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@ -396,12 +396,16 @@ bool axis_relative_modes[] = AXIS_RELATIVE_MODES,
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float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA),
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float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA),
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volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
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volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
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// The distance that XYZ has been offset by G92. Reset by G28.
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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float position_shift[XYZ] = { 0 };
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// This offset is added to the configured home position.
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// The distance that XYZ has been offset by G92. Reset by G28.
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// Set by M206, M428, or menu item. Saved to EEPROM.
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float position_shift[XYZ] = { 0 };
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float home_offset[XYZ] = { 0 };
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// This offset is added to the configured home position.
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// Set by M206, M428, or menu item. Saved to EEPROM.
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float home_offset[XYZ] = { 0 };
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#endif
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// Software Endstops are based on the configured limits.
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// Software Endstops are based on the configured limits.
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#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
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#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
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@ -1333,7 +1337,9 @@ bool get_target_extruder_from_command(int code) {
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#endif // DUAL_X_CARRIAGE
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#endif // DUAL_X_CARRIAGE
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/**
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#if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
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/**
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* Software endstops can be used to monitor the open end of
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* Software endstops can be used to monitor the open end of
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* an axis that has a hardware endstop on the other end. Or
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* an axis that has a hardware endstop on the other end. Or
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* they can prevent axes from moving past endstops and grinding.
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* they can prevent axes from moving past endstops and grinding.
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@ -1342,8 +1348,8 @@ bool get_target_extruder_from_command(int code) {
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* the software endstop positions must be refreshed to remain
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* the software endstop positions must be refreshed to remain
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* at the same positions relative to the machine.
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* at the same positions relative to the machine.
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*/
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*/
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void update_software_endstops(AxisEnum axis) {
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void update_software_endstops(const AxisEnum axis) {
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float offs = LOGICAL_POSITION(0, axis);
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const float offs = LOGICAL_POSITION(0, axis);
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#if ENABLED(DUAL_X_CARRIAGE)
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#if ENABLED(DUAL_X_CARRIAGE)
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if (axis == X_AXIS) {
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if (axis == X_AXIS) {
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@ -1376,8 +1382,10 @@ void update_software_endstops(AxisEnum axis) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("For ", axis_codes[axis]);
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SERIAL_ECHOPAIR("For ", axis_codes[axis]);
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
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SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
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SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
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SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
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#endif
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SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
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SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
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SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
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SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
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}
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}
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@ -1387,10 +1395,12 @@ void update_software_endstops(AxisEnum axis) {
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if (axis == Z_AXIS)
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if (axis == Z_AXIS)
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delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
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delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
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#endif
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#endif
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}
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}
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#endif // NO_WORKSPACE_OFFSETS
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/**
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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/**
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* Change the home offset for an axis, update the current
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* Change the home offset for an axis, update the current
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* position and the software endstops to retain the same
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* position and the software endstops to retain the same
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* relative distance to the new home.
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* relative distance to the new home.
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@ -1398,11 +1408,12 @@ void update_software_endstops(AxisEnum axis) {
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* Since this changes the current_position, code should
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* Since this changes the current_position, code should
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* call sync_plan_position soon after this.
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* call sync_plan_position soon after this.
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*/
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*/
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static void set_home_offset(AxisEnum axis, float v) {
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static void set_home_offset(AxisEnum axis, float v) {
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current_position[axis] += v - home_offset[axis];
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current_position[axis] += v - home_offset[axis];
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home_offset[axis] = v;
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home_offset[axis] = v;
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update_software_endstops(axis);
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update_software_endstops(axis);
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}
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}
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#endif // NO_WORKSPACE_OFFSETS
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/**
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/**
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* Set an axis' current position to its home position (after homing).
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* Set an axis' current position to its home position (after homing).
