ( gcode_LastN ) ;
FlushSerialRequestResend ( ) ;
serial_count = 0 ;
return ;
}
gcode_LastN = gcode_N ;
//if no errors, continue parsing
}
else // if we don't receive 'N' but still see '*'
{
if ( ( strchr ( cmdbuffer [ bufindw ] , ' * ' ) ! = NULL ) )
{
SERIAL_ERROR_START ;
SERIAL_ERRORPGM ( MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM ) ;
SERIAL_ERRORLN ( gcode_LastN ) ;
serial_count = 0 ;
return ;
}
}
if ( ( strchr ( cmdbuffer [ bufindw ] , ' G ' ) ! = NULL ) ) {
strchr_pointer = strchr ( cmdbuffer [ bufindw ] , ' G ' ) ;
switch ( strtol ( strchr_pointer + 1 , NULL , 10 ) ) {
case 0 :
case 1 :
case 2 :
case 3 :
if ( IsStopped ( ) ) {
SERIAL_ERRORLNPGM ( MSG_ERR_STOPPED ) ;
LCD_MESSAGEPGM ( MSG_STOPPED ) ;
}
break ;
default :
break ;
}
}
//If command was e-stop process now
if ( strcmp ( cmdbuffer [ bufindw ] , " M112 " ) = = 0 )
kill ( ) ;
bufindw = ( bufindw + 1 ) % BUFSIZE ;
buflen + = 1 ;
serial_count = 0 ; //clear buffer
}
else if ( serial_char = = ' \\ ' ) { //Handle escapes
if ( MYSERIAL . available ( ) > 0 & & buflen < BUFSIZE ) {
// if we have one more character, copy it over
serial_char = MYSERIAL . read ( ) ;
cmdbuffer [ bufindw ] [ serial_count + + ] = serial_char ;
}
//otherwise do nothing
}
else { // its not a newline, carriage return or escape char
if ( serial_char = = ' ; ' ) comment_mode = true ;
if ( ! comment_mode ) cmdbuffer [ bufindw ] [ serial_count + + ] = serial_char ;
}
}
# ifdef SDSUPPORT
if ( ! card . sdprinting | | serial_count ! = 0 ) {
return ;
}
//'#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible
// if it occurs, stop_buffering is triggered and the buffer is ran dry.
// this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing
static bool stop_buffering = false ;
if ( buflen = = 0 ) stop_buffering = false ;
while ( ! card . eof ( ) & & buflen < BUFSIZE & & ! stop_buffering ) {
int16_t n = card . get ( ) ;
serial_char = ( char ) n ;
if ( serial_char = = ' \n ' | |
serial_char = = ' \r ' | |
( serial_char = = ' # ' & & comment_mode = = false ) | |
( serial_char = = ' : ' & & comment_mode = = false ) | |
serial_count > = ( MAX_CMD_SIZE - 1 ) | | n = = - 1 )
{
if ( card . eof ( ) ) {
SERIAL_PROTOCOLLNPGM ( MSG_FILE_PRINTED ) ;
stoptime = millis ( ) ;
char time [ 30 ] ;
unsigned long t = ( stoptime - starttime ) / 1000 ;
int hours , minutes ;
minutes = ( t / 60 ) % 60 ;
hours = t / 60 / 60 ;
sprintf_P ( time , PSTR ( " %i " MSG_END_HOUR " %i " MSG_END_MINUTE ) , hours , minutes ) ;
SERIAL_ECHO_START ;
SERIAL_ECHOLN ( time ) ;
lcd_setstatus ( time , true ) ;
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 ( ) {
float ret ;
char * e = strchr ( strchr_pointer , ' E ' ) ;
if ( e ) {
* e = 0 ;
ret = strtod ( strchr_pointer + 1 , NULL ) ;
* e = ' E ' ;
}
else
ret = strtod ( strchr_pointer + 1 , NULL ) ;
return ret ;
}
long code_value_long ( ) { return strtol ( strchr_pointer + 1 , NULL , 10 ) ; }
int16_t code_value_short ( ) { return ( int16_t ) strtol ( strchr_pointer + 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_bump_mm , HOME_BUMP_MM ) ;
XYZ_CONSTS_FROM_CONFIG ( signed char , home_dir , HOME_DIR ) ;
# ifdef DUAL_X_CARRIAGE
# 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 ) + home_offset [ 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 ) {
float xoff = home_offset [ X_AXIS ] ;
current_position [ X_AXIS ] = base_home_pos ( X_AXIS ) + xoff ;
min_pos [ X_AXIS ] = base_min_pos ( X_AXIS ) + xoff ;
max_pos [ X_AXIS ] = min ( base_max_pos ( X_AXIS ) + xoff , max ( extruder_offset [ X_AXIS ] [ 1 ] , X2_MAX_POS ) - duplicate_extruder_x_offset ) ;
return ;
}
}
# endif
# ifdef SCARA
float homeposition [ 3 ] ;
if ( axis < 2 ) {
for ( int 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 ( int i = 0 ; i < 2 ; i + + ) delta [ i ] - = home_offset [ i ] ;
// SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(home_offset[X_AXIS]);
// SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(home_offset[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 ) + home_offset [ axis ] ;
min_pos [ axis ] = base_min_pos ( axis ) + home_offset [ axis ] ;
max_pos [ axis ] = base_max_pos ( axis ) + home_offset [ axis ] ;
}
# else
current_position [ axis ] = base_home_pos ( axis ) + home_offset [ axis ] ;
min_pos [ axis ] = base_min_pos ( axis ) + home_offset [ axis ] ;
max_pos [ axis ] = base_max_pos ( axis ) + home_offset [ axis ] ;
# endif
}
/**
* Some planner shorthand inline functions
*/
inline void set_homing_bump_feedrate ( AxisEnum axis ) {
const int homing_bump_divisor [ ] = HOMING_BUMP_DIVISOR ;
if ( homing_bump_divisor [ axis ] > = 1 )
feedrate = homing_feedrate [ axis ] / homing_bump_divisor [ axis ] ;
else {
feedrate = homing_feedrate [ axis ] / 10 ;
SERIAL_ECHOLN ( " Warning: The Homing Bump Feedrate Divisor cannot be less than 1 " ) ;
}
}
inline void line_to_current_position ( ) {
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
}
inline void line_to_z ( float zPosition ) {
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , zPosition , current_position [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
}
inline void line_to_destination ( float mm_m ) {
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , mm_m / 60 , active_extruder ) ;
}
inline void line_to_destination ( ) {
line_to_destination ( feedrate ) ;
}
inline void sync_plan_position ( ) {
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
}
# if defined(DELTA) || defined(SCARA)
inline void sync_plan_position_delta ( ) {
calculate_delta ( current_position ) ;
plan_set_position ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
}
# endif
inline void set_current_to_destination ( ) { memcpy ( current_position , destination , sizeof ( current_position ) ) ; }
inline void set_destination_to_current ( ) { memcpy ( destination , current_position , sizeof ( destination ) ) ; }
# ifdef ENABLE_AUTO_BED_LEVELING
# ifdef DELTA
/**
* Calculate delta , start a line , and set current_position to destination
*/
void prepare_move_raw ( ) {
refresh_cmd_timeout ( ) ;
calculate_delta ( destination ) ;
plan_buffer_line ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , destination [ E_AXIS ] , ( feedrate / 60 ) * ( feedmultiply / 100.0 ) , active_extruder ) ;
set_current_to_destination ( ) ;
}
# endif
# ifdef AUTO_BED_LEVELING_GRID
# ifndef DELTA
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 ;
sync_plan_position ( ) ;
}
# endif // !DELTA
# else // !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 planeNormal = vector_3 : : cross ( pt1 - pt2 , pt3 - pt2 ) . get_normal ( ) ;
if ( planeNormal . z < 0 ) {
planeNormal . x = - planeNormal . x ;
planeNormal . y = - planeNormal . y ;
planeNormal . z = - 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 ;
sync_plan_position ( ) ;
}
# endif // !AUTO_BED_LEVELING_GRID
static void run_z_probe ( ) {
# ifdef DELTA
float start_z = current_position [ Z_AXIS ] ;
long start_steps = st_get_position ( Z_AXIS ) ;
// move down slowly until you find the bed
feedrate = homing_feedrate [ Z_AXIS ] / 4 ;
destination [ Z_AXIS ] = - 10 ;
prepare_move_raw ( ) ;
st_synchronize ( ) ;
endstops_hit_on_purpose ( ) ; // clear endstop hit flags
// we have to let the planner know where we are right now as it is not where we said to go.
long stop_steps = st_get_position ( Z_AXIS ) ;
float mm = start_z - float ( start_steps - stop_steps ) / axis_steps_per_unit [ Z_AXIS ] ;
current_position [ Z_AXIS ] = mm ;
sync_plan_position_delta ( ) ;
# else // !DELTA
plan_bed_level_matrix . set_to_identity ( ) ;
feedrate = homing_feedrate [ Z_AXIS ] ;
// move down until you find the bed
float zPosition = - 10 ;
line_to_z ( zPosition ) ;
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_bump_mm ( Z_AXIS ) ;
line_to_z ( zPosition ) ;
st_synchronize ( ) ;
endstops_hit_on_purpose ( ) ; // clear endstop hit flags
// move back down slowly to find bed
set_homing_bump_feedrate ( Z_AXIS ) ;
zPosition - = home_bump_mm ( Z_AXIS ) * 2 ;
line_to_z ( zPosition ) ;
st_synchronize ( ) ;
endstops_hit_on_purpose ( ) ; // clear endstop hit flags
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
sync_plan_position ( ) ;
# endif // !DELTA
}
/**
*
*/
static void do_blocking_move_to ( float x , float y , float z ) {
float oldFeedRate = feedrate ;
# ifdef DELTA
feedrate = XY_TRAVEL_SPEED ;
destination [ X_AXIS ] = x ;
destination [ Y_AXIS ] = y ;
destination [ Z_AXIS ] = z ;
prepare_move_raw ( ) ;
st_synchronize ( ) ;
# else
feedrate = homing_feedrate [ Z_AXIS ] ;
current_position [ Z_AXIS ] = z ;
line_to_current_position ( ) ;
st_synchronize ( ) ;
feedrate = xy_travel_speed ;
current_position [ X_AXIS ] = x ;
current_position [ Y_AXIS ] = y ;
line_to_current_position ( ) ;
st_synchronize ( ) ;
# endif
feedrate = oldFeedRate ;
}
static void setup_for_endstop_move ( ) {
saved_feedrate = feedrate ;
saved_feedmultiply = feedmultiply ;
feedmultiply = 100 ;
refresh_cmd_timeout ( ) ;
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 ;
refresh_cmd_timeout ( ) ;
}
static void deploy_z_probe ( ) {
# ifdef SERVO_ENDSTOPS
// Engage Z Servo endstop if enabled
if ( servo_endstops [ Z_AXIS ] > = 0 ) {
# if SERVO_LEVELING
servos [ servo_endstops [ Z_AXIS ] ] . attach ( 0 ) ;
# endif
servos [ servo_endstops [ Z_AXIS ] ] . write ( servo_endstop_angles [ Z_AXIS * 2 ] ) ;
# if SERVO_LEVELING
delay ( PROBE_SERVO_DEACTIVATION_DELAY ) ;
servos [ servo_endstops [ Z_AXIS ] ] . detach ( ) ;
# endif
}
# elif defined(Z_PROBE_ALLEN_KEY)
feedrate = homing_feedrate [ X_AXIS ] ;
// Move to the start position to initiate deployment
destination [ X_AXIS ] = Z_PROBE_ALLEN_KEY_DEPLOY_X ;
destination [ Y_AXIS ] = Z_PROBE_ALLEN_KEY_DEPLOY_Y ;
destination [ Z_AXIS ] = Z_PROBE_ALLEN_KEY_DEPLOY_Z ;
prepare_move_raw ( ) ;
// Home X to touch the belt
feedrate = homing_feedrate [ X_AXIS ] / 10 ;
destination [ X_AXIS ] = 0 ;
prepare_move_raw ( ) ;
// Home Y for safety
feedrate = homing_feedrate [ X_AXIS ] / 2 ;
destination [ Y_AXIS ] = 0 ;
prepare_move_raw ( ) ;
st_synchronize ( ) ;
# ifdef Z_PROBE_ENDSTOP
bool z_probe_endstop = ( READ ( Z_PROBE_PIN ) ! = Z_PROBE_ENDSTOP_INVERTING ) ;
if ( z_probe_endstop )
# else
bool z_min_endstop = ( READ ( Z_MIN_PIN ) ! = Z_MIN_ENDSTOP_INVERTING ) ;
if ( z_min_endstop )
# endif
{
if ( IsRunning ( ) ) {
SERIAL_ERROR_START ;
SERIAL_ERRORLNPGM ( " Z-Probe failed to engage! " ) ;
LCD_ALERTMESSAGEPGM ( " Err: ZPROBE " ) ;
}
Stop ( ) ;
}
# endif // Z_PROBE_ALLEN_KEY
}
static void stow_z_probe ( ) {
# ifdef SERVO_ENDSTOPS
// Retract Z Servo endstop if enabled
if ( servo_endstops [ Z_AXIS ] > = 0 ) {
# if Z_RAISE_AFTER_PROBING > 0
do_blocking_move_to ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] + Z_RAISE_AFTER_PROBING ) ;
st_synchronize ( ) ;
# endif
# if SERVO_LEVELING
servos [ servo_endstops [ Z_AXIS ] ] . attach ( 0 ) ;
# endif
servos [ servo_endstops [ Z_AXIS ] ] . write ( servo_endstop_angles [ Z_AXIS * 2 + 1 ] ) ;
# if SERVO_LEVELING
delay ( PROBE_SERVO_DEACTIVATION_DELAY ) ;
servos [ servo_endstops [ Z_AXIS ] ] . detach ( ) ;
# endif
}
# elif defined(Z_PROBE_ALLEN_KEY)
// Move up for safety
feedrate = homing_feedrate [ X_AXIS ] ;
destination [ Z_AXIS ] = current_position [ Z_AXIS ] + Z_RAISE_AFTER_PROBING ;
prepare_move_raw ( ) ;
// Move to the start position to initiate retraction
destination [ X_AXIS ] = Z_PROBE_ALLEN_KEY_STOW_X ;
destination [ Y_AXIS ] = Z_PROBE_ALLEN_KEY_STOW_Y ;
destination [ Z_AXIS ] = Z_PROBE_ALLEN_KEY_STOW_Z ;
prepare_move_raw ( ) ;
// Move the nozzle down to push the probe into retracted position
feedrate = homing_feedrate [ Z_AXIS ] / 10 ;
destination [ Z_AXIS ] = current_position [ Z_AXIS ] - Z_PROBE_ALLEN_KEY_STOW_DEPTH ;
prepare_move_raw ( ) ;
// Move up for safety
feedrate = homing_feedrate [ Z_AXIS ] / 2 ;
destination [ Z_AXIS ] = current_position [ Z_AXIS ] + Z_PROBE_ALLEN_KEY_STOW_DEPTH * 2 ;
prepare_move_raw ( ) ;
// Home XY for safety
feedrate = homing_feedrate [ X_AXIS ] / 2 ;
destination [ X_AXIS ] = 0 ;
destination [ Y_AXIS ] = 0 ;
prepare_move_raw ( ) ;
st_synchronize ( ) ;
# ifdef Z_PROBE_ENDSTOP
bool z_probe_endstop = ( READ ( Z_PROBE_PIN ) ! = Z_PROBE_ENDSTOP_INVERTING ) ;
if ( ! z_probe_endstop )
# else
bool z_min_endstop = ( READ ( Z_MIN_PIN ) ! = Z_MIN_ENDSTOP_INVERTING ) ;
if ( ! z_min_endstop )
# endif
{
if ( IsRunning ( ) ) {
SERIAL_ERROR_START ;
SERIAL_ERRORLNPGM ( " Z-Probe failed to retract! " ) ;
LCD_ALERTMESSAGEPGM ( " Err: ZPROBE " ) ;
}
Stop ( ) ;
}
# endif
}
enum ProbeAction {
ProbeStay = 0 ,
ProbeDeploy = BIT ( 0 ) ,
ProbeStow = BIT ( 1 ) ,
ProbeDeployAndStow = ( ProbeDeploy | ProbeStow )
} ;
// Probe bed height at position (x,y), returns the measured z value
static float probe_pt ( float x , float y , float z_before , ProbeAction retract_action = ProbeDeployAndStow , int verbose_level = 1 ) {
// 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 ] ) ;
# if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
if ( retract_action & ProbeDeploy ) deploy_z_probe ( ) ;
# endif
run_z_probe ( ) ;
float measured_z = current_position [ Z_AXIS ] ;
# if Z_RAISE_BETWEEN_PROBINGS > 0
if ( retract_action = = ProbeStay ) {
do_blocking_move_to ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS ) ;
st_synchronize ( ) ;
}
# endif
# if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
if ( retract_action & ProbeStow ) stow_z_probe ( ) ;
# endif
if ( verbose_level > 2 ) {
SERIAL_PROTOCOLPGM ( " Bed " ) ;
SERIAL_PROTOCOLPGM ( " X: " ) ;
SERIAL_PROTOCOL_F ( x , 3 ) ;
SERIAL_PROTOCOLPGM ( " Y: " ) ;
SERIAL_PROTOCOL_F ( y , 3 ) ;
SERIAL_PROTOCOLPGM ( " Z: " ) ;
SERIAL_PROTOCOL_F ( measured_z , 3 ) ;
SERIAL_EOL ;
}
return measured_z ;
}
# ifdef DELTA
/**
* All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
*/
static void extrapolate_one_point ( int x , int y , int xdir , int ydir ) {
if ( bed_level [ x ] [ y ] ! = 0.0 ) {
return ; // Don't overwrite good values.
}
float a = 2 * bed_level [ x + xdir ] [ y ] - bed_level [ x + xdir * 2 ] [ y ] ; // Left to right.
float b = 2 * bed_level [ x ] [ y + ydir ] - bed_level [ x ] [ y + ydir * 2 ] ; // Front to back.
float c = 2 * bed_level [ x + xdir ] [ y + ydir ] - bed_level [ x + xdir * 2 ] [ y + ydir * 2 ] ; // Diagonal.
float median = c ; // Median is robust (ignores outliers).
if ( a < b ) {
if ( b < c ) median = b ;
if ( c < a ) median = a ;
} else { // b <= a
if ( c < b ) median = b ;
if ( a < c ) median = a ;
}
bed_level [ x ] [ y ] = median ;
}
// Fill in the unprobed points (corners of circular print surface)
// using linear extrapolation, away from the center.
static void extrapolate_unprobed_bed_level ( ) {
int half = ( AUTO_BED_LEVELING_GRID_POINTS - 1 ) / 2 ;
for ( int y = 0 ; y < = half ; y + + ) {
for ( int x = 0 ; x < = half ; x + + ) {
if ( x + y < 3 ) continue ;
extrapolate_one_point ( half - x , half - y , x > 1 ? + 1 : 0 , y > 1 ? + 1 : 0 ) ;
extrapolate_one_point ( half + x , half - y , x > 1 ? - 1 : 0 , y > 1 ? + 1 : 0 ) ;
extrapolate_one_point ( half - x , half + y , x > 1 ? + 1 : 0 , y > 1 ? - 1 : 0 ) ;
extrapolate_one_point ( half + x , half + y , x > 1 ? - 1 : 0 , y > 1 ? - 1 : 0 ) ;
}
}
}
// Print calibration results for plotting or manual frame adjustment.
static void print_bed_level ( ) {
for ( int y = 0 ; y < AUTO_BED_LEVELING_GRID_POINTS ; y + + ) {
for ( int x = 0 ; x < AUTO_BED_LEVELING_GRID_POINTS ; x + + ) {
SERIAL_PROTOCOL_F ( bed_level [ x ] [ y ] , 2 ) ;
SERIAL_PROTOCOLCHAR ( ' ' ) ;
}
SERIAL_EOL ;
}
}
// Reset calibration results to zero.
