/* -*- c++ -*- */ /* Reprap firmware based on Sprinter and grbl. Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ /* This firmware is a mashup between Sprinter and grbl. (https://github.com/kliment/Sprinter) (https://github.com/simen/grbl/tree) It has preliminary support for Matthew Roberts advance algorithm http://reprap.org/pipermail/reprap-dev/2011-May/003323.html */ #include "Marlin.h" #ifdef ENABLE_AUTO_BED_LEVELING #include "vector_3.h" #ifdef AUTO_BED_LEVELING_GRID #include "qr_solve.h" #endif #endif // ENABLE_AUTO_BED_LEVELING #define HAS_LCD_BUZZ (defined(ULTRALCD) || (defined(BEEPER) && BEEPER >= 0) || defined(LCD_USE_I2C_BUZZER)) #define SERVO_LEVELING (defined(ENABLE_AUTO_BED_LEVELING) && PROBE_SERVO_DEACTIVATION_DELAY > 0) #ifdef MESH_BED_LEVELING #include "mesh_bed_leveling.h" #endif #include "ultralcd.h" #include "planner.h" #include "stepper.h" #include "temperature.h" #include "motion_control.h" #include "cardreader.h" #include "watchdog.h" #include "configuration_store.h" #include "language.h" #include "pins_arduino.h" #include "math.h" #ifdef BLINKM #include "blinkm.h" #include "Wire.h" #endif #if NUM_SERVOS > 0 #include "servo.h" #endif #if HAS_DIGIPOTSS #include #endif /** * Look here for descriptions of G-codes: * - http://linuxcnc.org/handbook/gcode/g-code.html * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes * * Help us document these G-codes online: * - http://reprap.org/wiki/G-code * - https://github.com/MarlinFirmware/Marlin/wiki/Marlin-G-Code */ /** * Implemented Codes * ------------------- * * "G" Codes * * G0 -> G1 * G1 - Coordinated Movement X Y Z E * G2 - CW ARC * G3 - CCW ARC * G4 - Dwell S or P * G10 - retract filament according to settings of M207 * G11 - retract recover filament according to settings of M208 * G28 - Home one or more axes * G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet. * G30 - Single Z Probe, probes bed at current XY location. * G31 - Dock sled (Z_PROBE_SLED only) * G32 - Undock sled (Z_PROBE_SLED only) * G90 - Use Absolute Coordinates * G91 - Use Relative Coordinates * G92 - Set current position to coordinates given * * "M" Codes * * M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled) * M1 - Same as M0 * M17 - Enable/Power all stepper motors * M18 - Disable all stepper motors; same as M84 * M20 - List SD card * M21 - Init SD card * M22 - Release SD card * M23 - Select SD file (M23 filename.g) * M24 - Start/resume SD print * M25 - Pause SD print * M26 - Set SD position in bytes (M26 S12345) * M27 - Report SD print status * M28 - Start SD write (M28 filename.g) * M29 - Stop SD write * M30 - Delete file from SD (M30 filename.g) * M31 - Output time since last M109 or SD card start to serial * M32 - Select file and start SD print (Can be used _while_ printing from SD card files): * syntax "M32 /path/filename#", or "M32 S !filename#" * Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include). * The '#' is necessary when calling from within sd files, as it stops buffer prereading * M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used. * M48 - Measure Z_Probe repeatability. M48 [P # of points] [X position] [Y position] [V_erboseness #] [E_ngage Probe] [L # of legs of travel] * M80 - Turn on Power Supply * M81 - Turn off Power Supply * M82 - Set E codes absolute (default) * M83 - Set E codes relative while in Absolute Coordinates (G90) mode * M84 - Disable steppers until next move, * or use S to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout. * M85 - Set inactivity shutdown timer with parameter S. To disable set zero (default) * M92 - Set axis_steps_per_unit - same syntax as G92 * M104 - Set extruder target temp * M105 - Read current temp * M106 - Fan on * M107 - Fan off * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating * Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling * IF AUTOTEMP is enabled, S B F. Exit autotemp by any M109 without F * M111 - Set debug flags with S. See flag bits defined in Marlin.h. * M112 - Emergency stop * M114 - Output current position to serial port * M115 - Capabilities string * M117 - display message * M119 - Output Endstop status to serial port * M120 - Enable endstop detection * M121 - Disable endstop detection * M126 - Solenoid Air Valve Open (BariCUDA support by jmil) * M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil) * M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil) * M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil) * M140 - Set bed target temp * M145 - Set the heatup state H B F for S (0=PLA, 1=ABS) * M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work. * M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling * M200 - set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).:D- * M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000) * M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!! * M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec * M204 - Set default acceleration: P for Printing moves, R for Retract only (no X, Y, Z) moves and T for Travel (non printing) moves (ex. M204 P800 T3000 R9000) in mm/sec^2 * M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk * M206 - Set additional homing offset * M207 - Set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting * M208 - Set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec] * M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction. * M218 - Set hotend offset (in mm): T X Y * M220 - Set speed factor override percentage: S * M221 - Set extrude factor override percentage: S * M226 - Wait until the specified pin reaches the state required: P S * M240 - Trigger a camera to take a photograph * M250 - Set LCD contrast C (value 0..63) * M280 - Set servo position absolute. P: servo index, S: angle or microseconds * M300 - Play beep sound S P * M301 - Set PID parameters P I and D * M302 - Allow cold extrudes, or set the minimum extrude S. * M303 - PID relay autotune S sets the target temperature. (default target temperature = 150C) * M304 - Set bed PID parameters P I and D * M380 - Activate solenoid on active extruder * M381 - Disable all solenoids * M400 - Finish all moves * M401 - Lower z-probe if present * M402 - Raise z-probe if present * M404 - N Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters * M405 - Turn on Filament Sensor extrusion control. Optional D to set delay in centimeters between sensor and extruder * M406 - Turn off Filament Sensor extrusion control * M407 - Display measured filament diameter * M410 - Quickstop. Abort all the planned moves * M420 - Enable/Disable Mesh Leveling (with current values) S1=enable S0=disable * M421 - Set a single Z coordinate in the Mesh Leveling grid. X Y Z * M428 - Set the home_offset logically based on the current_position * M500 - Store parameters in EEPROM * M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily). * M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to. * M503 - Print the current settings (from memory not from EEPROM). Use S0 to leave off headings. * M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) * M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal] * M665 - Set delta configurations: L R S * M666 - Set delta endstop adjustment * M605 - Set dual x-carriage movement mode: S [ X R ] * M907 - Set digital trimpot motor current using axis codes. * M908 - Control digital trimpot directly. * M350 - Set microstepping mode. * M351 - Toggle MS1 MS2 pins directly. * * ************ SCARA Specific - This can change to suit future G-code regulations * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration) * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree) * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration) * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree) * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position) * M365 - SCARA calibration: Scaling factor, X, Y, Z axis * ************* SCARA End *************** * * M928 - Start SD logging (M928 filename.g) - ended by M29 * M999 - Restart after being stopped by error */ #ifdef SDSUPPORT CardReader card; #endif bool Running = true; uint8_t marlin_debug_flags = DEBUG_INFO|DEBUG_ERRORS; static float feedrate = 1500.0, next_feedrate, saved_feedrate; float current_position[NUM_AXIS] = { 0.0 }; static float destination[NUM_AXIS] = { 0.0 }; bool axis_known_position[3] = { false }; static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0; static int cmd_queue_index_r = 0; static int cmd_queue_index_w = 0; static int commands_in_queue = 0; static char command_queue[BUFSIZE][MAX_CMD_SIZE]; float homing_feedrate[] = HOMING_FEEDRATE; bool axis_relative_modes[] = AXIS_RELATIVE_MODES; int feedrate_multiplier = 100; //100->1 200->2 int saved_feedrate_multiplier; int extruder_multiply[EXTRUDERS] = ARRAY_BY_EXTRUDERS(100, 100, 100, 100); bool volumetric_enabled = false; float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA); float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS(1.0, 1.0, 1.0, 1.0); float home_offset[3] = { 0 }; float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS }; float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS }; uint8_t active_extruder = 0; int fanSpeed = 0; bool cancel_heatup = false; const char errormagic[] PROGMEM = "Error:"; const char echomagic[] PROGMEM = "echo:"; const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'}; static float offset[3] = { 0 }; static bool relative_mode = false; //Determines Absolute or Relative Coordinates static char serial_char; static int serial_count = 0; static boolean comment_mode = false; static char *strchr_pointer; ///< A pointer to find chars in the command string (X, Y, Z, E, etc.) const char* queued_commands_P= NULL; /* pointer to the current line in the active sequence of commands, or NULL when none */ const int sensitive_pins[] = SENSITIVE_PINS; ///< Sensitive pin list for M42 // Inactivity shutdown millis_t previous_cmd_ms = 0; static millis_t max_inactive_time = 0; static millis_t stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME * 1000L; millis_t print_job_start_ms = 0; ///< Print job start time millis_t print_job_stop_ms = 0; ///< Print job stop time static uint8_t target_extruder; bool no_wait_for_cooling = true; bool target_direction; #ifdef ENABLE_AUTO_BED_LEVELING int xy_travel_speed = XY_TRAVEL_SPEED; float zprobe_zoffset = -Z_PROBE_OFFSET_FROM_EXTRUDER; #endif #if defined(Z_DUAL_ENDSTOPS) && !defined(DELTA) float z_endstop_adj = 0; #endif // Extruder offsets #if EXTRUDERS > 1 #ifndef EXTRUDER_OFFSET_X #define EXTRUDER_OFFSET_X { 0 } #endif #ifndef EXTRUDER_OFFSET_Y #define EXTRUDER_OFFSET_Y { 0 } #endif float extruder_offset[][EXTRUDERS] = { EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y #ifdef DUAL_X_CARRIAGE , { 0 } // supports offsets in XYZ plane #endif }; #endif #ifdef SERVO_ENDSTOPS int servo_endstops[] = SERVO_ENDSTOPS; int servo_endstop_angles[] = SERVO_ENDSTOP_ANGLES; #endif #ifdef BARICUDA int ValvePressure = 0; int EtoPPressure = 0; #endif #ifdef FWRETRACT bool autoretract_enabled = false; bool retracted[EXTRUDERS] = { false }; bool retracted_swap[EXTRUDERS] = { false }; float retract_length = RETRACT_LENGTH; float retract_length_swap = RETRACT_LENGTH_SWAP; float retract_feedrate = RETRACT_FEEDRATE; float retract_zlift = RETRACT_ZLIFT; float retract_recover_length = RETRACT_RECOVER_LENGTH; float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP; float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE; #endif // FWRETRACT #if defined(ULTIPANEL) && HAS_POWER_SWITCH bool powersupply = #ifdef PS_DEFAULT_OFF false #else true #endif ; #endif #ifdef DELTA float delta[3] = { 0 }; #define