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@ -36,11 +36,11 @@
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#endif
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#endif // ENABLE_AUTO_BED_LEVELING
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#define SERVO_LEVELING defined(ENABLE_AUTO_BED_LEVELING) && PROBE_SERVO_DEACTIVATION_DELAY > 0
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#define SERVO_LEVELING (defined(ENABLE_AUTO_BED_LEVELING) && PROBE_SERVO_DEACTIVATION_DELAY > 0)
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#if defined(MESH_BED_LEVELING)
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#ifdef MESH_BED_LEVELING
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#include "mesh_bed_leveling.h"
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#endif // MESH_BED_LEVELING
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#endif
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#include "ultralcd.h"
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#include "planner.h"
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@ -298,6 +298,7 @@ int fanSpeed = 0;
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float delta_diagonal_rod_2 = sq(delta_diagonal_rod);
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float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
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#ifdef ENABLE_AUTO_BED_LEVELING
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int delta_grid_spacing[2] = { 0, 0 };
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float bed_level[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
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#endif
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#endif
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@ -422,26 +423,24 @@ void serial_echopair_P(const char *s_P, unsigned long v)
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//Injects the next command from the pending sequence of commands, when possible
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//Return false if and only if no command was pending
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static bool drain_queued_commands_P()
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{
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char cmd[30];
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if(!queued_commands_P)
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return false;
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static bool drain_queued_commands_P() {
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if (!queued_commands_P) return false;
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// Get the next 30 chars from the sequence of gcodes to run
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strncpy_P(cmd, queued_commands_P, sizeof(cmd)-1);
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cmd[sizeof(cmd)-1]= 0;
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char cmd[30];
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strncpy_P(cmd, queued_commands_P, sizeof(cmd) - 1);
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cmd[sizeof(cmd) - 1] = '\0';
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// Look for the end of line, or the end of sequence
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size_t i= 0;
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size_t i = 0;
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char c;
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while( (c= cmd[i]) && c!='\n' )
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++i; // look for the end of this gcode command
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cmd[i]= 0;
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if(enquecommand(cmd)) // buffer was not full (else we will retry later)
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{
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if(c)
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queued_commands_P+= i+1; // move to next command
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while((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
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cmd[i] = '\0';
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if (enquecommand(cmd)) { // buffer was not full (else we will retry later)
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if (c)
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queued_commands_P += i + 1; // move to next command
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else
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queued_commands_P= NULL; // will have no more commands in the sequence
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queued_commands_P = NULL; // will have no more commands in the sequence
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}
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return true;
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}
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@ -449,10 +448,9 @@ static bool drain_queued_commands_P()
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//Record one or many commands to run from program memory.
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//Aborts the current queue, if any.
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//Note: drain_queued_commands_P() must be called repeatedly to drain the commands afterwards
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void enquecommands_P(const char* pgcode)
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{
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queued_commands_P= pgcode;
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drain_queued_commands_P(); // first command exectuted asap (when possible)
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void enquecommands_P(const char* pgcode) {
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queued_commands_P = pgcode;
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drain_queued_commands_P(); // first command executed asap (when possible)
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}
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//adds a single command to the main command buffer, from RAM
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@ -478,42 +476,42 @@ bool enquecommand(const char *cmd)
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void setup_killpin()
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{
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#if defined(KILL_PIN) && KILL_PIN > -1
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#if HAS_KILL
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SET_INPUT(KILL_PIN);
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WRITE(KILL_PIN,HIGH);
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WRITE(KILL_PIN, HIGH);
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#endif
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}
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void setup_filrunoutpin()
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{
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#if defined(FILRUNOUT_PIN) && FILRUNOUT_PIN > -1
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pinMode(FILRUNOUT_PIN,INPUT);
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#if defined(ENDSTOPPULLUP_FIL_RUNOUT)
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WRITE(FILLRUNOUT_PIN,HIGH);
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#endif
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#endif
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#if HAS_FILRUNOUT
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pinMode(FILRUNOUT_PIN, INPUT);
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#ifdef ENDSTOPPULLUP_FIL_RUNOUT
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WRITE(FILLRUNOUT_PIN, HIGH);
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#endif
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#endif
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}
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// Set home pin
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void setup_homepin(void)
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{
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#if defined(HOME_PIN) && HOME_PIN > -1
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SET_INPUT(HOME_PIN);
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WRITE(HOME_PIN,HIGH);
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#endif
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#if HAS_HOME
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SET_INPUT(HOME_PIN);
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WRITE(HOME_PIN, HIGH);
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#endif
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}
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void setup_photpin()
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{
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#if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
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#if HAS_PHOTOGRAPH
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OUT_WRITE(PHOTOGRAPH_PIN, LOW);
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#endif
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}
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void setup_powerhold()
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{
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#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
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#if HAS_SUICIDE
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OUT_WRITE(SUICIDE_PIN, HIGH);
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#endif
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#if HAS_POWER_SWITCH
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@ -527,37 +525,31 @@ void setup_powerhold()
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void suicide()
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{
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#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
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#if HAS_SUICIDE
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OUT_WRITE(SUICIDE_PIN, LOW);
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#endif
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}
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void servo_init()
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{
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#if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
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#if NUM_SERVOS >= 1 && HAS_SERVO_0
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servos[0].attach(SERVO0_PIN);
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#endif
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#if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
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#if NUM_SERVOS >= 2 && HAS_SERVO_1
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servos[1].attach(SERVO1_PIN);
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#endif
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#if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
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#if NUM_SERVOS >= 3 && HAS_SERVO_2
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servos[2].attach(SERVO2_PIN);
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#endif
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#if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
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#if NUM_SERVOS >= 4 && HAS_SERVO_3
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servos[3].attach(SERVO3_PIN);
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#endif
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#if (NUM_SERVOS >= 5)
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#error "TODO: enter initalisation code for more servos"
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#endif
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// Set position of Servo Endstops that are defined
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#ifdef SERVO_ENDSTOPS
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for(int8_t i = 0; i < 3; i++)
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{
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if(servo_endstops[i] > -1) {
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for (int i = 0; i < 3; i++)
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if (servo_endstops[i] >= 0)
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servos[servo_endstops[i]].write(servo_endstop_angles[i * 2 + 1]);
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}
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}
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#endif
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#if SERVO_LEVELING
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@ -624,7 +616,7 @@ void setup()
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lcd_init();
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_delay_ms(1000); // wait 1sec to display the splash screen
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#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
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#if HAS_CONTROLLERFAN
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SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
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#endif
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@ -648,47 +640,37 @@ void setup()
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}
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void loop()
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{
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if(buflen < (BUFSIZE-1))
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get_command();
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void loop() {
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if (buflen < BUFSIZE - 1) get_command();
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#ifdef SDSUPPORT
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card.checkautostart(false);
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card.checkautostart(false);
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#endif
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if(buflen)
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{
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if (buflen) {
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#ifdef SDSUPPORT
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if(card.saving)
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{
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if(strstr_P(cmdbuffer[bufindr], PSTR("M29")) == NULL)
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{
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if (card.saving) {
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if (strstr_P(cmdbuffer[bufindr], PSTR("M29")) == NULL) {
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card.write_command(cmdbuffer[bufindr]);
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if(card.logging)
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{
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if (card.logging)
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process_commands();
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}
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else
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{
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SERIAL_PROTOCOLLNPGM(MSG_OK);
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}
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}
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else
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{
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else {
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card.closefile();
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SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
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}
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}
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else
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{
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process_commands();
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}
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#else
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process_commands();
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#endif //SDSUPPORT
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buflen = (buflen-1);
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bufindr = (bufindr + 1)%BUFSIZE;
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#endif // SDSUPPORT
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buflen--;
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bufindr = (bufindr + 1) % BUFSIZE;
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}
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//check heater every n milliseconds