void reset_bed_level ( ) {
for ( int y = 0 ; y < AUTO_BED_LEVELING_GRID_POINTS ; y + + ) {
for ( int x = 0 ; x < AUTO_BED_LEVELING_GRID_POINTS ; x + + ) {
bed_level [ x ] [ y ] = 0.0 ;
}
}
}
# endif // DELTA
# endif // ENABLE_AUTO_BED_LEVELING
/**
* Home an individual axis
*/
# define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
static void homeaxis ( AxisEnum 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 ;
# ifdef DUAL_X_CARRIAGE
if ( axis = = X_AXIS ) axis_home_dir = x_home_dir ( active_extruder ) ;
# else
axis_home_dir = home_dir ( axis ) ;
# endif
// Set the axis position as setup for the move
current_position [ axis ] = 0 ;
sync_plan_position ( ) ;
// Engage Servo endstop if enabled
# if defined(SERVO_ENDSTOPS) && !defined(Z_PROBE_SLED)
# if SERVO_LEVELING
if ( axis = = Z_AXIS ) deploy_z_probe ( ) ; else
# endif
{
if ( servo_endstops [ axis ] > - 1 )
servos [ servo_endstops [ axis ] ] . write ( servo_endstop_angles [ axis * 2 ] ) ;
}
# endif // SERVO_ENDSTOPS && !Z_PROBE_SLED
# ifdef Z_DUAL_ENDSTOPS
if ( axis = = Z_AXIS ) In_Homing_Process ( true ) ;
# endif
// Move towards the endstop until an endstop is triggered
destination [ axis ] = 1.5 * max_length ( axis ) * axis_home_dir ;
feedrate = homing_feedrate [ axis ] ;
line_to_destination ( ) ;
st_synchronize ( ) ;
// Set the axis position as setup for the move
current_position [ axis ] = 0 ;
sync_plan_position ( ) ;
// Move away from the endstop by the axis HOME_BUMP_MM
destination [ axis ] = - home_bump_mm ( axis ) * axis_home_dir ;
line_to_destination ( ) ;
st_synchronize ( ) ;
// Slow down the feedrate for the next move
set_homing_bump_feedrate ( axis ) ;
// Move slowly towards the endstop until triggered
destination [ axis ] = 2 * home_bump_mm ( axis ) * axis_home_dir ;
line_to_destination ( ) ;
st_synchronize ( ) ;
# ifdef Z_DUAL_ENDSTOPS
if ( axis = = Z_AXIS ) {
float adj = fabs ( z_endstop_adj ) ;
bool lockZ1 ;
if ( axis_home_dir > 0 ) {
adj = - adj ;
lockZ1 = ( z_endstop_adj > 0 ) ;
}
else
lockZ1 = ( z_endstop_adj < 0 ) ;
if ( lockZ1 ) Lock_z_motor ( true ) ; else Lock_z2_motor ( true ) ;
sync_plan_position ( ) ;
// Move to the adjusted endstop height
feedrate = homing_feedrate [ axis ] ;
destination [ Z_AXIS ] = adj ;
line_to_destination ( ) ;
st_synchronize ( ) ;
if ( lockZ1 ) Lock_z_motor ( false ) ; else Lock_z2_motor ( false ) ;
In_Homing_Process ( false ) ;
} // Z_AXIS
# endif
# ifdef DELTA
// retrace by the amount specified in endstop_adj
if ( endstop_adj [ axis ] * axis_home_dir < 0 ) {
sync_plan_position ( ) ;
destination [ axis ] = endstop_adj [ axis ] ;
line_to_destination ( ) ;
st_synchronize ( ) ;
}
# endif
// Set the axis position to its home position (plus home offsets)
axis_is_at_home ( axis ) ;
destination [ axis ] = current_position [ axis ] ;
feedrate = 0.0 ;
endstops_hit_on_purpose ( ) ; // clear endstop hit flags
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 SERVO_LEVELING && !defined(Z_PROBE_SLED)
if ( axis = = Z_AXIS ) stow_z_probe ( ) ;
# endif
}
}
# ifdef FWRETRACT
void retract ( bool retracting , bool swapretract = false ) {
if ( retracting = = retracted [ active_extruder ] ) return ;
float oldFeedrate = feedrate ;
set_destination_to_current ( ) ;
if ( retracting ) {
feedrate = retract_feedrate * 60 ;
current_position [ E_AXIS ] + = ( swapretract ? retract_length_swap : retract_length ) / volumetric_multiplier [ active_extruder ] ;
plan_set_e_position ( current_position [ E_AXIS ] ) ;
prepare_move ( ) ;
if ( retract_zlift > 0.01 ) {
current_position [ Z_AXIS ] - = retract_zlift ;
# ifdef DELTA
sync_plan_position_delta ( ) ;
# else
sync_plan_position ( ) ;
# endif
prepare_move ( ) ;
}
}
else {
if ( retract_zlift > 0.01 ) {
current_position [ Z_AXIS ] + = retract_zlift ;
# ifdef DELTA
sync_plan_position_delta ( ) ;
# else
sync_plan_position ( ) ;
# endif
//prepare_move();
}
feedrate = retract_recover_feedrate * 60 ;
float move_e = swapretract ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length ;
current_position [ E_AXIS ] - = move_e / volumetric_multiplier [ active_extruder ] ;
plan_set_e_position ( current_position [ E_AXIS ] ) ;
prepare_move ( ) ;
}
feedrate = oldFeedrate ;
retracted [ active_extruder ] = retracting ;
} // retract()
# endif // FWRETRACT
# ifdef Z_PROBE_SLED
# ifndef SLED_DOCKING_OFFSET
# define SLED_DOCKING_OFFSET 0
# endif
//
// 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 ) {
if ( ! axis_known_position [ X_AXIS ] | | ! axis_known_position [ Y_AXIS ] ) {
LCD_MESSAGEPGM ( MSG_POSITION_UNKNOWN ) ;
SERIAL_ECHO_START ;
SERIAL_ECHOLNPGM ( MSG_POSITION_UNKNOWN ) ;
return ;
}
if ( dock ) {
do_blocking_move_to ( X_MAX_POS + SLED_DOCKING_OFFSET + offset , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] ) ;
digitalWrite ( SERVO0_PIN , LOW ) ; // turn off magnet
} else {
float z_loc = current_position [ Z_AXIS ] ;
if ( z_loc < Z_RAISE_BEFORE_PROBING + 5 ) z_loc = Z_RAISE_BEFORE_PROBING ;
do_blocking_move_to ( X_MAX_POS + SLED_DOCKING_OFFSET + offset , Y_PROBE_OFFSET_FROM_EXTRUDER , z_loc ) ;
digitalWrite ( SERVO0_PIN , HIGH ) ; // turn on magnet
}
}
# endif // Z_PROBE_SLED
/**
*
* G - Code Handler functions
*
*/
/**
* G0 , G1 : Coordinated movement of X Y Z E axes
*/
inline void gcode_G0_G1 ( ) {
if ( IsRunning ( ) ) {
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 ] ;
// Is this move an attempt to retract or recover?
if ( ( echange < - MIN_RETRACT & & ! retracted [ active_extruder ] ) | | ( echange > MIN_RETRACT & & retracted [ active_extruder ] ) ) {
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 [ active_extruder ] ) ;
return ;
}
}
# endif //FWRETRACT
prepare_move ( ) ;
//ClearToSend();
}
}
/**
* G2 : Clockwise Arc
* G3 : Counterclockwise Arc
*/
inline void gcode_G2_G3 ( bool clockwise ) {
if ( IsRunning ( ) ) {
get_arc_coordinates ( ) ;
prepare_arc_move ( clockwise ) ;
}
}
/**
* G4 : Dwell S < seconds > or P < milliseconds >
*/
inline void gcode_G4 ( ) {
unsigned long codenum = 0 ;
LCD_MESSAGEPGM ( MSG_DWELL ) ;
if ( code_seen ( ' P ' ) ) codenum = code_value_long ( ) ; // milliseconds to wait
if ( code_seen ( ' S ' ) ) codenum = code_value_long ( ) * 1000 ; // seconds to wait
st_synchronize ( ) ;
refresh_cmd_timeout ( ) ;
codenum + = previous_millis_cmd ; // keep track of when we started waiting
while ( millis ( ) < codenum ) {
manage_heater ( ) ;
manage_inactivity ( ) ;
lcd_update ( ) ;
}
}
# ifdef FWRETRACT
/**
* G10 - Retract filament according to settings of M207
* G11 - Recover filament according to settings of M208
*/
inline void gcode_G10_G11 ( bool doRetract = false ) {
# if EXTRUDERS > 1
if ( doRetract ) {
retracted_swap [ active_extruder ] = ( code_seen ( ' S ' ) & & code_value_short ( ) = = 1 ) ; // checks for swap retract argument
}
# endif
retract ( doRetract
# if EXTRUDERS > 1
, retracted_swap [ active_extruder ]
# endif
) ;
}
# endif //FWRETRACT
/**
* G28 : Home all axes according to settings
*
* Parameters
*
* None Home to all axes with no parameters .
* With QUICK_HOME enabled XY will home together , then Z .
*
* Cartesian parameters
*
* X Home to the X endstop
* Y Home to the Y endstop
* Z Home to the Z endstop
*
* If numbers are included with XYZ set the position as with G92
* Currently adds the home_offset , which may be wrong and removed soon .
*
* Xn Home X , setting X to n + home_offset [ X_AXIS ]
* Yn Home Y , setting Y to n + home_offset [ Y_AXIS ]
* Zn Home Z , setting Z to n + home_offset [ Z_AXIS ]
*/
inline void gcode_G28 ( ) {
// For auto bed leveling, clear the level matrix
# ifdef ENABLE_AUTO_BED_LEVELING
plan_bed_level_matrix . set_to_identity ( ) ;
# ifdef DELTA
reset_bed_level ( ) ;
# endif
# endif
// For manual bed leveling deactivate the matrix temporarily
# ifdef MESH_BED_LEVELING
uint8_t mbl_was_active = mbl . active ;
mbl . active = 0 ;
# endif
saved_feedrate = feedrate ;
saved_feedmultiply = feedmultiply ;
feedmultiply = 100 ;
refresh_cmd_timeout ( ) ;
enable_endstops ( true ) ;
set_destination_to_current ( ) ;
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
// Pretend the current position is 0,0,0
for ( int i = X_AXIS ; i < = Z_AXIS ; i + + ) current_position [ i ] = 0 ;
sync_plan_position ( ) ;
// Move all carriages up together until the first endstop is hit.
for ( int i = X_AXIS ; i < = Z_AXIS ; i + + ) destination [ i ] = 3 * Z_MAX_LENGTH ;
feedrate = 1.732 * homing_feedrate [ X_AXIS ] ;
line_to_destination ( ) ;
st_synchronize ( ) ;
endstops_hit_on_purpose ( ) ; // clear endstop hit flags
// Destination reached
for ( int i = X_AXIS ; i < = Z_AXIS ; i + + ) current_position [ i ] = destination [ i ] ;
// take care of back off and rehome now we are all at the top
HOMEAXIS ( X ) ;
HOMEAXIS ( Y ) ;
HOMEAXIS ( Z ) ;
sync_plan_position_delta ( ) ;
# else // NOT DELTA
bool homeX = code_seen ( axis_codes [ X_AXIS ] ) ,
homeY = code_seen ( axis_codes [ Y_AXIS ] ) ,
homeZ = code_seen ( axis_codes [ Z_AXIS ] ) ;
home_all_axis = ! ( homeX | | homeY | | homeZ ) | | ( homeX & & homeY & & homeZ ) ;
# if Z_HOME_DIR > 0 // If homing away from BED do Z first
if ( home_all_axis | | homeZ ) HOMEAXIS ( Z ) ;
# elif !defined(Z_SAFE_HOMING) && defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0
// Raise Z before homing any other axes
if ( home_all_axis | | homeZ ) {
destination [ Z_AXIS ] = - Z_RAISE_BEFORE_HOMING * home_dir ( Z_AXIS ) ; // Set destination away from bed
feedrate = max_feedrate [ Z_AXIS ] * 60 ;
line_to_destination ( ) ;
st_synchronize ( ) ;
}
# endif
# ifdef QUICK_HOME
if ( home_all_axis | | ( homeX & & homeY ) ) { // First diagonal move
current_position [ X_AXIS ] = current_position [ Y_AXIS ] = 0 ;
# ifdef DUAL_X_CARRIAGE
int x_axis_home_dir = x_home_dir ( active_extruder ) ;
extruder_duplication_enabled = false ;
# else
int x_axis_home_dir = home_dir ( X_AXIS ) ;
# endif
sync_plan_position ( ) ;
float mlx = max_length ( X_AXIS ) , mly = max_length ( Y_AXIS ) ,
mlratio = mlx > mly ? mly / mlx : mlx / mly ;
destination [ X_AXIS ] = 1.5 * mlx * x_axis_home_dir ;
destination [ Y_AXIS ] = 1.5 * mly * home_dir ( Y_AXIS ) ;
feedrate = min ( homing_feedrate [ X_AXIS ] , homing_feedrate [ Y_AXIS ] ) * sqrt ( mlratio * mlratio + 1 ) ;
line_to_destination ( ) ;
st_synchronize ( ) ;
axis_is_at_home ( X_AXIS ) ;
axis_is_at_home ( Y_AXIS ) ;
sync_plan_position ( ) ;
destination [ X_AXIS ] = current_position [ X_AXIS ] ;
destination [ Y_AXIS ] = current_position [ Y_AXIS ] ;
line_to_destination ( ) ;
feedrate = 0.0 ;
st_synchronize ( ) ;
endstops_hit_on_purpose ( ) ; // clear endstop hit flags
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 // QUICK_HOME
// Home X
if ( home_all_axis | | homeX ) {
# 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
}
// Home Y
if ( home_all_axis | | homeY ) HOMEAXIS ( Y ) ;
// Set the X position, if included
// Adds the home_offset as well, which may be wrong
if ( code_seen ( axis_codes [ X_AXIS ] ) ) {
float v = code_value ( ) ;
if ( v ) current_position [ X_AXIS ] = v
# ifndef SCARA
+ home_offset [ X_AXIS ]
# endif
;
}
// Set the Y position, if included
// Adds the home_offset as well, which may be wrong
if ( code_seen ( axis_codes [ Y_AXIS ] ) ) {
float v = code_value ( ) ;
if ( v ) current_position [ Y_AXIS ] = v
# ifndef SCARA
+ home_offset [ Y_AXIS ]
# endif
;
}
// Home Z last if homing towards the bed
# if Z_HOME_DIR < 0
# ifndef Z_SAFE_HOMING
if ( home_all_axis | | homeZ ) HOMEAXIS ( Z ) ;
# else // Z_SAFE_HOMING
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 ) ; // Set destination away from bed
feedrate = XY_TRAVEL_SPEED ;
current_position [ Z_AXIS ] = 0 ;
sync_plan_position ( ) ;
line_to_destination ( ) ;
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 ( homeZ ) {
if ( axis_known_position [ X_AXIS ] & & axis_known_position [ Y_AXIS ] ) {
float cpx = current_position [ X_AXIS ] , cpy = current_position [ Y_AXIS ] ;
if ( cpx > = X_MIN_POS - X_PROBE_OFFSET_FROM_EXTRUDER
& & cpx < = X_MAX_POS - X_PROBE_OFFSET_FROM_EXTRUDER
& & cpy > = Y_MIN_POS - Y_PROBE_OFFSET_FROM_EXTRUDER
& & cpy < = Y_MAX_POS - Y_PROBE_OFFSET_FROM_EXTRUDER ) {
current_position [ Z_AXIS ] = 0 ;
plan_set_position ( cpx , cpy , 0 , current_position [ E_AXIS ] ) ;
destination [ Z_AXIS ] = - Z_RAISE_BEFORE_HOMING * home_dir ( Z_AXIS ) ; // Set destination away from bed
feedrate = max_feedrate [ Z_AXIS ] * 60 ; // max_feedrate is in mm/s. line_to_destination is feedrate/60.
line_to_destination ( ) ;
st_synchronize ( ) ;
HOMEAXIS ( Z ) ;
}
else {
LCD_MESSAGEPGM ( MSG_ZPROBE_OUT ) ;
SERIAL_ECHO_START ;
SERIAL_ECHOLNPGM ( MSG_ZPROBE_OUT ) ;
}
}
else {
LCD_MESSAGEPGM ( MSG_POSITION_UNKNOWN ) ;
SERIAL_ECHO_START ;
SERIAL_ECHOLNPGM ( MSG_POSITION_UNKNOWN ) ;
}
}
# endif // Z_SAFE_HOMING
# endif // Z_HOME_DIR < 0
// Set the Z position, if included
// Adds the home_offset as well, which may be wrong
if ( code_seen ( axis_codes [ Z_AXIS ] ) ) {
float v = code_value ( ) ;
if ( v ) current_position [ Z_AXIS ] = v + home_offset [ Z_AXIS ] ;
}
# if defined(ENABLE_AUTO_BED_LEVELING) && (Z_HOME_DIR < 0)
if ( home_all_axis | | homeZ ) current_position [ Z_AXIS ] + = zprobe_zoffset ; // Add Z_Probe offset (the distance is negative)
# endif
sync_plan_position ( ) ;
# endif // else DELTA
# ifdef SCARA
sync_plan_position_delta ( ) ;
# endif
# ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops ( false ) ;
# endif
// For manual leveling move back to 0,0
# ifdef MESH_BED_LEVELING
if ( mbl_was_active ) {
current_position [ X_AXIS ] = mbl . get_x ( 0 ) ;
current_position [ Y_AXIS ] = mbl . get_y ( 0 ) ;
set_destination_to_current ( ) ;
feedrate = homing_feedrate [ X_AXIS ] ;
line_to_destination ( ) ;
st_synchronize ( ) ;
current_position [ Z_AXIS ] = MESH_HOME_SEARCH_Z ;
sync_plan_position ( ) ;
mbl . active = 1 ;
}
# endif
feedrate = saved_feedrate ;
feedmultiply = saved_feedmultiply ;
refresh_cmd_timeout ( ) ;
endstops_hit_on_purpose ( ) ; // clear endstop hit flags
}
# ifdef MESH_BED_LEVELING
enum MeshLevelingState { MeshReport , MeshStart , MeshNext , MeshSet } ;
/**
* G29 : Mesh - based Z - Probe , probes a grid and produces a
* mesh to compensate for variable bed height
*
* Parameters With MESH_BED_LEVELING :
*
* S0 Produce a mesh report
* S1 Start probing mesh points
* S2 Probe the next mesh point
* S3 Xn Yn Zn . nn Manually modify a single point
*
* The S0 report the points as below
*
* + - - - - > X - axis
* |
* |
* v Y - axis
*
*/
inline void gcode_G29 ( ) {
static int probe_point = - 1 ;
MeshLevelingState state = code_seen ( ' S ' ) | | code_seen ( ' s ' ) ? ( MeshLevelingState ) code_value_short ( ) : MeshReport ;
if ( state < 0 | | state > 3 ) {
SERIAL_PROTOCOLLNPGM ( " S out of range (0-3). " ) ;
return ;
}
int ix , iy ;
float z ;
switch ( state ) {
case MeshReport :
if ( mbl . active ) {
SERIAL_PROTOCOLPGM ( " Num X,Y: " ) ;
SERIAL_PROTOCOL ( MESH_NUM_X_POINTS ) ;
SERIAL_PROTOCOLCHAR ( ' , ' ) ;
SERIAL_PROTOCOL ( MESH_NUM_Y_POINTS ) ;
SERIAL_PROTOCOLPGM ( " \n Z search height: " ) ;
SERIAL_PROTOCOL ( MESH_HOME_SEARCH_Z ) ;
SERIAL_PROTOCOLLNPGM ( " \n Measured points: " ) ;
for ( int y = 0 ; y < MESH_NUM_Y_POINTS ; y + + ) {
for ( int x = 0 ; x < MESH_NUM_X_POINTS ; x + + ) {
SERIAL_PROTOCOLPGM ( " " ) ;
SERIAL_PROTOCOL_F ( mbl . z_values [ y ] [ x ] , 5 ) ;
}
SERIAL_EOL ;
}
}
else
SERIAL_PROTOCOLLNPGM ( " Mesh bed leveling not active. " ) ;
break ;
case MeshStart :
mbl . reset ( ) ;
probe_point = 0 ;
enquecommands_P ( PSTR ( " G28 \n G29 S2 " ) ) ;
break ;
case MeshNext :
if ( probe_point < 0 ) {
SERIAL_PROTOCOLLNPGM ( " Start mesh probing with \" G29 S1 \" first. " ) ;
return ;
}
if ( probe_point = = 0 ) {
// Set Z to a positive value before recording the first Z.
current_position [ Z_AXIS ] = MESH_HOME_SEARCH_Z ;
sync_plan_position ( ) ;
}
else {
// For others, save the Z of the previous point, then raise Z again.
ix = ( probe_point - 1 ) % MESH_NUM_X_POINTS ;
iy = ( probe_point - 1 ) / MESH_NUM_X_POINTS ;
if ( iy & 1 ) ix = ( MESH_NUM_X_POINTS - 1 ) - ix ; // zig-zag
mbl . set_z ( ix , iy , current_position [ Z_AXIS ] ) ;
current_position [ Z_AXIS ] = MESH_HOME_SEARCH_Z ;
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] , homing_feedrate [ X_AXIS ] / 60 , active_extruder ) ;
st_synchronize ( ) ;
}
// Is there another point to sample? Move there.
if ( probe_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS ) {
ix = probe_point % MESH_NUM_X_POINTS ;
iy = probe_point / MESH_NUM_X_POINTS ;
if ( iy & 1 ) ix = ( MESH_NUM_X_POINTS - 1 ) - ix ; // zig-zag
current_position [ X_AXIS ] = mbl . get_x ( ix ) ;
current_position [ Y_AXIS ] = mbl . get_y ( iy ) ;
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] , homing_feedrate [ X_AXIS ] / 60 , active_extruder ) ;
st_synchronize ( ) ;
probe_point + + ;
}
else {
// After recording the last point, activate the mbl and home
SERIAL_PROTOCOLLNPGM ( " Mesh probing done. " ) ;
probe_point = - 1 ;
mbl . active = 1 ;
enquecommands_P ( PSTR ( " G28 " ) ) ;
}
break ;
case MeshSet :
if ( code_seen ( ' X ' ) | | code_seen ( ' x ' ) ) {
ix = code_value_long ( ) - 1 ;
if ( ix < 0 | | ix > = MESH_NUM_X_POINTS ) {
SERIAL_PROTOCOLPGM ( " X out of range (1- " STRINGIFY ( MESH_NUM_X_POINTS ) " ). \n " ) ;
return ;
}
} else {
SERIAL_PROTOCOLPGM ( " X not entered. \n " ) ;
return ;
}
if ( code_seen ( ' Y ' ) | | code_seen ( ' y ' ) ) {
iy = code_value_long ( ) - 1 ;
if ( iy < 0 | | iy > = MESH_NUM_Y_POINTS ) {
SERIAL_PROTOCOLPGM ( " Y out of range (1- " STRINGIFY ( MESH_NUM_Y_POINTS ) " ). \n " ) ;
return ;
}
} else {
SERIAL_PROTOCOLPGM ( " Y not entered. \n " ) ;
return ;
}
if ( code_seen ( ' Z ' ) | | code_seen ( ' z ' ) ) {
z = code_value ( ) ;
} else {
SERIAL_PROTOCOLPGM ( " Z not entered. \n " ) ;
return ;
}
mbl . z_values [ iy ] [ ix ] = z ;
} // switch(state)
}
# elif defined(ENABLE_AUTO_BED_LEVELING)
/**
* G29 : Detailed Z - Probe , probes the bed at 3 or more points .