SIN_60 0.8660254037844386 #define COS_60 0.5 float endstop_adj[3] = { 0 }; // these are the default values, can be overriden with M665 float delta_radius = DELTA_RADIUS; float delta_tower1_x = -SIN_60 * delta_radius; // front left tower float delta_tower1_y = -COS_60 * delta_radius; float delta_tower2_x = SIN_60 * delta_radius; // front right tower float delta_tower2_y = -COS_60 * delta_radius; float delta_tower3_x = 0; // back middle tower float delta_tower3_y = delta_radius; float delta_diagonal_rod = DELTA_DIAGONAL_ROD; float delta_diagonal_rod_2 = sq(delta_diagonal_rod); float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND; #ifdef ENABLE_AUTO_BED_LEVELING int delta_grid_spacing[2] = { 0, 0 }; float bed_level[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS]; #endif #else static bool home_all_axis = true; #endif #ifdef SCARA static float delta[3] = { 0 }; float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1 #endif #ifdef FILAMENT_SENSOR //Variables for Filament Sensor input float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404 bool filament_sensor = false; //M405 turns on filament_sensor control, M406 turns it off float filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter signed char measurement_delay[MAX_MEASUREMENT_DELAY+1]; //ring buffer to delay measurement store extruder factor after subtracting 100 int delay_index1 = 0; //index into ring buffer int delay_index2 = -1; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized float delay_dist = 0; //delay distance counter int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting #endif #ifdef FILAMENT_RUNOUT_SENSOR static bool filrunoutEnqueued = false; #endif #ifdef SDSUPPORT static bool fromsd[BUFSIZE]; #endif #if NUM_SERVOS > 0 Servo servo[NUM_SERVOS]; #endif #ifdef CHDK unsigned long chdkHigh = 0; boolean chdkActive = false; #endif //=========================================================================== //================================ Functions ================================ //=========================================================================== void get_arc_coordinates(); bool setTargetedHotend(int code); void serial_echopair_P(const char *s_P, float v) { serialprintPGM(s_P); SERIAL_ECHO(v); } void serial_echopair_P(const char *s_P, double v) { serialprintPGM(s_P); SERIAL_ECHO(v); } void serial_echopair_P(const char *s_P, unsigned long v) { serialprintPGM(s_P); SERIAL_ECHO(v); } #ifdef PREVENT_DANGEROUS_EXTRUDE float extrude_min_temp = EXTRUDE_MINTEMP; #endif #ifdef SDSUPPORT #include "SdFatUtil.h" int freeMemory() { return SdFatUtil::FreeRam(); } #else extern "C" { extern unsigned int __bss_end; extern unsigned int __heap_start; extern void *__brkval; int freeMemory() { int free_memory; if ((int)__brkval == 0) free_memory = ((int)&free_memory) - ((int)&__bss_end); else free_memory = ((int)&free_memory) - ((int)__brkval); return free_memory; } } #endif //!SDSUPPORT /** * Inject the next command from the command queue, when possible * Return false only if no command was pending */ static bool drain_queued_commands_P() { if (!queued_commands_P) return false; // Get the next 30 chars from the sequence of gcodes to run char cmd[30]; strncpy_P(cmd, queued_commands_P, sizeof(cmd) - 1); cmd[sizeof(cmd) - 1] = '\0'; // Look for the end of line, or the end of sequence size_t i = 0; char c; while((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command cmd[i] = '\0'; if (enqueuecommand(cmd)) { // buffer was not full (else we will retry later) if (c) queued_commands_P += i + 1; // move to next command else queued_commands_P = NULL; // will have no more commands in the sequence } return true; } /** * Record one or many commands to run from program memory. * Aborts the current queue, if any. * Note: drain_queued_commands_P() must be called repeatedly to drain the commands afterwards */ void enqueuecommands_P(const char* pgcode) { queued_commands_P = pgcode; drain_queued_commands_P(); // first command executed asap (when possible) } /** * Copy a command directly into the main command buffer, from RAM. * * This is done in a non-safe way and needs a rework someday. * Returns false if it doesn't add any command */ bool enqueuecommand(const char *cmd) { if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false; // This is dangerous if a mixing of serial and this happens char *command = command_queue[cmd_queue_index_w]; strcpy(command, cmd); SERIAL_ECHO_START; SERIAL_ECHOPGM(MSG_Enqueueing); SERIAL_ECHO(command); SERIAL_ECHOLNPGM("\""); cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE; commands_in_queue++; return true; } void setup_killpin() { #if HAS_KILL SET_INPUT(KILL_PIN); WRITE(KILL_PIN, HIGH); #endif } void setup_filrunoutpin() { #if HAS_FILRUNOUT pinMode(FILRUNOUT_PIN, INPUT); #ifdef ENDSTOPPULLUP_FIL_RUNOUT WRITE(FILRUNOUT_PIN, HIGH); #endif #endif } // Set home pin void setup_homepin(void) { #if HAS_HOME SET_INPUT(HOME_PIN); WRITE(HOME_PIN, HIGH); #endif } void setup_photpin() { #if HAS_PHOTOGRAPH OUT_WRITE(PHOTOGRAPH_PIN, LOW); #endif } void setup_powerhold() { #if HAS_SUICIDE OUT_WRITE(SUICIDE_PIN, HIGH); #endif #if HAS_POWER_SWITCH #ifdef PS_DEFAULT_OFF OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP); #else OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); #endif #endif } void suicide() { #if HAS_SUICIDE OUT_WRITE(SUICIDE_PIN, LOW); #endif } void servo_init() { #if NUM_SERVOS >= 1 && HAS_SERVO_0 servo[0].attach(SERVO0_PIN); #endif #if NUM_SERVOS >= 2 && HAS_SERVO_1 servo[1].attach(SERVO1_PIN); #endif #if NUM_SERVOS >= 3 && HAS_SERVO_2 servo[2].attach(SERVO2_PIN); #endif #if NUM_SERVOS >= 4 && HAS_SERVO_3 servo[3].attach(SERVO3_PIN); #endif // Set position of Servo Endstops that are defined #ifdef SERVO_ENDSTOPS for (int i = 0; i < 3; i++) if (servo_endstops[i] >= 0) servo[servo_endstops[i]].write(servo_endstop_angles[i * 2 + 1]); #endif #if SERVO_LEVELING delay(PROBE_SERVO_DEACTIVATION_DELAY); servo[servo_endstops[Z_AXIS]].detach(); #endif } /** * Marlin entry-point: Set up before the program loop * - Set up the kill pin, filament runout, power hold * - Start the serial port * - Print startup messages and diagnostics * - Get EEPROM or default settings * - Initialize managers for: * • temperature * • planner * • watchdog * • stepper * • photo pin * • servos * • LCD controller * • Digipot I2C * • Z probe sled * • status LEDs */ void setup() { setup_killpin(); setup_filrunoutpin(); setup_powerhold(); MYSERIAL.begin(BAUDRATE); SERIAL_PROTOCOLLNPGM("start"); SERIAL_ECHO_START; // Check startup - does nothing if bootloader sets MCUSR to 0 byte mcu = MCUSR; if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP); if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET); if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET); if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET); if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET); MCUSR = 0; SERIAL_ECHOPGM(MSG_MARLIN); SERIAL_ECHOLNPGM(" " STRING_VERSION); #ifdef STRING_VERSION_CONFIG_H #ifdef STRING_CONFIG_H_AUTHOR SERIAL_ECHO_START; SERIAL_ECHOPGM(MSG_CONFIGURATION_VER); SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H); SERIAL_ECHOPGM(MSG_AUTHOR); SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR); SERIAL_ECHOPGM("Compiled: "); SERIAL_ECHOLNPGM(__DATE__); #endif // STRING_CONFIG_H_AUTHOR #endif // STRING_VERSION_CONFIG_H SERIAL_ECHO_START; SERIAL_ECHOPGM(MSG_FREE_MEMORY); SERIAL_ECHO(freeMemory()); SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES); SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE); #ifdef SDSUPPORT for (int8_t i = 0; i < BUFSIZE; i++) fromsd[i] = false; #endif // loads data from EEPROM if available else uses defaults (and resets step acceleration rate) Config_RetrieveSettings(); tp_init(); // Initialize temperature loop plan_init(); // Initialize planner; watchdog_init(); st_init(); // Initialize stepper, this enables interrupts! setup_photpin(); servo_init(); lcd_init(); _delay_ms(1000); // wait 1sec to display the splash screen #if HAS_CONTROLLERFAN SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan #endif #ifdef DIGIPOT_I2C digipot_i2c_init(); #endif #ifdef Z_PROBE_SLED pinMode(SERVO0_PIN, OUTPUT); digitalWrite(SERVO0_PIN, LOW); // turn it off #endif // Z_PROBE_SLED setup_homepin(); #ifdef STAT_LED_RED pinMode(STAT_LED_RED, OUTPUT); digitalWrite(STAT_LED_RED, LOW); // turn it off #endif #ifdef STAT_LED_BLUE pinMode(STAT_LED_BLUE, OUTPUT); digitalWrite(STAT_LED_BLUE, LOW); // turn it off #endif } /** * The main Marlin program loop * * - Save or log commands to SD * - Process available commands (if not saving) * - Call heater manager * - Call inactivity manager * - Call endstop manager * - Call LCD update */ void loop() { if (commands_in_queue < BUFSIZE - 1) get_command(); #ifdef SDSUPPORT card.checkautostart(false); #endif if (commands_in_queue) { #ifdef SDSUPPORT if (card.saving) { char *command = command_queue[cmd_queue_index_r]; if (strstr_P(command, PSTR("M29"))) { // M29 closes the file card.closefile(); SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED); } else { // Write the string from the read buffer to SD card.write_command(command); if (card.logging) process_commands(); // The card is saving because it's logging else SERIAL_PROTOCOLLNPGM(MSG_OK); } } else process_commands(); #else process_commands(); #endif // SDSUPPORT commands_in_queue--; cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE; } // Check heater every n milliseconds manage_heater(); manage_inactivity(); checkHitEndstops(); lcd_update(); } /** * Add to the circular command queue the next command from: * - The command-injection queue (queued_commands_P) * - The active serial input (usually USB) * - The SD card file being actively printed */ void get_command() { if (drain_queued_commands_P()) return; // priority is given to non-serial commands while (MYSERIAL.available() > 0 && commands_in_queue < BUFSIZE) { serial_char = MYSERIAL.read(); if (serial_char == '\n' || serial_char == '\r' || serial_count >= (MAX_CMD_SIZE - 1) ) { // end of line == end of comment comment_mode = false; if (!serial_count) return; // shortcut for empty lines char *command = command_queue[cmd_queue_index_w]; command[serial_count] = 0; // terminate string #ifdef SDSUPPORT fromsd[cmd_queue_index_w] = false; #endif if (strchr(command, 'N') != NULL) { strchr_pointer = strchr(command, 'N'); gcode_N = (strtol(strchr_pointer + 1, NULL, 10)); if (gcode_N != gcode_LastN + 1 && strstr_P(command, PSTR("M110")) == NULL) { SERIAL_ERROR_START; SERIAL_ERRORPGM(MSG_ERR_LINE_NO); SERIAL_ERRORLN(gcode_LastN); //Serial.println(gcode_N); FlushSerialRequestResend(); serial_count = 0; return; } if (strchr(command, '*') != NULL) { byte checksum = 0; byte count = 0; while (command[count] != '*') checksum ^= command[count++]; strchr_pointer = strchr(command, '*'); if (strtol(strchr_pointer + 1, NULL, 10) != checksum) { SERIAL_ERROR_START; SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH); SERIAL_ERRORLN(gcode_LastN); FlushSerialRequestResend(); serial_count = 0; return; } //if no errors, continue parsing } else { SERIAL_ERROR_START; SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM); SERIAL_ERRORLN(gcode_LastN); FlushSerialRequestResend(); serial_count = 0; return; } gcode_LastN = gcode_N; //if no errors, continue parsing } else { // if we don't receive 'N' but still see '*' if ((strchr(command, '*') != NULL)) { SERIAL_ERROR_START; SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM); SERIAL_ERRORLN(gcode_LastN); serial_count = 0; return; } } if (strchr(command, 'G') != NULL) { strchr_pointer = strchr(command, 'G'); switch (strtol(strchr_pointer + 1, NULL, 10)) { case 0: case 1: case 2: case 3: if (IsStopped()) { SERIAL_ERRORLNPGM(MSG_ERR_STOPPED); LCD_MESSAGEPGM(MSG_STOPPED); } break; default: break; } } // If command was e-stop process now if (strcmp(command, "M112") == 0) kill(); cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE; commands_in_queue += 1; serial_count = 0; //clear buffer } else if (serial_char == '\\') { // Handle escapes if (MYSERIAL.available() > 0 && commands_in_queue < BUFSIZE) { // if we have one more character, copy it over serial_char = MYSERIAL.read(); command_queue[cmd_queue_index_w][serial_count++] = serial_char; } // otherwise do nothing } else { // its not a newline, carriage return or escape char if (serial_char == ';') comment_mode = true; if (!comment_mode) command_queue[cmd_queue_index_w][serial_count++] = serial_char; } } #ifdef SDSUPPORT if (!card.sdprinting || serial_count) return; // '#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible // if it occurs, stop_buffering is triggered and the buffer is ran dry. // this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing static bool stop_buffering = false; if (commands_in_queue == 0) stop_buffering = false; while (!card.eof() && commands_in_queue < BUFSIZE && !stop_buffering) { int16_t n = card.get(); serial_char = (char)n; if (serial_char == '\n' || serial_char == '\r' || ((serial_char == '#' || serial_char == ':') && !comment_mode) || serial_count >= (MAX_CMD_SIZE - 1) || n == -1 ) { if (card.eof()) { SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED); print_job_stop_ms = millis(); char time[30]; millis_t t = (print_job_stop_ms - print_job_start_ms) / 1000; int hours = t / 60 / 60, minutes = (t / 60) % 60; sprintf_P(time, PSTR("%i " MSG_END_HOUR " %i " MSG_END_MINUTE), hours, minutes); SERIAL_ECHO_START; SERIAL_ECHOLN(time); lcd_setstatus(time, true); card.printingHasFinished(); card.checkautostart(true); } if (serial_char == '#') stop_buffering = true; if (!serial_count) { comment_mode = false; //for new command return; //if empty line } command_queue[cmd_queue_index_w][serial_count] = 0; //terminate string // if (!comment_mode) { fromsd[cmd_queue_index_w] = true; commands_in_queue += 1; cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE; // } comment_mode = false; //for new command serial_count = 0; //clear buffer } else { if (serial_char == ';') comment_mode = true; if (!comment_mode) command_queue[cmd_queue_index_w][serial_count++] = serial_char; } } #endif // SDSUPPORT } bool code_has_value() { int i = 1; char c = strchr_pointer[i]; if (c == '-' || c == '+') c = strchr_pointer[++i]; if (c == '.') c = strchr_pointer[++i]; return (c >= '0' && c <= '9'); } float code_value() { float ret; char *e = strchr(strchr_pointer, 'E'); if (e) { *e = 0; ret = strtod(strchr_pointer+1, NULL); *e = 'E'; } else ret = strtod(strchr_pointer+1, NULL); return ret; } long code_value_long() { return strtol(strchr_pointer + 1, NULL, 10); } int16_t code_value_short() { return (int16_t)strtol(strchr_pointer + 1, NULL, 10); } bool code_seen(char code) { strchr_pointer = strchr(command_queue[cmd_queue_index_r], code); return (strchr_pointer != NULL); //Return True if a character was found } #define DEFINE_PGM_READ_ANY(type, reader) \ static inline type pgm_read_any(const type *p) \ { return pgm_read_##reader##_near(p); } DEFINE_PGM_READ_ANY(float, float); DEFINE_PGM_READ_ANY(signed char, byte); #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \ static const PROGMEM type array##_P[3] = \ { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \ static inline type array(int axis) \ { return pgm_read_any(&array##_P[axis]); } XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS); XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS); XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS); XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH); XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM); XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR); #ifdef DUAL_X_CARRIAGE #define DXC_FULL_CONTROL_MODE 0 #define DXC_AUTO_PARK_MODE 1 #define DXC_DUPLICATION_MODE 2 static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE; static float x_home_pos(int extruder) { if (extruder == 0) return base_home_pos(X_AXIS) + home_offset[X_AXIS]; else // In dual carriage mode the extruder offset provides an override of the // second X-carriage offset when homed - otherwise X2_HOME_POS is used. // This allow soft recalibration of the second extruder offset position without firmware reflash // (through the M218 command). return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS; } static int x_home_dir(int extruder) { return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR; } static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1 static bool active_extruder_parked = false; // used in mode 1 & 2 static float raised_parked_position[NUM_AXIS]; // used in mode 1 static millis_t delayed_move_time = 0; // used in mode 1 static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2 static float duplicate_extruder_temp_offset = 0; // used in mode 2 bool extruder_duplication_enabled = false; // used in mode 2 #endif //DUAL_X_CARRIAGE static void axis_is_at_home(int axis) { #ifdef DUAL_X_CARRIAGE if (axis == X_AXIS) { if (active_extruder != 0) { current_position[X_AXIS] = x_home_pos(active_extruder); min_pos[X_AXIS] = X2_MIN_POS; max_pos[X_AXIS] = max(extruder_offset[X_AXIS][1], X2_MAX_POS); return; } else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) { float xoff = home_offset[X_AXIS]; current_position[X_AXIS] = base_home_pos(X_AXIS) + xoff; min_pos[X_AXIS] = base_min_pos(X_AXIS) + xoff; max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + xoff, max(extruder_offset[X_AXIS][1], X2_MAX_POS) - duplicate_extruder_x_offset); return; } } #endif #ifdef SCARA if (axis == X_AXIS || axis == Y_AXIS) { float homeposition[3]; for (int i = 0; i < 3; i++) homeposition[i] = base_home_pos(i); // SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]); // SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]); // Works out real Homeposition angles using inverse kinematics, // and calculates homing offset using forward kinematics calculate_delta(homeposition); // SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]); // SERIAL_ECHOPGM(" base Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]); for (int i = 0; i < 2; i++) delta[i] -= home_offset[i]; // SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(home_offset[X_AXIS]); // SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(home_offset[Y_AXIS]); // SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]); // SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]); calculate_SCARA_forward_Transform(delta); // SERIAL_ECHOPGM("Delta X="); SERIAL_ECHO(delta[X_AXIS]); // SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]); current_position[axis] = delta[axis]; // SCARA home positions are based on configuration since the actual limits are determined by the // inverse kinematic transform. min_pos[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis)); max_pos[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis)); } else #endif { current_position[axis] = base_home_pos(axis) + home_offset[axis]; min_pos[axis] = base_min_pos(axis) + home_offset[axis]; max_pos[axis] = base_max_pos(axis) + home_offset[axis]; #if defined(ENABLE_AUTO_BED_LEVELING) && Z_HOME_DIR < 0 if (axis == Z_AXIS) current_position[Z_AXIS] += zprobe_zoffset; #endif } } /** * Some planner shorthand inline functions */ inline void set_homing_bump_feedrate(AxisEnum axis) { const int homing_bump_divisor[] = HOMING_BUMP_DIVISOR; if (homing_bump_divisor[axis] >= 1) feedrate = homing_feedrate[axis] / homing_bump_divisor[axis]; else { feedrate = homing_feedrate[axis] / 10; SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less than 1"); } } inline void line_to_current_position() { plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder); } inline void line_to_z(float zPosition) { plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder); } inline void line_to_destination(float mm_m) { plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], mm_m/60, active_extruder); } inline void line_to_destination() { line_to_destination(feedrate); } inline void sync_plan_position() { plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); } #if defined(DELTA) || defined(SCARA) inline void sync_plan_position_delta() { calculate_delta(current_position); plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]); } #endif inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); } inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); } #ifdef ENABLE_AUTO_BED_LEVELING #ifdef DELTA /** * Calculate delta, start a line, and set current_position to destination */ void prepare_move_raw() { refresh_cmd_timeout(); calculate_delta(destination); plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedrate_multiplier/100.0), active_extruder); set_current_to_destination(); } #endif #ifdef AUTO_BED_LEVELING_GRID #ifndef DELTA static void set_bed_level_equation_lsq(double *plane_equation_coefficients) { vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1); planeNormal.debug("planeNormal"); plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal); //bedLevel.debug("bedLevel"); //plan_bed_level_matrix.debug("bed level before"); //vector_3 uncorrected_position = plan_get_position_mm(); //uncorrected_position.debug("position before"); vector_3 corrected_position = plan_get_position(); //corrected_position.debug("position after"); current_position[X_AXIS] = corrected_position.x; current_position[Y_AXIS] = corrected_position.y; current_position[Z_AXIS] = corrected_position.z; sync_plan_position(); } #endif // !DELTA #else // !AUTO_BED_LEVELING_GRID static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) { plan_bed_level_matrix.set_to_identity(); vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1); vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2); vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3); vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal(); if (planeNormal.z < 0) { planeNormal.x = -planeNormal.x; planeNormal.y = -planeNormal.y; planeNormal.z = -planeNormal.z; } plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal); vector_3 corrected_position = plan_get_position(); current_position[X_AXIS] = corrected_position.x; current_position[Y_AXIS] = corrected_position.y; current_position[Z_AXIS] = corrected_position.z; sync_plan_position(); } #endif // !AUTO_BED_LEVELING_GRID static void run_z_probe() { #ifdef DELTA float start_z = current_position[Z_AXIS]; long start_steps = st_get_position(Z_AXIS); // move down slowly until you find the bed feedrate = homing_feedrate[Z_AXIS] / 4; destination[Z_AXIS] = -10; prepare_move_raw(); // this will also set_current_to_destination st_synchronize(); endstops_hit_on_purpose(); // clear endstop hit flags // we have to let the planner know where we are right now as it is not where we said to go. long stop_steps = st_get_position(Z_AXIS); float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS]; current_position[Z_AXIS] = mm; sync_plan_position_delta(); #else // !DELTA plan_bed_level_matrix.set_to_identity(); feedrate = homing_feedrate[Z_AXIS]; // move down until you find the bed float zPosition = -10; line_to_z(zPosition); st_synchronize(); // we have to let the planner know where we are right now as it is not where we said to go. zPosition = st_get_position_mm(Z_AXIS); plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]); // move up the retract distance zPosition += home_bump_mm(Z_AXIS); line_to_z(zPosition); st_synchronize(); endstops_hit_on_purpose(); // clear endstop hit flags // move back down slowly to find bed set_homing_bump_feedrate(Z_AXIS); zPosition -= home_bump_mm(Z_AXIS) * 2; line_to_z(zPosition); st_synchronize(); endstops_hit_on_purpose(); // clear endstop hit flags // Get the current stepper position after bumping an endstop current_position[Z_AXIS] = st_get_position_mm(Z_AXIS); sync_plan_position(); #endif // !DELTA } /** * Plan a move to (X, Y, Z) and set the current_position * The final current_position may not be the one that was requested */ static void do_blocking_move_to(float x, float y, float z) { float oldFeedRate = feedrate; #ifdef DELTA feedrate = XY_TRAVEL_SPEED; destination[X_AXIS] = x; destination[Y_AXIS] = y; destination[Z_AXIS] = z; prepare_move_raw(); // this will also set_current_to_destination st_synchronize(); #else feedrate = homing_feedrate[Z_AXIS]; current_position[Z_AXIS] = z; line_to_current_position(); st_synchronize(); feedrate = xy_travel_speed; current_position[X_AXIS] = x; current_position[Y_AXIS] = y; line_to_current_position(); st_synchronize(); #endif feedrate = oldFeedRate; } static void setup_for_endstop_move() { saved_feedrate = feedrate; saved_feedrate_multiplier = feedrate_multiplier; feedrate_multiplier = 100; refresh_cmd_timeout(); enable_endstops(true); } static void clean_up_after_endstop_move() { #ifdef ENDSTOPS_ONLY_FOR_HOMING enable_endstops(false); #endif feedrate = saved_feedrate; feedrate_multiplier = saved_feedrate_multiplier; refresh_cmd_timeout(); } static void deploy_z_probe() { #ifdef SERVO_ENDSTOPS // Engage Z Servo endstop if enabled if (servo_endstops[Z_AXIS] >= 0) { Servo *srv = &servo[servo_endstops[Z_AXIS]]; #if SERVO_LEVELING srv->attach(0); #endif srv->write(servo_endstop_angles[Z_AXIS * 2]); #if SERVO_LEVELING delay(PROBE_SERVO_DEACTIVATION_DELAY); srv->detach(); #endif } #elif defined(Z_PROBE_ALLEN_KEY) feedrate = homing_feedrate[X_AXIS]; // Move to the start position to initiate deployment destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_X; destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Y; destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Z; prepare_move_raw(); // this will also set_current_to_destination // Home X to touch the belt feedrate = homing_feedrate[X_AXIS]/10; destination[X_AXIS] = 0; prepare_move_raw(); // this will also set_current_to_destination // Home Y for safety feedrate = homing_feedrate[X_AXIS]/2; destination[Y_AXIS] = 0; prepare_move_raw(); // this will also set_current_to_destination st_synchronize(); #ifdef Z_PROBE_ENDSTOP bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING); if (z_probe_endstop) #else bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING); if (z_min_endstop) #endif { if (IsRunning()) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM("Z-Probe failed to engage!"); LCD_ALERTMESSAGEPGM("Err: ZPROBE"); } Stop(); } #endif // Z_PROBE_ALLEN_KEY } static void stow_z_probe(bool doRaise=true) { #ifdef SERVO_ENDSTOPS // Retract Z Servo endstop if enabled if (servo_endstops[Z_AXIS] >= 0) { #if Z_RAISE_AFTER_PROBING > 0 if (doRaise) { do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // this also updates current_position st_synchronize(); } #endif // Change the Z servo angle Servo *srv = &servo[servo_endstops[Z_AXIS]]; #if SERVO_LEVELING srv->attach(0); #endif srv->write(servo_endstop_angles[Z_AXIS * 2 + 1]); #if SERVO_LEVELING delay(PROBE_SERVO_DEACTIVATION_DELAY); srv->detach(); #endif } #elif defined(Z_PROBE_ALLEN_KEY) // Move up for safety feedrate = homing_feedrate[X_AXIS]; destination[Z_AXIS] = current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING; prepare_move_raw(); // this will also set_current_to_destination // Move to the start position to initiate retraction destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_X; destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_Y; destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_Z; prepare_move_raw(); // this will also set_current_to_destination // Move the nozzle down to push the probe into retracted position feedrate = homing_feedrate[Z_AXIS]/10; destination[Z_AXIS] = current_position[Z_AXIS] - Z_PROBE_ALLEN_KEY_STOW_DEPTH; prepare_move_raw(); // this will also set_current_to_destination // Move up for safety feedrate = homing_feedrate[Z_AXIS]/2; destination[Z_AXIS] = current_position[Z_AXIS] + Z_PROBE_ALLEN_KEY_STOW_DEPTH * 2; prepare_move_raw(); // this will also set_current_to_destination // Home XY for safety feedrate = homing_feedrate[X_AXIS]/2; destination[X_AXIS] = 0; destination[Y_AXIS] = 0; prepare_move_raw(); // this will also set_current_to_destination st_synchronize(); #ifdef Z_PROBE_ENDSTOP bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING); if (!z_probe_endstop) #else bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING); if (!z_min_endstop) #endif { if (IsRunning()) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM("Z-Probe failed to retract!"); LCD_ALERTMESSAGEPGM("Err: ZPROBE"); } Stop(); } #endif } enum ProbeAction { ProbeStay = 0, ProbeDeploy = BIT(0), ProbeStow = BIT(1), ProbeDeployAndStow = (ProbeDeploy | ProbeStow) }; // Probe bed height at position (x,y), returns the measured z value static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeDeployAndStow, int verbose_level=1) { // move to right place do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before); // this also updates current_position do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]); // this also updates current_position #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY) if (retract_action & ProbeDeploy) deploy_z_probe(); #endif run_z_probe(); float measured_z = current_position[Z_AXIS]; #if Z_RAISE_BETWEEN_PROBINGS > 0 if (retract_action == ProbeStay) { do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); // this also updates current_position st_synchronize(); } #endif #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY) if (retract_action & ProbeStow) stow_z_probe(); #endif if (verbose_level > 2) { SERIAL_PROTOCOLPGM("Bed"); SERIAL_PROTOCOLPGM(" X: "); SERIAL_PROTOCOL_F(x, 3); SERIAL_PROTOCOLPGM(" Y: "); SERIAL_PROTOCOL_F(y, 3); SERIAL_PROTOCOLPGM(" Z: "); SERIAL_PROTOCOL_F(measured_z, 3); SERIAL_EOL; } return measured_z; } #ifdef DELTA /** * All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING */ static void extrapolate_one_point(int x, int y, int xdir, int ydir) { if (bed_level[x][y] != 0.0) { return; // Don't overwrite good values. } float a = 2*bed_level[x+xdir][y] - bed_level[x+xdir*2][y]; // Left to right. float b = 2*bed_level[x][y+ydir] - bed_level[x][y+ydir*2]; // Front to back. float c = 2*bed_level[x+xdir][y+ydir] - bed_level[x+xdir*2][y+ydir*2]; // Diagonal. float median = c; // Median is robust (ignores outliers). if (a < b) { if (b < c) median = b; if (c < a) median = a; } else { // b <= a if (c < b) median = b; if (a < c) median = a; } bed_level[x][y] = median; } // Fill in the unprobed points (corners of circular print surface) // using linear extrapolation, away from the center. static void extrapolate_unprobed_bed_level() { int half = (AUTO_BED_LEVELING_GRID_POINTS-1)/2; for (int y = 0; y <= half; y++) { for (int x = 0; x <= half; x++) { if (x + y < 3) continue; extrapolate_one_point(half-x, half-y, x>1?+1:0, y>1?+1:0); extrapolate_one_point(half+x, half-y, x>1?-1:0, y>1?+1:0); extrapolate_one_point(half-x, half+y, x>1?+1:0, y>1?-1:0); extrapolate_one_point(half+x, half+y, x>1?-1:0, y>1?-1:0); } } } // Print calibration results for plotting or manual frame adjustment. static void print_bed_level() { for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) { for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) { SERIAL_PROTOCOL_F(bed_level[x][y], 2); SERIAL_PROTOCOLCHAR(' '); } SERIAL_EOL; } } // Reset calibration results to zero. void reset_bed_level() { for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) { for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) { bed_level[x][y] = 0.0; } } } #endif // DELTA #endif // ENABLE_AUTO_BED_LEVELING /** * Home an individual axis */ #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS) static void homeaxis(AxisEnum axis) { #define HOMEAXIS_DO(LETTER) \ ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1)) if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) { int axis_home_dir = #ifdef DUAL_X_CARRIAGE (axis == X_AXIS) ? x_home_dir(active_extruder) : #endif home_dir(axis); // Set the axis position as setup for the move current_position[axis] = 0; sync_plan_position(); #if SERVO_LEVELING && !defined(Z_PROBE_SLED) // Deploy a probe if there is one, and homing towards the bed if (axis == Z_AXIS) { if (axis_home_dir < 0) deploy_z_probe(); } else #endif #ifdef SERVO_ENDSTOPS { // Engage Servo endstop if enabled if (servo_endstops[axis] > -1) servo[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]); } #endif // Set a flag for Z motor locking #ifdef Z_DUAL_ENDSTOPS if (axis == Z_AXIS) In_Homing_Process(true); #endif // Move towards the endstop until an endstop is triggered destination[axis] = 1.5 * max_length(axis) * axis_home_dir; feedrate = homing_feedrate[axis]; line_to_destination(); st_synchronize(); // Set the axis position as setup for the move current_position[axis] = 0; sync_plan_position(); enable_endstops(false); // Disable endstops while moving away // Move away from the endstop by the axis HOME_BUMP_MM destination[axis] = -home_bump_mm(axis) * axis_home_dir; line_to_destination(); st_synchronize(); enable_endstops(true); // Enable endstops for next homing move // Slow down the feedrate for the next move set_homing_bump_feedrate(axis); // Move slowly towards the endstop until triggered destination[axis] = 2 * home_bump_mm(axis) * axis_home_dir; line_to_destination(); st_synchronize(); #ifdef Z_DUAL_ENDSTOPS if (axis == Z_AXIS) { float adj = fabs(z_endstop_adj); bool lockZ1; if (axis_home_dir > 0) { adj = -adj; lockZ1 = (z_endstop_adj > 0); } else lockZ1 = (z_endstop_adj < 0); if (lockZ1) Lock_z_motor(true); else Lock_z2_motor(true); sync_plan_position(); // Move to the adjusted endstop height feedrate = homing_feedrate[axis]; destination[Z_AXIS] = adj; line_to_destination(); st_synchronize(); if (lockZ1) Lock_z_motor(false); else Lock_z2_motor(false); In_Homing_Process(false); } // Z_AXIS #endif #ifdef DELTA // retrace by the amount specified in endstop_adj if (endstop_adj[axis] * axis_home_dir < 0) { enable_endstops(false); // Disable endstops while moving away sync_plan_position(); destination[axis] = endstop_adj[axis]; line_to_destination(); st_synchronize(); enable_endstops(true); // Enable endstops for next homing move } #endif // Set the axis position to its home position (plus home offsets) axis_is_at_home(axis); sync_plan_position(); destination[axis] = current_position[axis]; feedrate = 0.0; endstops_hit_on_purpose(); // clear endstop hit flags axis_known_position[axis] = true; #if SERVO_LEVELING && !defined(Z_PROBE_SLED) // Deploy a probe if there is one, and homing towards the bed if (axis == Z_AXIS) { if (axis_home_dir < 0) stow_z_probe(); } else #endif #ifdef SERVO_ENDSTOPS { // Retract Servo endstop if enabled if (servo_endstops[axis] > -1) servo[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]); } #endif } } #ifdef FWRETRACT void retract(bool retracting, bool swapretract = false) { if (retracting == retracted[active_extruder]) return; float oldFeedrate = feedrate; set_destination_to_current(); if (retracting) { feedrate = retract_feedrate * 60; current_position[E_AXIS] += (swapretract ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder]; plan_set_e_position(current_position[E_AXIS]); prepare_move(); if (retract_zlift > 0.01) { current_position[Z_AXIS] -= retract_zlift; #ifdef DELTA sync_plan_position_delta(); #else sync_plan_position(); #endif prepare_move(); } } else { if (retract_zlift > 0.01) { current_position[Z_AXIS] += retract_zlift; #ifdef DELTA sync_plan_position_delta(); #else sync_plan_position(); #endif //prepare_move(); } feedrate = retract_recover_feedrate * 60; float move_e = swapretract ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length; current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder]; plan_set_e_position(current_position[E_AXIS]); prepare_move(); } feedrate = oldFeedrate; retracted[active_extruder] = retracting; } // retract() #endif // FWRETRACT #ifdef Z_PROBE_SLED #ifndef SLED_DOCKING_OFFSET #define SLED_DOCKING_OFFSET 0 #endif /** * Method to dock/undock a sled designed by Charles Bell. * * dock[in] If true, move to MAX_X and engage the electromagnet * offset[in] The additional distance to move to adjust docking location */ static void dock_sled(bool dock, int offset=0) { if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) { LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN); SERIAL_ECHO_START; SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN); return; } if (dock) { do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], current_position[Z_AXIS]); // this also updates current_position digitalWrite(SERVO0_PIN, LOW); // turn off magnet } else { float z_loc = current_position[Z_AXIS]; if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING; do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, Y_PROBE_OFFSET_FROM_EXTRUDER, z_loc); // this also updates current_position digitalWrite(SERVO0_PIN, HIGH); // turn on magnet } } #endif // Z_PROBE_SLED /** * * G-Code Handler functions * */ /** * G0, G1: Coordinated movement of X Y Z E axes */ inline void gcode_G0_G1() { if (IsRunning()) { get_coordinates(); // For X Y Z E F #ifdef FWRETRACT if (autoretract_enabled && !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) { float echange = destination[E_AXIS] - current_position[E_AXIS]; // Is this move an attempt to retract or recover? if ((echange < -MIN_RETRACT && !retracted[active_extruder]) || (echange > MIN_RETRACT && retracted[active_extruder])) { current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations plan_set_e_position(current_position[E_AXIS]); // AND from the planner retract(!retracted[active_extruder]); return; } } #endif //FWRETRACT prepare_move(); //ClearToSend(); } } /** * G2: Clockwise Arc * G3: Counterclockwise Arc */ inline void gcode_G2_G3(bool clockwise) { if (IsRunning()) { get_arc_coordinates(); prepare_arc_move(clockwise); } } /** * G4: Dwell S or P */ inline void gcode_G4() { millis_t codenum = 0; if (code_seen('P')) codenum = code_value_long(); // milliseconds to wait if (code_seen('S')) codenum = code_value_long() * 1000; // seconds to wait st_synchronize(); refresh_cmd_timeout(); codenum += previous_cmd_ms; // keep track of when we started waiting if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL); while (millis() < codenum) { manage_heater(); manage_inactivity(); lcd_update(); } } #ifdef FWRETRACT /** * G10 - Retract filament according to settings of M207 * G11 - Recover filament according to settings of M208 */ inline void gcode_G10_G11(bool doRetract=false) { #if EXTRUDERS > 1 if (doRetract) { retracted_swap[active_extruder] = (code_seen('S') && code_value_short() == 1); // checks for swap retract argument } #endif retract(doRetract #if EXTRUDERS > 1 , retracted_swap[active_extruder] #endif ); } #endif //FWRETRACT /** * G28: Home all axes according to settings * * Parameters * * None Home to all axes with no parameters. * With QUICK_HOME enabled XY will home together, then Z. * * Cartesian parameters * * X Home to the X endstop * Y Home to the Y endstop * Z Home to the Z endstop * */ inline void gcode_G28() { // For auto bed leveling, clear the level matrix #ifdef ENABLE_AUTO_BED_LEVELING plan_bed_level_matrix.set_to_identity(); #ifdef DELTA reset_bed_level(); #endif #endif // For manual bed leveling deactivate the matrix temporarily #ifdef MESH_BED_LEVELING uint8_t mbl_was_active = mbl.active; mbl.active = 0; #endif saved_feedrate = feedrate; saved_feedrate_multiplier = feedrate_multiplier; feedrate_multiplier = 100; refresh_cmd_timeout(); enable_endstops(true); set_destination_to_current(); feedrate = 0.0; #ifdef DELTA // A delta can only safely home all axis at the same time // all axis have to home at the same time // Pretend the current position is 0,0,0 for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0; sync_plan_position(); // Move all carriages up together until the first endstop is hit. for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * Z_MAX_LENGTH; feedrate = 1.732 * homing_feedrate[X_AXIS]; line_to_destination(); st_synchronize(); endstops_hit_on_purpose(); // clear endstop hit flags // Destination reached for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i]; // take care of back off and rehome now we are all at the top HOMEAXIS(X); HOMEAXIS(Y); HOMEAXIS(Z); sync_plan_position_delta(); #else // NOT DELTA bool homeX = code_seen(axis_codes[X_AXIS]), homeY = code_seen(axis_codes[Y_AXIS]), homeZ = code_seen(axis_codes[Z_AXIS]); home_all_axis = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ); if (home_all_axis || homeZ) { #if Z_HOME_DIR > 0 // If homing away from BED do Z first HOMEAXIS(Z); #elif !defined(Z_SAFE_HOMING) && defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0 // Raise Z before homing any other axes // (Does this need to be "negative home direction?" Why not just use Z_RAISE_BEFORE_HOMING?) destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); feedrate = max_feedrate[Z_AXIS] * 60; line_to_destination(); st_synchronize(); #endif } // home_all_axis || homeZ #ifdef QUICK_HOME if (home_all_axis || (homeX && homeY)) { // First diagonal move current_position[X_AXIS] = current_position[Y_AXIS] = 0; #ifdef DUAL_X_CARRIAGE int x_axis_home_dir = x_home_dir(active_extruder); extruder_duplication_enabled = false; #else int x_axis_home_dir = home_dir(X_AXIS); #endif sync_plan_position(); float mlx = max_length(X_AXIS), mly = max_length(Y_AXIS), mlratio = mlx>mly ? mly/mlx : mlx/mly; destination[X_AXIS] = 1.5 * mlx * x_axis_home_dir; destination[Y_AXIS] = 1.5 * mly * home_dir(Y_AXIS); feedrate = min(homing_feedrate[X_AXIS], homing_feedrate[Y_AXIS]) * sqrt(mlratio * mlratio + 1); line_to_destination(); st_synchronize(); axis_is_at_home(X_AXIS); axis_is_at_home(Y_AXIS); sync_plan_position(); destination[X_AXIS] = current_position[X_AXIS]; destination[Y_AXIS] = current_position[Y_AXIS]; line_to_destination(); feedrate = 0.0; st_synchronize(); endstops_hit_on_purpose(); // clear endstop hit flags current_position[X_AXIS] = destination[X_AXIS]; current_position[Y_AXIS] = destination[Y_AXIS]; #ifndef SCARA current_position[Z_AXIS] = destination[Z_AXIS]; #endif } #endif // QUICK_HOME #ifdef HOME_Y_BEFORE_X // Home Y if (home_all_axis || homeY) HOMEAXIS(Y); #endif // Home X if (home_all_axis || homeX) { #ifdef DUAL_X_CARRIAGE int tmp_extruder = active_extruder; extruder_duplication_enabled = false; active_extruder = !active_extruder; HOMEAXIS(X); inactive_extruder_x_pos = current_position[X_AXIS]; active_extruder = tmp_extruder; HOMEAXIS(X); // reset state used by the different modes memcpy(raised_parked_position, current_position, sizeof(raised_parked_position)); delayed_move_time = 0; active_extruder_parked = true; #else HOMEAXIS(X); #endif } #ifndef HOME_Y_BEFORE_X // Home Y if (home_all_axis || homeY) HOMEAXIS(Y); #endif // Home Z last if homing towards the bed #if Z_HOME_DIR < 0 if (home_all_axis || homeZ) { #ifdef Z_SAFE_HOMING if (home_all_axis) { current_position[Z_AXIS] = 0; sync_plan_position(); // // Set the probe (or just the nozzle) destination to the safe homing point // // NOTE: If current_position[X_AXIS] or current_position[Y_AXIS] were set above // then this may not work as expected. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER); destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER); destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed feedrate = XY_TRAVEL_SPEED; // This could potentially move X, Y, Z all together line_to_destination(); st_synchronize(); // Set current X, Y is the Z_SAFE_HOMING_POINT minus PROBE_OFFSET_FROM_EXTRUDER current_position[X_AXIS] = destination[X_AXIS]; current_position[Y_AXIS] = destination[Y_AXIS]; // Home the Z axis HOMEAXIS(Z); } else if (homeZ) { // Don't need to Home Z twice // Let's see if X and Y are homed if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) { // Make sure the probe is within the physical limits // NOTE: This doesn't necessarily ensure the probe is also within the bed! float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS]; if ( cpx >= X_MIN_POS - X_PROBE_OFFSET_FROM_EXTRUDER && cpx <= X_MAX_POS - X_PROBE_OFFSET_FROM_EXTRUDER && cpy >= Y_MIN_POS - Y_PROBE_OFFSET_FROM_EXTRUDER && cpy <= Y_MAX_POS - Y_PROBE_OFFSET_FROM_EXTRUDER) { // Set the plan current position to X, Y, 0 current_position[Z_AXIS] = 0; plan_set_position(cpx, cpy, 0, current_position[E_AXIS]); // = sync_plan_position // Set Z destination away from bed and raise the axis // NOTE: This should always just be Z_RAISE_BEFORE_HOMING unless...??? destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); feedrate = max_feedrate[Z_AXIS] * 60; // feedrate (mm/m) = max_feedrate (mm/s) line_to_destination(); st_synchronize(); // Home the Z axis HOMEAXIS(Z); } else { LCD_MESSAGEPGM(MSG_ZPROBE_OUT); SERIAL_ECHO_START; SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT); } } else { LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN); SERIAL_ECHO_START; SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN); } } // !home_all_axes && homeZ #else // !Z_SAFE_HOMING HOMEAXIS(Z); #endif // !Z_SAFE_HOMING } // home_all_axis || homeZ #endif // Z_HOME_DIR < 0 sync_plan_position(); #endif // else DELTA #ifdef SCARA sync_plan_position_delta(); #endif #ifdef ENDSTOPS_ONLY_FOR_HOMING enable_endstops(false); #endif // For manual leveling move back to 0,0 #ifdef MESH_BED_LEVELING if (mbl_was_active) { current_position[X_AXIS] = mbl.get_x(0); current_position[Y_AXIS] = mbl.get_y(0); set_destination_to_current(); feedrate = homing_feedrate[X_AXIS]; line_to_destination(); st_synchronize(); current_position[Z_AXIS] = MESH_HOME_SEARCH_Z; sync_plan_position(); mbl.active = 1; } #endif feedrate = saved_feedrate; feedrate_multiplier = saved_feedrate_multiplier; refresh_cmd_timeout(); endstops_hit_on_purpose(); // clear endstop hit flags } #ifdef MESH_BED_LEVELING enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet }; /** * G29: Mesh-based Z-Probe, probes a grid and produces a * mesh to compensate for variable bed height * * Parameters With MESH_BED_LEVELING: * * S0 Produce a mesh report * S1 Start probing mesh points * S2 Probe the next mesh point * S3 Xn Yn Zn.nn Manually modify a single point * * The S0 report the points as below * * +----> X-axis * | * | * v Y-axis * */ inline void gcode_G29() { static int probe_point = -1; MeshLevelingState state = code_seen('S') || code_seen('s') ? (MeshLevelingState)code_value_short() : MeshReport; if (state < 0 || state > 3) { SERIAL_PROTOCOLLNPGM("S out of range (0-3)."); return; } int ix, iy; float z; switch(state) { case MeshReport: if (mbl.active) { SERIAL_PROTOCOLPGM("Num X,Y: "); SERIAL_PROTOCOL(MESH_NUM_X_POINTS); SERIAL_PROTOCOLCHAR(','); SERIAL_PROTOCOL(MESH_NUM_Y_POINTS); SERIAL_PROTOCOLPGM("\nZ search height: "); SERIAL_PROTOCOL(MESH_HOME_SEARCH_Z); SERIAL_PROTOCOLLNPGM("\nMeasured points:"); for (int y = 0; y < MESH_NUM_Y_POINTS; y++) { for (int x = 0; x < MESH_NUM_X_POINTS; x++) { SERIAL_PROTOCOLPGM(" "); SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5); } SERIAL_EOL; } } else SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active."); break; case MeshStart: mbl.reset(); probe_point = 0; enqueuecommands_P(PSTR("G28\nG29 S2")); break; case MeshNext: if (probe_point < 0) { SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first."); return; } if (probe_point == 0) { // Set Z to a positive value before recording the first Z. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z; sync_plan_position(); } else { // For others, save the Z of the previous point, then raise Z again. ix = (probe_point - 1) % MESH_NUM_X_POINTS; iy = (probe_point - 1) / MESH_NUM_X_POINTS; if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // zig-zag mbl.set_z(ix, iy, current_position[Z_AXIS]); current_position[Z_AXIS] = MESH_HOME_SEARCH_Z; plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS]/60, active_extruder); st_synchronize(); } // Is there another point to sample? Move there. if (probe_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS) { ix = probe_point % MESH_NUM_X_POINTS; iy = probe_point / MESH_NUM_X_POINTS; if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // zig-zag current_position[X_AXIS] = mbl.get_x(ix); current_position[Y_AXIS] = mbl.get_y(iy); plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS]/60, active_extruder); st_synchronize(); probe_point++; } else { // After recording the last point, activate the mbl and home SERIAL_PROTOCOLLNPGM("Mesh probing done."); probe_point = -1; mbl.active = 1; enqueuecommands_P(PSTR("G28")); } break; case MeshSet: if (code_seen('X') || code_seen('x')) { ix = code_value_long()-1; if (ix < 0 || ix >= MESH_NUM_X_POINTS) { SERIAL_PROTOCOLPGM("X out of range (1-" STRINGIFY(MESH_NUM_X_POINTS) ").\n"); return; } } else { SERIAL_PROTOCOLPGM("X not entered.\n"); return; } if (code_seen('Y') || code_seen('y')) { iy = code_value_long()-1; if (iy < 0 || iy >= MESH_NUM_Y_POINTS) { SERIAL_PROTOCOLPGM("Y out of range (1-" STRINGIFY(MESH_NUM_Y_POINTS) ").\n"); return; } } else { SERIAL_PROTOCOLPGM("Y not entered.\n"); return; } if (code_seen('Z') || code_seen('z')) { z = code_value(); } else { SERIAL_PROTOCOLPGM("Z not entered.\n"); return; } mbl.z_values[iy][ix] = z; } // switch(state) } #elif defined(ENABLE_AUTO_BED_LEVELING) /** * G29: Detailed Z-Probe, probes the bed at 3 or more points. * Will fail if the printer has not been homed with G28. * * Enhanced G29 Auto Bed Leveling Probe Routine * * Parameters With AUTO_BED_LEVELING_GRID: * * P Set the size of the grid that will be probed (P x P points). * Not supported by non-linear delta printer bed leveling. * Example: "G29 P4" * * S Set the XY travel speed between probe points (in mm/min) * * D Dry-Run mode. Just evaluate the bed Topology - Don't apply * or clean the rotation Matrix. Useful to check the topology * after a first run of G29. * * V Set the verbose level (0-4). Example: "G29 V3" * * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report. * This is useful for manual bed leveling and finding flaws in the bed (to * assist with part placement). * Not supported by non-linear delta printer bed leveling. * * F Set the Front limit of the probing grid * B Set the Back limit of the probing grid * L Set the Left limit of the probing grid * R Set the Right limit of the probing grid * * Global Parameters: * * E/e By default G29 will engage the probe, test the bed, then disengage. * Include "E" to engage/disengage the probe for each sample. * There's no extra effect if you have a fixed probe. * Usage: "G29 E" or "G29 e" * */ inline void gcode_G29() { // Don't allow auto-leveling without homing first if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) { LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN); SERIAL_ECHO_START; SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN); return; } int verbose_level = code_seen('V') || code_seen('v') ? code_value_short() : 1; if (verbose_level < 0 || verbose_level > 4) { SERIAL_ECHOLNPGM("?(V)erbose Level is implausible (0-4)."); return; } bool dryrun = code_seen('D') || code_seen('d'), deploy_probe_for_each_reading = code_seen('E') || code_seen('e'); #ifdef AUTO_BED_LEVELING_GRID #ifndef DELTA bool do_topography_map = verbose_level > 2 || code_seen('T') || code_seen('t'); #endif if (verbose_level > 0) { SERIAL_PROTOCOLPGM("G29 Auto Bed Leveling\n"); if (dryrun) SERIAL_ECHOLNPGM("Running in DRY-RUN mode"); } int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS; #ifndef DELTA if (code_seen('P')) auto_bed_leveling_grid_points = code_value_short(); if (auto_bed_leveling_grid_points < 2) { SERIAL_PROTOCOLPGM("?Number of probed (P)oints is implausible (2 minimum).\n"); return; } #endif xy_travel_speed = code_seen('S') ? code_value_short() : XY_TRAVEL_SPEED; int left_probe_bed_position = code_seen('L') ? code_value_short() : LEFT_PROBE_BED_POSITION, right_probe_bed_position = code_seen('R') ? code_value_short() : RIGHT_PROBE_BED_POSITION, front_probe_bed_position = code_seen('F') ? code_value_short() : FRONT_PROBE_BED_POSITION, back_probe_bed_position = code_seen('B') ? code_value_short() : BACK_PROBE_BED_POSITION; bool left_out_l = left_probe_bed_position < MIN_PROBE_X, left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - MIN_PROBE_EDGE, right_out_r = right_probe_bed_position > MAX_PROBE_X, right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE, front_out_f = front_probe_bed_position < MIN_PROBE_Y, front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - MIN_PROBE_EDGE, back_out_b = back_probe_bed_position > MAX_PROBE_Y, back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE; if (left_out || right_out || front_out || back_out) { if (left_out) { SERIAL_PROTOCOLPGM("?Probe (L)eft position out of range.\n"); left_probe_bed_position = left_out_l ? MIN_PROBE_X : right_probe_bed_position - MIN_PROBE_EDGE; } if (right_out) { SERIAL_PROTOCOLPGM("?Probe (R)ight position out of range.\n"); right_probe_bed_position = right_out_r ? MAX_PROBE_X : left_probe_bed_position + MIN_PROBE_EDGE; } if (front_out) { SERIAL_PROTOCOLPGM("?Probe (F)ront position out of range.\n"); front_probe_bed_position = front_out_f ? MIN_PROBE_Y : back_probe_bed_position - MIN_PROBE_EDGE; } if (back_out) { SERIAL_PROTOCOLPGM("?Probe (B)ack position out of range.\n"); back_probe_bed_position = back_out_b ? MAX_PROBE_Y : front_probe_bed_position + MIN_PROBE_EDGE; } return; } #endif // AUTO_BED_LEVELING_GRID #ifdef Z_PROBE_SLED dock_sled(false); // engage (un-dock) the probe #elif defined(Z_PROBE_ALLEN_KEY) //|| defined(SERVO_LEVELING) deploy_z_probe(); #endif st_synchronize(); if (!dryrun) { // make sure the bed_level_rotation_matrix is identity or the planner will get it wrong plan_bed_level_matrix.set_to_identity(); #ifdef DELTA reset_bed_level(); #else //!DELTA //vector_3 corrected_position = plan_get_position_mm(); //corrected_position.debug("position before G29"); vector_3 uncorrected_position = plan_get_position(); //uncorrected_position.debug("position during G29"); current_position[X_AXIS] = uncorrected_position.x; current_position[Y_AXIS] = uncorrected_position.y; current_position[Z_AXIS] = uncorrected_position.z; sync_plan_position(); #endif // !DELTA } setup_for_endstop_move(); feedrate = homing_feedrate[Z_AXIS]; #ifdef AUTO_BED_LEVELING_GRID // probe at the points of a lattice grid const int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1), yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1); #ifdef DELTA delta_grid_spacing[0] = xGridSpacing; delta_grid_spacing[1] = yGridSpacing; float z_offset = Z_PROBE_OFFSET_FROM_EXTRUDER; if (code_seen(axis_codes[Z_AXIS])) z_offset += code_value(); #else // !DELTA // solve the plane equation ax + by + d = z // A is the matrix with rows [x y 1] for all the probed points // B is the vector of the Z positions // the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0 // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points; double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations eqnBVector[abl2], // "B" vector of Z points mean = 0.0; #endif // !DELTA int probePointCounter = 0; bool zig = true; for (int yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) { double yProbe = front_probe_bed_position + yGridSpacing * yCount; int xStart, xStop, xInc; if (zig) { xStart = 0; xStop = auto_bed_leveling_grid_points; xInc = 1; } else { xStart = auto_bed_leveling_grid_points - 1; xStop = -1; xInc = -1; } #ifndef DELTA // If do_topography_map is set then don't zig-zag. Just scan in one direction. // This gets the probe points in more readable order. if (!do_topography_map) zig = !zig; #endif for (int xCount = xStart; xCount != xStop; xCount += xInc) { double xProbe = left_probe_bed_position + xGridSpacing * xCount; // raise extruder float measured_z, z_before = probePointCounter ? Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS] : Z_RAISE_BEFORE_PROBING; #ifdef DELTA // Avoid probing the corners (outside the round or hexagon print surface) on a delta printer. float distance_from_center = sqrt(xProbe*xProbe + yProbe*yProbe); if (distance_from_center > DELTA_PROBABLE_RADIUS) continue; #endif //DELTA ProbeAction act; if (deploy_probe_for_each_reading) // G29 E - Stow between probes act = ProbeDeployAndStow; else if (yCount == 0 && xCount == xStart) act = ProbeDeploy; else if (yCount == auto_bed_leveling_grid_points - 1 && xCount == xStop - xInc) act = ProbeStow; else act = ProbeStay; measured_z = probe_pt(xProbe, yProbe, z_before, act, verbose_level); #ifndef DELTA mean += measured_z; eqnBVector[probePointCounter] = measured_z; eqnAMatrix[probePointCounter + 0 * abl2] = xProbe; eqnAMatrix[probePointCounter + 1 * abl2] = yProbe; eqnAMatrix[probePointCounter + 2 * abl2] = 1; #else bed_level[xCount][yCount] = measured_z + z_offset; #endif probePointCounter++; manage_heater(); manage_inactivity(); lcd_update(); } //xProbe } //yProbe clean_up_after_endstop_move(); #ifdef DELTA if (!dryrun) extrapolate_unprobed_bed_level(); print_bed_level(); #else // !DELTA // solve lsq problem double *plane_equation_coefficients = qr_solve(abl2, 3, eqnAMatrix, eqnBVector); mean /= abl2; if (verbose_level) { SERIAL_PROTOCOLPGM("Eqn coefficients: a: "); SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8); SERIAL_PROTOCOLPGM(" b: "); SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8); SERIAL_PROTOCOLPGM(" d: "); SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8); SERIAL_EOL; if (verbose_level > 2) { SERIAL_PROTOCOLPGM("Mean of sampled points: "); SERIAL_PROTOCOL_F(mean, 8); SERIAL_EOL; } } // Show the Topography map if enabled if (do_topography_map) { SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n"); SERIAL_PROTOCOLPGM("+-----------+\n"); SERIAL_PROTOCOLPGM("|...Back....|\n"); SERIAL_PROTOCOLPGM("|Left..Right|\n"); SERIAL_PROTOCOLPGM("|...Front...