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// Check heater every n milliseconds
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manage_heater();
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manage_inactivity();
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checkHitEndstops();
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@ -697,7 +679,7 @@ void loop()
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void get_command()
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{
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if(drain_queued_commands_P()) // priority is given to non-serial commands
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if (drain_queued_commands_P()) // priority is given to non-serial commands
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return;
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while( MYSERIAL.available() > 0 && buflen < BUFSIZE) {
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@ -916,7 +898,7 @@ XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
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XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
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XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
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XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
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XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
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XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM);
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XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
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#ifdef DUAL_X_CARRIAGE
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@ -1019,6 +1001,8 @@ static void axis_is_at_home(int axis) {
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#endif
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}
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inline void refresh_cmd_timeout() { previous_millis_cmd = millis(); }
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/**
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* Some planner shorthand inline functions
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*/
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@ -1043,6 +1027,18 @@ inline void sync_plan_position() {
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#ifdef ENABLE_AUTO_BED_LEVELING
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#ifdef DELTA
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/**
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* Calculate delta, start a line, and set current_position to destination
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*/
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void prepare_move_raw() {
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refresh_cmd_timeout();
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calculate_delta(destination);
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plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder);
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for (int i = 0; i < NUM_AXIS; i++) current_position[i] = destination[i];
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}
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#endif
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#ifdef AUTO_BED_LEVELING_GRID
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#ifndef DELTA
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@ -1132,7 +1128,7 @@ inline void sync_plan_position() {
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
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// move up the retract distance
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zPosition += home_retract_mm(Z_AXIS);
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zPosition += home_bump_mm(Z_AXIS);
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line_to_z(zPosition);
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st_synchronize();
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endstops_hit_on_purpose(); // clear endstop hit flags
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@ -1145,7 +1141,7 @@ inline void sync_plan_position() {
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SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less than 1");
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}
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zPosition -= home_retract_mm(Z_AXIS) * 2;
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zPosition -= home_bump_mm(Z_AXIS) * 2;
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line_to_z(zPosition);
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st_synchronize();
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endstops_hit_on_purpose(); // clear endstop hit flags
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@ -1157,6 +1153,9 @@ inline void sync_plan_position() {
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#endif // !DELTA
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}
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/**
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*
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*/
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static void do_blocking_move_to(float x, float y, float z) {
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float oldFeedRate = feedrate;
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@ -1194,7 +1193,7 @@ inline void sync_plan_position() {
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saved_feedrate = feedrate;
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saved_feedmultiply = feedmultiply;
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feedmultiply = 100;
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previous_millis_cmd = millis();
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refresh_cmd_timeout();
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enable_endstops(true);
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}
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@ -1204,10 +1203,10 @@ inline void sync_plan_position() {
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#endif
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feedrate = saved_feedrate;
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feedmultiply = saved_feedmultiply;
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previous_millis_cmd = millis();
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refresh_cmd_timeout();
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}
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static void engage_z_probe() {
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static void deploy_z_probe() {
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#ifdef SERVO_ENDSTOPS
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@ -1259,7 +1258,7 @@ inline void sync_plan_position() {
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}
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static void retract_z_probe() {
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static void stow_z_probe() {
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#ifdef SERVO_ENDSTOPS
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@ -1291,19 +1290,19 @@ inline void sync_plan_position() {
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prepare_move_raw();
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// Move to the start position to initiate retraction
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destination[X_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_X;
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destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_Y;
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destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_Z;
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destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_X;
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destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_Y;
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destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_Z;
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prepare_move_raw();
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// Move the nozzle down to push the probe into retracted position
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feedrate = homing_feedrate[Z_AXIS]/10;
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destination[Z_AXIS] = current_position[Z_AXIS] - Z_PROBE_ALLEN_KEY_RETRACT_DEPTH;
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destination[Z_AXIS] = current_position[Z_AXIS] - Z_PROBE_ALLEN_KEY_STOW_DEPTH;
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prepare_move_raw();
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// Move up for safety
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feedrate = homing_feedrate[Z_AXIS]/2;
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destination[Z_AXIS] = current_position[Z_AXIS] + Z_PROBE_ALLEN_KEY_RETRACT_DEPTH * 2;
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destination[Z_AXIS] = current_position[Z_AXIS] + Z_PROBE_ALLEN_KEY_STOW_DEPTH * 2;
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prepare_move_raw();
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// Home XY for safety
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@ -1342,7 +1341,7 @@ inline void sync_plan_position() {
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do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
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#if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
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if (retract_action & ProbeEngage) engage_z_probe();
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if (retract_action & ProbeEngage) deploy_z_probe();
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#endif
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run_z_probe();
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@ -1356,7 +1355,7 @@ inline void sync_plan_position() {
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#endif
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#if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
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if (retract_action & ProbeRetract) retract_z_probe();
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if (retract_action & ProbeRetract) stow_z_probe();
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#endif
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if (verbose_level > 2) {
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@ -1460,10 +1459,10 @@ static void homeaxis(int axis) {
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sync_plan_position();
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// Engage Servo endstop if enabled
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#ifdef SERVO_ENDSTOPS && !defined(Z_PROBE_SLED)
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#if defined(SERVO_ENDSTOPS) && !defined(Z_PROBE_SLED)
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#if SERVO_LEVELING
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if (axis == Z_AXIS) engage_z_probe(); else
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if (axis == Z_AXIS) deploy_z_probe(); else
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#endif
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{
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if (servo_endstops[axis] > -1)
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@ -1486,8 +1485,8 @@ static void homeaxis(int axis) {
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current_position[axis] = 0;
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sync_plan_position();
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// Move away from the endstop by the axis HOME_RETRACT_MM
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destination[axis] = -home_retract_mm(axis) * axis_home_dir;
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// Move away from the endstop by the axis HOME_BUMP_MM
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destination[axis] = -home_bump_mm(axis) * axis_home_dir;
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line_to_destination();
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st_synchronize();
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@ -1500,7 +1499,7 @@ static void homeaxis(int axis) {
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}
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// Move slowly towards the endstop until triggered
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destination[axis] = 2 * home_retract_mm(axis) * axis_home_dir;
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destination[axis] = 2 * home_bump_mm(axis) * axis_home_dir;
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line_to_destination();
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st_synchronize();
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@ -1554,14 +1553,12 @@ static void homeaxis(int axis) {
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#endif
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#if SERVO_LEVELING && !defined(Z_PROBE_SLED)
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if (axis == Z_AXIS) retract_z_probe();
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if (axis == Z_AXIS) stow_z_probe();
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#endif
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}
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}
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void refresh_cmd_timeout(void) { previous_millis_cmd = millis(); }
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#ifdef FWRETRACT
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void retract(bool retracting, bool swapretract = false) {
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@ -1701,9 +1698,9 @@ inline void gcode_G4() {
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if (code_seen('S')) codenum = code_value_long() * 1000; // seconds to wait
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st_synchronize();
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previous_millis_cmd = millis();
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refresh_cmd_timeout();
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codenum += previous_millis_cmd; // keep track of when we started waiting
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while(millis() < codenum) {
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while (millis() < codenum) {
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manage_heater();
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manage_inactivity();
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lcd_update();
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@ -1753,14 +1750,17 @@ inline void gcode_G4() {
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* Zn Home Z, setting Z to n + home_offset[Z_AXIS]
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*/
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inline void gcode_G28() {
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// For auto bed leveling, clear the level matrix
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#ifdef ENABLE_AUTO_BED_LEVELING
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plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
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plan_bed_level_matrix.set_to_identity();
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#ifdef DELTA
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reset_bed_level();
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#endif
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#endif
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#if defined(MESH_BED_LEVELING)
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// For manual bed leveling deactivate the matrix temporarily
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#ifdef MESH_BED_LEVELING
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uint8_t mbl_was_active = mbl.active;
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mbl.active = 0;
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#endif
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@ -1768,7 +1768,7 @@ inline void gcode_G28() {
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saved_feedrate = feedrate;
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saved_feedmultiply = feedmultiply;
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feedmultiply = 100;
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previous_millis_cmd = millis();
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refresh_cmd_timeout();
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enable_endstops(true);
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@ -1780,10 +1780,11 @@ inline void gcode_G28() {
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// A delta can only safely home all axis at the same time
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// all axis have to home at the same time
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// Move all carriages up together until the first endstop is hit.