* Will fail if the printer has not been homed with G28 .
*
* Enhanced G29 Auto Bed Leveling Probe Routine
*
* Parameters With AUTO_BED_LEVELING_GRID :
*
* P Set the size of the grid that will be probed ( P x P points ) .
* Not supported by non - linear delta printer bed leveling .
* Example : " G29 P4 "
*
* S Set the XY travel speed between probe points ( in mm / min )
*
* D Dry - Run mode . Just evaluate the bed Topology - Don ' t apply
* or clean the rotation Matrix . Useful to check the topology
* after a first run of G29 .
*
* V Set the verbose level ( 0 - 4 ) . Example : " G29 V3 "
*
* T Generate a Bed Topology Report . Example : " G29 P5 T " for a detailed report .
* This is useful for manual bed leveling and finding flaws in the bed ( to
* assist with part placement ) .
* Not supported by non - linear delta printer bed leveling .
*
* F Set the Front limit of the probing grid
* B Set the Back limit of the probing grid
* L Set the Left limit of the probing grid
* R Set the Right limit of the probing grid
*
* Global Parameters :
*
* E / e By default G29 will engage the probe , test the bed , then disengage .
* Include " E " to engage / disengage the probe for each sample .
* There ' s no extra effect if you have a fixed probe .
* Usage : " G29 E " or " G29 e "
*
*/
inline void gcode_G29 ( ) {
// Don't allow auto-leveling without homing first
if ( ! axis_known_position [ X_AXIS ] | | ! axis_known_position [ Y_AXIS ] ) {
LCD_MESSAGEPGM ( MSG_POSITION_UNKNOWN ) ;
SERIAL_ECHO_START ;
SERIAL_ECHOLNPGM ( MSG_POSITION_UNKNOWN ) ;
return ;
}
int verbose_level = code_seen ( ' V ' ) | | code_seen ( ' v ' ) ? code_value_short ( ) : 1 ;
if ( verbose_level < 0 | | verbose_level > 4 ) {
SERIAL_ECHOLNPGM ( " ?(V)erbose Level is implausible (0-4). " ) ;
return ;
}
bool dryrun = code_seen ( ' D ' ) | | code_seen ( ' d ' ) ,
deploy_probe_for_each_reading = code_seen ( ' E ' ) | | code_seen ( ' e ' ) ;
# ifdef AUTO_BED_LEVELING_GRID
# ifndef DELTA
bool do_topography_map = verbose_level > 2 | | code_seen ( ' T ' ) | | code_seen ( ' t ' ) ;
# endif
if ( verbose_level > 0 ) {
SERIAL_PROTOCOLPGM ( " G29 Auto Bed Leveling \n " ) ;
if ( dryrun ) SERIAL_ECHOLNPGM ( " Running in DRY-RUN mode " ) ;
}
int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS ;
# ifndef DELTA
if ( code_seen ( ' P ' ) ) auto_bed_leveling_grid_points = code_value_short ( ) ;
if ( auto_bed_leveling_grid_points < 2 ) {
SERIAL_PROTOCOLPGM ( " ?Number of probed (P)oints is implausible (2 minimum). \n " ) ;
return ;
}
# endif
xy_travel_speed = code_seen ( ' S ' ) ? code_value_short ( ) : XY_TRAVEL_SPEED ;
int left_probe_bed_position = code_seen ( ' L ' ) ? code_value_short ( ) : LEFT_PROBE_BED_POSITION ,
right_probe_bed_position = code_seen ( ' R ' ) ? code_value_short ( ) : RIGHT_PROBE_BED_POSITION ,
front_probe_bed_position = code_seen ( ' F ' ) ? code_value_short ( ) : FRONT_PROBE_BED_POSITION ,
back_probe_bed_position = code_seen ( ' B ' ) ? code_value_short ( ) : BACK_PROBE_BED_POSITION ;
bool left_out_l = left_probe_bed_position < MIN_PROBE_X ,
left_out = left_out_l | | left_probe_bed_position > right_probe_bed_position - MIN_PROBE_EDGE ,
right_out_r = right_probe_bed_position > MAX_PROBE_X ,
right_out = right_out_r | | right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE ,
front_out_f = front_probe_bed_position < MIN_PROBE_Y ,
front_out = front_out_f | | front_probe_bed_position > back_probe_bed_position - MIN_PROBE_EDGE ,
back_out_b = back_probe_bed_position > MAX_PROBE_Y ,
back_out = back_out_b | | back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE ;
if ( left_out | | right_out | | front_out | | back_out ) {
if ( left_out ) {
SERIAL_PROTOCOLPGM ( " ?Probe (L)eft position out of range. \n " ) ;
left_probe_bed_position = left_out_l ? MIN_PROBE_X : right_probe_bed_position - MIN_PROBE_EDGE ;
}
if ( right_out ) {
SERIAL_PROTOCOLPGM ( " ?Probe (R)ight position out of range. \n " ) ;
right_probe_bed_position = right_out_r ? MAX_PROBE_X : left_probe_bed_position + MIN_PROBE_EDGE ;
}
if ( front_out ) {
SERIAL_PROTOCOLPGM ( " ?Probe (F)ront position out of range. \n " ) ;
front_probe_bed_position = front_out_f ? MIN_PROBE_Y : back_probe_bed_position - MIN_PROBE_EDGE ;
}
if ( back_out ) {
SERIAL_PROTOCOLPGM ( " ?Probe (B)ack position out of range. \n " ) ;
back_probe_bed_position = back_out_b ? MAX_PROBE_Y : front_probe_bed_position + MIN_PROBE_EDGE ;
}
return ;
}
# endif // AUTO_BED_LEVELING_GRID
# ifdef Z_PROBE_SLED
dock_sled ( false ) ; // engage (un-dock) the probe
# elif defined(Z_PROBE_ALLEN_KEY) //|| defined(SERVO_LEVELING)
deploy_z_probe ( ) ;
# endif
st_synchronize ( ) ;
if ( ! dryrun ) {
// make sure the bed_level_rotation_matrix is identity or the planner will get it wrong
plan_bed_level_matrix . set_to_identity ( ) ;
# ifdef DELTA
reset_bed_level ( ) ;
# else //!DELTA
//vector_3 corrected_position = plan_get_position_mm();
//corrected_position.debug("position before G29");
vector_3 uncorrected_position = plan_get_position ( ) ;
//uncorrected_position.debug("position during G29");
current_position [ X_AXIS ] = uncorrected_position . x ;
current_position [ Y_AXIS ] = uncorrected_position . y ;
current_position [ Z_AXIS ] = uncorrected_position . z ;
sync_plan_position ( ) ;
# endif // !DELTA
}
setup_for_endstop_move ( ) ;
feedrate = homing_feedrate [ Z_AXIS ] ;
# ifdef AUTO_BED_LEVELING_GRID
// probe at the points of a lattice grid
const int xGridSpacing = ( right_probe_bed_position - left_probe_bed_position ) / ( auto_bed_leveling_grid_points - 1 ) ,
yGridSpacing = ( back_probe_bed_position - front_probe_bed_position ) / ( auto_bed_leveling_grid_points - 1 ) ;
# ifdef DELTA
delta_grid_spacing [ 0 ] = xGridSpacing ;
delta_grid_spacing [ 1 ] = yGridSpacing ;
float z_offset = Z_PROBE_OFFSET_FROM_EXTRUDER ;
if ( code_seen ( axis_codes [ Z_AXIS ] ) ) z_offset + = code_value ( ) ;
# else // !DELTA
// 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
int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points ;
double eqnAMatrix [ abl2 * 3 ] , // "A" matrix of the linear system of equations
eqnBVector [ abl2 ] , // "B" vector of Z points
mean = 0.0 ;
# endif // !DELTA
int probePointCounter = 0 ;
bool zig = true ;
for ( int yCount = 0 ; yCount < auto_bed_leveling_grid_points ; yCount + + ) {
double yProbe = front_probe_bed_position + yGridSpacing * yCount ;
int xStart , xStop , xInc ;
if ( zig ) {
xStart = 0 ;
xStop = auto_bed_leveling_grid_points ;
xInc = 1 ;
}
else {
xStart = auto_bed_leveling_grid_points - 1 ;
xStop = - 1 ;
xInc = - 1 ;
}
# ifndef DELTA
// If do_topography_map is set then don't zig-zag. Just scan in one direction.
// This gets the probe points in more readable order.
if ( ! do_topography_map ) zig = ! zig ;
# endif
for ( int xCount = xStart ; xCount ! = xStop ; xCount + = xInc ) {
double xProbe = left_probe_bed_position + xGridSpacing * xCount ;
// raise extruder
float measured_z ,
z_before = probePointCounter ? Z_RAISE_BETWEEN_PROBINGS + current_position [ Z_AXIS ] : Z_RAISE_BEFORE_PROBING ;
# ifdef DELTA
// Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
float distance_from_center = sqrt ( xProbe * xProbe + yProbe * yProbe ) ;
if ( distance_from_center > DELTA_PROBABLE_RADIUS ) continue ;
# endif //DELTA
ProbeAction act ;
if ( deploy_probe_for_each_reading ) // G29 E - Stow between probes
act = ProbeDeployAndStow ;
else if ( yCount = = 0 & & xCount = = xStart )
act = ProbeDeploy ;
else if ( yCount = = auto_bed_leveling_grid_points - 1 & & xCount = = xStop - xInc )
act = ProbeStow ;
else
act = ProbeStay ;
measured_z = probe_pt ( xProbe , yProbe , z_before , act , verbose_level ) ;
# ifndef DELTA
mean + = measured_z ;
eqnBVector [ probePointCounter ] = measured_z ;
eqnAMatrix [ probePointCounter + 0 * abl2 ] = xProbe ;
eqnAMatrix [ probePointCounter + 1 * abl2 ] = yProbe ;
eqnAMatrix [ probePointCounter + 2 * abl2 ] = 1 ;
# else
bed_level [ xCount ] [ yCount ] = measured_z + z_offset ;
# endif
probePointCounter + + ;
manage_heater ( ) ;
manage_inactivity ( ) ;
lcd_update ( ) ;
} //xProbe
} //yProbe
clean_up_after_endstop_move ( ) ;
# ifdef DELTA
if ( ! dryrun ) extrapolate_unprobed_bed_level ( ) ;
print_bed_level ( ) ;
# else // !DELTA
// solve lsq problem
double * plane_equation_coefficients = qr_solve ( abl2 , 3 , eqnAMatrix , eqnBVector ) ;
mean / = abl2 ;
if ( verbose_level ) {
SERIAL_PROTOCOLPGM ( " Eqn coefficients: a: " ) ;
SERIAL_PROTOCOL_F ( plane_equation_coefficients [ 0 ] , 8 ) ;
SERIAL_PROTOCOLPGM ( " b: " ) ;
SERIAL_PROTOCOL_F ( plane_equation_coefficients [ 1 ] , 8 ) ;
SERIAL_PROTOCOLPGM ( " d: " ) ;
SERIAL_PROTOCOL_F ( plane_equation_coefficients [ 2 ] , 8 ) ;
SERIAL_EOL ;
if ( verbose_level > 2 ) {
SERIAL_PROTOCOLPGM ( " Mean of sampled points: " ) ;
SERIAL_PROTOCOL_F ( mean , 8 ) ;
SERIAL_EOL ;
}
}
// Show the Topography map if enabled
if ( do_topography_map ) {
SERIAL_PROTOCOLPGM ( " \n Bed Height Topography: \n " ) ;
SERIAL_PROTOCOLPGM ( " +-----------+ \n " ) ;
SERIAL_PROTOCOLPGM ( " |...Back....| \n " ) ;
SERIAL_PROTOCOLPGM ( " |Left..Right| \n " ) ;
SERIAL_PROTOCOLPGM ( " |...Front...| \n " ) ;
SERIAL_PROTOCOLPGM ( " +-----------+ \n " ) ;
for ( int yy = auto_bed_leveling_grid_points - 1 ; yy > = 0 ; yy - - ) {
for ( int xx = 0 ; xx < auto_bed_leveling_grid_points ; xx + + ) {
int ind = yy * auto_bed_leveling_grid_points + xx ;
float diff = eqnBVector [ ind ] - mean ;
if ( diff > = 0.0 )
SERIAL_PROTOCOLPGM ( " + " ) ; // Include + for column alignment
else
SERIAL_PROTOCOLCHAR ( ' ' ) ;
SERIAL_PROTOCOL_F ( diff , 5 ) ;
} // xx
SERIAL_EOL ;
} // yy
SERIAL_EOL ;
} //do_topography_map
if ( ! dryrun ) set_bed_level_equation_lsq ( plane_equation_coefficients ) ;
free ( plane_equation_coefficients ) ;
# endif //!DELTA
# else // !AUTO_BED_LEVELING_GRID
// Actions for each probe
ProbeAction p1 , p2 , p3 ;
if ( deploy_probe_for_each_reading )
p1 = p2 = p3 = ProbeDeployAndStow ;
else
p1 = ProbeDeploy , p2 = ProbeStay , p3 = ProbeStow ;
// Probe at 3 arbitrary points
float z_at_pt_1 = probe_pt ( ABL_PROBE_PT_1_X , ABL_PROBE_PT_1_Y , Z_RAISE_BEFORE_PROBING , p1 , verbose_level ) ,
z_at_pt_2 = probe_pt ( ABL_PROBE_PT_2_X , ABL_PROBE_PT_2_Y , current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS , p2 , verbose_level ) ,
z_at_pt_3 = probe_pt ( ABL_PROBE_PT_3_X , ABL_PROBE_PT_3_Y , current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS , p3 , verbose_level ) ;
clean_up_after_endstop_move ( ) ;
if ( ! dryrun ) set_bed_level_equation_3pts ( z_at_pt_1 , z_at_pt_2 , z_at_pt_3 ) ;
# endif // !AUTO_BED_LEVELING_GRID
# ifndef DELTA
if ( verbose_level > 0 )
plan_bed_level_matrix . debug ( " \n \n Bed Level Correction Matrix: " ) ;
if ( ! dryrun ) {
// 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.
float 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 ] ,
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)
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.
sync_plan_position ( ) ;
}
# endif // !DELTA
# ifdef Z_PROBE_SLED
dock_sled ( true , - SLED_DOCKING_OFFSET ) ; // dock the probe, correcting for over-travel
# elif defined(Z_PROBE_ALLEN_KEY) //|| defined(SERVO_LEVELING)
stow_z_probe ( ) ;
# endif
# ifdef Z_PROBE_END_SCRIPT
enquecommands_P ( PSTR ( Z_PROBE_END_SCRIPT ) ) ;
st_synchronize ( ) ;
# endif
}
# ifndef Z_PROBE_SLED
inline void gcode_G30 ( ) {
deploy_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 ( " Bed " ) ;
SERIAL_PROTOCOLPGM ( " X: " ) ;
SERIAL_PROTOCOL ( current_position [ X_AXIS ] + 0.0001 ) ;
SERIAL_PROTOCOLPGM ( " Y: " ) ;
SERIAL_PROTOCOL ( current_position [ Y_AXIS ] + 0.0001 ) ;
SERIAL_PROTOCOLPGM ( " Z: " ) ;
SERIAL_PROTOCOL ( current_position [ Z_AXIS ] + 0.0001 ) ;
SERIAL_EOL ;
clean_up_after_endstop_move ( ) ;
stow_z_probe ( ) ; // Retract Z Servo endstop if available
}
# endif //!Z_PROBE_SLED
# endif //ENABLE_AUTO_BED_LEVELING
/**
* G92 : Set current position to given X Y Z E
*/
inline void gcode_G92 ( ) {
if ( ! code_seen ( axis_codes [ E_AXIS ] ) )
st_synchronize ( ) ;
bool didXYZ = false ;
for ( int i = 0 ; i < NUM_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) ) {
float v = current_position [ i ] = code_value ( ) ;
if ( i = = E_AXIS )
plan_set_e_position ( v ) ;
else
didXYZ = true ;
}
}
if ( didXYZ ) sync_plan_position ( ) ;
}
# ifdef ULTIPANEL
/**
* M0 : // M0 - Unconditional stop - Wait for user button press on LCD
* M1 : // M1 - Conditional stop - Wait for user button press on LCD
*/
inline void gcode_M0_M1 ( ) {
char * src = strchr_pointer + 2 ;
unsigned long codenum = 0 ;
bool hasP = false , hasS = false ;
if ( code_seen ( ' P ' ) ) {
codenum = code_value_short ( ) ; // milliseconds to wait
hasP = codenum > 0 ;
}
if ( code_seen ( ' S ' ) ) {
codenum = code_value_short ( ) * 1000UL ; // seconds to wait
hasS = codenum > 0 ;
}
char * starpos = strchr ( src , ' * ' ) ;
if ( starpos ! = NULL ) * ( starpos ) = ' \0 ' ;
while ( * src = = ' ' ) + + src ;
if ( ! hasP & & ! hasS & & * src ! = ' \0 ' )
lcd_setstatus ( src , true ) ;
else {
LCD_MESSAGEPGM ( MSG_USERWAIT ) ;
# if defined(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
dontExpireStatus ( ) ;
# endif
}
lcd_ignore_click ( ) ;
st_synchronize ( ) ;
refresh_cmd_timeout ( ) ;
if ( codenum > 0 ) {
codenum + = previous_millis_cmd ; // 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 ( ) ) return ;
while ( ! lcd_clicked ( ) ) {
manage_heater ( ) ;
manage_inactivity ( ) ;
lcd_update ( ) ;
}
}
if ( IS_SD_PRINTING )
LCD_MESSAGEPGM ( MSG_RESUMING ) ;
else
LCD_MESSAGEPGM ( WELCOME_MSG ) ;
}
# endif // ULTIPANEL
/**
* M17 : Enable power on all stepper motors
*/
inline void gcode_M17 ( ) {
LCD_MESSAGEPGM ( MSG_NO_MOVE ) ;
enable_all_steppers ( ) ;
}
# ifdef SDSUPPORT
/**
* M20 : List SD card to serial output
*/
inline void gcode_M20 ( ) {
SERIAL_PROTOCOLLNPGM ( MSG_BEGIN_FILE_LIST ) ;
card . ls ( ) ;
SERIAL_PROTOCOLLNPGM ( MSG_END_FILE_LIST ) ;
}
/**
* M21 : Init SD Card
*/
inline void gcode_M21 ( ) {
card . initsd ( ) ;
}
/**
* M22 : Release SD Card
*/
inline void gcode_M22 ( ) {
card . release ( ) ;
}
/**
* M23 : Select a file
*/
inline void gcode_M23 ( ) {
char * codepos = strchr_pointer + 4 ;
char * starpos = strchr ( codepos , ' * ' ) ;
if ( starpos ) * starpos = ' \0 ' ;
card . openFile ( codepos , true ) ;
}
/**
* M24 : Start SD Print
*/
inline void gcode_M24 ( ) {
card . startFileprint ( ) ;
starttime = millis ( ) ;
}
/**
* M25 : Pause SD Print
*/
inline void gcode_M25 ( ) {
card . pauseSDPrint ( ) ;
}
/**
* M26 : Set SD Card file index
*/
inline void gcode_M26 ( ) {
if ( card . cardOK & & code_seen ( ' S ' ) )
card . setIndex ( code_value_short ( ) ) ;
}
/**
* M27 : Get SD Card status
*/
inline void gcode_M27 ( ) {
card . getStatus ( ) ;
}
/**
* M28 : Start SD Write
*/
inline void gcode_M28 ( ) {
char * codepos = strchr_pointer + 4 ;
char * starpos = strchr ( codepos , ' * ' ) ;
if ( starpos ) {
char * npos = strchr ( cmdbuffer [ bufindr ] , ' N ' ) ;
strchr_pointer = strchr ( npos , ' ' ) + 1 ;
* ( starpos ) = ' \0 ' ;
}
card . openFile ( codepos , false ) ;
}
/**
* M29 : Stop SD Write
* Processed in write to file routine above
*/
inline void gcode_M29 ( ) {
// card.saving = false;
}
/**
* M30 < filename > : Delete SD Card file
*/
inline void gcode_M30 ( ) {
if ( card . cardOK ) {
card . closefile ( ) ;
char * starpos = strchr ( strchr_pointer + 4 , ' * ' ) ;
if ( starpos ) {
char * npos = strchr ( cmdbuffer [ bufindr ] , ' N ' ) ;
strchr_pointer = strchr ( npos , ' ' ) + 1 ;
* ( starpos ) = ' \0 ' ;
}
card . removeFile ( strchr_pointer + 4 ) ;
}
}
# endif
/**
* M31 : Get the time since the start of SD Print ( or last M109 )
*/
inline void gcode_M31 ( ) {
stoptime = millis ( ) ;
unsigned long t = ( stoptime - starttime ) / 1000 ;
int min = t / 60 , sec = t % 60 ;
char time [ 30 ] ;
sprintf_P ( time , PSTR ( " %i min, %i sec " ) , min , sec ) ;
SERIAL_ECHO_START ;
SERIAL_ECHOLN ( time ) ;
lcd_setstatus ( time ) ;
autotempShutdown ( ) ;
}
# ifdef SDSUPPORT
/**
* M32 : Select file and start SD Print
*/
inline void gcode_M32 ( ) {
if ( card . sdprinting )
st_synchronize ( ) ;
char * codepos = strchr_pointer + 4 ;
char * namestartpos = strchr ( codepos , ' ! ' ) ; //find ! to indicate filename string start.
if ( ! namestartpos )
namestartpos = codepos ; //default name position, 4 letters after the M
else
namestartpos + + ; //to skip the '!'
char * starpos = strchr ( codepos , ' * ' ) ;
if ( starpos ) * ( starpos ) = ' \0 ' ;
bool call_procedure = code_seen ( ' P ' ) & & ( strchr_pointer < namestartpos ) ;
if ( card . cardOK ) {
card . openFile ( namestartpos , true , ! call_procedure ) ;
if ( code_seen ( ' S ' ) & & strchr_pointer < namestartpos ) // "S" (must occur _before_ the filename!)
card . setIndex ( code_value_short ( ) ) ;
card . startFileprint ( ) ;
if ( ! call_procedure )
starttime = millis ( ) ; //procedure calls count as normal print time.
