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Added support for extruder offset handling

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The extruder offset can be specified in the configuration
file or adjusted on the fly using the "M218 T# X# Y#" command.
The EEPROM support is not yet merged in.
The "T#" command can take option "F#" that specifies the feedrate
at which the printing head should be re-positioned. If not
specified the re-positioning move is not preformed immediately,
but the coordinates are adjusted for the printer to properly
position the head when the next movement happens.
master
Denis B 12 years ago
parent 49b2ddc8c1
commit 70871715e4
3 changed files with 93 additions and 11 deletions
Show Stats Download Patch File Download Diff File

8
Marlin/Configuration.h
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@ -286,7 +286,13 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves #define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for r retracts #define DEFAULT_RETRACT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for r retracts
// // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
// For the other hotends it is their distance from the extruder 0 hotend.
// #define EXTRUDER_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis
// #define EXTRUDER_OFFSET_Y {0.0, 5.00} // (in mm) for each extruder, offset of the hotend on the Y axis
// The speed change that does not require acceleration (i.e. the software might assume it can be done instanteneously)
#define DEFAULT_XYJERK 20.0 // (mm/sec) #define DEFAULT_XYJERK 20.0 // (mm/sec)
#define DEFAULT_ZJERK 0.4 // (mm/sec) #define DEFAULT_ZJERK 0.4 // (mm/sec)
#define DEFAULT_EJERK 5.0 // (mm/sec) #define DEFAULT_EJERK 5.0 // (mm/sec)

64
Marlin/Marlin_main.cpp
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@ -113,6 +113,7 @@
// M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop] // M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
// M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec] // M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
// M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction. // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
// M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
// M220 S<factor in percent>- set speed factor override percentage // M220 S<factor in percent>- set speed factor override percentage
// M221 S<factor in percent>- set extrude factor override percentage // M221 S<factor in percent>- set extrude factor override percentage
// M240 - Trigger a camera to take a photograph // M240 - Trigger a camera to take a photograph
@ -155,6 +156,12 @@ float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
float add_homeing[3]={0,0,0}; float add_homeing[3]={0,0,0};
float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS }; float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS }; float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
// Extruder offset, only in XY plane
float extruder_offset[2][EXTRUDERS] = {
#if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
#endif
};
uint8_t active_extruder = 0; uint8_t active_extruder = 0;
int fanSpeed=0; int fanSpeed=0;
@ -1353,7 +1360,6 @@ void process_commands()
retract_recover_feedrate = code_value() ; retract_recover_feedrate = code_value() ;
} }
}break; }break;
case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction. case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
{ {
if(code_seen('S')) if(code_seen('S'))
@ -1372,7 +1378,31 @@ void process_commands()
} }
}break; }break;
#endif #endif // FWRETRACT
case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
{
if(setTargetedHotend(218)){
break;
}
if(code_seen('X'))
{
extruder_offset[X_AXIS][tmp_extruder] = code_value();
}
if(code_seen('Y'))
{
extruder_offset[Y_AXIS][tmp_extruder] = code_value();
}
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
{
SERIAL_ECHO(" ");
SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
SERIAL_ECHO(",");
SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
}
SERIAL_ECHOLN("");
}break;
case 220: // M220 S<factor in percent>- set speed factor override percentage case 220: // M220 S<factor in percent>- set speed factor override percentage
{ {
if(code_seen('S')) if(code_seen('S'))
@ -1696,7 +1726,32 @@ void process_commands()
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER); SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
} }
else { else {
active_extruder = tmp_extruder; boolean make_move = false;
if(code_seen('F')) {
make_move = true;
next_feedrate = code_value();
if(next_feedrate > 0.0) {
feedrate = next_feedrate;
}
}
if(tmp_extruder != active_extruder) {
// Save current position to return to after applying extruder offset
memcpy(destination, current_position, sizeof(destination));
// Offset extruder (only by XY)
int i;
for(i = 0; i < 2; i++) {
current_position[i] = current_position[i] -
extruder_offset[i][active_extruder] +
extruder_offset[i][tmp_extruder];
}
// Set the new active extruder and position
active_extruder = tmp_extruder;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
// Move to the old position if 'F' was in the parameters
if(make_move && Stopped == false) {
prepare_move();
}
}
SERIAL_ECHO_START; SERIAL_ECHO_START;
SERIAL_ECHO(MSG_ACTIVE_EXTRUDER); SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
SERIAL_PROTOCOLLN((int)active_extruder); SERIAL_PROTOCOLLN((int)active_extruder);
@ -2059,6 +2114,9 @@ bool setTargetedHotend(int code){
case 109: case 109:
SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER); SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
break; break;
case 218:
SERIAL_ECHO(MSG_M218_INVALID_EXTRUDER);
break;
} }
SERIAL_ECHOLN(tmp_extruder); SERIAL_ECHOLN(tmp_extruder);
return true; return true;

18
Marlin/language.h
Unescape View File

@ -139,6 +139,7 @@
#define MSG_END_FILE_LIST "End file list" #define MSG_END_FILE_LIST "End file list"
#define MSG_M104_INVALID_EXTRUDER "M104 Invalid extruder " #define MSG_M104_INVALID_EXTRUDER "M104 Invalid extruder "
#define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder " #define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder "
#define MSG_M218_INVALID_EXTRUDER "M218 Invalid extruder "
#define MSG_ERR_NO_THERMISTORS "No thermistors - no temperature" #define MSG_ERR_NO_THERMISTORS "No thermistors - no temperature"
#define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder " #define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder "
#define MSG_HEATING "Heating..." #define MSG_HEATING "Heating..."
@ -162,6 +163,7 @@
#define MSG_M119_REPORT "Reporting endstop status" #define MSG_M119_REPORT "Reporting endstop status"
#define MSG_ENDSTOP_HIT "TRIGGERED" #define MSG_ENDSTOP_HIT "TRIGGERED"
#define MSG_ENDSTOP_OPEN "open" #define MSG_ENDSTOP_OPEN "open"
#define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_SD_CANT_OPEN_SUBDIR "Cannot open subdir" #define MSG_SD_CANT_OPEN_SUBDIR "Cannot open subdir"
#define MSG_SD_INIT_FAIL "SD init fail" #define MSG_SD_INIT_FAIL "SD init fail"
@ -294,6 +296,7 @@
#define MSG_END_FILE_LIST "Koniec listy plikow" #define MSG_END_FILE_LIST "Koniec listy plikow"
#define MSG_M104_INVALID_EXTRUDER "M104 Niepoprawny ekstruder " #define MSG_M104_INVALID_EXTRUDER "M104 Niepoprawny ekstruder "
#define MSG_M105_INVALID_EXTRUDER "M105 Niepoprawny ekstruder " #define MSG_M105_INVALID_EXTRUDER "M105 Niepoprawny ekstruder "
#define MSG_M218_INVALID_EXTRUDER "M218 Niepoprawny ekstruder "
#define MSG_ERR_NO_THERMISTORS "Brak termistorow - brak temperatury :(" #define MSG_ERR_NO_THERMISTORS "Brak termistorow - brak temperatury :("
#define MSG_M109_INVALID_EXTRUDER "M109 Niepoprawny ekstruder " #define MSG_M109_INVALID_EXTRUDER "M109 Niepoprawny ekstruder "
#define MSG_HEATING "Nagrzewanie ekstrudera..." #define MSG_HEATING "Nagrzewanie ekstrudera..."