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// Pretend the current position is 0,0,0
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for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0;
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sync_plan_position();
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// Move all carriages up together until the first endstop is hit.
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for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * Z_MAX_LENGTH;
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feedrate = 1.732 * homing_feedrate[X_AXIS];
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line_to_destination();
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@ -1994,14 +1995,12 @@ inline void gcode_G28() {
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enable_endstops(false);
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#endif
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#if defined(MESH_BED_LEVELING)
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// For manual leveling move back to 0,0
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#ifdef MESH_BED_LEVELING
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if (mbl_was_active) {
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current_position[X_AXIS] = mbl.get_x(0);
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current_position[Y_AXIS] = mbl.get_y(0);
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destination[X_AXIS] = current_position[X_AXIS];
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destination[Y_AXIS] = current_position[Y_AXIS];
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destination[Z_AXIS] = current_position[Z_AXIS];
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destination[E_AXIS] = current_position[E_AXIS];
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for (int i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i];
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feedrate = homing_feedrate[X_AXIS];
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line_to_destination();
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st_synchronize();
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@ -2013,25 +2012,14 @@ inline void gcode_G28() {
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feedrate = saved_feedrate;
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feedmultiply = saved_feedmultiply;
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previous_millis_cmd = millis();
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refresh_cmd_timeout();
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endstops_hit_on_purpose(); // clear endstop hit flags
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}
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#if defined(MESH_BED_LEVELING) || defined(ENABLE_AUTO_BED_LEVELING)
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// Check for known positions in X and Y
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inline bool can_run_bed_leveling() {
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if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) return true;
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LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
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return false;
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}
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#endif // MESH_BED_LEVELING || ENABLE_AUTO_BED_LEVELING
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#ifdef MESH_BED_LEVELING
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enum MeshLevelingState { MeshReport, MeshStart, MeshNext };
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/**
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* G29: Mesh-based Z-Probe, probes a grid and produces a
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* mesh to compensate for variable bed height
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@ -2045,81 +2033,82 @@ inline void gcode_G28() {
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*/
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inline void gcode_G29() {
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// Prevent leveling without first homing in X and Y
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if (!can_run_bed_leveling()) return;
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static int probe_point = -1;
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int state = 0;
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if (code_seen('S') || code_seen('s')) {
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state = code_value_long();
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if (state < 0 || state > 2) {
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SERIAL_PROTOCOLPGM("S out of range (0-2).\n");
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return;
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}
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MeshLevelingState state = code_seen('S') || code_seen('s') ? (MeshLevelingState)code_value_long() : MeshReport;
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if (state < 0 || state > 2) {
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SERIAL_PROTOCOLLNPGM("S out of range (0-2).");
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return;
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}
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if (state == 0) { // Dump mesh_bed_leveling
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if (mbl.active) {
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SERIAL_PROTOCOLPGM("Num X,Y: ");
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SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
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SERIAL_PROTOCOLPGM(",");
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SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
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SERIAL_PROTOCOLPGM("\nZ search height: ");
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SERIAL_PROTOCOL(MESH_HOME_SEARCH_Z);
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SERIAL_PROTOCOLPGM("\nMeasured points:\n");