}
}
/**
* M928 : Start SD Write
*/
inline void gcode_M928 ( ) {
char * starpos = strchr ( strchr_pointer + 5 , ' * ' ) ;
if ( starpos ) {
char * npos = strchr ( cmdbuffer [ bufindr ] , ' N ' ) ;
strchr_pointer = strchr ( npos , ' ' ) + 1 ;
* ( starpos ) = ' \0 ' ;
}
card . openLogFile ( strchr_pointer + 5 ) ;
}
# endif // SDSUPPORT
/**
* M42 : Change pin status via GCode
*/
inline void gcode_M42 ( ) {
if ( code_seen ( ' S ' ) ) {
int pin_status = code_value_short ( ) ,
pin_number = LED_PIN ;
if ( code_seen ( ' P ' ) & & pin_status > = 0 & & pin_status < = 255 )
pin_number = code_value_short ( ) ;
for ( int8_t i = 0 ; i < ( int8_t ) ( sizeof ( sensitive_pins ) / sizeof ( * sensitive_pins ) ) ; i + + ) {
if ( sensitive_pins [ i ] = = pin_number ) {
pin_number = - 1 ;
break ;
}
}
# if HAS_FAN
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 ) ;
}
} // code_seen('S')
}
# if defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST)
// This is redundant since the SanityCheck.h already checks for a valid Z_PROBE_PIN, but here for clarity.
# ifdef Z_PROBE_ENDSTOP
# if !HAS_Z_PROBE
# error You must define Z_PROBE_PIN to enable Z-Probe repeatability calculation.
# endif
# elif !HAS_Z_MIN
# error You must define Z_MIN_PIN to enable Z-Probe repeatability calculation.
# endif
/**
* M48 : Z - Probe repeatability measurement function .
*
* Usage :
* M48 < n # > < X # > < Y # > < V # > < E > < L # >
* P = Number of sampled points ( 4 - 50 , default 10 )
* X = Sample X position
* Y = Sample Y position
* V = Verbose level ( 0 - 4 , default = 1 )
* E = Engage probe for each reading
* L = Number of legs of movement before probe
*
* This function assumes the bed has been homed . Specifically , 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 .
*/
inline void gcode_M48 ( ) {
double sum = 0.0 , mean = 0.0 , sigma = 0.0 , sample_set [ 50 ] ;
uint8_t verbose_level = 1 , n_samples = 10 , n_legs = 0 ;
if ( code_seen ( ' V ' ) | | code_seen ( ' v ' ) ) {
verbose_level = code_value_short ( ) ;
if ( verbose_level < 0 | | verbose_level > 4 ) {
SERIAL_PROTOCOLPGM ( " ?Verbose Level not plausible (0-4). \n " ) ;
return ;
}
}
if ( verbose_level > 0 )
SERIAL_PROTOCOLPGM ( " M48 Z-Probe Repeatability test \n " ) ;
if ( code_seen ( ' P ' ) | | code_seen ( ' p ' ) | | code_seen ( ' n ' ) ) { // `n` for legacy support only - please use `P`!
n_samples = code_value_short ( ) ;
if ( n_samples < 4 | | n_samples > 50 ) {
SERIAL_PROTOCOLPGM ( " ?Sample size not plausible (4-50). \n " ) ;
return ;
}
}
double X_probe_location , Y_probe_location ,
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 = Z_current + Z_RAISE_BEFORE_PROBING ,
ext_position = st_get_position_mm ( E_AXIS ) ;
bool deploy_probe_for_each_reading = code_seen ( ' E ' ) | | code_seen ( ' e ' ) ;
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 ( " ?X position out of range. \n " ) ;
return ;
}
}
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 ( " ?Y position out of range. \n " ) ;
return ;
}
}
if ( code_seen ( ' L ' ) | | code_seen ( ' l ' ) ) {
n_legs = code_value_short ( ) ;
if ( n_legs = = 1 ) n_legs = 2 ;
if ( n_legs < 0 | | n_legs > 15 ) {
SERIAL_PROTOCOLPGM ( " ?Number of legs in movement not plausible (0-15). \n " ) ;
return ;
}
}
//
// 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_PROTOCOLPGM ( " Positioning the probe... \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
//
deploy_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 ( deploy_probe_for_each_reading ) stow_z_probe ( ) ;
for ( uint8_t 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 ) {
unsigned long ms = millis ( ) ;
double radius = ms % ( X_MAX_LENGTH / 4 ) , // limit how far out to go
theta = RADIANS ( ms % 360L ) ;
float dir = ( ms & 0x0001 ) ? 1 : - 1 ; // clockwise or counter clockwise
//SERIAL_ECHOPAIR("starting radius: ",radius);
//SERIAL_ECHOPAIR(" theta: ",theta);
//SERIAL_ECHOPAIR(" direction: ",dir);
//SERIAL_EOL;
for ( uint8_t l = 0 ; l < n_legs - 1 ; l + + ) {
ms = millis ( ) ;
theta + = RADIANS ( dir * ( ms % 20L ) ) ;
radius + = ( ms % 10L ) - 5L ;
if ( radius < 0.0 ) radius = - radius ;
X_current = X_probe_location + cos ( theta ) * radius ;
Y_current = Y_probe_location + sin ( theta ) * radius ;
X_current = constrain ( X_current , X_MIN_POS , X_MAX_POS ) ;
Y_current = constrain ( Y_current , Y_MIN_POS , Y_MAX_POS ) ;
if ( verbose_level > 3 ) {
SERIAL_ECHOPAIR ( " x: " , X_current ) ;
SERIAL_ECHOPAIR ( " y: " , Y_current ) ;
SERIAL_EOL ;
}
do_blocking_move_to ( X_current , Y_current , Z_current ) ;
} // n_legs loop
do_blocking_move_to ( X_probe_location , Y_probe_location , Z_start_location ) ; // Go back to the probe location
} // n_legs
if ( deploy_probe_for_each_reading ) {
deploy_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 ( uint8_t j = 0 ; j < = n ; j + + ) sum + = sample_set [ j ] ;
mean = sum / ( n + 1 ) ;
//
// Now, use that mean to calculate the standard deviation for the
// data points we have so far
//
sum = 0.0 ;
for ( uint8_t j = 0 ; j < = n ; j + + ) {
float ss = sample_set [ j ] - mean ;
sum + = ss * ss ;
}
sigma = sqrt ( sum / ( n + 1 ) ) ;
if ( verbose_level > 1 ) {
SERIAL_PROTOCOL ( n + 1 ) ;
SERIAL_PROTOCOLPGM ( " of " ) ;
SERIAL_PROTOCOL ( n_samples ) ;
SERIAL_PROTOCOLPGM ( " z: " ) ;
SERIAL_PROTOCOL_F ( current_position [ Z_AXIS ] , 6 ) ;
if ( verbose_level > 2 ) {
SERIAL_PROTOCOLPGM ( " mean: " ) ;
SERIAL_PROTOCOL_F ( mean , 6 ) ;
SERIAL_PROTOCOLPGM ( " sigma: " ) ;
SERIAL_PROTOCOL_F ( sigma , 6 ) ;
}
Fixed error found by the free coverity tool (https://scan.coverity.com/)
===================================================
Hi,
Please find the latest report on new defect(s) introduced to ErikZalm/Marlin found with Coverity Scan.
Defect(s) Reported-by: Coverity Scan
Showing 15 of 15 defect(s)
** CID 59629: Unchecked return value (CHECKED_RETURN)
/Marlin_main.cpp: 2154 in process_commands()()
** CID 59630: Operands don't affect result (CONSTANT_EXPRESSION_RESULT)
/Applications/Arduino.app/Contents/Resources/Java/hardware/arduino/cores/arduino/Tone.cpp: 319 in tone(unsigned char, unsigned int, unsigned long)()
** CID 59631: Missing break in switch (MISSING_BREAK)
/Marlin_main.cpp: 1187 in process_commands()()
** CID 59632: Missing break in switch (MISSING_BREAK)
/Marlin_main.cpp: 1193 in process_commands()()
** CID 59633: Out-of-bounds write (OVERRUN)
/temperature.cpp: 914 in disable_heater()()
** CID 59634: Out-of-bounds write (OVERRUN)
/temperature.cpp: 913 in disable_heater()()
** CID 59635: Out-of-bounds read (OVERRUN)
/temperature.cpp: 626 in analog2temp(int, unsigned char)()
** CID 59636: Out-of-bounds read (OVERRUN)
/temperature.cpp: 620 in analog2temp(int, unsigned char)()
** CID 59637: Out-of-bounds write (OVERRUN)
/temperature.cpp: 202 in PID_autotune(float, int, int)()
** CID 59638: Out-of-bounds read (OVERRUN)
/temperature.cpp: 214 in PID_autotune(float, int, int)()
** CID 59639: Out-of-bounds write (OVERRUN)
/Marlin_main.cpp: 2278 in process_commands()()
** CID 59640: Out-of-bounds read (OVERRUN)
/Marlin_main.cpp: 1802 in process_commands()()
** CID 59641: Uninitialized scalar field (UNINIT_CTOR)
/Applications/Arduino.app/Contents/Resources/Java/libraries/LiquidCrystal/LiquidCrystal.cpp: 51 in LiquidCrystal::LiquidCrystal(unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char)()
** CID 59642: Uninitialized scalar field (UNINIT_CTOR)
/Applications/Arduino.app/Contents/Resources/Java/libraries/LiquidCrystal/LiquidCrystal.cpp: 45 in LiquidCrystal::LiquidCrystal(unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char)()
** CID 59643: Uninitialized scalar field (UNINIT_CTOR)
/Applications/Arduino.app/Contents/Resources/Java/libraries/LiquidCrystal/LiquidCrystal.cpp: 32 in LiquidCrystal::LiquidCrystal(unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char)()
________________________________________________________________________________________________________
*** CID 59629: Unchecked return value (CHECKED_RETURN)
/Marlin_main.cpp: 2154 in process_commands()()
2148 }
2149 #endif
2150 }
2151 }
2152 break;
2153 case 85: // M85
CID 59629: Unchecked return value (CHECKED_RETURN)
Calling "code_seen" without checking return value (as is done elsewhere 66 out of 67 times).
2154 code_seen('S');
2155 max_inactive_time = code_value() * 1000;
2156 break;
2157 case 92: // M92
2158 for(int8_t i=0; i < NUM_AXIS; i++)
2159 {
________________________________________________________________________________________________________
*** CID 59630: Operands don't affect result (CONSTANT_EXPRESSION_RESULT)
/Applications/Arduino.app/Contents/Resources/Java/hardware/arduino/cores/arduino/Tone.cpp: 319 in tone(unsigned char, unsigned int, unsigned long)()
313 else
314 {
315 // two choices for the 16 bit timers: ck/1 or ck/64
316 ocr = F_CPU / frequency / 2 - 1;
317
318 prescalarbits = 0b001;
CID 59630: Operands don't affect result (CONSTANT_EXPRESSION_RESULT)
"ocr > 65535U" is always false regardless of the values of its operands. This occurs as the logical operand of if.
319 if (ocr > 0xffff)
320 {
321 ocr = F_CPU / frequency / 2 / 64 - 1;
322 prescalarbits = 0b011;
323 }
324
________________________________________________________________________________________________________
*** CID 59631: Missing break in switch (MISSING_BREAK)
/Marlin_main.cpp: 1187 in process_commands()()
1181 case 2: // G2 - CW ARC
1182 if(Stopped == false) {
1183 get_arc_coordinates();
1184 prepare_arc_move(true);
1185 return;
1186 }
CID 59631: Missing break in switch (MISSING_BREAK)
The above case falls through to this one.
1187 case 3: // G3 - CCW ARC
1188 if(Stopped == false) {
1189 get_arc_coordinates();
1190 prepare_arc_move(false);
1191 return;
1192 }
________________________________________________________________________________________________________
*** CID 59632: Missing break in switch (MISSING_BREAK)
/Marlin_main.cpp: 1193 in process_commands()()
1187 case 3: // G3 - CCW ARC
1188 if(Stopped == false) {
1189 get_arc_coordinates();
1190 prepare_arc_move(false);
1191 return;
1192 }
CID 59632: Missing break in switch (MISSING_BREAK)
The above case falls through to this one.
1193 case 4: // G4 dwell
1194 LCD_MESSAGEPGM(MSG_DWELL);
1195 codenum = 0;
1196 if(code_seen('P')) codenum = code_value(); // milliseconds to wait
1197 if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
1198
________________________________________________________________________________________________________
*** CID 59633: Out-of-bounds write (OVERRUN)
/temperature.cpp: 914 in disable_heater()()
908 WRITE(HEATER_0_PIN,LOW);
909 #endif
910 #endif
911
912 #if defined(TEMP_1_PIN) && TEMP_1_PIN > -1
913 target_temperature[1]=0;
CID 59633: Out-of-bounds write (OVERRUN)
Overrunning array "soft_pwm" of 1 bytes at byte offset 1 using index "1".
914 soft_pwm[1]=0;
915 #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
916 WRITE(HEATER_1_PIN,LOW);
917 #endif
918 #endif
919
________________________________________________________________________________________________________
*** CID 59634: Out-of-bounds write (OVERRUN)
/temperature.cpp: 913 in disable_heater()()
907 #if defined(HEATER_0_PIN) && HEATER_0_PIN > -1
908 WRITE(HEATER_0_PIN,LOW);
909 #endif
910 #endif
911
912 #if defined(TEMP_1_PIN) && TEMP_1_PIN > -1
CID 59634: Out-of-bounds write (OVERRUN)
Overrunning array "target_temperature" of 1 2-byte elements at element index 1 (byte offset 2) using index "1".
913 target_temperature[1]=0;
914 soft_pwm[1]=0;
915 #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
916 WRITE(HEATER_1_PIN,LOW);
917 #endif
918 #endif
________________________________________________________________________________________________________
*** CID 59635: Out-of-bounds read (OVERRUN)
/temperature.cpp: 626 in analog2temp(int, unsigned char)()
620 if(heater_ttbl_map[e] != NULL)
621 {
622 float celsius = 0;
623 uint8_t i;
624 short (*tt)[][2] = (short (*)[][2])(heater_ttbl_map[e]);
625
CID 59635: Out-of-bounds read (OVERRUN)
Overrunning array "heater_ttbllen_map" of 1 bytes at byte offset 1 using index "e" (which evaluates to 1).
626 for (i=1; i<heater_ttbllen_map[e]; i++)
627 {
628 if (PGM_RD_W((*tt)[i][0]) > raw)
629 {
630 celsius = PGM_RD_W((*tt)[i-1][1]) +
631 (raw - PGM_RD_W((*tt)[i-1][0])) *
________________________________________________________________________________________________________
*** CID 59636: Out-of-bounds read (OVERRUN)
/temperature.cpp: 620 in analog2temp(int, unsigned char)()
614 if (e == 0)
615 {
616 return 0.25 * raw;
617 }
618 #endif
619
CID 59636: Out-of-bounds read (OVERRUN)
Overrunning array "heater_ttbl_map" of 1 2-byte elements at element index 1 (byte offset 2) using index "e" (which evaluates to 1).
620 if(heater_ttbl_map[e] != NULL)
621 {
622 float celsius = 0;
623 uint8_t i;
624 short (*tt)[][2] = (short (*)[][2])(heater_ttbl_map[e]);
625
________________________________________________________________________________________________________
*** CID 59637: Out-of-bounds write (OVERRUN)
/temperature.cpp: 202 in PID_autotune(float, int, int)()
196 {
197 soft_pwm_bed = (MAX_BED_POWER)/2;
198 bias = d = (MAX_BED_POWER)/2;
199 }
200 else
201 {
CID 59637: Out-of-bounds write (OVERRUN)
Overrunning array "soft_pwm" of 1 bytes at byte offset 1 using index "extruder" (which evaluates to 1).
202 soft_pwm[extruder] = (PID_MAX)/2;
203 bias = d = (PID_MAX)/2;
204 }
205
206
207
________________________________________________________________________________________________________
*** CID 59638: Out-of-bounds read (OVERRUN)
/temperature.cpp: 214 in PID_autotune(float, int, int)()
208
209 for(;;) {
210
211 if(temp_meas_ready == true) { // temp sample ready
212 updateTemperaturesFromRawValues();
213
CID 59638: Out-of-bounds read (OVERRUN)
Overrunning array "current_temperature" of 1 4-byte elements at element index 1 (byte offset 4) using index "extruder" (which evaluates to 1).
214 input = (extruder<0)?current_temperature_bed:current_temperature[extruder];
215
216 max=max(max,input);
217 min=min(min,input);
218 if(heating == true && input > temp) {
219 if(millis() - t2 > 5000) {
________________________________________________________________________________________________________
*** CID 59639: Out-of-bounds write (OVERRUN)
/Marlin_main.cpp: 2278 in process_commands()()
2272 tmp_extruder = code_value();
2273 if(tmp_extruder >= EXTRUDERS) {
2274 SERIAL_ECHO_START;
2275 SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER);
2276 }
2277 }
CID 59639: Out-of-bounds write (OVERRUN)
Overrunning array "volumetric_multiplier" of 1 4-byte elements at element index 1 (byte offset 4) using index "tmp_extruder" (which evaluates to 1).
2278 volumetric_multiplier[tmp_extruder] = 1 / area;
2279 }
2280 break;
2281 case 201: // M201
2282 for(int8_t i=0; i < NUM_AXIS; i++)
2283 {
________________________________________________________________________________________________________
*** CID 59640: Out-of-bounds read (OVERRUN)
/Marlin_main.cpp: 1802 in process_commands()()
1796 int pin_status = code_value();
1797 int pin_number = LED_PIN;
1798 if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
1799 pin_number = code_value();
1800 for(int8_t i = 0; i < (int8_t)sizeof(sensitive_pins); i++)
1801 {
CID 59640: Out-of-bounds read (OVERRUN)
Overrunning array "sensitive_pins" of 28 2-byte elements at element index 55 (byte offset 110) using index "i" (which evaluates to 55).
1802 if (sensitive_pins[i] == pin_number)
1803 {
1804 pin_number = -1;
1805 break;
1806 }
1807 }
________________________________________________________________________________________________________
*** CID 59641: Uninitialized scalar field (UNINIT_CTOR)
/Applications/Arduino.app/Contents/Resources/Java/libraries/LiquidCrystal/LiquidCrystal.cpp: 51 in LiquidCrystal::LiquidCrystal(unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char)()
45 }
46
47 LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t enable,
48 uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3)
49 {
50 init(1, rs, 255, enable, d0, d1, d2, d3, 0, 0, 0, 0);
CID 59641: Uninitialized scalar field (UNINIT_CTOR)
Non-static class member "_initialized" is not initialized in this constructor nor in any functions that it calls.