@ -317,6 +320,7 @@
#define MSG_M119_REPORT "Zgloszenie statusu wylacznikow krancowych" #define MSG_M119_REPORT "Zgloszenie statusu wylacznikow krancowych"
#define MSG_ENDSTOP_HIT "WYZWOLONY" #define MSG_ENDSTOP_HIT "WYZWOLONY"
#define MSG_ENDSTOP_OPEN "otwarty" #define MSG_ENDSTOP_OPEN "otwarty"
#define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_SD_CANT_OPEN_SUBDIR "Nie mozna otworzyc podkatalogu" #define MSG_SD_CANT_OPEN_SUBDIR "Nie mozna otworzyc podkatalogu"
#define MSG_SD_INIT_FAIL "Blad inicjalizacji karty SD" #define MSG_SD_INIT_FAIL "Blad inicjalizacji karty SD"
@ -454,6 +458,7 @@
#define MSG_END_FILE_LIST "Fin de la liste de fichiers" #define MSG_END_FILE_LIST "Fin de la liste de fichiers"
#define MSG_M104_INVALID_EXTRUDER "M104 Extruder invalide" #define MSG_M104_INVALID_EXTRUDER "M104 Extruder invalide"
#define MSG_M105_INVALID_EXTRUDER "M105 Extruder invalide" #define MSG_M105_INVALID_EXTRUDER "M105 Extruder invalide"
#define MSG_M218_INVALID_EXTRUDER "M218 Extruder invalide"
#define MSG_ERR_NO_THERMISTORS "Pas de thermistor, pas de temperature" #define MSG_ERR_NO_THERMISTORS "Pas de thermistor, pas de temperature"
#define MSG_M109_INVALID_EXTRUDER "M109 Extruder invalide " #define MSG_M109_INVALID_EXTRUDER "M109 Extruder invalide "
#define MSG_HEATING "En chauffe..." #define MSG_HEATING "En chauffe..."
@ -477,6 +482,7 @@
#define MSG_M119_REPORT "Affichage du status des fin de course" #define MSG_M119_REPORT "Affichage du status des fin de course"
#define MSG_ENDSTOP_HIT "DECLENCHE" #define MSG_ENDSTOP_HIT "DECLENCHE"
#define MSG_ENDSTOP_OPEN "OUVERT" #define MSG_ENDSTOP_OPEN "OUVERT"
#define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_SD_CANT_OPEN_SUBDIR "Impossible d'ouvrir le sous-repertoire" #define MSG_SD_CANT_OPEN_SUBDIR "Impossible d'ouvrir le sous-repertoire"
#define MSG_SD_INIT_FAIL "Echec de l'initialisation de la SD" #define MSG_SD_INIT_FAIL "Echec de l'initialisation de la SD"
@ -612,6 +618,7 @@
#define MSG_END_FILE_LIST "End file list" #define MSG_END_FILE_LIST "End file list"
#define MSG_M104_INVALID_EXTRUDER "M104 Invalid extruder " #define MSG_M104_INVALID_EXTRUDER "M104 Invalid extruder "
#define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder " #define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder "
#define MSG_M218_INVALID_EXTRUDER "M218 Invalid extruder "
#define MSG_ERR_NO_THERMISTORS "No thermistors - no temp" #define MSG_ERR_NO_THERMISTORS "No thermistors - no temp"
#define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder " #define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder "
#define MSG_HEATING "Heating..." #define MSG_HEATING "Heating..."
@ -635,6 +642,7 @@
#define MSG_M119_REPORT "Reporting endstop status" #define MSG_M119_REPORT "Reporting endstop status"
#define MSG_ENDSTOP_HIT "TRIGGERED" #define MSG_ENDSTOP_HIT "TRIGGERED"
#define MSG_ENDSTOP_OPEN "open" #define MSG_ENDSTOP_OPEN "open"
#define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_SD_CANT_OPEN_SUBDIR "Cannot open subdir" #define MSG_SD_CANT_OPEN_SUBDIR "Cannot open subdir"
#define MSG_SD_INIT_FAIL "SD init fail" #define MSG_SD_INIT_FAIL "SD init fail"
@ -770,6 +778,7 @@
#define MSG_END_FILE_LIST "Fin de la lista de archivos" #define MSG_END_FILE_LIST "Fin de la lista de archivos"
#define MSG_M104_INVALID_EXTRUDER "M104 Extrusor Invalido " #define MSG_M104_INVALID_EXTRUDER "M104 Extrusor Invalido "
#define MSG_M105_INVALID_EXTRUDER "M105 Extrusor Invalido " #define MSG_M105_INVALID_EXTRUDER "M105 Extrusor Invalido "
#define MSG_M218_INVALID_EXTRUDER "M218 Extrusor Invalido "
#define MSG_ERR_NO_THERMISTORS "No hay termistores - no temp" #define MSG_ERR_NO_THERMISTORS "No hay termistores - no temp"
#define MSG_M109_INVALID_EXTRUDER "M109 Extrusor Invalido " #define MSG_M109_INVALID_EXTRUDER "M109 Extrusor Invalido "
#define MSG_HEATING "Calentando..." #define MSG_HEATING "Calentando..."