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for (int y=0; y<MESH_NUM_Y_POINTS; y++) {
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for (int x=0; x<MESH_NUM_X_POINTS; x++) {
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SERIAL_PROTOCOLPGM(" ");
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SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
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switch(state) {
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case MeshReport:
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if (mbl.active) {
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SERIAL_PROTOCOLPGM("Num X,Y: ");
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SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
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SERIAL_PROTOCOLPGM(",");
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SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
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SERIAL_PROTOCOLPGM("\nZ search height: ");
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SERIAL_PROTOCOL(MESH_HOME_SEARCH_Z);
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SERIAL_PROTOCOLLNPGM("\nMeasured points:");
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for (int y = 0; y < MESH_NUM_Y_POINTS; y++) {
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for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
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SERIAL_PROTOCOLPGM(" ");
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SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
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}
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SERIAL_EOL;
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}
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SERIAL_EOL;
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}
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} else {
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SERIAL_PROTOCOLPGM("Mesh bed leveling not active.\n");
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}
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} else if (state == 1) { // Begin probing mesh points
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else
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SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
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break;
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mbl.reset();
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probe_point = 0;
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enquecommands_P(PSTR("G28"));
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enquecommands_P(PSTR("G29 S2"));
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case MeshStart:
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mbl.reset();
|
|
|
|
|
probe_point = 0;
|
|
|
|
|
enquecommands_P(PSTR("G28\nG29 S2"));
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
} else if (state == 2) { // Goto next point
|
|
|
|
|
case MeshNext:
|
|
|
|
|
if (probe_point < 0) {
|
|
|
|
|
SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
|
|
|
|
|
return;
|
|
|
|
|
}
|
|
|
|
|
int ix, iy;
|
|
|
|
|
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"));
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (probe_point < 0) {
|
|
|
|
|
SERIAL_PROTOCOLPGM("Start mesh probing with \"G29 S1\" first.\n");
|
|
|
|
|
return;
|
|
|
|
|
}
|
|
|
|
|
int ix, iy;
|
|
|
|
|
if (probe_point == 0) {
|
|
|
|
|
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
|
|
|
|
|
sync_plan_position();
|
|
|
|
|
} else {
|
|
|
|
|
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();
|
|
|
|
|
}
|
|
|
|
|
if (probe_point == MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS) {
|
|
|
|
|
SERIAL_PROTOCOLPGM("Mesh probing done.\n");
|
|
|
|
|
probe_point = -1;
|
|
|
|
|
mbl.active = 1;
|
|
|
|
|
enquecommands_P(PSTR("G28"));
|
|
|
|
|
return;
|
|
|
|
|
}
|
|
|
|
|
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++;
|
|
|
|
|
}
|
|
|
|
|
} // switch(state)
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#elif defined(ENABLE_AUTO_BED_LEVELING)
|
|
|
|
|
@ -2164,21 +2153,22 @@ inline void gcode_G28() {
|
|
|
|
|
*/
|
|
|
|
|
inline void gcode_G29() {
|
|
|
|
|
|
|
|
|
|
// Prevent leveling without first homing in X and Y
|
|
|
|
|
if (!can_run_bed_leveling()) return;
|
|
|
|
|
|
|
|
|
|
int verbose_level = 1;
|
|
|
|
|
// 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;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (code_seen('V') || code_seen('v')) {
|
|
|
|
|
verbose_level = code_value_long();
|
|
|
|
|
if (verbose_level < 0 || verbose_level > 4) {
|
|
|
|
|
SERIAL_PROTOCOLPGM("?(V)erbose Level is implausible (0-4).\n");
|
|
|
|
|
return;
|
|
|
|
|
}
|
|
|
|
|
int verbose_level = code_seen('V') || code_seen('v') ? code_value_long() : 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');
|
|
|
|
|
bool engage_probe_for_each_reading = code_seen('E') || code_seen('e');
|
|
|
|
|
bool dryrun = code_seen('D') || code_seen('d'),
|
|
|
|
|
engage_probe_for_each_reading = code_seen('E') || code_seen('e');
|
|
|
|
|
|
|
|
|
|
#ifdef AUTO_BED_LEVELING_GRID
|
|
|
|
|
|
|
|
|
|
@ -2188,7 +2178,7 @@ inline void gcode_G28() {
|
|
|
|
|
|
|
|
|
|
if (verbose_level > 0) {
|
|
|
|
|
SERIAL_PROTOCOLPGM("G29 Auto Bed Leveling\n");
|
|
|
|
|
if (dryrun) SERIAL_ECHOLN("Running in DRY-RUN mode");
|
|
|
|
|
if (dryrun) SERIAL_ECHOLNPGM("Running in DRY-RUN mode");
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;
|
|
|
|
|
@ -2241,7 +2231,7 @@ inline void gcode_G28() {
|
|
|
|
|
#ifdef Z_PROBE_SLED
|
|
|
|
|
dock_sled(false); // engage (un-dock) the probe
|
|
|
|
|
#elif defined(Z_PROBE_ALLEN_KEY) //|| defined(SERVO_LEVELING)
|
|
|
|
|
engage_z_probe();
|
|
|
|
|
deploy_z_probe();
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
st_synchronize();
|
|
|
|
|
@ -2464,7 +2454,7 @@ inline void gcode_G28() {
|
|
|
|
|
#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)
|
|
|
|
|
retract_z_probe();
|
|
|
|
|
stow_z_probe();
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifdef Z_PROBE_END_SCRIPT
|
|
|
|
|
@ -2476,7 +2466,7 @@ inline void gcode_G28() {
|
|
|
|
|
#ifndef Z_PROBE_SLED
|
|
|
|
|
|
|
|
|
|