51 }
52
53 void LiquidCrystal::init(uint8_t fourbitmode, uint8_t rs, uint8_t rw, uint8_t enable,
54 uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
55 uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7)
56 {
________________________________________________________________________________________________________
*** CID 59642: Uninitialized scalar field (UNINIT_CTOR)
/Applications/Arduino.app/Contents/Resources/Java/libraries/LiquidCrystal/LiquidCrystal.cpp: 45 in LiquidCrystal::LiquidCrystal(unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char)()
39 }
40
41 LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable,
42 uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3)
43 {
44 init(1, rs, rw, enable, d0, d1, d2, d3, 0, 0, 0, 0);
CID 59642: Uninitialized scalar field (UNINIT_CTOR)
Non-static class member "_initialized" is not initialized in this constructor nor in any functions that it calls.
45 }
46
47 LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t enable,
48 uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3)
49 {
50 init(1, rs, 255, enable, d0, d1, d2, d3, 0, 0, 0, 0);
________________________________________________________________________________________________________
*** CID 59643: Uninitialized scalar field (UNINIT_CTOR)
/Applications/Arduino.app/Contents/Resources/Java/libraries/LiquidCrystal/LiquidCrystal.cpp: 32 in LiquidCrystal::LiquidCrystal(unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char)()
26
27 LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable,
28 uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
29 uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7)
30 {
31 init(0, rs, rw, enable, d0, d1, d2, d3, d4, d5, d6, d7);
CID 59643: Uninitialized scalar field (UNINIT_CTOR)
Non-static class member "_initialized" is not initialized in this constructor nor in any functions that it calls.
32 }
33
34 LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t enable,
35 uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
36 uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7)
37 {
________________________________________________________________________________________________________
To view the defects in Coverity Scan visit, http://scan.coverity.com/projects/2224?tab=overview
11 years ago
}
if ( verbose_level > 0 ) SERIAL_EOL ;
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 ( deploy_probe_for_each_reading ) {
stow_z_probe ( ) ;
delay ( 1000 ) ;
}
}
if ( ! deploy_probe_for_each_reading ) {
stow_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_EOL ;
}
SERIAL_PROTOCOLPGM ( " Standard Deviation: " ) ;
SERIAL_PROTOCOL_F ( sigma , 6 ) ;
SERIAL_EOL ; SERIAL_EOL ;
}
# endif // ENABLE_AUTO_BED_LEVELING && Z_PROBE_REPEATABILITY_TEST
/**
* M104 : Set hot end temperature
*/
inline void gcode_M104 ( ) {
if ( setTargetedHotend ( 104 ) ) return ;
if ( code_seen ( ' S ' ) ) {
float temp = code_value ( ) ;
setTargetHotend ( temp , target_extruder ) ;
# ifdef DUAL_X_CARRIAGE
if ( dual_x_carriage_mode = = DXC_DUPLICATION_MODE & & target_extruder = = 0 )
setTargetHotend1 ( temp = = 0.0 ? 0.0 : temp + duplicate_extruder_temp_offset ) ;
# endif
setWatch ( ) ;
}
}
/**
* M105 : Read hot end and bed temperature
*/
inline void gcode_M105 ( ) {
if ( setTargetedHotend ( 105 ) ) return ;
# if HAS_TEMP_0 || HAS_TEMP_BED
SERIAL_PROTOCOLPGM ( " ok " ) ;
# if HAS_TEMP_0
SERIAL_PROTOCOLPGM ( " T: " ) ;
SERIAL_PROTOCOL_F ( degHotend ( target_extruder ) , 1 ) ;
SERIAL_PROTOCOLPGM ( " / " ) ;
SERIAL_PROTOCOL_F ( degTargetHotend ( target_extruder ) , 1 ) ;
# endif
# if HAS_TEMP_BED
SERIAL_PROTOCOLPGM ( " B: " ) ;
SERIAL_PROTOCOL_F ( degBed ( ) , 1 ) ;
SERIAL_PROTOCOLPGM ( " / " ) ;
SERIAL_PROTOCOL_F ( degTargetBed ( ) , 1 ) ;
# endif
for ( int8_t e = 0 ; e < EXTRUDERS ; + + e ) {
SERIAL_PROTOCOLPGM ( " T " ) ;
SERIAL_PROTOCOL ( e ) ;
SERIAL_PROTOCOLCHAR ( ' : ' ) ;
SERIAL_PROTOCOL_F ( degHotend ( e ) , 1 ) ;
SERIAL_PROTOCOLPGM ( " / " ) ;
SERIAL_PROTOCOL_F ( degTargetHotend ( e ) , 1 ) ;
}
# else // !HAS_TEMP_0 && !HAS_TEMP_BED
SERIAL_ERROR_START ;
SERIAL_ERRORLNPGM ( MSG_ERR_NO_THERMISTORS ) ;
# endif
SERIAL_PROTOCOLPGM ( " @: " ) ;
# ifdef EXTRUDER_WATTS
SERIAL_PROTOCOL ( ( EXTRUDER_WATTS * getHeaterPower ( target_extruder ) ) / 127 ) ;
SERIAL_PROTOCOLCHAR ( ' W ' ) ;
# else
SERIAL_PROTOCOL ( getHeaterPower ( target_extruder ) ) ;
# endif
SERIAL_PROTOCOLPGM ( " B@: " ) ;
# ifdef BED_WATTS
SERIAL_PROTOCOL ( ( BED_WATTS * getHeaterPower ( - 1 ) ) / 127 ) ;
SERIAL_PROTOCOLCHAR ( ' W ' ) ;
# else
SERIAL_PROTOCOL ( getHeaterPower ( - 1 ) ) ;
# endif
# ifdef SHOW_TEMP_ADC_VALUES
# if HAS_TEMP_BED
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_PROTOCOLCHAR ( ' : ' ) ;
SERIAL_PROTOCOL_F ( degHotend ( cur_extruder ) , 1 ) ;
SERIAL_PROTOCOLPGM ( " C-> " ) ;
SERIAL_PROTOCOL_F ( rawHotendTemp ( cur_extruder ) / OVERSAMPLENR , 0 ) ;
}
# endif
SERIAL_EOL ;
}
# if HAS_FAN
/**
* M106 : Set Fan Speed
*/
inline void gcode_M106 ( ) { fanSpeed = code_seen ( ' S ' ) ? constrain ( code_value_short ( ) , 0 , 255 ) : 255 ; }
/**
* M107 : Fan Off
*/
inline void gcode_M107 ( ) { fanSpeed = 0 ; }
# endif // HAS_FAN
/**
* M109 : Wait for extruder ( s ) to reach temperature
*/
inline void gcode_M109 ( ) {
if ( setTargetedHotend ( 109 ) ) return ;
LCD_MESSAGEPGM ( MSG_HEATING ) ;
CooldownNoWait = code_seen ( ' S ' ) ;
if ( CooldownNoWait | | code_seen ( ' R ' ) ) {
float temp = code_value ( ) ;
setTargetHotend ( temp , target_extruder ) ;
# ifdef DUAL_X_CARRIAGE
if ( dual_x_carriage_mode = = DXC_DUPLICATION_MODE & & target_extruder = = 0 )
setTargetHotend1 ( temp = = 0.0 ? 0.0 : temp + duplicate_extruder_temp_offset ) ;
# endif
}
# ifdef AUTOTEMP
autotemp_enabled = code_seen ( ' F ' ) ;
if ( autotemp_enabled ) autotemp_factor = code_value ( ) ;
if ( code_seen ( ' S ' ) ) autotemp_min = code_value ( ) ;
if ( code_seen ( ' B ' ) ) autotemp_max = code_value ( ) ;
# endif
setWatch ( ) ;
unsigned long timetemp = millis ( ) ;
/* See if we are heating up or cooling down */
target_direction = isHeatingHotend ( target_extruder ) ; // true if heating, false if cooling
cancel_heatup = false ;
# ifdef TEMP_RESIDENCY_TIME
long 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 ( target_extruder ) ) : ( isCoolingHotend ( target_extruder ) & & ( CooldownNoWait = = false ) ) )
# endif //TEMP_RESIDENCY_TIME
{ // while loop
if ( millis ( ) > timetemp + 1000UL ) { //Print temp & remaining time every 1s while waiting
SERIAL_PROTOCOLPGM ( " T: " ) ;
SERIAL_PROTOCOL_F ( degHotend ( target_extruder ) , 1 ) ;
SERIAL_PROTOCOLPGM ( " E: " ) ;
SERIAL_PROTOCOL ( ( int ) target_extruder ) ;
# ifdef TEMP_RESIDENCY_TIME
SERIAL_PROTOCOLPGM ( " W: " ) ;
if ( residencyStart > - 1 ) {
timetemp = ( ( TEMP_RESIDENCY_TIME * 1000UL ) - ( millis ( ) - residencyStart ) ) / 1000UL ;
SERIAL_PROTOCOLLN ( timetemp ) ;
}
else {
SERIAL_PROTOCOLLNPGM ( " ? " ) ;
}
# else
SERIAL_EOL ;
# endif
timetemp = 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 ( target_extruder ) > = ( degTargetHotend ( target_extruder ) - TEMP_WINDOW ) ) ) | |
( residencyStart = = - 1 & & ! target_direction & & ( degHotend ( target_extruder ) < = ( degTargetHotend ( target_extruder ) + TEMP_WINDOW ) ) ) | |
( residencyStart > - 1 & & labs ( degHotend ( target_extruder ) - degTargetHotend ( target_extruder ) ) > TEMP_HYSTERESIS ) )
{
residencyStart = millis ( ) ;
}
# endif //TEMP_RESIDENCY_TIME
}
LCD_MESSAGEPGM ( MSG_HEATING_COMPLETE ) ;
refresh_cmd_timeout ( ) ;
starttime = previous_millis_cmd ;
}
# if HAS_TEMP_BED
/**
* M190 : Sxxx Wait for bed current temp to reach target temp . Waits only when heating
* Rxxx Wait for bed current temp to reach target temp . Waits when heating and cooling
*/
inline void gcode_M190 ( ) {
LCD_MESSAGEPGM ( MSG_BED_HEATING ) ;
CooldownNoWait = code_seen ( ' S ' ) ;
if ( CooldownNoWait | | code_seen ( ' R ' ) )
setTargetBed ( code_value ( ) ) ;
unsigned long timetemp = millis ( ) ;
cancel_heatup = false ;
target_direction = isHeatingBed ( ) ; // true if heating, false if cooling
while ( ( target_direction ) & & ( ! cancel_heatup ) ? ( isHeatingBed ( ) ) : ( isCoolingBed ( ) & & ( CooldownNoWait = = false ) ) ) {
unsigned long ms = millis ( ) ;
if ( ms > timetemp + 1000UL ) { //Print Temp Reading every 1 second while heating up.
timetemp = ms ;
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_EOL ;
}
manage_heater ( ) ;
manage_inactivity ( ) ;
lcd_update ( ) ;
}
LCD_MESSAGEPGM ( MSG_BED_DONE ) ;
refresh_cmd_timeout ( ) ;
}
# endif // HAS_TEMP_BED
/**
* M112 : Emergency Stop
*/
inline void gcode_M112 ( ) {
kill ( ) ;
}
# ifdef BARICUDA
# if HAS_HEATER_1
/**
* M126 : Heater 1 valve open
*/
inline void gcode_M126 ( ) { ValvePressure = code_seen ( ' S ' ) ? constrain ( code_value ( ) , 0 , 255 ) : 255 ; }
/**
* M127 : Heater 1 valve close
*/
inline void gcode_M127 ( ) { ValvePressure = 0 ; }
# endif
# if HAS_HEATER_2
/**
* M128 : Heater 2 valve open
*/
inline void gcode_M128 ( ) { EtoPPressure = code_seen ( ' S ' ) ? constrain ( code_value ( ) , 0 , 255 ) : 255 ; }
/**
* M129 : Heater 2 valve close
*/
inline void gcode_M129 ( ) { EtoPPressure = 0 ; }
# endif
# endif //BARICUDA
/**
* M140 : Set bed temperature
*/
inline void gcode_M140 ( ) {
if ( code_seen ( ' S ' ) ) setTargetBed ( code_value ( ) ) ;
}
# if HAS_POWER_SWITCH
/**
* M80 : Turn on Power Supply
*/
inline void gcode_M80 ( ) {
OUT_WRITE ( PS_ON_PIN , PS_ON_AWAKE ) ; //GND
// If you have a switch on suicide pin, this is useful
// if you want to start another print with suicide feature after
// a print without suicide...
# if HAS_SUICIDE
OUT_WRITE ( SUICIDE_PIN , HIGH ) ;
# endif
# ifdef ULTIPANEL
powersupply = true ;
LCD_MESSAGEPGM ( WELCOME_MSG ) ;
lcd_update ( ) ;
# endif
}
# endif // HAS_POWER_SWITCH
/**
* M81 : Turn off Power , including Power Supply , if there is one .
*
* This code should ALWAYS be available for EMERGENCY SHUTDOWN !
*/
inline void gcode_M81 ( ) {
disable_heater ( ) ;
st_synchronize ( ) ;
disable_e0 ( ) ;
disable_e1 ( ) ;
disable_e2 ( ) ;
disable_e3 ( ) ;
finishAndDisableSteppers ( ) ;
fanSpeed = 0 ;
delay ( 1000 ) ; // Wait 1 second before switching off
# if HAS_SUICIDE
st_synchronize ( ) ;
suicide ( ) ;
# elif HAS_POWER_SWITCH
OUT_WRITE ( PS_ON_PIN , PS_ON_ASLEEP ) ;
# endif
# ifdef ULTIPANEL
# if HAS_POWER_SWITCH
powersupply = false ;
# endif
LCD_MESSAGEPGM ( MACHINE_NAME " " MSG_OFF " . " ) ;
lcd_update ( ) ;
# endif
}
/**
* M82 : Set E codes absolute ( default )
*/
inline void gcode_M82 ( ) { axis_relative_modes [ E_AXIS ] = false ; }
/**
* M82 : Set E codes relative while in Absolute Coordinates ( G90 ) mode
*/
inline void gcode_M83 ( ) { axis_relative_modes [ E_AXIS ] = true ; }
/**
* M18 , M84 : Disable all stepper motors
*/
inline void gcode_M18_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 ( ) ;
disable_e3 ( ) ;
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 ( ) ;
disable_e3 ( ) ;
}
# endif
}
}
}
/**
* M85 : Set inactivity shutdown timer with parameter S < seconds > . To disable set zero ( default )
*/
inline void gcode_M85 ( ) {
if ( code_seen ( ' S ' ) ) max_inactive_time = code_value ( ) * 1000 ;
}
/**
* M92 : Set inactivity shutdown timer with parameter S < seconds > . To disable set zero ( default )
*/
inline void gcode_M92 ( ) {
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) ) {
if ( i = = E_AXIS ) {
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 ( ) ;
}
}
}
}
/**
* M114 : Output current position to serial port
*/
inline void gcode_M114 ( ) {
SERIAL_PROTOCOLPGM ( " X: " ) ;
SERIAL_PROTOCOL ( current_position [ X_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Y: " ) ;
SERIAL_PROTOCOL ( current_position [ Y_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Z: " ) ;
SERIAL_PROTOCOL ( current_position [ Z_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " E: " ) ;
SERIAL_PROTOCOL ( current_position [ E_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( MSG_COUNT_X ) ;
SERIAL_PROTOCOL ( float ( st_get_position ( X_AXIS ) ) / axis_steps_per_unit [ X_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Y: " ) ;
SERIAL_PROTOCOL ( float ( st_get_position ( Y_AXIS ) ) / axis_steps_per_unit [ Y_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Z: " ) ;
SERIAL_PROTOCOL ( float ( st_get_position ( Z_AXIS ) ) / axis_steps_per_unit [ Z_AXIS ] ) ;
SERIAL_EOL ;
# ifdef SCARA
SERIAL_PROTOCOLPGM ( " SCARA Theta: " ) ;
SERIAL_PROTOCOL ( delta [ X_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Psi+Theta: " ) ;
SERIAL_PROTOCOL ( delta [ Y_AXIS ] ) ;
SERIAL_EOL ;
SERIAL_PROTOCOLPGM ( " SCARA Cal - Theta: " ) ;
SERIAL_PROTOCOL ( delta [ X_AXIS ] + home_offset [ X_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Psi+Theta (90): " ) ;
SERIAL_PROTOCOL ( delta [ Y_AXIS ] - delta [ X_AXIS ] - 90 + home_offset [ Y_AXIS ] ) ;
SERIAL_EOL ;
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_EOL ; SERIAL_EOL ;
# endif
}
/**
* M115 : Capabilities string
*/
inline void gcode_M115 ( ) {
SERIAL_PROTOCOLPGM ( MSG_M115_REPORT ) ;
}
/**
* M117 : Set LCD Status Message
*/
inline void gcode_M117 ( ) {
char * codepos = strchr_pointer + 5 ;
char * starpos = strchr ( codepos , ' * ' ) ;
if ( starpos ) * starpos = ' \0 ' ;
lcd_setstatus ( codepos ) ;
}
/**
* M119 : Output endstop states to serial output
*/
inline void gcode_M119 ( ) {
SERIAL_PROTOCOLLN ( MSG_M119_REPORT ) ;
# if HAS_X_MIN
SERIAL_PROTOCOLPGM ( MSG_X_MIN ) ;
SERIAL_PROTOCOLLN ( ( ( READ ( X_MIN_PIN ) ^ X_MIN_ENDSTOP_INVERTING ) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN ) ) ;
# endif
# if HAS_X_MAX
SERIAL_PROTOCOLPGM ( MSG_X_MAX ) ;
SERIAL_PROTOCOLLN ( ( ( READ ( X_MAX_PIN ) ^ X_MAX_ENDSTOP_INVERTING ) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN ) ) ;
# endif
# if HAS_Y_MIN
SERIAL_PROTOCOLPGM ( MSG_Y_MIN ) ;
SERIAL_PROTOCOLLN ( ( ( READ ( Y_MIN_PIN ) ^ Y_MIN_ENDSTOP_INVERTING ) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN ) ) ;
# endif
# if HAS_Y_MAX
SERIAL_PROTOCOLPGM ( MSG_Y_MAX ) ;
SERIAL_PROTOCOLLN ( ( ( READ ( Y_MAX_PIN ) ^ Y_MAX_ENDSTOP_INVERTING ) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN ) ) ;
# endif
# if HAS_Z_MIN
SERIAL_PROTOCOLPGM ( MSG_Z_MIN ) ;
SERIAL_PROTOCOLLN ( ( ( READ ( Z_MIN_PIN ) ^ Z_MIN_ENDSTOP_INVERTING ) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN ) ) ;
# endif
# if HAS_Z_MAX
SERIAL_PROTOCOLPGM ( MSG_Z_MAX ) ;
SERIAL_PROTOCOLLN ( ( ( READ ( Z_MAX_PIN ) ^ Z_MAX_ENDSTOP_INVERTING ) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN ) ) ;
# endif
# if HAS_Z2_MAX
SERIAL_PROTOCOLPGM ( MSG_Z2_MAX ) ;
SERIAL_PROTOCOLLN ( ( ( READ ( Z2_MAX_PIN ) ^ Z2_MAX_ENDSTOP_INVERTING ) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN ) ) ;
# endif
# if HAS_Z_PROBE
SERIAL_PROTOCOLPGM ( MSG_Z_PROBE ) ;
SERIAL_PROTOCOLLN ( ( ( READ ( Z_PROBE_PIN ) ^ Z_PROBE_ENDSTOP_INVERTING ) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN ) ) ;
# endif
}
/**
* M120 : Enable endstops
*/
inline void gcode_M120 ( ) { enable_endstops ( false ) ; }
/**
* M121 : Disable endstops
*/
inline void gcode_M121 ( ) { enable_endstops ( true ) ; }
# ifdef BLINKM
/**
* M150 : Set Status LED Color - Use R - U - B for R - G - B
*/
inline void gcode_M150 ( ) {
SendColors (
code_seen ( ' R ' ) ? ( byte ) code_value_short ( ) : 0 ,
code_seen ( ' U ' ) ? ( byte ) code_value_short ( ) : 0 ,
code_seen ( ' B ' ) ? ( byte ) code_value_short ( ) : 0
) ;
}
# endif // BLINKM
/**
* M200 : Set filament diameter and set E axis units to cubic millimeters ( use S0 to set back to millimeters ) .