@ -792,6 +801,7 @@
#define MSG_M119_REPORT "Comprobando fines de carrera." #define MSG_M119_REPORT "Comprobando fines de carrera."
#define MSG_ENDSTOP_HIT "PULSADO" #define MSG_ENDSTOP_HIT "PULSADO"
#define MSG_ENDSTOP_OPEN "abierto" #define MSG_ENDSTOP_OPEN "abierto"
#define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_SD_CANT_OPEN_SUBDIR "No se pudo abrir la subcarpeta." #define MSG_SD_CANT_OPEN_SUBDIR "No se pudo abrir la subcarpeta."
#define MSG_SD_INIT_FAIL "Fallo al iniciar la SD" #define MSG_SD_INIT_FAIL "Fallo al iniciar la SD"
@ -921,6 +931,7 @@
#define MSG_END_FILE_LIST "Конец списка файлов" #define MSG_END_FILE_LIST "Конец списка файлов"
#define MSG_M104_INVALID_EXTRUDER "M104 ошибка экструдера " #define MSG_M104_INVALID_EXTRUDER "M104 ошибка экструдера "
#define MSG_M105_INVALID_EXTRUDER "M105 ошибка экструдера " #define MSG_M105_INVALID_EXTRUDER "M105 ошибка экструдера "
#define MSG_M218_INVALID_EXTRUDER "M218 ошибка экструдера "
#define MSG_ERR_NO_THERMISTORS "Нет термистра - нет температуры" #define MSG_ERR_NO_THERMISTORS "Нет термистра - нет температуры"
#define MSG_M109_INVALID_EXTRUDER "M109 ошибка экструдера " #define MSG_M109_INVALID_EXTRUDER "M109 ошибка экструдера "
#define MSG_HEATING "Нагрев... " #define MSG_HEATING "Нагрев... "
@ -944,6 +955,7 @@
#define MSG_M119_REPORT "Статус концевиков" #define MSG_M119_REPORT "Статус концевиков"
#define MSG_ENDSTOP_HIT "Срабатывание концевика" #define MSG_ENDSTOP_HIT "Срабатывание концевика"
#define MSG_ENDSTOP_OPEN "Концевик освобожден" #define MSG_ENDSTOP_OPEN "Концевик освобожден"
#define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_SD_CANT_OPEN_SUBDIR "Не открыть папку" #define MSG_SD_CANT_OPEN_SUBDIR "Не открыть папку"
#define MSG_SD_INIT_FAIL "Ошибка инициализации SD" #define MSG_SD_INIT_FAIL "Ошибка инициализации SD"
#define MSG_SD_VOL_INIT_FAIL "Ошибка инициализации раздела" #define MSG_SD_VOL_INIT_FAIL "Ошибка инициализации раздела"
@ -1080,6 +1092,7 @@
#define MSG_END_FILE_LIST "Fine Lista File" #define MSG_END_FILE_LIST "Fine Lista File"
#define MSG_M104_INVALID_EXTRUDER "M104 Estrusore non valido " #define MSG_M104_INVALID_EXTRUDER "M104 Estrusore non valido "
#define MSG_M105_INVALID_EXTRUDER "M105 Estrusore non valido " #define MSG_M105_INVALID_EXTRUDER "M105 Estrusore non valido "
#define MSG_M218_INVALID_EXTRUDER "M218 Estrusore non valido "
#define MSG_ERR_NO_THERMISTORS "Nessun Termistore - nessuna temperatura" #define MSG_ERR_NO_THERMISTORS "Nessun Termistore - nessuna temperatura"
#define MSG_M109_INVALID_EXTRUDER "M109 Estrusore non valido " #define MSG_M109_INVALID_EXTRUDER "M109 Estrusore non valido "
#define MSG_HEATING "Riscaldamento..." #define MSG_HEATING "Riscaldamento..."