inline void gcode_G30() {
|
|
|
|
|
engage_z_probe(); // Engage Z Servo endstop if available
|
|
|
|
|
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();
|
|
|
|
|
@ -2494,7 +2484,7 @@ inline void gcode_G28() {
|
|
|
|
|
SERIAL_EOL;
|
|
|
|
|
|
|
|
|
|
clean_up_after_endstop_move();
|
|
|
|
|
retract_z_probe(); // Retract Z Servo endstop if available
|
|
|
|
|
stow_z_probe(); // Retract Z Servo endstop if available
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#endif //!Z_PROBE_SLED
|
|
|
|
|
@ -2554,7 +2544,7 @@ inline void gcode_G92() {
|
|
|
|
|
|
|
|
|
|
lcd_ignore_click();
|
|
|
|
|
st_synchronize();
|
|
|
|
|
previous_millis_cmd = millis();
|
|
|
|
|
refresh_cmd_timeout();
|
|
|
|
|
if (codenum > 0) {
|
|
|
|
|
codenum += previous_millis_cmd; // keep track of when we started waiting
|
|
|
|
|
while(millis() < codenum && !lcd_clicked()) {
|
|
|
|
|
@ -2781,7 +2771,7 @@ inline void gcode_M42() {
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#if defined(FAN_PIN) && FAN_PIN > -1
|
|
|
|
|
#if HAS_FAN
|
|
|
|
|
if (pin_number == FAN_PIN) fanSpeed = pin_status;
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
@ -2915,7 +2905,7 @@ inline void gcode_M42() {
|
|
|
|
|
// Then retrace the right amount and use that in subsequent probes
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
engage_z_probe();
|
|
|
|
|
deploy_z_probe();
|
|
|
|
|
|
|
|
|
|
setup_for_endstop_move();
|
|
|
|
|
run_z_probe();
|
|
|
|
|
@ -2930,7 +2920,7 @@ inline void gcode_M42() {
|
|
|
|
|
st_synchronize();
|
|
|
|
|
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
|
|
|
|
|
|
|
|
|
|
if (engage_probe_for_each_reading) retract_z_probe();
|
|
|
|
|
if (engage_probe_for_each_reading) stow_z_probe();
|
|
|
|
|
|
|
|
|
|
for (uint16_t n=0; n < n_samples; n++) {
|
|
|
|
|
|
|
|
|
|
@ -2973,7 +2963,7 @@ inline void gcode_M42() {
|
|
|
|
|
} // n_legs
|
|
|
|
|
|
|
|
|
|
if (engage_probe_for_each_reading) {
|
|
|
|
|
engage_z_probe();
|
|
|
|
|
deploy_z_probe();
|
|
|
|
|
delay(1000);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
@ -3020,13 +3010,13 @@ inline void gcode_M42() {
|
|
|
|
|
st_synchronize();
|
|
|
|
|
|
|
|
|
|
if (engage_probe_for_each_reading) {
|
|
|
|
|
retract_z_probe();
|
|
|
|
|
stow_z_probe();
|
|
|
|
|
delay(1000);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (!engage_probe_for_each_reading) {
|
|
|
|
|
retract_z_probe();
|
|
|
|
|
stow_z_probe();
|
|
|
|
|
delay(1000);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
@ -3067,17 +3057,17 @@ inline void gcode_M104() {
|
|
|
|
|
inline void gcode_M105() {
|
|
|
|
|
if (setTargetedHotend(105)) return;
|
|
|
|
|
|
|
|
|
|
#if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
|
|
|
|
|
#if HAS_TEMP_0
|
|
|
|
|
SERIAL_PROTOCOLPGM("ok T:");
|
|
|
|
|
SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
|
|
|
|
|
SERIAL_PROTOCOLPGM(" /");
|
|
|
|
|
SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
|
|
|
|
|
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
|
|
|
|
|
#if HAS_TEMP_BED
|
|
|
|
|
SERIAL_PROTOCOLPGM(" B:");
|
|
|
|
|
SERIAL_PROTOCOL_F(degBed(),1);
|
|
|
|
|
SERIAL_PROTOCOLPGM(" /");
|
|
|
|
|
SERIAL_PROTOCOL_F(degTargetBed(),1);
|
|
|
|
|
#endif //TEMP_BED_PIN
|
|
|
|
|
#endif // HAS_TEMP_BED
|
|
|
|
|
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
|
|
|
|
|
SERIAL_PROTOCOLPGM(" T");
|
|
|
|
|
SERIAL_PROTOCOL(cur_extruder);
|
|
|
|
|
@ -3086,7 +3076,7 @@ inline void gcode_M105() {
|
|
|
|
|
SERIAL_PROTOCOLPGM(" /");
|
|
|
|
|
SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
|
|
|
|
|
}
|
|
|
|
|
#else
|
|
|
|
|
#else // !HAS_TEMP_0
|
|
|
|
|
SERIAL_ERROR_START;
|
|
|
|
|
SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
|
|
|
|
|
#endif
|
|
|
|
|
@ -3108,7 +3098,7 @@ inline void gcode_M105() {
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifdef SHOW_TEMP_ADC_VALUES
|
|
|
|
|
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
|
|
|
|
|
#if HAS_TEMP_BED
|
|
|
|
|
SERIAL_PROTOCOLPGM(" ADC B:");
|
|
|
|
|
SERIAL_PROTOCOL_F(degBed(),1);
|
|
|
|
|
SERIAL_PROTOCOLPGM("C->");
|
|
|
|
|
@ -3127,7 +3117,7 @@ inline void gcode_M105() {
|
|
|
|
|
SERIAL_PROTOCOLLN("");
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#if defined(FAN_PIN) && FAN_PIN > -1
|
|
|
|
|
#if HAS_FAN
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* M106: Set Fan Speed
|
|
|
|
|
@ -3220,10 +3210,11 @@ inline void gcode_M109() {
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
|
|
|
|
|
starttime = previous_millis_cmd = millis();
|
|
|
|
|
refresh_cmd_timeout();
|
|
|
|
|
starttime = previous_millis_cmd;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
|
|
|
|
|
#if HAS_TEMP_BED
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
|
|
|
|
|
@ -3258,10 +3249,10 @@ inline void gcode_M109() {
|
|
|
|
|
lcd_update();
|
|
|
|
|
}
|
|
|
|
|
LCD_MESSAGEPGM(MSG_BED_DONE);
|
|
|
|
|
previous_millis_cmd = millis();
|
|
|
|
|
refresh_cmd_timeout();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#endif // TEMP_BED_PIN > -1
|
|
|
|
|
#endif // HAS_TEMP_BED
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* M112: Emergency Stop
|
|
|
|
|
@ -3272,7 +3263,7 @@ inline void gcode_M112() {
|
|
|
|
|
|
|
|
|
|
#ifdef BARICUDA
|
|
|
|
|
|
|
|
|
|
#if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
|
|
|
|
|
#if HAS_HEATER_1
|
|
|
|
|
/**
|
|
|
|
|
* M126: Heater 1 valve open
|
|
|
|
|
*/
|
|
|
|
|
@ -3283,7 +3274,7 @@ inline void gcode_M112() {
|
|
|
|
|
inline void gcode_M127() { ValvePressure = 0; }
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
|
|
|
|
|
#if HAS_HEATER_2
|
|
|
|
|
/**
|
|
|
|
|
* M128: Heater 2 valve open
|
|
|
|
|
*/
|
|
|
|
|
@ -3314,7 +3305,7 @@ inline void gcode_M140() {
|
|
|
|
|
// If you have a switch on suicide pin, this is useful
|
|
|
|
|
// if you want to start another print with suicide feature after
|
|
|
|
|
// a print without suicide...
|
|
|
|
|
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
|
|
|
|
|
#if HAS_SUICIDE
|
|
|
|
|
OUT_WRITE(SUICIDE_PIN, HIGH);
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
@ -3342,7 +3333,7 @@ inline void gcode_M81() {
|
|
|
|
|
finishAndDisableSteppers();
|
|
|
|
|
fanSpeed = 0;
|
|
|
|
|
delay(1000); // Wait 1 second before switching off
|
|
|
|
|
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
|
|
|
|
|
#if HAS_SUICIDE
|
|
|
|
|
st_synchronize();
|
|