* T < extruder >
* D < millimeters >
*/
inline void gcode_M200 ( ) {
int tmp_extruder = active_extruder ;
if ( code_seen ( ' T ' ) ) {
tmp_extruder = code_value_short ( ) ;
if ( tmp_extruder > = EXTRUDERS ) {
SERIAL_ECHO_START ;
SERIAL_ECHO ( MSG_M200_INVALID_EXTRUDER ) ;
return ;
}
}
if ( code_seen ( ' D ' ) ) {
float diameter = code_value ( ) ;
// 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 = ( diameter ! = 0.0 ) ;
if ( volumetric_enabled ) {
filament_size [ tmp_extruder ] = diameter ;
// make sure all extruders have some sane value for the filament size
for ( int i = 0 ; i < EXTRUDERS ; i + + )
if ( ! filament_size [ i ] ) filament_size [ i ] = DEFAULT_NOMINAL_FILAMENT_DIA ;
}
}
else {
//reserved for setting filament diameter via UFID or filament measuring device
return ;
}
calculate_volumetric_multipliers ( ) ;
}
/**
* M201 : Set max acceleration in units / s ^ 2 for print moves ( M201 X1000 Y1000 )
*/
inline void gcode_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 ( ) ;
}
#if 0 // Not used for Sprinter/grbl gen6
inline void gcode_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 ] ;
}
}
# endif
/**
* M203 : Set maximum feedrate that your machine can sustain ( M203 X200 Y200 Z300 E10000 ) in mm / sec
*/
inline void gcode_M203 ( ) {
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) ) {
max_feedrate [ i ] = code_value ( ) ;
}
}
}
/**
* M204 : Set Accelerations in mm / sec ^ 2 ( M204 P1200 R3000 T3000 )
*
* P = Printing moves
* R = Retract only ( no X , Y , Z ) moves
* T = Travel ( non printing ) moves
*
* Also sets minimum segment time in ms ( B20000 ) to prevent buffer under - runs and M20 minimum feedrate
*/
inline void gcode_M204 ( ) {
if ( code_seen ( ' S ' ) ) { // Kept for legacy compatibility. Should NOT BE USED for new developments.
acceleration = code_value ( ) ;
travel_acceleration = acceleration ;
SERIAL_ECHOPAIR ( " Setting Print and Travel Acceleration: " , acceleration ) ;
SERIAL_EOL ;
}
if ( code_seen ( ' P ' ) ) {
acceleration = code_value ( ) ;
SERIAL_ECHOPAIR ( " Setting Print Acceleration: " , acceleration ) ;
SERIAL_EOL ;
}
if ( code_seen ( ' R ' ) ) {
retract_acceleration = code_value ( ) ;
SERIAL_ECHOPAIR ( " Setting Retract Acceleration: " , retract_acceleration ) ;
SERIAL_EOL ;
}
if ( code_seen ( ' T ' ) ) {
travel_acceleration = code_value ( ) ;
SERIAL_ECHOPAIR ( " Setting Travel Acceleration: " , travel_acceleration ) ;
SERIAL_EOL ;
}
}
/**
* M205 : Set Advanced Settings
*
* S = Min Feed Rate ( mm / s )
* T = Min Travel Feed Rate ( mm / s )
* B = Min Segment Time ( µ s )
* X = Max XY Jerk ( mm / s / s )
* Z = Max Z Jerk ( mm / s / s )
* E = Max E Jerk ( mm / s / s )
*/
inline void gcode_M205 ( ) {
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 ( ) ;
}
/**
* M206 : Set Additional Homing Offset ( X Y Z ) . SCARA aliases T = X , P = Y
*/
inline void gcode_M206 ( ) {
for ( int8_t i = X_AXIS ; i < = Z_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) ) {
home_offset [ i ] = code_value ( ) ;
}
}
# ifdef SCARA
if ( code_seen ( ' T ' ) ) home_offset [ X_AXIS ] = code_value ( ) ; // Theta
if ( code_seen ( ' P ' ) ) home_offset [ Y_AXIS ] = code_value ( ) ; // Psi
# endif
}
# ifdef DELTA
/**
* M665 : Set delta configurations
*
* L = diagonal rod
* R = delta radius
* S = segments per second
*/
inline void gcode_M665 ( ) {
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 ) ;
}
/**
* M666 : Set delta endstop adjustment
*/
inline void gcode_M666 ( ) {
for ( int8_t i = 0 ; i < 3 ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) ) {
endstop_adj [ i ] = code_value ( ) ;
}
}
}
# elif defined(Z_DUAL_ENDSTOPS)
/**
* M666 : For Z Dual Endstop setup , set z axis offset to the z2 axis .
*/
inline void gcode_M666 ( ) {
if ( code_seen ( ' Z ' ) ) z_endstop_adj = code_value ( ) ;
SERIAL_ECHOPAIR ( " Z Endstop Adjustment set to (mm): " , z_endstop_adj ) ;
SERIAL_EOL ;
}
# endif // DELTA
# ifdef FWRETRACT
/**
* M207 : Set retract length S [ positive mm ] F [ feedrate mm / min ] Z [ additional zlift / hop ]
*/
inline void gcode_M207 ( ) {
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 ( ) ;
}
/**
* M208 : Set retract recover length S [ positive mm surplus to the M207 S * ] F [ feedrate mm / min ]
*/
inline void gcode_M208 ( ) {
if ( code_seen ( ' S ' ) ) retract_recover_length = code_value ( ) ;
if ( code_seen ( ' F ' ) ) retract_recover_feedrate = code_value ( ) / 60 ;
}
/**
* M209 : Enable automatic retract ( M209 S1 )
* detect if the slicer did not support G10 / 11 : every normal extrude - only move will be classified as retract depending on the direction .
*/
inline void gcode_M209 ( ) {
if ( code_seen ( ' S ' ) ) {
int t = code_value_short ( ) ;
switch ( t ) {
case 0 :
autoretract_enabled = false ;
break ;
case 1 :
autoretract_enabled = true ;
break ;
default :
SERIAL_ECHO_START ;
SERIAL_ECHOPGM ( MSG_UNKNOWN_COMMAND ) ;
SERIAL_ECHO ( cmdbuffer [ bufindr ] ) ;
SERIAL_ECHOLNPGM ( " \" " ) ;
return ;
}
for ( int i = 0 ; i < EXTRUDERS ; i + + ) retracted [ i ] = false ;
}
}
# endif // FWRETRACT
# if EXTRUDERS > 1
/**
* M218 - set hotend offset ( in mm ) , T < extruder_number > X < offset_on_X > Y < offset_on_Y >
*/
inline void gcode_M218 ( ) {
if ( setTargetedHotend ( 218 ) ) return ;
if ( code_seen ( ' X ' ) ) extruder_offset [ X_AXIS ] [ target_extruder ] = code_value ( ) ;
if ( code_seen ( ' Y ' ) ) extruder_offset [ Y_AXIS ] [ target_extruder ] = code_value ( ) ;
# ifdef DUAL_X_CARRIAGE
if ( code_seen ( ' Z ' ) ) extruder_offset [ Z_AXIS ] [ target_extruder ] = code_value ( ) ;
# endif
SERIAL_ECHO_START ;
SERIAL_ECHOPGM ( MSG_HOTEND_OFFSET ) ;
for ( int e = 0 ; e < EXTRUDERS ; e + + ) {
SERIAL_CHAR ( ' ' ) ;
SERIAL_ECHO ( extruder_offset [ X_AXIS ] [ e ] ) ;
SERIAL_CHAR ( ' , ' ) ;
SERIAL_ECHO ( extruder_offset [ Y_AXIS ] [ e ] ) ;
# ifdef DUAL_X_CARRIAGE
SERIAL_CHAR ( ' , ' ) ;
SERIAL_ECHO ( extruder_offset [ Z_AXIS ] [ e ] ) ;
# endif
}
SERIAL_EOL ;
}
# endif // EXTRUDERS > 1
/**
* M220 : Set speed percentage factor , aka " Feed Rate " ( M220 S95 )
*/
inline void gcode_M220 ( ) {
if ( code_seen ( ' S ' ) ) feedmultiply = code_value ( ) ;
}
/**
* M221 : Set extrusion percentage ( M221 T0 S95 )
*/
inline void gcode_M221 ( ) {
if ( code_seen ( ' S ' ) ) {
int sval = code_value ( ) ;
if ( code_seen ( ' T ' ) ) {
if ( setTargetedHotend ( 221 ) ) return ;
extruder_multiply [ target_extruder ] = sval ;
}
else {
extruder_multiply [ active_extruder ] = sval ;
}
}
}
/**
* M226 : Wait until the specified pin reaches the state required ( M226 P < pin > S < state > )
*/
inline void gcode_M226 ( ) {
if ( code_seen ( ' P ' ) ) {
int pin_number = code_value ( ) ;
int pin_state = code_seen ( ' S ' ) ? code_value ( ) : - 1 ; // required pin state - default is inverted
if ( pin_state > = - 1 & & pin_state < = 1 ) {
for ( int8_t i = 0 ; i < ( int8_t ) ( sizeof ( sensitive_pins ) / sizeof ( * sensitive_pins ) ) ; 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 ( ) ;
}
} // pin_number > -1
} // pin_state -1 0 1
} // code_seen('P')
}
# if NUM_SERVOS > 0
/**
* M280 : Set servo position absolute . P : servo index , S : angle or microseconds
*/
inline void gcode_M280 ( ) {
int servo_index = code_seen ( ' P ' ) ? code_value ( ) : - 1 ;
int servo_position = 0 ;
if ( code_seen ( ' S ' ) ) {
servo_position = code_value ( ) ;
if ( ( servo_index > = 0 ) & & ( servo_index < NUM_SERVOS ) ) {
# if SERVO_LEVELING
servos [ servo_index ] . attach ( 0 ) ;
# endif
servos [ servo_index ] . write ( servo_position ) ;
# if SERVO_LEVELING
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_EOL ;
}
}
# endif // NUM_SERVOS > 0
# if defined(LARGE_FLASH) && (BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER))
/**
* M300 : Play beep sound S < frequency Hz > P < duration ms >
*/
inline void gcode_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 ) ;
}
}
# endif // LARGE_FLASH && (BEEPER>0 || ULTRALCD || LCD_USE_I2C_BUZZER)
# ifdef PIDTEMP
/**
* M301 : Set PID parameters P I D ( and optionally C )
*/
inline void gcode_M301 ( ) {
// multi-extruder PID patch: M301 updates or prints a single extruder's PID values
// default behaviour (omitting E parameter) is to update for extruder 0 only
int e = code_seen ( ' E ' ) ? code_value ( ) : 0 ; // extruder being updated
if ( e < EXTRUDERS ) { // catch bad input value
if ( code_seen ( ' P ' ) ) PID_PARAM ( Kp , e ) = code_value ( ) ;
if ( code_seen ( ' I ' ) ) PID_PARAM ( Ki , e ) = scalePID_i ( code_value ( ) ) ;
if ( code_seen ( ' D ' ) ) PID_PARAM ( Kd , e ) = scalePID_d ( code_value ( ) ) ;
# ifdef PID_ADD_EXTRUSION_RATE
if ( code_seen ( ' C ' ) ) PID_PARAM ( Kc , e ) = code_value ( ) ;
# endif
updatePID ( ) ;
SERIAL_PROTOCOL ( MSG_OK ) ;
# ifdef PID_PARAMS_PER_EXTRUDER
SERIAL_PROTOCOL ( " e: " ) ; // specify extruder in serial output
SERIAL_PROTOCOL ( e ) ;
# endif // PID_PARAMS_PER_EXTRUDER
SERIAL_PROTOCOL ( " p: " ) ;
SERIAL_PROTOCOL ( PID_PARAM ( Kp , e ) ) ;
SERIAL_PROTOCOL ( " i: " ) ;
SERIAL_PROTOCOL ( unscalePID_i ( PID_PARAM ( Ki , e ) ) ) ;
SERIAL_PROTOCOL ( " d: " ) ;
SERIAL_PROTOCOL ( unscalePID_d ( PID_PARAM ( Kd , e ) ) ) ;
# ifdef PID_ADD_EXTRUSION_RATE
SERIAL_PROTOCOL ( " c: " ) ;
//Kc does not have scaling applied above, or in resetting defaults
SERIAL_PROTOCOL ( PID_PARAM ( Kc , e ) ) ;
# endif
SERIAL_EOL ;
}
else {
SERIAL_ECHO_START ;
SERIAL_ECHOLN ( MSG_INVALID_EXTRUDER ) ;
}
}
# endif // PIDTEMP
# ifdef PIDTEMPBED
inline void gcode_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_EOL ;
}
# endif // PIDTEMPBED
# if defined(CHDK) || HAS_PHOTOGRAPH
/**
* M240 : Trigger a camera by emulating a Canon RC - 1
* See http : //www.doc-diy.net/photo/rc-1_hacked/
*/
inline void gcode_M240 ( ) {
# ifdef CHDK
OUT_WRITE ( CHDK , HIGH ) ;
chdkHigh = millis ( ) ;
chdkActive = true ;
# elif HAS_PHOTOGRAPH
const uint8_t NUM_PULSES = 16 ;
const float PULSE_LENGTH = 0.01524 ;
for ( int i = 0 ; i < NUM_PULSES ; i + + ) {
WRITE ( PHOTOGRAPH_PIN , HIGH ) ;
_delay_ms ( PULSE_LENGTH ) ;
WRITE ( PHOTOGRAPH_PIN , LOW ) ;
_delay_ms ( PULSE_LENGTH ) ;
}
delay ( 7.33 ) ;
for ( int i = 0 ; i < NUM_PULSES ; i + + ) {
WRITE ( PHOTOGRAPH_PIN , HIGH ) ;
_delay_ms ( PULSE_LENGTH ) ;
WRITE ( PHOTOGRAPH_PIN , LOW ) ;
_delay_ms ( PULSE_LENGTH ) ;
}
# endif // !CHDK && HAS_PHOTOGRAPH
}
# endif // CHDK || PHOTOGRAPH_PIN
# ifdef HAS_LCD_CONTRAST
/**
* M250 : Read and optionally set the LCD contrast
*/
inline void gcode_M250 ( ) {
if ( code_seen ( ' C ' ) ) lcd_setcontrast ( code_value_short ( ) & 0x3F ) ;
SERIAL_PROTOCOLPGM ( " lcd contrast value: " ) ;
SERIAL_PROTOCOL ( lcd_contrast ) ;
SERIAL_EOL ;
}
# endif // HAS_LCD_CONTRAST
# ifdef PREVENT_DANGEROUS_EXTRUDE
void set_extrude_min_temp ( float temp ) { extrude_min_temp = temp ; }
/**
* M302 : Allow cold extrudes , or set the minimum extrude S < temperature > .
*/
inline void gcode_M302 ( ) {
set_extrude_min_temp ( code_seen ( ' S ' ) ? code_value ( ) : 0 ) ;
}
# endif // PREVENT_DANGEROUS_EXTRUDE
/**
* M303 : PID relay autotune
* S < temperature > sets the target temperature . ( default target temperature = 150 C )
* E < extruder > ( - 1 for the bed )
* C < cycles >
*/
inline void gcode_M303 ( ) {
int e = code_seen ( ' E ' ) ? code_value_short ( ) : 0 ;
int c = code_seen ( ' C ' ) ? code_value_short ( ) : 5 ;
float temp = code_seen ( ' S ' ) ? code_value ( ) : ( e < 0 ? 70.0 : 150.0 ) ;
PID_autotune ( temp , e , c ) ;
}
# ifdef SCARA
bool SCARA_move_to_cal ( uint8_t delta_x , uint8_t delta_y ) {
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if ( IsRunning ( ) ) {
//get_coordinates(); // For X Y Z E F
delta [ X_AXIS ] = delta_x ;
delta [ Y_AXIS ] = delta_y ;
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 true ;
}
return false ;
}
/**
* M360 : SCARA calibration : Move to cal - position ThetaA ( 0 deg calibration )
*/
inline bool gcode_M360 ( ) {
SERIAL_ECHOLN ( " Cal: Theta 0 " ) ;
return SCARA_move_to_cal ( 0 , 120 ) ;
}
/**
* M361 : SCARA calibration : Move to cal - position ThetaB ( 90 deg calibration - steps per degree )
*/
inline bool gcode_M361 ( ) {
SERIAL_ECHOLN ( " Cal: Theta 90 " ) ;
return SCARA_move_to_cal ( 90 , 130 ) ;
}
/**
* M362 : SCARA calibration : Move to cal - position PsiA ( 0 deg calibration )
*/
inline bool gcode_M362 ( ) {
SERIAL_ECHOLN ( " Cal: Psi 0 " ) ;
return SCARA_move_to_cal ( 60 , 180 ) ;
}
/**
* M363 : SCARA calibration : Move to cal - position PsiB ( 90 deg calibration - steps per degree )
*/
inline bool gcode_M363 ( ) {
SERIAL_ECHOLN ( " Cal: Psi 90 " ) ;
return SCARA_move_to_cal ( 50 , 90 ) ;
}
/**
* M364 : SCARA calibration : Move to cal - position PSIC ( 90 deg to Theta calibration position )
*/
inline bool gcode_M364 ( ) {
SERIAL_ECHOLN ( " Cal: Theta-Psi 90 " ) ;
return SCARA_move_to_cal ( 45 , 135 ) ;
}
/**
* M365 : SCARA calibration : Scaling factor , X , Y , Z axis
*/
inline void gcode_M365 ( ) {
for ( int8_t i = X_AXIS ; i < = Z_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) ) {
axis_scaling [ i ] = code_value ( ) ;
}
}
}
# endif // SCARA
# ifdef EXT_SOLENOID
void enable_solenoid ( uint8_t num ) {
switch ( num ) {
case 0 :
OUT_WRITE ( SOL0_PIN , HIGH ) ;
break ;
# if HAS_SOLENOID_1
case 1 :
OUT_WRITE ( SOL1_PIN , HIGH ) ;
break ;
# endif
# if HAS_SOLENOID_2
case 2 :
OUT_WRITE ( SOL2_PIN , HIGH ) ;
break ;
# endif
# if HAS_SOLENOID_3
case 3 :
OUT_WRITE ( SOL3_PIN , HIGH ) ;
break ;
# endif
default :
SERIAL_ECHO_START ;
SERIAL_ECHOLNPGM ( MSG_INVALID_SOLENOID ) ;
break ;
}
}
void enable_solenoid_on_active_extruder ( ) { enable_solenoid ( active_extruder ) ; }
void disable_all_solenoids ( ) {
OUT_WRITE ( SOL0_PIN , LOW ) ;
OUT_WRITE ( SOL1_PIN , LOW ) ;
OUT_WRITE ( SOL2_PIN , LOW ) ;
OUT_WRITE ( SOL3_PIN , LOW ) ;
}
/**
* M380 : Enable solenoid on the active extruder
*/
inline void gcode_M380 ( ) { enable_solenoid_on_active_extruder ( ) ; }
/**
* M381 : Disable all solenoids
*/
inline void gcode_M381 ( ) { disable_all_solenoids ( ) ; }
# endif // EXT_SOLENOID
/**
* M400 : Finish all moves
*/
inline void gcode_M400 ( ) { st_synchronize ( ) ; }
# if defined(ENABLE_AUTO_BED_LEVELING) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY)) && not defined(Z_PROBE_SLED)
/**
* M401 : Engage Z Servo endstop if available
*/
inline void gcode_M401 ( ) { deploy_z_probe ( ) ; }
/**
* M402 : Retract Z Servo endstop if enabled
*/
inline void gcode_M402 ( ) { stow_z_probe ( ) ; }
# endif
# ifdef FILAMENT_SENSOR
/**
* M404 : Display or set the nominal filament width ( 3 mm , 1.75 mm ) W < 3.0 >
*/
inline void gcode_M404 ( ) {
# if HAS_FILWIDTH
if ( code_seen ( ' W ' ) ) {
filament_width_nominal = code_value ( ) ;
}
else {
SERIAL_PROTOCOLPGM ( " Filament dia (nominal mm): " ) ;
SERIAL_PROTOCOLLN ( filament_width_nominal ) ;
}
# endif
}
/**
* M405 : Turn on filament sensor for control
*/
inline void gcode_M405 ( ) {
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 = delay_index2 = 0 ;
}
filament_sensor = true ;
//SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
//SERIAL_PROTOCOL(filament_width_meas);
//SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
//SERIAL_PROTOCOL(extruder_multiply[active_extruder]);
}
/**
* M406 : Turn off filament sensor for control
*/
inline void gcode_M406 ( ) { filament_sensor = false ; }
/**
* M407 : Get measured filament diameter on serial output
*/
inline void gcode_M407 ( ) {
SERIAL_PROTOCOLPGM ( " Filament dia (measured mm): " ) ;
SERIAL_PROTOCOLLN ( filament_width_meas ) ;
}
# endif // FILAMENT_SENSOR
/**
* M500 : Store settings in EEPROM
*/
inline void gcode_M500 ( ) {
Config_StoreSettings ( ) ;
}
/**
* M501 : Read settings from EEPROM
*/
inline void gcode_M501 ( ) {
Config_RetrieveSettings ( ) ;
}
/**
* M502 : Revert to default settings
*/
inline void gcode_M502 ( ) {
Config_ResetDefault ( ) ;
}
/**
* M503 : print settings currently in memory
*/
inline void gcode_M503 ( ) {
Config_PrintSettings ( code_seen ( ' S ' ) & & code_value ( ) = = 0 ) ;
}
# ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
/**
* M540 : Set whether SD card print should abort on endstop hit ( M540 S < 0 | 1 > )
*/
inline void gcode_M540 ( ) {
if ( code_seen ( ' S ' ) ) abort_on_endstop_hit = ( code_value ( ) > 0 ) ;
}
# endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
# ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
inline void gcode_SET_Z_PROBE_OFFSET ( ) {
float value ;
if ( code_seen ( ' Z ' ) ) {
value = code_value ( ) ;
if ( Z_PROBE_OFFSET_RANGE_MIN < = value & & value < = Z_PROBE_OFFSET_RANGE_MAX ) {
zprobe_zoffset = - value ; // compare w/ line 278 of ConfigurationStore.cpp
SERIAL_ECHO_START ;
SERIAL_ECHOLNPGM ( MSG_ZPROBE_ZOFFSET " " MSG_OK ) ;
SERIAL_EOL ;
}
else {
SERIAL_ECHO_START ;
SERIAL_ECHOPGM ( MSG_ZPROBE_ZOFFSET ) ;
SERIAL_ECHOPGM ( MSG_Z_MIN ) ;
SERIAL_ECHO ( Z_PROBE_OFFSET_RANGE_MIN ) ;
SERIAL_ECHOPGM ( MSG_Z_MAX ) ;
SERIAL_ECHO ( Z_PROBE_OFFSET_RANGE_MAX ) ;
SERIAL_EOL ;
}
}
else {
SERIAL_ECHO_START ;
SERIAL_ECHOLNPGM ( MSG_ZPROBE_ZOFFSET " : " ) ;
SERIAL_ECHO ( - zprobe_zoffset ) ;
SERIAL_EOL ;
}
}
# endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
# ifdef FILAMENTCHANGEENABLE
/**
* M600 : Pause for filament change X [ pos ] Y [ pos ] Z [ relative lift ] E [ initial retract ] L [ later retract distance for removal ]
*/
inline void gcode_M600 ( ) {
float target [ NUM_AXIS ] , lastpos [ NUM_AXIS ] , fr60 = feedrate / 60 ;
for ( int i = 0 ; i < NUM_AXIS ; i + + )
target [ i ] = lastpos [ i ] = current_position [ i ] ;
# define BASICPLAN plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr60, active_extruder);
# ifdef DELTA
# define RUNPLAN calculate_delta(target); BASICPLAN
# else
# define RUNPLAN BASICPLAN
# endif
//retract by E
if ( code_seen ( ' E ' ) ) target [ E_AXIS ] + = code_value ( ) ;
# ifdef FILAMENTCHANGE_FIRSTRETRACT
else target [ E_AXIS ] + = FILAMENTCHANGE_FIRSTRETRACT ;
# endif
RUNPLAN ;
//lift Z
if ( code_seen ( ' Z ' ) ) target [ Z_AXIS ] + = code_value ( ) ;
# ifdef FILAMENTCHANGE_ZADD
else target [ Z_AXIS ] + = FILAMENTCHANGE_ZADD ;
# endif
RUNPLAN ;
//move xy
if ( code_seen ( ' X ' ) ) target [ X_AXIS ] = code_value ( ) ;
# ifdef FILAMENTCHANGE_XPOS
else target [ X_AXIS ] = FILAMENTCHANGE_XPOS ;
# endif
if ( code_seen ( ' Y ' ) ) target [ Y_AXIS ] = code_value ( ) ;
# ifdef FILAMENTCHANGE_YPOS
else target [ Y_AXIS ] = FILAMENTCHANGE_YPOS ;
# endif
RUNPLAN ;
if ( code_seen ( ' L ' ) ) target [ E_AXIS ] + = code_value ( ) ;
# ifdef FILAMENTCHANGE_FINALRETRACT
else target [ E_AXIS ] + = FILAMENTCHANGE_FINALRETRACT ;
# endif
RUNPLAN ;
//finish moves
st_synchronize ( ) ;
//disable extruder steppers so filament can be removed
disable_e0 ( ) ;
disable_e1 ( ) ;
disable_e2 ( ) ;
disable_e3 ( ) ;
delay ( 100 ) ;
LCD_ALERTMESSAGEPGM ( MSG_FILAMENTCHANGE ) ;
uint8_t cnt = 0 ;
while ( ! lcd_clicked ( ) ) {
cnt + + ;
manage_heater ( ) ;
manage_inactivity ( true ) ;
lcd_update ( ) ;
if ( cnt = = 0 ) {
# if BEEPER > 0
OUT_WRITE ( BEEPER , HIGH ) ;
delay ( 3 ) ;
WRITE ( BEEPER , LOW ) ;
delay ( 3 ) ;
# else
# if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
lcd_buzz ( 1000 / 6 , 100 ) ;
# else
lcd_buzz ( LCD_FEEDBACK_FREQUENCY_DURATION_MS , LCD_FEEDBACK_FREQUENCY_HZ ) ;
# endif
# endif
}
} // while(!lcd_clicked)
//return to normal
if ( code_seen ( ' L ' ) ) target [ E_AXIS ] - = code_value ( ) ;
# ifdef FILAMENTCHANGE_FINALRETRACT
else target [ E_AXIS ] - = FILAMENTCHANGE_FINALRETRACT ;
# endif
current_position [ E_AXIS ] = target [ E_AXIS ] ; //the long retract of L is compensated by manual filament feeding
plan_set_e_position ( current_position [ E_AXIS ] ) ;
RUNPLAN ; //should do nothing
lcd_reset_alert_level ( ) ;
# ifdef DELTA
calculate_delta ( lastpos ) ;
plan_buffer_line ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , target [ E_AXIS ] , fr60 , active_extruder ) ; //move xyz back
plan_buffer_line ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , lastpos [ E_AXIS ] , fr60 , active_extruder ) ; //final untretract
# else
plan_buffer_line ( lastpos [ X_AXIS ] , lastpos [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , fr60 , active_extruder ) ; //move xy back
plan_buffer_line ( lastpos [ X_AXIS ] , lastpos [ Y_AXIS ] , lastpos [ Z_AXIS ] , target [ E_AXIS ] , fr60 , active_extruder ) ; //move z back
plan_buffer_line ( lastpos [ X_AXIS ] , lastpos [ Y_AXIS ] , lastpos [ Z_AXIS ] , lastpos [ E_AXIS ] , fr60 , active_extruder ) ; //final untretract
# endif
# ifdef FILAMENT_RUNOUT_SENSOR
filrunoutEnqued = false ;
# endif
}
# endif // FILAMENTCHANGEENABLE
# ifdef DUAL_X_CARRIAGE
/**
* M605 : Set dual x - carriage movement mode
*
* M605 S0 : Full control mode . The slicer has full control over x - carriage movement
* M605 S1 : Auto - park mode . The inactive head will auto park / unpark without slicer involvement
* M605 S2 [ Xnnn ] [ Rmmm ] : Duplication mode . The second extruder will duplicate the first with nnn
* 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 100 mm in the x direction and 2 degrees hotter .