|\n"); SERIAL_PROTOCOLPGM("+-----------+\n"); for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) { for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) { int ind = yy * auto_bed_leveling_grid_points + xx; float diff = eqnBVector[ind] - mean; if (diff >= 0.0) SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment else SERIAL_PROTOCOLCHAR(' '); SERIAL_PROTOCOL_F(diff, 5); } // xx SERIAL_EOL; } // yy SERIAL_EOL; } //do_topography_map if (!dryrun) set_bed_level_equation_lsq(plane_equation_coefficients); free(plane_equation_coefficients); #endif //!DELTA #else // !AUTO_BED_LEVELING_GRID // Actions for each probe ProbeAction p1, p2, p3; if (deploy_probe_for_each_reading) p1 = p2 = p3 = ProbeDeployAndStow; else p1 = ProbeDeploy, p2 = ProbeStay, p3 = ProbeStow; // Probe at 3 arbitrary points float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING, p1, verbose_level), z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, p2, verbose_level), z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, p3, verbose_level); clean_up_after_endstop_move(); if (!dryrun) set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3); #endif // !AUTO_BED_LEVELING_GRID #ifndef DELTA if (verbose_level > 0) plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:"); if (!dryrun) { // Correct the Z height difference from z-probe position and hotend tip position. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend. // When the bed is uneven, this height must be corrected. float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER, y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER, z_tmp = current_position[Z_AXIS], real_z = (float)st_get_position(Z_AXIS) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane) apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner. sync_plan_position(); } #endif // !DELTA #ifdef Z_PROBE_SLED dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel #elif defined(Z_PROBE_ALLEN_KEY) //|| defined(SERVO_LEVELING) stow_z_probe(); #endif #ifdef Z_PROBE_END_SCRIPT enqueuecommands_P(PSTR(Z_PROBE_END_SCRIPT)); st_synchronize(); #endif } #ifndef Z_PROBE_SLED inline void gcode_G30() { deploy_z_probe(); // Engage Z Servo endstop if available st_synchronize(); // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly setup_for_endstop_move(); feedrate = homing_feedrate[Z_AXIS]; run_z_probe(); SERIAL_PROTOCOLPGM("Bed"); SERIAL_PROTOCOLPGM(" X: "); SERIAL_PROTOCOL(current_position[X_AXIS] + 0.0001); SERIAL_PROTOCOLPGM(" Y: "); SERIAL_PROTOCOL(current_position[Y_AXIS] + 0.0001); SERIAL_PROTOCOLPGM(" Z: "); SERIAL_PROTOCOL(current_position[Z_AXIS] + 0.0001); SERIAL_EOL; clean_up_after_endstop_move(); stow_z_probe(); // Retract Z Servo endstop if available } #endif //!Z_PROBE_SLED #endif //ENABLE_AUTO_BED_LEVELING /** * G92: Set current position to given X Y Z E */ inline void gcode_G92() { if (!code_seen(axis_codes[E_AXIS])) st_synchronize(); bool didXYZ = false; for (int i = 0; i < NUM_AXIS; i++) { if (code_seen(axis_codes[i])) { float v = current_position[i] = code_value(); if (i == E_AXIS) plan_set_e_position(v); else didXYZ = true; } } if (didXYZ) sync_plan_position(); } #ifdef ULTIPANEL /** * M0: // M0 - Unconditional stop - Wait for user button press on LCD * M1: // M1 - Conditional stop - Wait for user button press on LCD */ inline void gcode_M0_M1() { char *src = strchr_pointer + 2; millis_t codenum = 0; bool hasP = false, hasS = false; if (code_seen('P')) { codenum = code_value_short(); // milliseconds to wait hasP = codenum > 0; } if (code_seen('S')) { codenum = code_value_short() * 1000UL; // seconds to wait hasS = codenum > 0; } char* starpos = strchr(src, '*'); if (starpos != NULL) *(starpos) = '\0'; while (*src == ' ') ++src; if (!hasP && !hasS && *src != '\0') lcd_setstatus(src, true); else { LCD_MESSAGEPGM(MSG_USERWAIT); #if defined(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0 dontExpireStatus(); #endif } lcd_ignore_click(); st_synchronize(); refresh_cmd_timeout(); if (codenum > 0) { codenum += previous_cmd_ms; // keep track of when we started waiting while(millis() < codenum && !lcd_clicked()) { manage_heater(); manage_inactivity(); lcd_update(); } lcd_ignore_click(false); } else { if (!lcd_detected()) return; while (!lcd_clicked()) { manage_heater(); manage_inactivity(); lcd_update(); } } if (IS_SD_PRINTING) LCD_MESSAGEPGM(MSG_RESUMING); else LCD_MESSAGEPGM(WELCOME_MSG); } #endif // ULTIPANEL /** * M17: Enable power on all stepper motors */ inline void gcode_M17() { LCD_MESSAGEPGM(MSG_NO_MOVE); enable_all_steppers(); } #ifdef SDSUPPORT /** * M20: List SD card to serial output */ inline void gcode_M20() { SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST); card.ls(); SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST); } /** * M21: Init SD Card */ inline void gcode_M21() { card.initsd(); } /** * M22: Release SD Card */ inline void gcode_M22() { card.release(); } /** * M23: Select a file */ inline void gcode_M23() { char* codepos = strchr_pointer + 4; char* starpos = strchr(codepos, '*'); if (starpos) *starpos = '\0'; card.openFile(codepos, true); } /** * M24: Start SD Print */ inline void gcode_M24() { card.startFileprint(); print_job_start_ms = millis(); } /** * M25: Pause SD Print */ inline void gcode_M25() { card.pauseSDPrint(); } /** * M26: Set SD Card file index */ inline void gcode_M26() { if (card.cardOK && code_seen('S')) card.setIndex(code_value_short()); } /** * M27: Get SD Card status */ inline void gcode_M27() { card.getStatus(); } /** * M28: Start SD Write */ inline void gcode_M28() { char* codepos = strchr_pointer + 4; char* starpos = strchr(codepos, '*'); if (starpos) { char* npos = strchr(command_queue[cmd_queue_index_r], 'N'); strchr_pointer = strchr(npos, ' ') + 1; *(starpos) = '\0'; } card.openFile(codepos, false); } /** * M29: Stop SD Write * Processed in write to file routine above */ inline void gcode_M29() { // card.saving = false; } /** * M30 : Delete SD Card file */ inline void gcode_M30() { if (card.cardOK) { card.closefile(); char* starpos = strchr(strchr_pointer + 4, '*'); if (starpos) { char* npos = strchr(command_queue[cmd_queue_index_r], 'N'); strchr_pointer = strchr(npos, ' ') + 1; *(starpos) = '\0'; } card.removeFile(strchr_pointer + 4); } } #endif /** * M31: Get the time since the start of SD Print (or last M109) */ inline void gcode_M31() { print_job_stop_ms = millis(); millis_t t = (print_job_stop_ms - print_job_start_ms) / 1000; int min = t / 60, sec = t % 60; char time[30]; sprintf_P(time, PSTR("%i min, %i sec"), min, sec); SERIAL_ECHO_START; SERIAL_ECHOLN(time); lcd_setstatus(time); autotempShutdown(); } #ifdef SDSUPPORT /** * M32: Select file and start SD Print */ inline void gcode_M32() { if (card.sdprinting) st_synchronize(); char* codepos = strchr_pointer + 4; char* namestartpos = strchr(codepos, '!'); //find ! to indicate filename string start. if (! namestartpos) namestartpos = codepos; //default name position, 4 letters after the M else namestartpos++; //to skip the '!' char* starpos = strchr(codepos, '*'); if (starpos) *(starpos) = '\0'; bool call_procedure = code_seen('P') && (strchr_pointer < namestartpos); if (card.cardOK) { card.openFile(namestartpos, true, !call_procedure); if (code_seen('S') && strchr_pointer < namestartpos) // "S" (must occur _before_ the filename!) card.setIndex(code_value_short()); card.startFileprint(); if (!call_procedure) print_job_start_ms = millis(); //procedure calls count as normal print time. } } /** * M928: Start SD Write */ inline void gcode_M928() { char* starpos = strchr(strchr_pointer + 5, '*'); if (starpos) { char* npos = strchr(command_queue[cmd_queue_index_r], 'N'); strchr_pointer = strchr(npos, ' ') + 1; *(starpos) = '\0'; } card.openLogFile(strchr_pointer + 5); } #endif // SDSUPPORT /** * M42: Change pin status via GCode */ inline void gcode_M42() { if (code_seen('S')) { int pin_status = code_value_short(), pin_number = LED_PIN; if (code_seen('P') && pin_status >= 0 && pin_status <= 255) pin_number = code_value_short(); for (int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins) / sizeof(*sensitive_pins)); i++) { if (sensitive_pins[i] == pin_number) { pin_number = -1; break; } } #if HAS_FAN if (pin_number == FAN_PIN) fanSpeed = pin_status; #endif if (pin_number > -1) { pinMode(pin_number, OUTPUT); digitalWrite(pin_number, pin_status); analogWrite(pin_number, pin_status); } } // code_seen('S') } #if defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST) // This is redundant since the SanityCheck.h already checks for a valid Z_PROBE_PIN, but here for clarity. #ifdef Z_PROBE_ENDSTOP #if !HAS_Z_PROBE #error You must define Z_PROBE_PIN to enable Z-Probe repeatability calculation. #endif #elif !HAS_Z_MIN #error You must define Z_MIN_PIN to enable Z-Probe repeatability calculation. #endif /** * M48: Z-Probe repeatability measurement function. * * Usage: * M48 * P = Number of sampled points (4-50, default 10) * X = Sample X position * Y = Sample Y position * V = Verbose level (0-4, default=1) * E = Engage probe for each reading * L = Number of legs of movement before probe * * This function assumes the bed has been homed. Specifically, that a G28 command * as been issued prior to invoking the M48 Z-Probe repeatability measurement function. * Any information generated by a prior G29 Bed leveling command will be lost and need to be * regenerated. */ inline void gcode_M48() { double sum = 0.0, mean = 0.0, sigma = 0.0, sample_set[50]; uint8_t verbose_level = 1, n_samples = 10, n_legs = 0; if (code_seen('V') || code_seen('v')) { verbose_level = code_value_short(); if (verbose_level < 0 || verbose_level > 4 ) { SERIAL_PROTOCOLPGM("?Verbose Level not plausible (0-4).\n"); return; } } if (verbose_level > 0) SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test\n"); if (code_seen('P') || code_seen('p')) { n_samples = code_value_short(); if (n_samples < 4 || n_samples > 50) { SERIAL_PROTOCOLPGM("?Sample size not plausible (4-50).\n"); return; } } double X_current = st_get_position_mm(X_AXIS), Y_current = st_get_position_mm(Y_AXIS), Z_current = st_get_position_mm(Z_AXIS), E_current = st_get_position_mm(E_AXIS), X_probe_location = X_current, Y_probe_location = Y_current, Z_start_location = Z_current + Z_RAISE_BEFORE_PROBING; bool deploy_probe_for_each_reading = code_seen('E') || code_seen('e'); if (code_seen('X') || code_seen('x')) { X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER; if (X_probe_location < X_MIN_POS || X_probe_location > X_MAX_POS) { SERIAL_PROTOCOLPGM("?X position out of range.\n"); return; } } if (code_seen('Y') || code_seen('y')) { Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER; if (Y_probe_location < Y_MIN_POS || Y_probe_location > Y_MAX_POS) { SERIAL_PROTOCOLPGM("?Y position out of range.\n"); return; } } if (code_seen('L') || code_seen('l')) { n_legs = code_value_short(); if (n_legs == 1) n_legs = 2; if (n_legs < 0 || n_legs > 15) { SERIAL_PROTOCOLPGM("?Number of legs in movement not plausible (0-15).\n"); return; } } // // Do all the preliminary setup work. First raise the probe. // st_synchronize(); plan_bed_level_matrix.set_to_identity(); plan_buffer_line(X_current, Y_current, Z_start_location, E_current, homing_feedrate[Z_AXIS] / 60, active_extruder); st_synchronize(); // // Now get everything to the specified probe point So we can safely do a probe to // get us close to the bed. If the Z-Axis is far from the bed, we don't want to // use that as a starting point for each probe. // if (verbose_level > 2) SERIAL_PROTOCOLPGM("Positioning the probe...\n"); plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location, E_current, homing_feedrate[X_AXIS]/60, active_extruder); st_synchronize(); current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS); current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS); current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS); current_position[E_AXIS] = E_current = st_get_position_mm(E_AXIS); // // OK, do the initial probe to get us close to the bed. // Then retrace the right amount and use that in subsequent probes // deploy_z_probe(); setup_for_endstop_move(); run_z_probe(); current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS); Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING; plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location, E_current, homing_feedrate[X_AXIS]/60, active_extruder); st_synchronize(); current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS); if (deploy_probe_for_each_reading) stow_z_probe(); for (uint8_t n=0; n < n_samples; n++) { // Make sure we are at the probe location do_blocking_move_to(X_probe_location, Y_probe_location, Z_start_location); // this also updates current_position if (n_legs) { millis_t ms = millis(); double radius = ms % (X_MAX_LENGTH / 4), // limit how far out to go theta = RADIANS(ms % 360L); float dir = (ms & 0x0001) ? 