|
|
|
suicide();
|
|
|
|
|
#elif HAS_POWER_SWITCH
|
|
|
|
|
@ -3498,31 +3489,31 @@ inline void gcode_M117() {
|
|
|
|
|
*/
|
|
|
|
|
inline void gcode_M119() {
|
|
|
|
|
SERIAL_PROTOCOLLN(MSG_M119_REPORT);
|
|
|
|
|
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
|
|
|
|
|
#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 defined(X_MAX_PIN) && X_MAX_PIN > -1
|
|
|
|
|
#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 defined(Y_MIN_PIN) && Y_MIN_PIN > -1
|
|
|
|
|
#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 defined(Y_MAX_PIN) && Y_MAX_PIN > -1
|
|
|
|
|
#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 defined(Z_MIN_PIN) && Z_MIN_PIN > -1
|
|
|
|
|
#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 defined(Z_MAX_PIN) && Z_MAX_PIN > -1
|
|
|
|
|
#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 defined(Z2_MAX_PIN) && Z2_MAX_PIN > -1
|
|
|
|
|
#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
|
|
|
|
|
@ -4013,7 +4004,7 @@ inline void gcode_M226() {
|
|
|
|
|
|
|
|
|
|
#endif // PIDTEMPBED
|
|
|
|
|
|
|
|
|
|
#if defined(CHDK) || (defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1)
|
|
|
|
|
#if defined(CHDK) || HAS_PHOTOGRAPH
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* M240: Trigger a camera by emulating a Canon RC-1
|
|
|
|
|
@ -4026,7 +4017,7 @@ inline void gcode_M226() {
|
|
|
|
|
chdkHigh = millis();
|
|
|
|
|
chdkActive = true;
|
|
|
|
|
|
|
|
|
|
#elif defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
|
|
|
|
|
#elif HAS_PHOTOGRAPH
|
|
|
|
|
|
|
|
|
|
const uint8_t NUM_PULSES = 16;
|
|
|
|
|
const float PULSE_LENGTH = 0.01524;
|
|
|
|
|
@ -4044,7 +4035,7 @@ inline void gcode_M226() {
|
|
|
|
|
_delay_ms(PULSE_LENGTH);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#endif // !CHDK && PHOTOGRAPH_PIN > -1
|
|
|
|
|
#endif // !CHDK && HAS_PHOTOGRAPH
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#endif // CHDK || PHOTOGRAPH_PIN
|
|
|
|
|
@ -4165,17 +4156,17 @@ inline void gcode_M303() {
|
|
|
|
|
case 0:
|
|
|
|
|
OUT_WRITE(SOL0_PIN, HIGH);
|
|
|
|
|
break;
|
|
|
|
|
#if defined(SOL1_PIN) && SOL1_PIN > -1
|
|
|
|
|
#if HAS_SOLENOID_1
|
|
|
|
|
case 1:
|
|
|
|
|
OUT_WRITE(SOL1_PIN, HIGH);
|
|
|
|
|
break;
|
|
|
|
|
#endif
|
|
|
|
|
#if defined(SOL2_PIN) && SOL2_PIN > -1
|
|
|
|
|
#if HAS_SOLENOID_2
|
|
|
|
|
case 2:
|
|
|
|
|
OUT_WRITE(SOL2_PIN, HIGH);
|
|
|
|
|
break;
|
|
|
|
|
#endif
|
|
|
|
|
#if defined(SOL3_PIN) && SOL3_PIN > -1
|
|
|
|
|
#if HAS_SOLENOID_3
|
|
|
|
|
case 3:
|
|
|
|
|
OUT_WRITE(SOL3_PIN, HIGH);
|
|
|
|
|
break;
|
|
|
|
|
@ -4218,11 +4209,11 @@ inline void gcode_M400() { st_synchronize(); }
|
|
|
|
|
/**
|
|
|
|
|
* M401: Engage Z Servo endstop if available
|
|
|
|
|
*/
|
|
|
|
|
inline void gcode_M401() { engage_z_probe(); }
|
|
|
|
|
inline void gcode_M401() { deploy_z_probe(); }
|
|
|
|
|
/**
|
|
|
|
|
* M402: Retract Z Servo endstop if enabled
|
|
|
|
|
*/
|
|
|
|
|
inline void gcode_M402() { retract_z_probe(); }
|
|
|
|
|
inline void gcode_M402() { stow_z_probe(); }
|
|
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
@ -4232,7 +4223,7 @@ inline void gcode_M400() { st_synchronize(); }
|
|
|
|
|
* M404: Display or set the nominal filament width (3mm, 1.75mm ) W<3.0>
|
|
|
|
|
*/
|
|
|
|
|
inline void gcode_M404() {
|
|
|
|
|
#if FILWIDTH_PIN > -1
|
|
|
|
|
#if HAS_FILWIDTH
|
|
|
|
|
if (code_seen('W')) {
|
|
|
|
|
filament_width_nominal = code_value();
|
|
|
|
|
}
|
|
|
|
|
@ -4555,22 +4546,21 @@ inline void gcode_M907() {
|
|
|
|
|
|
|
|
|
|
#endif // HAS_DIGIPOTSS
|
|
|
|
|
|
|
|
|
|
// M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
|
|
|
|
|
inline void gcode_M350() {
|
|
|
|
|
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
|
|
|
|
|
#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();
|
|
|
|
|
#endif
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* 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 defined(X_MS1_PIN) && X_MS1_PIN > -1
|
|
|
|
|
/**
|
|
|
|
|
* 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_long()) {
|
|
|
|
|
case 1:
|
|
|
|
|
for(int i=0;i<NUM_AXIS;i++) if (code_seen(axis_codes[i])) microstep_ms(i, code_value(), -1);
|
|
|
|
|
@ -4582,8 +4572,9 @@ inline void gcode_M351() {
|
|
|
|
|
break;
|
|
|
|
|
}
|
|
|
|
|
microstep_readings();
|
|
|
|
|
#endif
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#endif // HAS_MICROSTEPS
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* M999: Restart after being stopped
|
|
|
|
|
@ -4695,6 +4686,7 @@ inline void gcode_T() {
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* Process Commands and dispatch them to handlers
|
|
|
|
|
* This is called from the main loop()
|
|
|
|
|
*/
|
|
|
|
|
void process_commands() {
|
|
|
|
|
if (code_seen('G')) {
|
|
|
|
|
@ -4852,42 +4844,42 @@ void process_commands() {
|
|
|
|
|
gcode_M109();
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
|
|
|
|
|
#if HAS_TEMP_BED
|
|
|
|
|
case 190: // M190 - Wait for bed heater to reach target.
|
|
|
|
|
gcode_M190();
|
|
|
|
|
break;
|
|
|
|
|
#endif //TEMP_BED_PIN
|
|
|
|
|
#endif // HAS_TEMP_BED
|
|
|
|
|
|
|
|
|
|
#if defined(FAN_PIN) && FAN_PIN > -1
|
|
|
|
|
#if HAS_FAN
|
|
|
|
|
case 106: //M106 Fan On
|
|
|
|
|
gcode_M106();
|
|
|
|
|
break;
|
|
|
|
|
case 107: //M107 Fan Off
|
|
|
|
|
gcode_M107();
|
|
|
|
|
break;
|
|
|
|
|
#endif //FAN_PIN
|
|
|
|
|
#endif // HAS_FAN
|
|
|
|
|
|
|
|
|
|
#ifdef BARICUDA
|
|
|
|
|
// PWM for HEATER_1_PIN
|
|
|
|
|
#if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
|
|
|
|
|
#if HAS_HEATER_1
|
|
|
|
|
case 126: // M126 valve open
|
|
|
|
|
gcode_M126();
|
|
|
|
|
break;
|
|
|
|
|
case 127: // M127 valve closed
|
|
|
|
|
gcode_M127();
|
|
|
|
|
break;
|
|
|
|
|
#endif //HEATER_1_PIN
|
|
|
|
|
#endif // HAS_HEATER_1
|
|
|
|
|
|
|
|
|
|
// PWM for HEATER_2_PIN
|
|
|
|
|
#if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
|
|
|
|
|
#if HAS_HEATER_2
|
|
|
|
|
case 128: // M128 valve open
|
|
|
|
|
gcode_M128();
|
|
|
|
|
break;
|
|
|
|
|
case 129: // M129 valve closed
|
|
|
|
|
gcode_M129();
|
|
|
|
|
break;
|
|
|
|
|
#endif //HEATER_2_PIN
|
|
|
|
|
#endif //BARICUDA
|
|
|
|
|
#endif // HAS_HEATER_2
|
|
|
|
|
#endif // BARICUDA
|
|
|
|
|
|
|
|
|
|
#if HAS_POWER_SWITCH
|
|
|
|
|
|
|
|
|
|
@ -5035,7 +5027,7 @@ void process_commands() {
|
|
|
|
|
break;
|
|
|
|
|
#endif // PIDTEMPBED
|
|
|
|
|
|
|
|
|
|