*
* Note : the X axis should be homed after changing dual x - carriage mode .
*/
inline void gcode_M605 ( ) {
st_synchronize ( ) ;
if ( code_seen ( ' S ' ) ) dual_x_carriage_mode = code_value ( ) ;
switch ( dual_x_carriage_mode ) {
case DXC_DUPLICATION_MODE :
if ( code_seen ( ' X ' ) ) duplicate_extruder_x_offset = max ( code_value ( ) , X2_MIN_POS - x_home_pos ( 0 ) ) ;
if ( code_seen ( ' R ' ) ) duplicate_extruder_temp_offset = code_value ( ) ;
SERIAL_ECHO_START ;
SERIAL_ECHOPGM ( MSG_HOTEND_OFFSET ) ;
SERIAL_CHAR ( ' ' ) ;
SERIAL_ECHO ( extruder_offset [ X_AXIS ] [ 0 ] ) ;
SERIAL_CHAR ( ' , ' ) ;
SERIAL_ECHO ( extruder_offset [ Y_AXIS ] [ 0 ] ) ;
SERIAL_CHAR ( ' ' ) ;
SERIAL_ECHO ( duplicate_extruder_x_offset ) ;
SERIAL_CHAR ( ' , ' ) ;
SERIAL_ECHOLN ( extruder_offset [ Y_AXIS ] [ 1 ] ) ;
break ;
case DXC_FULL_CONTROL_MODE :
case DXC_AUTO_PARK_MODE :
break ;
default :
dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE ;
break ;
}
active_extruder_parked = false ;
extruder_duplication_enabled = false ;
delayed_move_time = 0 ;
}
# endif // DUAL_X_CARRIAGE
/**
* M907 : Set digital trimpot motor current using axis codes X , Y , Z , E , B , S
*/
inline void gcode_M907 ( ) {
# if HAS_DIGIPOTSS
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
}
# if HAS_DIGIPOTSS
/**
* M908 : Control digital trimpot directly ( M908 P < pin > S < current > )
*/
inline void gcode_M908 ( ) {
digitalPotWrite (
code_seen ( ' P ' ) ? code_value ( ) : 0 ,
code_seen ( ' S ' ) ? code_value ( ) : 0
) ;
}
# endif // HAS_DIGIPOTSS
# if HAS_MICROSTEPS
// M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
inline void gcode_M350 ( ) {
if ( 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 ( ) ;
}
/**
* M351 : Toggle MS1 MS2 pins directly with axis codes X Y Z E B
* S # determines MS1 or MS2 , X # sets the pin high / low .
*/
inline void gcode_M351 ( ) {
if ( code_seen ( ' S ' ) ) switch ( code_value_short ( ) ) {
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 // HAS_MICROSTEPS
/**
* M999 : Restart after being stopped
*/
inline void gcode_M999 ( ) {
Running = true ;
lcd_reset_alert_level ( ) ;
gcode_LastN = Stopped_gcode_LastN ;
FlushSerialRequestResend ( ) ;
}
inline void gcode_T ( ) {
int tmp_extruder = code_value ( ) ;
if ( tmp_extruder > = EXTRUDERS ) {
SERIAL_ECHO_START ;
SERIAL_CHAR ( ' T ' ) ;
SERIAL_ECHO ( tmp_extruder ) ;
SERIAL_ECHOLN ( MSG_INVALID_EXTRUDER ) ;
}
else {
target_extruder = tmp_extruder ;
# if EXTRUDERS > 1
bool make_move = false ;
# endif
if ( code_seen ( ' F ' ) ) {
# if EXTRUDERS > 1
make_move = true ;
# endif
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
set_destination_to_current ( ) ;
# ifdef DUAL_X_CARRIAGE
if ( dual_x_carriage_mode = = DXC_AUTO_PARK_MODE & & IsRunning ( ) & &
( 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 // !DUAL_X_CARRIAGE
// Offset extruder (only by XY)
for ( int i = X_AXIS ; i < = Y_AXIS ; i + + )
current_position [ i ] + = extruder_offset [ i ] [ tmp_extruder ] - extruder_offset [ i ] [ active_extruder ] ;
// Set the new active extruder and position
active_extruder = tmp_extruder ;
# endif // !DUAL_X_CARRIAGE
# ifdef DELTA
sync_plan_position_delta ( ) ;
# else
sync_plan_position ( ) ;
# endif
// Move to the old position if 'F' was in the parameters
if ( make_move & & IsRunning ( ) ) prepare_move ( ) ;
}
# ifdef EXT_SOLENOID
st_synchronize ( ) ;
disable_all_solenoids ( ) ;
enable_solenoid_on_active_extruder ( ) ;
# endif // EXT_SOLENOID
# endif // EXTRUDERS > 1
SERIAL_ECHO_START ;
SERIAL_ECHO ( MSG_ACTIVE_EXTRUDER ) ;
SERIAL_PROTOCOLLN ( ( int ) active_extruder ) ;
}
}
/**
* Process Commands and dispatch them to handlers
* This is called from the main loop ( )
*/
void process_commands ( ) {
if ( code_seen ( ' G ' ) ) {
int gCode = code_value_short ( ) ;
switch ( gCode ) {
// G0, G1
case 0 :
case 1 :
gcode_G0_G1 ( ) ;
break ;
// G2, G3
# ifndef SCARA
case 2 : // G2 - CW ARC
case 3 : // G3 - CCW ARC
gcode_G2_G3 ( gCode = = 2 ) ;
break ;
# endif
// G4 Dwell
case 4 :
gcode_G4 ( ) ;
break ;
# ifdef FWRETRACT
case 10 : // G10: retract
case 11 : // G11: retract_recover
gcode_G10_G11 ( gCode = = 10 ) ;
break ;
# endif //FWRETRACT
case 28 : // G28: Home all axes, one at a time
gcode_G28 ( ) ;
break ;
# if defined(ENABLE_AUTO_BED_LEVELING) || defined(MESH_BED_LEVELING)
case 29 : // G29 Detailed Z-Probe, probes the bed at 3 or more points.
gcode_G29 ( ) ;
break ;
# endif
# ifdef ENABLE_AUTO_BED_LEVELING
# ifndef Z_PROBE_SLED
case 30 : // G30 Single Z Probe
gcode_G30 ( ) ;
break ;
# else // Z_PROBE_SLED
case 31 : // G31: dock the sled
case 32 : // G32: undock the sled
dock_sled ( gCode = = 31 ) ;
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
gcode_G92 ( ) ;
break ;
}
}
else if ( code_seen ( ' M ' ) ) {
switch ( code_value_short ( ) ) {
# 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
gcode_M0_M1 ( ) ;
break ;
# endif // ULTIPANEL
case 17 :
gcode_M17 ( ) ;
break ;
# ifdef SDSUPPORT
case 20 : // M20 - list SD card
gcode_M20 ( ) ; break ;
case 21 : // M21 - init SD card
gcode_M21 ( ) ; break ;
case 22 : //M22 - release SD card
gcode_M22 ( ) ; break ;
case 23 : //M23 - Select file
gcode_M23 ( ) ; break ;
case 24 : //M24 - Start SD print
gcode_M24 ( ) ; break ;
case 25 : //M25 - Pause SD print
gcode_M25 ( ) ; break ;
case 26 : //M26 - Set SD index
gcode_M26 ( ) ; break ;
case 27 : //M27 - Get SD status
gcode_M27 ( ) ; break ;
case 28 : //M28 - Start SD write
gcode_M28 ( ) ; break ;
case 29 : //M29 - Stop SD write
gcode_M29 ( ) ; break ;
case 30 : //M30 <filename> Delete File
gcode_M30 ( ) ; break ;
case 32 : //M32 - Select file and start SD print
gcode_M32 ( ) ; break ;
case 928 : //M928 - Start SD write
gcode_M928 ( ) ; break ;
# endif //SDSUPPORT
case 31 : //M31 take time since the start of the SD print or an M109 command
gcode_M31 ( ) ;
break ;
case 42 : //M42 -Change pin status via gcode
gcode_M42 ( ) ;
break ;
# if defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST)
case 48 : // M48 Z-Probe repeatability
gcode_M48 ( ) ;
break ;
# endif // ENABLE_AUTO_BED_LEVELING && Z_PROBE_REPEATABILITY_TEST
case 104 : // M104
gcode_M104 ( ) ;
break ;
case 112 : // M112 Emergency Stop
gcode_M112 ( ) ;
break ;
case 140 : // M140 Set bed temp
gcode_M140 ( ) ;
break ;
case 105 : // M105 Read current temperature
gcode_M105 ( ) ;
return ;
break ;
case 109 : // M109 Wait for temperature
gcode_M109 ( ) ;
break ;
# if HAS_TEMP_BED
case 190 : // M190 - Wait for bed heater to reach target.
gcode_M190 ( ) ;
break ;
# endif // HAS_TEMP_BED
# if HAS_FAN
case 106 : //M106 Fan On
gcode_M106 ( ) ;
break ;
case 107 : //M107 Fan Off
gcode_M107 ( ) ;
break ;
# endif // HAS_FAN
# ifdef BARICUDA
// PWM for HEATER_1_PIN
# if HAS_HEATER_1
case 126 : // M126 valve open
gcode_M126 ( ) ;
break ;
case 127 : // M127 valve closed
gcode_M127 ( ) ;
break ;
# endif // HAS_HEATER_1
// PWM for HEATER_2_PIN
# if HAS_HEATER_2
case 128 : // M128 valve open
gcode_M128 ( ) ;
break ;
case 129 : // M129 valve closed
gcode_M129 ( ) ;
break ;
# endif // HAS_HEATER_2
# endif // BARICUDA
# if HAS_POWER_SWITCH
case 80 : // M80 - Turn on Power Supply
gcode_M80 ( ) ;
break ;
# endif // HAS_POWER_SWITCH
case 81 : // M81 - Turn off Power, including Power Supply, if possible
gcode_M81 ( ) ;
break ;
case 82 :
gcode_M82 ( ) ;
break ;
case 83 :
gcode_M83 ( ) ;
break ;
case 18 : //compatibility
case 84 : // M84
gcode_M18_M84 ( ) ;
break ;
case 85 : // M85
gcode_M85 ( ) ;
break ;
case 92 : // M92
gcode_M92 ( ) ;
break ;
case 115 : // M115
gcode_M115 ( ) ;
break ;
case 117 : // M117 display message
gcode_M117 ( ) ;
break ;
case 114 : // M114
gcode_M114 ( ) ;
break ;
case 120 : // M120
gcode_M120 ( ) ;
break ;
case 121 : // M121
gcode_M121 ( ) ;
break ;
case 119 : // M119
gcode_M119 ( ) ;
break ;
//TODO: update for all axis, use for loop
# ifdef BLINKM
case 150 : // M150
gcode_M150 ( ) ;
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).
gcode_M200 ( ) ;
break ;
case 201 : // M201
gcode_M201 ( ) ;
break ;
#if 0 // Not used for Sprinter/grbl gen6
case 202 : // M202
gcode_M202 ( ) ;
break ;
# endif
case 203 : // M203 max feedrate mm/sec
gcode_M203 ( ) ;
break ;
case 204 : // M204 acclereration S normal moves T filmanent only moves
gcode_M204 ( ) ;
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
gcode_M205 ( ) ;
break ;
case 206 : // M206 additional homing offset
gcode_M206 ( ) ;
break ;
# ifdef DELTA
case 665 : // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
gcode_M665 ( ) ;
break ;
# endif
# if defined(DELTA) || defined(Z_DUAL_ENDSTOPS)
case 666 : // M666 set delta / dual endstop adjustment
gcode_M666 ( ) ;
break ;
# endif
# ifdef FWRETRACT
case 207 : //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
gcode_M207 ( ) ;
break ;
case 208 : // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
gcode_M208 ( ) ;
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.
gcode_M209 ( ) ;
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>
gcode_M218 ( ) ;
break ;
# endif
case 220 : // M220 S<factor in percent>- set speed factor override percentage
gcode_M220 ( ) ;
break ;
case 221 : // M221 S<factor in percent>- set extrude factor override percentage
gcode_M221 ( ) ;
break ;
case 226 : // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
gcode_M226 ( ) ;
break ;
# if NUM_SERVOS > 0
case 280 : // M280 - set servo position absolute. P: servo index, S: angle or microseconds
gcode_M280 ( ) ;
break ;
# endif // NUM_SERVOS > 0
# if defined(LARGE_FLASH) && (BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER))
case 300 : // M300 - Play beep tone
gcode_M300 ( ) ;
break ;
# endif // LARGE_FLASH && (BEEPER>0 || ULTRALCD || LCD_USE_I2C_BUZZER)
# ifdef PIDTEMP
case 301 : // M301
gcode_M301 ( ) ;
break ;
# endif // PIDTEMP
# ifdef PIDTEMPBED
case 304 : // M304
gcode_M304 ( ) ;
break ;
# endif // PIDTEMPBED
# if defined(CHDK) || HAS_PHOTOGRAPH
case 240 : // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
gcode_M240 ( ) ;
break ;
# endif // CHDK || PHOTOGRAPH_PIN
# ifdef HAS_LCD_CONTRAST
case 250 : // M250 Set LCD contrast value: C<value> (value 0..63)
gcode_M250 ( ) ;
break ;
# endif // HAS_LCD_CONTRAST
# ifdef PREVENT_DANGEROUS_EXTRUDE
case 302 : // allow cold extrudes, or set the minimum extrude temperature
gcode_M302 ( ) ;
break ;
# endif // PREVENT_DANGEROUS_EXTRUDE
case 303 : // M303 PID autotune
gcode_M303 ( ) ;
break ;
# ifdef SCARA
case 360 : // M360 SCARA Theta pos1
if ( gcode_M360 ( ) ) return ;
break ;
case 361 : // M361 SCARA Theta pos2
if ( gcode_M361 ( ) ) return ;
break ;
case 362 : // M362 SCARA Psi pos1
if ( gcode_M362 ( ) ) return ;
break ;
case 363 : // M363 SCARA Psi pos2
if ( gcode_M363 ( ) ) return ;
break ;
case 364 : // M364 SCARA Psi pos3 (90 deg to Theta)
if ( gcode_M364 ( ) ) return ;
break ;
case 365 : // M365 Set SCARA scaling for X Y Z
gcode_M365 ( ) ;
break ;
# endif // SCARA
case 400 : // M400 finish all moves
gcode_M400 ( ) ;
break ;
# if defined(ENABLE_AUTO_BED_LEVELING) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY)) && not defined(Z_PROBE_SLED)
case 401 :
gcode_M401 ( ) ;
break ;
case 402 :
gcode_M402 ( ) ;
break ;
# endif
# ifdef FILAMENT_SENSOR
case 404 : //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
gcode_M404 ( ) ;
break ;
case 405 : //M405 Turn on filament sensor for control
gcode_M405 ( ) ;
break ;
case 406 : //M406 Turn off filament sensor for control
gcode_M406 ( ) ;
break ;
case 407 : //M407 Display measured filament diameter
gcode_M407 ( ) ;
break ;
# endif // FILAMENT_SENSOR
case 500 : // M500 Store settings in EEPROM
gcode_M500 ( ) ;
break ;
case 501 : // M501 Read settings from EEPROM
gcode_M501 ( ) ;
break ;
case 502 : // M502 Revert to default settings
gcode_M502 ( ) ;
break ;
case 503 : // M503 print settings currently in memory
gcode_M503 ( ) ;
break ;
# ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
case 540 :
gcode_M540 ( ) ;
break ;
# endif
# ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET :
gcode_SET_Z_PROBE_OFFSET ( ) ;
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]
gcode_M600 ( ) ;
break ;
# endif // FILAMENTCHANGEENABLE
# ifdef DUAL_X_CARRIAGE
case 605 :
gcode_M605 ( ) ;
break ;
# endif // DUAL_X_CARRIAGE
case 907 : // M907 Set digital trimpot motor current using axis codes.