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@ -1433,8 +1444,10 @@ static void set_axis_is_at_home(AxisEnum axis) {
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axis_known_position[axis] = axis_homed[axis] = true;
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axis_known_position[axis] = axis_homed[axis] = true;
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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position_shift[axis] = 0;
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position_shift[axis] = 0;
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update_software_endstops(axis);
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update_software_endstops(axis);
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#endif
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#if ENABLED(DUAL_X_CARRIAGE)
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#if ENABLED(DUAL_X_CARRIAGE)
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if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
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if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
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@ -1507,8 +1520,10 @@ static void set_axis_is_at_home(AxisEnum axis) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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if (DEBUGGING(LEVELING)) {
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
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SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
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SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
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SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
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#endif
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DEBUG_POS("", current_position);
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DEBUG_POS("", current_position);
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SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
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SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
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SERIAL_CHAR(')');
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SERIAL_CHAR(')');
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@ -4603,8 +4618,10 @@ inline void gcode_G92() {
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if (i != E_AXIS) {
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if (i != E_AXIS) {
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didXYZ = true;
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didXYZ = true;
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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position_shift[i] += v - p; // Offset the coordinate space
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position_shift[i] += v - p; // Offset the coordinate space
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update_software_endstops((AxisEnum)i);
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update_software_endstops((AxisEnum)i);
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#endif
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}
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}
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#endif
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#endif
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}
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}
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@ -6334,10 +6351,12 @@ inline void gcode_M205() {
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if (code_seen('E')) planner.max_jerk[E_AXIS] = code_value_axis_units(E_AXIS);
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if (code_seen('E')) planner.max_jerk[E_AXIS] = code_value_axis_units(E_AXIS);
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}
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}
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/**
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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/**
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* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
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* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
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*/
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*/
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inline void gcode_M206() {
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inline void gcode_M206() {
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LOOP_XYZ(i)
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LOOP_XYZ(i)
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if (code_seen(axis_codes[i]))
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if (code_seen(axis_codes[i]))
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set_home_offset((AxisEnum)i, code_value_axis_units(i));
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set_home_offset((AxisEnum)i, code_value_axis_units(i));
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@ -6349,7 +6368,9 @@ inline void gcode_M206() {
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SYNC_PLAN_POSITION_KINEMATIC();
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SYNC_PLAN_POSITION_KINEMATIC();
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report_current_position();
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report_current_position();
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}
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}
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#endif // NO_WORKSPACE_OFFSETS
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#if ENABLED(DELTA)
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#if ENABLED(DELTA)
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/**
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/**
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@ -7173,7 +7194,9 @@ void quickstop_stepper() {
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#endif
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#endif
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/**
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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/**
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* M428: Set home_offset based on the distance between the
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* M428: Set home_offset based on the distance between the
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* current_position and the nearest "reference point."
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* current_position and the nearest "reference point."
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* If an axis is past center its endstop position
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* If an axis is past center its endstop position
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@ -7184,7 +7207,7 @@ void quickstop_stepper() {
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*
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*
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* Use M206 to set these values directly.
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* Use M206 to set these values directly.
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*/
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*/
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inline void gcode_M428() {
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inline void gcode_M428() {
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bool err = false;
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bool err = false;
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LOOP_XYZ(i) {
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LOOP_XYZ(i) {
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if (axis_homed[i]) {
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if (axis_homed[i]) {
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@ -7211,7 +7234,9 @@ inline void gcode_M428() {
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BUZZ(200, 659);
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BUZZ(200, 659);
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BUZZ(200, 698);
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BUZZ(200, 698);
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}
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}
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}
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}
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#endif // NO_WORKSPACE_OFFSETS
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/**
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/**
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* M500: Store settings in EEPROM
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* M500: Store settings in EEPROM
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@ -8081,10 +8106,14 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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// The newly-selected extruder XY is actually at...
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// The newly-selected extruder XY is actually at...
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current_position[X_AXIS] += xydiff[X_AXIS];
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current_position[X_AXIS] += xydiff[X_AXIS];
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current_position[Y_AXIS] += xydiff[Y_AXIS];
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current_position[Y_AXIS] += xydiff[Y_AXIS];
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#if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE)
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for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
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for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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position_shift[i] += xydiff[i];
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position_shift[i] += xydiff[i];
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#endif
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update_software_endstops((AxisEnum)i);
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update_software_endstops((AxisEnum)i);
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}
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}
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#endif
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// Set the new active extruder
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// Set the new active extruder
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active_extruder = tmp_extruder;
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active_extruder = tmp_extruder;
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@ -8639,9 +8668,12 @@ void process_next_command() {
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case 205: //M205: Set advanced settings
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case 205: //M205: Set advanced settings
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gcode_M205();
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gcode_M205();
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break;
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break;
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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case 206: // M206: Set home offsets
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case 206: // M206: Set home offsets
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gcode_M206();
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gcode_M206();
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break;
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break;
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#endif
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#if ENABLED(DELTA)
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#if ENABLED(DELTA)
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case 665: // M665: Set delta configurations
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case 665: // M665: Set delta configurations
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@ -8805,9 +8837,11 @@ void process_next_command() {
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break;
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break;
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#endif
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#endif
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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case 428: // M428: Apply current_position to home_offset
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case 428: // M428: Apply current_position to home_offset
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gcode_M428();
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gcode_M428();
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break;
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break;
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#endif
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case 500: // M500: Store settings in EEPROM
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case 500: // M500: Store settings in EEPROM
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gcode_M500();
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gcode_M500();
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@ -10488,8 +10522,12 @@ void setup() {
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// This also updates variables in the planner, elsewhere
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// This also updates variables in the planner, elsewhere
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Config_RetrieveSettings();
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Config_RetrieveSettings();
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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// Initialize current position based on home_offset
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// Initialize current position based on home_offset
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memcpy(current_position, home_offset, sizeof(home_offset));
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memcpy(current_position, home_offset, sizeof(home_offset));
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#else
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ZERO(current_position);
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#endif
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// Vital to init stepper/planner equivalent for current_position
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// Vital to init stepper/planner equivalent for current_position
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SYNC_PLAN_POSITION_KINEMATIC();
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SYNC_PLAN_POSITION_KINEMATIC();
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