#if defined(CHDK) || (defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1)
|
|
|
|
|
#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;
|
|
|
|
|
@ -5153,13 +5145,17 @@ void process_commands() {
|
|
|
|
|
break;
|
|
|
|
|
#endif // HAS_DIGIPOTSS
|
|
|
|
|
|
|
|
|
|
case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
|
|
|
|
|
gcode_M350();
|
|
|
|
|
break;
|
|
|
|
|
#if HAS_MICROSTEPS
|
|
|
|
|
|
|
|
|
|
case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
|
|
|
|
|
gcode_M351();
|
|
|
|
|
break;
|
|
|
|
|
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();
|
|
|
|
|
@ -5181,8 +5177,7 @@ void process_commands() {
|
|
|
|
|
ClearToSend();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void FlushSerialRequestResend()
|
|
|
|
|
{
|
|
|
|
|
void FlushSerialRequestResend() {
|
|
|
|
|
//char cmdbuffer[bufindr][100]="Resend:";
|
|
|
|
|
MYSERIAL.flush();
|
|
|
|
|
SERIAL_PROTOCOLPGM(MSG_RESEND);
|
|
|
|
|
@ -5190,13 +5185,11 @@ void FlushSerialRequestResend()
|
|
|
|
|
ClearToSend();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void ClearToSend()
|
|
|
|
|
{
|
|
|
|
|
previous_millis_cmd = millis();
|
|
|
|
|
void ClearToSend() {
|
|
|
|
|
refresh_cmd_timeout();
|
|
|
|
|
#ifdef SDSUPPORT
|
|
|
|
|
if(fromsd[bufindr])
|
|
|
|
|
return;
|
|
|
|
|
#endif //SDSUPPORT
|
|
|
|
|
if (fromsd[bufindr]) return;
|
|
|
|
|
#endif
|
|
|
|
|
SERIAL_PROTOCOLLNPGM(MSG_OK);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
@ -5213,29 +5206,18 @@ void get_coordinates() {
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
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
|
|
|
|
|
void get_arc_coordinates() {
|
|
|
|
|
#ifdef SF_ARC_FIX
|
|
|
|
|
bool relative_mode_backup = relative_mode;
|
|
|
|
|
relative_mode = true;
|
|
|
|
|
#endif
|
|
|
|
|
get_coordinates();
|
|
|
|
|
#ifdef SF_ARC_FIX
|
|
|
|
|
relative_mode = relative_mode_backup;
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
if(code_seen('I')) {
|
|
|
|
|
offset[0] = code_value();
|
|
|
|
|
}
|
|
|
|
|
else {
|
|
|
|
|
offset[0] = 0.0;
|
|
|
|
|
}
|
|
|
|
|
if(code_seen('J')) {
|
|
|
|
|
offset[1] = code_value();
|
|
|
|
|
}
|
|
|
|
|
else {
|
|
|
|
|
offset[1] = 0.0;
|
|
|
|
|
}
|
|
|
|
|
offset[0] = code_seen('I') ? code_value() : 0;
|
|
|
|
|
offset[1] = code_seen('J') ? code_value() : 0;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void clamp_to_software_endstops(float target[3])
|
|
|
|
|
@ -5299,7 +5281,6 @@ void clamp_to_software_endstops(float target[3])
|
|
|
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
|
|
|
|
|
|
|
|
// Adjust print surface height by linear interpolation over the bed_level array.
|
|
|
|
|
int delta_grid_spacing[2] = { 0, 0 };
|
|
|
|
|
void adjust_delta(float cartesian[3]) {
|
|
|
|
|
if (delta_grid_spacing[0] == 0 || delta_grid_spacing[1] == 0) return; // G29 not done!
|
|
|
|
|
|
|
|
|
|
@ -5339,16 +5320,9 @@ void clamp_to_software_endstops(float target[3])
|
|
|
|
|
}
|
|
|
|
|
#endif // ENABLE_AUTO_BED_LEVELING
|
|
|
|
|
|
|
|
|
|
void prepare_move_raw() {
|
|
|
|
|
previous_millis_cmd = millis();
|
|
|
|
|
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);
|
|
|
|
|
for (int i = 0; i < NUM_AXIS; i++) current_position[i] = destination[i];
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#endif // DELTA
|
|
|
|
|
|
|
|
|
|
#if defined(MESH_BED_LEVELING)
|
|
|
|
|
#ifdef MESH_BED_LEVELING
|
|
|
|
|
|
|
|
|
|
#if !defined(MIN)
|
|
|
|
|
#define MIN(_v1, _v2) (((_v1) < (_v2)) ? (_v1) : (_v2))
|
|
|
|
|
@ -5427,7 +5401,7 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_
|
|
|
|
|
|
|
|
|
|
void prepare_move() {
|
|
|
|
|
clamp_to_software_endstops(destination);
|
|
|
|
|
previous_millis_cmd = millis();
|
|
|
|
|
refresh_cmd_timeout();
|
|
|
|
|
|
|
|
|
|
#ifdef SCARA //for now same as delta-code
|
|
|
|
|
|
|
|
|
|
@ -5544,7 +5518,7 @@ void prepare_move() {
|
|
|
|
|
if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
|
|
|
|
|
line_to_destination();
|
|
|
|
|
} else {
|
|
|
|
|
#if defined(MESH_BED_LEVELING)
|
|
|
|
|
#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
|
|
|
|
|
@ -5570,16 +5544,10 @@ void prepare_arc_move(char isclockwise) {
|
|
|
|
|
for(int8_t i=0; i < NUM_AXIS; i++) {
|
|
|
|
|
current_position[i] = destination[i];
|
|
|
|
|
}
|
|
|
|
|
previous_millis_cmd = millis();
|
|
|
|
|
refresh_cmd_timeout();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
|
|
|
|
|
|
|
|
|
|
#if defined(FAN_PIN)
|
|
|
|
|
#if CONTROLLERFAN_PIN == FAN_PIN
|
|
|
|
|
#error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
|
|
|
|
|
#endif
|
|
|
|
|
#endif
|
|
|
|
|
#if HAS_CONTROLLERFAN
|
|
|
|
|
|
|
|
|
|
unsigned long lastMotor = 0; // Last time a motor was turned on
|
|
|
|
|
unsigned long lastMotorCheck = 0; // Last time the state was checked
|
|
|
|
|
@ -5592,7 +5560,7 @@ void controllerFan() {
|
|
|
|
|
|| E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
|
|
|
|
|
#if EXTRUDERS > 1
|
|
|
|
|
|| E1_ENABLE_READ == E_ENABLE_ON
|
|
|
|
|
#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
|
|
|
|
|
#if HAS_X2_ENABLE
|
|
|
|
|
|| X2_ENABLE_READ == X_ENABLE_ON
|
|
|
|
|
#endif
|
|
|
|
|
#if EXTRUDERS > 2
|
|
|
|
|
@ -5704,7 +5672,7 @@ void handle_status_leds(void) {
|
|
|
|
|
max_temp = max(max_temp, degHotend(cur_extruder));
|
|
|
|
|
max_temp = max(max_temp, degTargetHotend(cur_extruder));
|
|
|
|
|
}
|
|
|
|
|
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
|
|
|
|
|
#if HAS_TEMP_BED
|
|
|
|
|
max_temp = max(max_temp, degTargetBed());
|
|
|
|
|
max_temp = max(max_temp, degBed());
|
|
|
|
|
#endif
|
|
|
|
|
@ -5724,134 +5692,120 @@ void handle_status_leds(void) {
|
|
|
|
|
}
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
|
|
|
|
|
{
|
|
|
|
|
void disable_all_axes() {
|
|
|
|
|
disable_x();
|
|
|
|
|
disable_y();
|
|
|
|
|
disable_z();
|
|
|
|
|
disable_e0();
|
|
|
|
|
disable_e1();
|
|
|
|
|
disable_e2();
|
|
|
|
|
disable_e3();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
*
|
|
|
|
|
*/
|
|
|
|
|
void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
|
|
|
|
|
|
|
|
|
|
#if defined(KILL_PIN) && KILL_PIN > -1
|
|
|
|
|
static int killCount = 0; // make the inactivity button a bit less responsive
|
|
|
|
|
const int KILL_DELAY = 750;
|
|
|
|
|
#endif
|
|
|
|
|
#if HAS_KILL
|
|
|
|
|
static int killCount = 0; // make the inactivity button a bit less responsive