gcode_M907 ( ) ;
break ;
# if HAS_DIGIPOTSS
case 908 : // M908 Control digital trimpot directly.
gcode_M908 ( ) ;
break ;
# endif // HAS_DIGIPOTSS
# if HAS_MICROSTEPS
case 350 : // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
gcode_M350 ( ) ;
break ;
case 351 : // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
gcode_M351 ( ) ;
break ;
# endif // HAS_MICROSTEPS
case 999 : // M999: Restart after being Stopped
gcode_M999 ( ) ;
break ;
}
}
else if ( code_seen ( ' T ' ) ) {
gcode_T ( ) ;
}
else {
SERIAL_ECHO_START ;
SERIAL_ECHOPGM ( MSG_UNKNOWN_COMMAND ) ;
SERIAL_ECHO ( cmdbuffer [ bufindr ] ) ;
SERIAL_ECHOLNPGM ( " \" " ) ;
}
ClearToSend ( ) ;
}
void FlushSerialRequestResend ( ) {
//char cmdbuffer[bufindr][100]="Resend:";
MYSERIAL . flush ( ) ;
SERIAL_PROTOCOLPGM ( MSG_RESEND ) ;
SERIAL_PROTOCOLLN ( gcode_LastN + 1 ) ;
ClearToSend ( ) ;
}
void ClearToSend ( ) {
refresh_cmd_timeout ( ) ;
# ifdef SDSUPPORT
if ( fromsd [ bufindr ] ) return ;
# endif
SERIAL_PROTOCOLLNPGM ( MSG_OK ) ;
}
void get_coordinates ( ) {
for ( int i = 0 ; i < NUM_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) )
destination [ i ] = code_value ( ) + ( axis_relative_modes [ i ] | | relative_mode ? current_position [ i ] : 0 ) ;
else
destination [ i ] = current_position [ i ] ;
}
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
offset [ 0 ] = code_seen ( ' I ' ) ? code_value ( ) : 0 ;
offset [ 1 ] = code_seen ( ' J ' ) ? code_value ( ) : 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 ( home_offset [ Z_AXIS ] < 0 ) negative_z_offset = negative_z_offset + home_offset [ 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 ] ) ;
*/
}
# ifdef ENABLE_AUTO_BED_LEVELING
// Adjust print surface height by linear interpolation over the bed_level array.
void adjust_delta ( float cartesian [ 3 ] ) {
if ( delta_grid_spacing [ 0 ] = = 0 | | delta_grid_spacing [ 1 ] = = 0 ) return ; // G29 not done!
int half = ( AUTO_BED_LEVELING_GRID_POINTS - 1 ) / 2 ;
float h1 = 0.001 - half , h2 = half - 0.001 ,
grid_x = max ( h1 , min ( h2 , cartesian [ X_AXIS ] / delta_grid_spacing [ 0 ] ) ) ,
grid_y = max ( h1 , min ( h2 , cartesian [ Y_AXIS ] / delta_grid_spacing [ 1 ] ) ) ;
int floor_x = floor ( grid_x ) , floor_y = floor ( grid_y ) ;
float ratio_x = grid_x - floor_x , ratio_y = grid_y - floor_y ,
z1 = bed_level [ floor_x + half ] [ floor_y + half ] ,
z2 = bed_level [ floor_x + half ] [ floor_y + half + 1 ] ,
z3 = bed_level [ floor_x + half + 1 ] [ floor_y + half ] ,
z4 = bed_level [ floor_x + half + 1 ] [ floor_y + half + 1 ] ,
left = ( 1 - ratio_y ) * z1 + ratio_y * z2 ,
right = ( 1 - ratio_y ) * z3 + ratio_y * z4 ,
offset = ( 1 - ratio_x ) * left + ratio_x * right ;
delta [ X_AXIS ] + = offset ;
delta [ Y_AXIS ] + = offset ;
delta [ Z_AXIS ] + = offset ;
/*
SERIAL_ECHOPGM ( " grid_x= " ) ; SERIAL_ECHO ( grid_x ) ;
SERIAL_ECHOPGM ( " grid_y= " ) ; SERIAL_ECHO ( grid_y ) ;
SERIAL_ECHOPGM ( " floor_x= " ) ; SERIAL_ECHO ( floor_x ) ;
SERIAL_ECHOPGM ( " floor_y= " ) ; SERIAL_ECHO ( floor_y ) ;
SERIAL_ECHOPGM ( " ratio_x= " ) ; SERIAL_ECHO ( ratio_x ) ;
SERIAL_ECHOPGM ( " ratio_y= " ) ; SERIAL_ECHO ( ratio_y ) ;
SERIAL_ECHOPGM ( " z1= " ) ; SERIAL_ECHO ( z1 ) ;
SERIAL_ECHOPGM ( " z2= " ) ; SERIAL_ECHO ( z2 ) ;
SERIAL_ECHOPGM ( " z3= " ) ; SERIAL_ECHO ( z3 ) ;
SERIAL_ECHOPGM ( " z4= " ) ; SERIAL_ECHO ( z4 ) ;
SERIAL_ECHOPGM ( " left= " ) ; SERIAL_ECHO ( left ) ;
SERIAL_ECHOPGM ( " right= " ) ; SERIAL_ECHO ( right ) ;
SERIAL_ECHOPGM ( " offset= " ) ; SERIAL_ECHOLN ( offset ) ;
*/
}
# endif // ENABLE_AUTO_BED_LEVELING
# endif // DELTA
# ifdef MESH_BED_LEVELING
# if !defined(MIN)
# define MIN(_v1, _v2) (((_v1) < (_v2)) ? (_v1) : (_v2))
# endif // ! MIN
// This function is used to split lines on mesh borders so each segment is only part of one mesh area
void mesh_plan_buffer_line ( float x , float y , float z , const float e , float feed_rate , const uint8_t & extruder , uint8_t x_splits = 0xff , uint8_t y_splits = 0xff )
{
if ( ! mbl . active ) {
plan_buffer_line ( x , y , z , e , feed_rate , extruder ) ;
set_current_to_destination ( ) ;
return ;
}
int pix = mbl . select_x_index ( current_position [ X_AXIS ] ) ;
int piy = mbl . select_y_index ( current_position [ Y_AXIS ] ) ;
int ix = mbl . select_x_index ( x ) ;
int iy = mbl . select_y_index ( y ) ;
pix = MIN ( pix , MESH_NUM_X_POINTS - 2 ) ;
piy = MIN ( piy , MESH_NUM_Y_POINTS - 2 ) ;
ix = MIN ( ix , MESH_NUM_X_POINTS - 2 ) ;
iy = MIN ( iy , MESH_NUM_Y_POINTS - 2 ) ;
if ( pix = = ix & & piy = = iy ) {
// Start and end on same mesh square
plan_buffer_line ( x , y , z , e , feed_rate , extruder ) ;
set_current_to_destination ( ) ;
return ;
}
float nx , ny , ne , normalized_dist ;
if ( ix > pix & & ( x_splits ) & BIT ( ix ) ) {
nx = mbl . get_x ( ix ) ;
normalized_dist = ( nx - current_position [ X_AXIS ] ) / ( x - current_position [ X_AXIS ] ) ;
ny = current_position [ Y_AXIS ] + ( y - current_position [ Y_AXIS ] ) * normalized_dist ;
ne = current_position [ E_AXIS ] + ( e - current_position [ E_AXIS ] ) * normalized_dist ;
x_splits ^ = BIT ( ix ) ;
} else if ( ix < pix & & ( x_splits ) & BIT ( pix ) ) {
nx = mbl . get_x ( pix ) ;
normalized_dist = ( nx - current_position [ X_AXIS ] ) / ( x - current_position [ X_AXIS ] ) ;
ny = current_position [ Y_AXIS ] + ( y - current_position [ Y_AXIS ] ) * normalized_dist ;
ne = current_position [ E_AXIS ] + ( e - current_position [ E_AXIS ] ) * normalized_dist ;
x_splits ^ = BIT ( pix ) ;
} else if ( iy > piy & & ( y_splits ) & BIT ( iy ) ) {
ny = mbl . get_y ( iy ) ;
normalized_dist = ( ny - current_position [ Y_AXIS ] ) / ( y - current_position [ Y_AXIS ] ) ;
nx = current_position [ X_AXIS ] + ( x - current_position [ X_AXIS ] ) * normalized_dist ;
ne = current_position [ E_AXIS ] + ( e - current_position [ E_AXIS ] ) * normalized_dist ;
y_splits ^ = BIT ( iy ) ;
} else if ( iy < piy & & ( y_splits ) & BIT ( piy ) ) {
ny = mbl . get_y ( piy ) ;
normalized_dist = ( ny - current_position [ Y_AXIS ] ) / ( y - current_position [ Y_AXIS ] ) ;
nx = current_position [ X_AXIS ] + ( x - current_position [ X_AXIS ] ) * normalized_dist ;
ne = current_position [ E_AXIS ] + ( e - current_position [ E_AXIS ] ) * normalized_dist ;
y_splits ^ = BIT ( piy ) ;
} else {
// Already split on a border
plan_buffer_line ( x , y , z , e , feed_rate , extruder ) ;
set_current_to_destination ( ) ;
return ;
}
// Do the split and look for more borders
destination [ X_AXIS ] = nx ;
destination [ Y_AXIS ] = ny ;
destination [ E_AXIS ] = ne ;
mesh_plan_buffer_line ( nx , ny , z , ne , feed_rate , extruder , x_splits , y_splits ) ;
destination [ X_AXIS ] = x ;
destination [ Y_AXIS ] = y ;
destination [ E_AXIS ] = e ;
mesh_plan_buffer_line ( x , y , z , e , feed_rate , extruder , x_splits , y_splits ) ;
}
# endif // MESH_BED_LEVELING
# ifdef PREVENT_DANGEROUS_EXTRUDE
inline float prevent_dangerous_extrude ( float & curr_e , float & dest_e ) {
float de = dest_e - curr_e ;
if ( de ) {
if ( degHotend ( active_extruder ) < extrude_min_temp ) {
curr_e = dest_e ; // Behave as if the move really took place, but ignore E part
SERIAL_ECHO_START ;
SERIAL_ECHOLNPGM ( MSG_ERR_COLD_EXTRUDE_STOP ) ;
return 0 ;
}
# ifdef PREVENT_LENGTHY_EXTRUDE
if ( labs ( de ) > EXTRUDE_MAXLENGTH ) {
curr_e = dest_e ; // Behave as if the move really took place, but ignore E part
SERIAL_ECHO_START ;
SERIAL_ECHOLNPGM ( MSG_ERR_LONG_EXTRUDE_STOP ) ;
return 0 ;
}
# endif
}
return de ;
}
# endif // PREVENT_DANGEROUS_EXTRUDE
void prepare_move ( ) {
clamp_to_software_endstops ( destination ) ;
refresh_cmd_timeout ( ) ;
# ifdef PREVENT_DANGEROUS_EXTRUDE
( void ) prevent_dangerous_extrude ( current_position [ E_AXIS ] , destination [ E_AXIS ] ) ;
# endif
# 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 ) ;
# ifdef ENABLE_AUTO_BED_LEVELING
adjust_delta ( destination ) ;
# endif
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 ) ;
sync_plan_position ( ) ;
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 (with no extrusion)
// Skip it, but keep track of the current position
// (so it can be used as the start of the next non-travel move)
if ( delayed_move_time ! = 0xFFFFFFFFUL ) {
set_current_to_destination ( ) ;
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 ] ) {
line_to_destination ( ) ;
}
else {
# ifdef MESH_BED_LEVELING
mesh_plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , ( feedrate / 60 ) * ( feedmultiply / 100.0 ) , active_extruder ) ;
return ;
# else
line_to_destination ( feedrate * feedmultiply / 100.0 ) ;
# endif // MESH_BED_LEVELING
}
# endif // !(DELTA || SCARA)
set_current_to_destination ( ) ;
}
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.
set_current_to_destination ( ) ;
refresh_cmd_timeout ( ) ;
}
# if HAS_CONTROLLERFAN
unsigned long lastMotor = 0 ; // Last time a motor was turned on
unsigned long lastMotorCheck = 0 ; // Last time the state was checked
void controllerFan ( ) {
uint32_t ms = millis ( ) ;
if ( ms > = lastMotorCheck + 2500 ) { // Not a time critical function, so we only check every 2500ms
lastMotorCheck = ms ;
if ( X_ENABLE_READ = = X_ENABLE_ON | | Y_ENABLE_READ = = Y_ENABLE_ON | | Z_ENABLE_READ = = Z_ENABLE_ON | | soft_pwm_bed > 0
| | E0_ENABLE_READ = = E_ENABLE_ON // If any of the drivers are enabled...
# if EXTRUDERS > 1
| | E1_ENABLE_READ = = E_ENABLE_ON
# if HAS_X2_ENABLE
| | X2_ENABLE_READ = = X_ENABLE_ON
# endif
# if EXTRUDERS > 2
| | E2_ENABLE_READ = = E_ENABLE_ON
# if EXTRUDERS > 3
| | E3_ENABLE_READ = = E_ENABLE_ON
# endif
# endif
# endif
) {
lastMotor = ms ; //... set time to NOW so the fan will turn on
}
uint8_t speed = ( lastMotor = = 0 | | ms > = lastMotor + ( CONTROLLERFAN_SECS * 1000UL ) ) ? 0 : CONTROLLERFAN_SPEED ;
// allows digital or PWM fan output to be used (see M42 handling)
digitalWrite ( CONTROLLERFAN_PIN , speed ) ;
analogWrite ( CONTROLLERFAN_PIN , 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 HAS_TEMP_BED
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 enable_all_steppers ( ) {
enable_x ( ) ;
enable_y ( ) ;
enable_z ( ) ;
enable_e0 ( ) ;
enable_e1 ( ) ;
enable_e2 ( ) ;
enable_e3 ( ) ;
}
void disable_all_steppers ( ) {
disable_x ( ) ;
disable_y ( ) ;
disable_z ( ) ;
disable_e0 ( ) ;
disable_e1 ( ) ;
disable_e2 ( ) ;
disable_e3 ( ) ;
}
/**
* Manage several activities :
* - Check for Filament Runout
* - Keep the command buffer full
* - Check for maximum inactive time between commands
* - Check for maximum inactive time between stepper commands
* - Check if pin CHDK needs to go LOW
* - Check for KILL button held down
* - Check for HOME button held down
* - Check if cooling fan needs to be switched on
* - Check if an idle but hot extruder needs filament extruded ( EXTRUDER_RUNOUT_PREVENT )
*/
void manage_inactivity ( bool ignore_stepper_queue /*=false*/ ) {
# if HAS_FILRUNOUT
if ( card . sdprinting & & ! ( READ ( FILRUNOUT_PIN ) ^ FIL_RUNOUT_INVERTING ) )
filrunout ( ) ;
# endif
if ( buflen < BUFSIZE - 1 ) get_command ( ) ;
unsigned long ms = millis ( ) ;
if ( max_inactive_time & & ms > previous_millis_cmd + max_inactive_time ) kill ( ) ;
if ( stepper_inactive_time & & ms > previous_millis_cmd + stepper_inactive_time
& & ! ignore_stepper_queue & & ! blocks_queued ( ) )
disable_all_steppers ( ) ;
# ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
if ( chdkActive & & ms > chdkHigh + CHDK_DELAY ) {
chdkActive = false ;
WRITE ( CHDK , LOW ) ;
}
# endif
# if HAS_KILL
// Check if the kill button was pressed and wait just in case it was an accidental
// key kill key press
// -------------------------------------------------------------------------------
static int killCount = 0 ; // make the inactivity button a bit less responsive
const int KILL_DELAY = 750 ;
if ( ! READ ( KILL_PIN ) )
killCount + + ;
else if ( killCount > 0 )
killCount - - ;
// Exceeded threshold and we can confirm that it was not accidental
// KILL the machine
// ----------------------------------------------------------------
if ( killCount > = KILL_DELAY ) kill ( ) ;
# endif
# if HAS_HOME
// Check to see if we have to home, use poor man's debouncer
// ---------------------------------------------------------
static int homeDebounceCount = 0 ; // poor man's debouncing count
const int HOME_DEBOUNCE_DELAY = 750 ;
if ( ! READ ( HOME_PIN ) ) {
if ( ! homeDebounceCount ) {
enquecommands_P ( PSTR ( " G28 " ) ) ;
LCD_ALERTMESSAGEPGM ( MSG_AUTO_HOME ) ;
}
if ( homeDebounceCount < HOME_DEBOUNCE_DELAY )
homeDebounceCount + + ;
else
homeDebounceCount = 0 ;
}
# endif
# if HAS_CONTROLLERFAN
controllerFan ( ) ; // Check if fan should be turned on to cool stepper drivers down
# endif
# ifdef EXTRUDER_RUNOUT_PREVENT
if ( ms > previous_millis_cmd + EXTRUDER_RUNOUT_SECONDS * 1000 )
if ( degHotend ( active_extruder ) > EXTRUDER_RUNOUT_MINTEMP ) {
bool oldstatus ;
switch ( active_extruder ) {
case 0 :
oldstatus = E0_ENABLE_READ ;
enable_e0 ( ) ;
break ;
# if EXTRUDERS > 1
case 1 :
oldstatus = E1_ENABLE_READ ;
enable_e1 ( ) ;
break ;
# if EXTRUDERS > 2
case 2 :
oldstatus = E2_ENABLE_READ ;
enable_e2 ( ) ;
break ;
# if EXTRUDERS > 3
case 3 :
oldstatus = E3_ENABLE_READ ;
enable_e3 ( ) ;
break ;
# endif
# endif
# endif
}
float oldepos = current_position [ E_AXIS ] , 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 = ms ; // refresh_cmd_timeout()
st_synchronize ( ) ;
switch ( active_extruder ) {
case 0 :
E0_ENABLE_WRITE ( oldstatus ) ;
break ;
# if EXTRUDERS > 1
case 1 :
E1_ENABLE_WRITE ( oldstatus ) ;
break ;
# if EXTRUDERS > 2
case 2 :
E2_ENABLE_WRITE ( oldstatus ) ;
break ;
# if EXTRUDERS > 3
case 3 :
E3_ENABLE_WRITE ( oldstatus ) ;
break ;
# endif
# endif
# endif
}
}
# endif
# ifdef DUAL_X_CARRIAGE
// handle delayed move timeout
if ( delayed_move_time & & ms > delayed_move_time + 1000 & & IsRunning ( ) ) {
// travel moves have been received so enact them
delayed_move_time = 0xFFFFFFFFUL ; // force moves to be done
set_destination_to_current ( ) ;
prepare_move ( ) ;
}
# endif
# ifdef TEMP_STAT_LEDS
handle_status_leds ( ) ;
# endif
check_axes_activity ( ) ;
}
void kill ( )
{
cli ( ) ; // Stop interrupts
disable_heater ( ) ;
disable_all_steppers ( ) ;
# if HAS_POWER_SWITCH
pinMode ( PS_ON_PIN , INPUT ) ;
# endif
SERIAL_ERROR_START ;
SERIAL_ERRORLNPGM ( MSG_ERR_KILLED ) ;
LCD_ALERTMESSAGEPGM ( MSG_KILLED ) ;
// FMC small patch to update the LCD before ending
sei ( ) ; // enable interrupts
for ( int i = 5 ; i - - ; lcd_update ( ) ) delay ( 200 ) ; // Wait a short time
cli ( ) ; // disable interrupts
suicide ( ) ;
while ( 1 ) { /* Intentionally left empty */ } // Wait for reset
}
# ifdef FILAMENT_RUNOUT_SENSOR
void filrunout ( )
{
if filrunoutEnqued = = false {
filrunoutEnqued = true ;
enquecommand ( " M600 " ) ;
}
}
# endif
void Stop ( )
{
disable_heater ( ) ;
if ( IsRunning ( ) ) {
Running = false ;
Stopped_gcode_LastN = gcode_LastN ; // Save last g_code for restart
SERIAL_ERROR_START ;
SERIAL_ERRORLNPGM ( MSG_ERR_STOPPED ) ;
LCD_MESSAGEPGM ( MSG_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 ) {
target_extruder = active_extruder ;
if ( code_seen ( ' T ' ) ) {
target_extruder = code_value_short ( ) ;
if ( target_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 ( target_extruder ) ;
return true ;
}
}
return false ;
}
float calculate_volumetric_multiplier ( float diameter ) {
if ( ! volumetric_enabled | | diameter = = 0 ) return 1.0 ;
float d2 = diameter * 0.5 ;
return 1.0 / ( M_PI * d2 * d2 ) ;
}
void calculate_volumetric_multipliers ( ) {
for ( int i = 0 ; i < EXTRUDERS ; i + + )
volumetric_multiplier [ i ] = calculate_volumetric_multiplier ( filament_size [ i ] ) ;
}