@ -1103,6 +1116,7 @@
#define MSG_M119_REPORT "Segnalazione stato degli endstop" #define MSG_M119_REPORT "Segnalazione stato degli endstop"
#define MSG_ENDSTOP_HIT "INNESCATO" #define MSG_ENDSTOP_HIT "INNESCATO"
#define MSG_ENDSTOP_OPEN "aperto" #define MSG_ENDSTOP_OPEN "aperto"
#define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_SD_CANT_OPEN_SUBDIR "Impossibile aprire sottocartella" #define MSG_SD_CANT_OPEN_SUBDIR "Impossibile aprire sottocartella"
#define MSG_SD_INIT_FAIL "Fallita Inizializzazione SD" #define MSG_SD_INIT_FAIL "Fallita Inizializzazione SD"
@ -1242,6 +1256,7 @@
#define MSG_END_FILE_LIST "Fim da lista de arquivos" #define MSG_END_FILE_LIST "Fim da lista de arquivos"
#define MSG_M104_INVALID_EXTRUDER "M104 Extrusor inválido " #define MSG_M104_INVALID_EXTRUDER "M104 Extrusor inválido "
#define MSG_M105_INVALID_EXTRUDER "M105 Extrusor inválido " #define MSG_M105_INVALID_EXTRUDER "M105 Extrusor inválido "
#define MSG_M218_INVALID_EXTRUDER "M218 Extrusor inválido "
#define MSG_ERR_NO_THERMISTORS "Nao ha termistor - no temp" #define MSG_ERR_NO_THERMISTORS "Nao ha termistor - no temp"
#define MSG_M109_INVALID_EXTRUDER "M109 Extrusor inválido " #define MSG_M109_INVALID_EXTRUDER "M109 Extrusor inválido "
#define MSG_HEATING "Aquecendo..." #define MSG_HEATING "Aquecendo..."
@ -1265,6 +1280,7 @@
#define MSG_M119_REPORT "Relatando estado do ponto final" #define MSG_M119_REPORT "Relatando estado do ponto final"
#define MSG_ENDSTOP_HIT "PULSADO" #define MSG_ENDSTOP_HIT "PULSADO"
#define MSG_ENDSTOP_OPEN "Aberto" #define MSG_ENDSTOP_OPEN "Aberto"
#define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_SD_CANT_OPEN_SUBDIR "Nao pode abrir sub diretorio" #define MSG_SD_CANT_OPEN_SUBDIR "Nao pode abrir sub diretorio"
#define MSG_SD_INIT_FAIL "Falha ao iniciar SD" #define MSG_SD_INIT_FAIL "Falha ao iniciar SD"
@ -1399,6 +1415,7 @@
#define MSG_END_FILE_LIST "Tiedostolistauksen loppu" #define MSG_END_FILE_LIST "Tiedostolistauksen loppu"
#define MSG_M104_INVALID_EXTRUDER "M104 Virheellinen suutin " #define MSG_M104_INVALID_EXTRUDER "M104 Virheellinen suutin "
#define MSG_M105_INVALID_EXTRUDER "M105 Virheellinen suutin " #define MSG_M105_INVALID_EXTRUDER "M105 Virheellinen suutin "
#define MSG_M218_INVALID_EXTRUDER "M218 Virheellinen suutin "
#define MSG_ERR_NO_THERMISTORS "Ei termistoreja - ei lampotiloja" #define MSG_ERR_NO_THERMISTORS "Ei termistoreja - ei lampotiloja"
#define MSG_M109_INVALID_EXTRUDER "M109 Virheellinen suutin " #define MSG_M109_INVALID_EXTRUDER "M109 Virheellinen suutin "
#define MSG_HEATING "Lammitan..." #define MSG_HEATING "Lammitan..."
@ -1422,6 +1439,7 @@
#define MSG_M119_REPORT "Rajakytkimien tilaraportti" #define MSG_M119_REPORT "Rajakytkimien tilaraportti"
#define MSG_ENDSTOP_HIT "AKTIIVISENA" #define MSG_ENDSTOP_HIT "AKTIIVISENA"
#define MSG_ENDSTOP_OPEN "avoinna" #define MSG_ENDSTOP_OPEN "avoinna"
#define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_SD_CANT_OPEN_SUBDIR "Alihakemistoa ei voitu avata" #define MSG_SD_CANT_OPEN_SUBDIR "Alihakemistoa ei voitu avata"
#define MSG_SD_INIT_FAIL "SD alustus epaonnistui" #define MSG_SD_INIT_FAIL "SD alustus epaonnistui"

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