|
|
|
|
|
const int KILL_DELAY = 750;
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#if defined(FILRUNOUT_PIN) && FILRUNOUT_PIN > -1
|
|
|
|
|
if(card.sdprinting) {
|
|
|
|
|
if(!(READ(FILRUNOUT_PIN))^FIL_RUNOUT_INVERTING)
|
|
|
|
|
filrunout(); }
|
|
|
|
|
#endif
|
|
|
|
|
#if HAS_FILRUNOUT
|
|
|
|
|
if (card.sdprinting && !(READ(FILRUNOUT_PIN) ^ FIL_RUNOUT_INVERTING))
|
|
|
|
|
filrunout();
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#if HAS_HOME
|
|
|
|
|
static int homeDebounceCount = 0; // poor man's debouncing count
|
|
|
|
|
const int HOME_DEBOUNCE_DELAY = 750;
|
|
|
|
|
#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_axes();
|
|
|
|
|
|
|
|
|
|
#if defined(HOME_PIN) && HOME_PIN > -1
|
|
|
|
|
static int homeDebounceCount = 0; // poor man's debouncing count
|
|
|
|
|
const int HOME_DEBOUNCE_DELAY = 750;
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if(buflen < (BUFSIZE-1))
|
|
|
|
|
get_command();
|
|
|
|
|
|
|
|
|
|
if( (millis() - previous_millis_cmd) > max_inactive_time )
|
|
|
|
|
if(max_inactive_time)
|
|
|
|
|
kill();
|
|
|
|
|
if(stepper_inactive_time) {
|
|
|
|
|
if( (millis() - previous_millis_cmd) > stepper_inactive_time )
|
|
|
|
|
{
|
|
|
|
|
if(blocks_queued() == false && ignore_stepper_queue == false) {
|
|
|
|
|
disable_x();
|
|
|
|
|
disable_y();
|
|
|
|
|
disable_z();
|
|
|
|
|
disable_e0();
|
|
|
|
|
disable_e1();
|
|
|
|
|
disable_e2();
|
|
|
|
|
disable_e3();
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
|
|
|
|
|
if (chdkActive && (millis() - chdkHigh > CHDK_DELAY))
|
|
|
|
|
{
|
|
|
|
|
if (chdkActive && ms > chdkHigh + CHDK_DELAY) {
|
|
|
|
|
chdkActive = false;
|
|
|
|
|
WRITE(CHDK, LOW);
|
|
|
|
|
}
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#if defined(KILL_PIN) && KILL_PIN > -1
|
|
|
|
|
|
|
|
|
|
#if HAS_KILL
|
|
|
|
|
|
|
|
|
|
// Check if the kill button was pressed and wait just in case it was an accidental
|
|
|
|
|
// key kill key press
|
|
|
|
|
// -------------------------------------------------------------------------------
|
|
|
|
|
if( 0 == READ(KILL_PIN) )
|
|
|
|
|
{
|
|
|
|
|
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();
|
|
|
|
|
}
|
|
|
|
|
if (killCount >= KILL_DELAY) kill();
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#if defined(HOME_PIN) && HOME_PIN > -1
|
|
|
|
|
#if HAS_HOME
|
|
|
|
|
// Check to see if we have to home, use poor man's debouncer
|
|
|
|
|
// ---------------------------------------------------------
|
|
|
|
|
if ( 0 == READ(HOME_PIN) )
|
|
|
|
|
{
|
|
|
|
|
if (homeDebounceCount == 0)
|
|
|
|
|
{
|
|
|
|
|
enquecommands_P((PSTR("G28")));
|
|
|
|
|
homeDebounceCount++;
|
|
|
|
|
LCD_ALERTMESSAGEPGM(MSG_AUTO_HOME);
|
|
|
|
|
}
|
|
|
|
|
else if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
|
|
|
|
|
{
|
|
|
|
|
homeDebounceCount++;
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
homeDebounceCount = 0;
|
|
|
|
|
}
|
|
|
|
|
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
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
|
|
|
|
|
#if HAS_CONTROLLERFAN
|
|
|
|
|
controllerFan(); //Check if fan should be turned on to cool stepper drivers down
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifdef EXTRUDER_RUNOUT_PREVENT
|
|
|
|
|
if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
|
|
|
|
|
if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
|
|
|
|
|
{
|
|
|
|
|
bool oldstatus=E0_ENABLE_READ;
|
|
|
|
|
enable_e0();
|
|
|
|
|
float oldepos=current_position[E_AXIS];
|
|
|
|
|
float oldedes=destination[E_AXIS];
|
|
|
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
|
|
|
|
|
destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
|
|
|
|
|
EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
|
|
|
|
|
current_position[E_AXIS]=oldepos;
|
|
|
|
|
destination[E_AXIS]=oldedes;
|
|
|
|
|
plan_set_e_position(oldepos);
|
|
|
|
|
previous_millis_cmd=millis();
|
|
|
|
|
st_synchronize();
|
|
|
|
|
E0_ENABLE_WRITE(oldstatus);
|
|
|
|
|
if (ms > previous_millis_cmd + EXTRUDER_RUNOUT_SECONDS * 1000)
|
|
|
|
|
if (degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
|
|
|
|
|
bool oldstatus = E0_ENABLE_READ;
|
|
|
|
|
enable_e0();
|
|
|
|
|
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;
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plan_set_e_position(oldepos);
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previous_millis_cmd = ms; // refresh_cmd_timeout()
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st_synchronize();
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E0_ENABLE_WRITE(oldstatus);
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}
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#endif
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#if defined(DUAL_X_CARRIAGE)
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#ifdef DUAL_X_CARRIAGE
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// handle delayed move timeout
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if (delayed_move_time != 0 && (millis() - delayed_move_time) > 1000 && Stopped == false)
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{
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if (delayed_move_time && ms > delayed_move_time + 1000 && !Stopped) {
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// travel moves have been received so enact them
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delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
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memcpy(destination,current_position,sizeof(destination));
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memcpy(destination,current_position, sizeof(destination));
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prepare_move();
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}
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#endif
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#ifdef TEMP_STAT_LEDS
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handle_status_leds();
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handle_status_leds();
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#endif
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check_axes_activity();
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}
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Scott Lahteine
9 years ago