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@ -364,6 +364,11 @@
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#define LED_WHITE 0, 0, 0, 255
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#endif
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#if ENABLED(CNC_COORDINATE_SYSTEMS)
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int8_t active_coordinate_system = -1; // machine space
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float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
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#endif
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bool Running = true;
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uint8_t marlin_debug_flags = DEBUG_NONE;
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@ -745,6 +750,7 @@ void stop();
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void get_available_commands();
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void process_next_command();
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void process_parsed_command();
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void prepare_move_to_destination();
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void get_cartesian_from_steppers();
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@ -3672,6 +3678,73 @@ inline void gcode_G4() {
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#endif // CNC_WORKSPACE_PLANES
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#if ENABLED(CNC_COORDINATE_SYSTEMS)
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/**
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* Select a coordinate system and update the current position.
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* System index -1 is used to specify machine-native.
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*/
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bool select_coordinate_system(const int8_t _new) {
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if (active_coordinate_system == _new) return false;
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float old_offset[XYZ] = { 0 }, new_offset[XYZ] = { 0 };
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if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
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COPY(old_offset, coordinate_system[active_coordinate_system]);
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if (WITHIN(_new, 0, MAX_COORDINATE_SYSTEMS - 1))
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COPY(new_offset, coordinate_system[_new]);
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active_coordinate_system = _new;
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bool didXYZ = false;
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LOOP_XYZ(i) {
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const float diff = new_offset[i] - old_offset[i];
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if (diff) {
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position_shift[i] += diff;
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update_software_endstops((AxisEnum)i);
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didXYZ = true;
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}
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}
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if (didXYZ) SYNC_PLAN_POSITION_KINEMATIC();
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return true;
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}
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/**
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* In CNC G-code G53 is like a modifier
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* It precedes a movement command (or other modifiers) on the same line.
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* This is the first command to use parser.chain() to make this possible.
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*/
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inline void gcode_G53() {
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// If this command has more following...
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if (parser.chain()) {
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const int8_t _system = active_coordinate_system;
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active_coordinate_system = -1;
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process_parsed_command();
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active_coordinate_system = _system;
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}
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}
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/**
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* G54-G59.3: Select a new workspace
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*
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* A workspace is an XYZ offset to the machine native space.
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* All workspaces default to 0,0,0 at start, or with EEPROM
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* support they may be restored from a previous session.
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*
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* G92 is used to set the current workspace's offset.
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*/
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inline void gcode_G54_59(uint8_t subcode=0) {
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const int8_t _space = parser.codenum - 54 + subcode;
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if (select_coordinate_system(_space)) {
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SERIAL_PROTOCOLLNPAIR("Select workspace ", _space);
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report_current_position();
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}
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}
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FORCE_INLINE void gcode_G54() { gcode_G54_59(); }
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FORCE_INLINE void gcode_G55() { gcode_G54_59(); }
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FORCE_INLINE void gcode_G56() { gcode_G54_59(); }
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FORCE_INLINE void gcode_G57() { gcode_G54_59(); }
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FORCE_INLINE void gcode_G58() { gcode_G54_59(); }
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FORCE_INLINE void gcode_G59() { gcode_G54_59(parser.subcode); }
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#endif
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#if ENABLED(INCH_MODE_SUPPORT)
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/**
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* G20: Set input mode to inches
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@ -4153,13 +4226,12 @@ inline void gcode_G28(const bool always_home_all) {
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// Restore the active tool after homing
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#if HOTENDS > 1
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tool_change(old_tool_index, 0,
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#if ENABLED(PARKING_EXTRUDER)
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false // fetch the previous toolhead
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#else
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true
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#endif
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);
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#if ENABLED(PARKING_EXTRUDER)
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#define NO_FETCH false // fetch the previous toolhead
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#else
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#define NO_FETCH true
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#endif
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tool_change(old_tool_index, 0, NO_FETCH);
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#endif
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lcd_refresh();
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@ -6201,7 +6273,30 @@ inline void gcode_G92() {
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if (!didE) stepper.synchronize();
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LOOP_XYZE(i) {
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#if ENABLED(CNC_COORDINATE_SYSTEMS)
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switch (parser.subcode) {
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case 1:
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// Zero the G92 values and restore current position
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#if !IS_SCARA
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LOOP_XYZ(i) {
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const float v = position_shift[i];
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if (v) {
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position_shift[i] = 0;
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update_software_endstops((AxisEnum)i);
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}
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}
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#endif // Not SCARA
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return;
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}
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#endif
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#if ENABLED(CNC_COORDINATE_SYSTEMS)
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#define IS_G92_0 (parser.subcode == 0)
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#else
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#define IS_G92_0 true
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#endif
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if (IS_G92_0) LOOP_XYZE(i) {
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if (parser.seenval(axis_codes[i])) {
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#if IS_SCARA
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if (i != E_AXIS) didXYZ = true;
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@ -6221,6 +6316,13 @@ inline void gcode_G92() {
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#endif
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}
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}
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#if ENABLED(CNC_COORDINATE_SYSTEMS)
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// Apply workspace offset to the active coordinate system
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if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
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COPY(coordinate_system[active_coordinate_system], position_shift);
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#endif
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if (didXYZ)
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SYNC_PLAN_POSITION_KINEMATIC();
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else if (didE)
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@ -11194,26 +11296,11 @@ inline void gcode_T(const uint8_t tmp_extruder) {
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}
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/**
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* Process a single command and dispatch it to its handler
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* This is called from the main loop()
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* Process the parsed command and dispatch it to its handler
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*/
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void process_next_command() {
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char * const current_command = command_queue[cmd_queue_index_r];
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if (DEBUGGING(ECHO)) {
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SERIAL_ECHO_START();
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SERIAL_ECHOLN(current_command);
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#if ENABLED(M100_FREE_MEMORY_WATCHER)
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SERIAL_ECHOPAIR("slot:", cmd_queue_index_r);
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M100_dump_routine(" Command Queue:", (const char*)command_queue, (const char*)(command_queue + sizeof(command_queue)));
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#endif
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}
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void process_parsed_command() {
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KEEPALIVE_STATE(IN_HANDLER);
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// Parse the next command in the queue
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parser.parse(current_command);
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// Handle a known G, M, or T
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switch (parser.command_letter) {
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case 'G': switch (parser.codenum) {
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@ -12053,6 +12140,23 @@ void process_next_command() {
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ok_to_send();
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}
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void process_next_command() {
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char * const current_command = command_queue[cmd_queue_index_r];
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if (DEBUGGING(ECHO)) {
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SERIAL_ECHO_START();
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SERIAL_ECHOLN(current_command);
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#if ENABLED(M100_FREE_MEMORY_WATCHER)
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SERIAL_ECHOPAIR("slot:", cmd_queue_index_r);
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M100_dump_routine(" Command Queue:", (const char*)command_queue, (const char*)(command_queue + sizeof(command_queue)));
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#endif
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}
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// Parse the next command in the queue
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parser.parse(current_command);
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process_parsed_command();
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}
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/**
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* Send a "Resend: nnn" message to the host to
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* indicate that a command needs to be re-sent.
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Scott Lahteine
7 years ago