1 : -1; // clockwise or counter clockwise //SERIAL_ECHOPAIR("starting radius: ",radius); //SERIAL_ECHOPAIR(" theta: ",theta); //SERIAL_ECHOPAIR(" direction: ",dir); //SERIAL_EOL; for (uint8_t l = 0; l < n_legs - 1; l++) { ms = millis(); theta += RADIANS(dir * (ms % 20L)); radius += (ms % 10L) - 5L; if (radius < 0.0) radius = -radius; X_current = X_probe_location + cos(theta) * radius; X_current = constrain(X_current, X_MIN_POS, X_MAX_POS); Y_current = Y_probe_location + sin(theta) * radius; Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS); if (verbose_level > 3) { SERIAL_ECHOPAIR("x: ", X_current); SERIAL_ECHOPAIR("y: ", Y_current); SERIAL_EOL; } do_blocking_move_to(X_current, Y_current, Z_current); // this also updates current_position } // n_legs loop // Go back to the probe location do_blocking_move_to(X_probe_location, Y_probe_location, Z_start_location); // this also updates current_position } // n_legs if (deploy_probe_for_each_reading) { deploy_z_probe(); delay(1000); } setup_for_endstop_move(); run_z_probe(); sample_set[n] = current_position[Z_AXIS]; // // Get the current mean for the data points we have so far // sum = 0.0; for (uint8_t j = 0; j <= n; j++) sum += sample_set[j]; mean = sum / (n + 1); // // Now, use that mean to calculate the standard deviation for the // data points we have so far // sum = 0.0; for (uint8_t j = 0; j <= n; j++) { float ss = sample_set[j] - mean; sum += ss * ss; } sigma = sqrt(sum / (n + 1)); if (verbose_level > 1) { SERIAL_PROTOCOL(n+1); SERIAL_PROTOCOLPGM(" of "); SERIAL_PROTOCOL(n_samples); SERIAL_PROTOCOLPGM(" z: "); SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6); if (verbose_level > 2) { SERIAL_PROTOCOLPGM(" mean: "); SERIAL_PROTOCOL_F(mean,6); SERIAL_PROTOCOLPGM(" sigma: "); SERIAL_PROTOCOL_F(sigma,6); } } if (verbose_level > 0) SERIAL_EOL; plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location, current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder); st_synchronize(); // Stow between if (deploy_probe_for_each_reading) { stow_z_probe(); delay(1000); } } // Stow after if (!deploy_probe_for_each_reading) { stow_z_probe(); delay(1000); } clean_up_after_endstop_move(); // enable_endstops(true); if (verbose_level > 0) { SERIAL_PROTOCOLPGM("Mean: "); SERIAL_PROTOCOL_F(mean, 6); SERIAL_EOL; } SERIAL_PROTOCOLPGM("Standard Deviation: "); SERIAL_PROTOCOL_F(sigma, 6); SERIAL_EOL; SERIAL_EOL; } #endif // ENABLE_AUTO_BED_LEVELING && Z_PROBE_REPEATABILITY_TEST /** * M104: Set hot end temperature */ inline void gcode_M104() { if (setTargetedHotend(104)) return; if (code_seen('S')) { float temp = code_value(); setTargetHotend(temp, target_extruder); #ifdef DUAL_X_CARRIAGE if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0) setTargetHotend1(temp == 0.0 ? 0.0 : temp + duplicate_extruder_temp_offset); #endif #ifdef WATCH_TEMP_PERIOD start_watching_heater(target_extruder); #endif } } /** * M105: Read hot end and bed temperature */ inline void gcode_M105() { if (setTargetedHotend(105)) return; #if HAS_TEMP_0 || HAS_TEMP_BED || defined(HEATER_0_USES_MAX6675) SERIAL_PROTOCOLPGM("ok"); #if HAS_TEMP_0 SERIAL_PROTOCOLPGM(" T:"); SERIAL_PROTOCOL_F(degHotend(target_extruder), 1); SERIAL_PROTOCOLPGM(" /"); SERIAL_PROTOCOL_F(degTargetHotend(target_extruder), 1); #endif #if HAS_TEMP_BED SERIAL_PROTOCOLPGM(" B:"); SERIAL_PROTOCOL_F(degBed(), 1); SERIAL_PROTOCOLPGM(" /"); SERIAL_PROTOCOL_F(degTargetBed(), 1); #endif for (int8_t e = 0; e < EXTRUDERS; ++e) { SERIAL_PROTOCOLPGM(" T"); SERIAL_PROTOCOL(e); SERIAL_PROTOCOLCHAR(':'); SERIAL_PROTOCOL_F(degHotend(e), 1); SERIAL_PROTOCOLPGM(" /"); SERIAL_PROTOCOL_F(degTargetHotend(e), 1); } #else // !HAS_TEMP_0 && !HAS_TEMP_BED SERIAL_ERROR_START; SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS); #endif SERIAL_PROTOCOLPGM(" @:"); #ifdef EXTRUDER_WATTS SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(target_extruder))/127); SERIAL_PROTOCOLCHAR('W'); #else SERIAL_PROTOCOL(getHeaterPower(target_extruder)); #endif SERIAL_PROTOCOLPGM(" B@:"); #ifdef BED_WATTS SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127); SERIAL_PROTOCOLCHAR('W'); #else SERIAL_PROTOCOL(getHeaterPower(-1)); #endif #ifdef SHOW_TEMP_ADC_VALUES #if HAS_TEMP_BED SERIAL_PROTOCOLPGM(" ADC B:"); SERIAL_PROTOCOL_F(degBed(),1); SERIAL_PROTOCOLPGM("C->"); SERIAL_PROTOCOL_F(rawBedTemp()/OVERSAMPLENR,0); #endif for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) { SERIAL_PROTOCOLPGM(" T"); SERIAL_PROTOCOL(cur_extruder); SERIAL_PROTOCOLCHAR(':'); SERIAL_PROTOCOL_F(degHotend(cur_extruder),1); SERIAL_PROTOCOLPGM("C->"); SERIAL_PROTOCOL_F(rawHotendTemp(cur_extruder)/OVERSAMPLENR,0); } #endif SERIAL_EOL; } #if HAS_FAN /** * M106: Set Fan Speed */ inline void gcode_M106() { fanSpeed = code_seen('S') ? constrain(code_value_short(), 0, 255) : 255; } /** * M107: Fan Off */ inline void gcode_M107() { fanSpeed = 0; } #endif // HAS_FAN /** * M109: Wait for extruder(s) to reach temperature */ inline void gcode_M109() { if (setTargetedHotend(109)) return; LCD_MESSAGEPGM(MSG_HEATING); no_wait_for_cooling = code_seen('S'); if (no_wait_for_cooling || code_seen('R')) { float temp = code_value(); setTargetHotend(temp, target_extruder); #ifdef DUAL_X_CARRIAGE if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0) setTargetHotend1(temp == 0.0 ? 0.0 : temp + duplicate_extruder_temp_offset); #endif } #ifdef AUTOTEMP autotemp_enabled = code_seen('F'); if (autotemp_enabled) autotemp_factor = code_value(); if (code_seen('S')) autotemp_min = code_value(); if (code_seen('B')) autotemp_max = code_value(); #endif #ifdef WATCH_TEMP_PERIOD start_watching_heater(target_extruder); #endif millis_t temp_ms = millis(); /* See if we are heating up or cooling down */ target_direction = isHeatingHotend(target_extruder); // true if heating, false if cooling cancel_heatup = false; #ifdef TEMP_RESIDENCY_TIME long residency_start_ms = -1; /* continue to loop until we have reached the target temp _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */ while((!cancel_heatup)&&((residency_start_ms == -1) || (residency_start_ms >= 0 && (((unsigned int) (millis() - residency_start_ms)) < (TEMP_RESIDENCY_TIME * 1000UL)))) ) #else while ( target_direction ? (isHeatingHotend(target_extruder)) : (isCoolingHotend(target_extruder)&&(no_wait_for_cooling==false)) ) #endif //TEMP_RESIDENCY_TIME { // while loop if (millis() > temp_ms + 1000UL) { //Print temp & remaining time every 1s while waiting SERIAL_PROTOCOLPGM("T:"); SERIAL_PROTOCOL_F(degHotend(target_extruder),1); SERIAL_PROTOCOLPGM(" E:"); SERIAL_PROTOCOL((int)target_extruder); #ifdef TEMP_RESIDENCY_TIME SERIAL_PROTOCOLPGM(" W:"); if (residency_start_ms > -1) { temp_ms = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residency_start_ms)) / 1000UL; SERIAL_PROTOCOLLN(temp_ms); } else { SERIAL_PROTOCOLLNPGM("?"); } #else SERIAL_EOL; #endif temp_ms = millis(); } manage_heater(); manage_inactivity(); lcd_update(); #ifdef TEMP_RESIDENCY_TIME // start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time // or when current temp falls outside the hysteresis after target temp was reached if ((residency_start_ms == -1 && target_direction && (degHotend(target_extruder) >= (degTargetHotend(target_extruder)-TEMP_WINDOW))) || (residency_start_ms == -1 && !target_direction && (degHotend(target_extruder) <= (degTargetHotend(target_extruder)+TEMP_WINDOW))) || (residency_start_ms > -1 && labs(degHotend(target_extruder) - degTargetHotend(target_extruder)) > TEMP_HYSTERESIS) ) { residency_start_ms = millis(); } #endif //TEMP_RESIDENCY_TIME } LCD_MESSAGEPGM(MSG_HEATING_COMPLETE); refresh_cmd_timeout(); print_job_start_ms = previous_cmd_ms; } #if HAS_TEMP_BED /** * M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling */ inline void gcode_M190() { LCD_MESSAGEPGM(MSG_BED_HEATING); no_wait_for_cooling = code_seen('S'); if (no_wait_for_cooling || code_seen('R')) setTargetBed(code_value()); millis_t temp_ms = millis(); cancel_heatup = false; target_direction = isHeatingBed(); // true if heating, false if cooling while ((target_direction && !cancel_heatup) ? isHeatingBed() : isCoolingBed() && !no_wait_for_cooling) { millis_t ms = millis(); if (ms > temp_ms + 1000UL) { //Print Temp Reading every 1 second while heating up. temp_ms = ms; float tt = degHotend(active_extruder); SERIAL_PROTOCOLPGM("T:"); SERIAL_PROTOCOL(tt); SERIAL_PROTOCOLPGM(" E:"); SERIAL_PROTOCOL((int)active_extruder); SERIAL_PROTOCOLPGM(" B:"); SERIAL_PROTOCOL_F(degBed(), 1); SERIAL_EOL; } manage_heater(); manage_inactivity(); lcd_update(); } LCD_MESSAGEPGM(MSG_BED_DONE); refresh_cmd_timeout(); } #endif // HAS_TEMP_BED /** * M111: Set the debug level */ inline void gcode_M111() { marlin_debug_flags = code_seen('S') ? code_value_short() : DEBUG_INFO|DEBUG_ERRORS; } /** * M112: Emergency Stop */ inline void gcode_M112() { kill(); } #ifdef BARICUDA #if HAS_HEATER_1 /** * M126: Heater 1 valve open */ inline void gcode_M126() { ValvePressure = code_seen('S') ? constrain(code_value(), 0, 255) : 255; } /** * M127: Heater 1 valve close */ inline void gcode_M127() { ValvePressure = 0; } #endif #if HAS_HEATER_2 /** * M128: Heater 2 valve open */ inline void gcode_M128() { EtoPPressure = code_seen('S') ? constrain(code_value(), 0, 255) : 255; } /** * M129: Heater 2 valve close */ inline void gcode_M129() { EtoPPressure = 0; } #endif #endif //BARICUDA /** * M140: Set bed temperature */ inline void gcode_M140() { if (code_seen('S')) setTargetBed(code_value()); } #ifdef ULTIPANEL /** * M145: Set the heatup state for a material in the LCD menu * S (0=PLA, 1=ABS) * H * B * F */ inline void gcode_M145() { uint8_t material = code_seen('S') ? code_value_short() : 0; if (material < 0 || material > 1) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX); } else { int v; switch (material) { case 0: if (code_seen('H')) { v = code_value_short(); plaPreheatHotendTemp = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15); } if (code_seen('F')) { v = code_value_short(); plaPreheatFanSpeed = constrain(v, 0, 255); } #if TEMP_SENSOR_BED != 0 if (code_seen('B')) { v = code_value_short(); plaPreheatHPBTemp = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15); } #endif break; case 1: if (code_seen('H')) { v = code_value_short(); absPreheatHotendTemp = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15); } if (code_seen('F')) { v = code_value_short(); absPreheatFanSpeed = constrain(v, 0, 255); } #if TEMP_SENSOR_BED != 0 if (code_seen('B')) { v = code_value_short(); absPreheatHPBTemp = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15); } #endif break; } } } #endif #if HAS_POWER_SWITCH /** * M80: Turn on Power Supply */ inline void gcode_M80() { OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND // If you have a switch on suicide pin, this is useful // if you want to start another print with suicide feature after // a print without suicide... #if HAS_SUICIDE OUT_WRITE(SUICIDE_PIN, HIGH); #endif #ifdef ULTIPANEL powersupply = true; LCD_MESSAGEPGM(WELCOME_MSG); lcd_update(); #endif } #endif // HAS_POWER_SWITCH /** * M81: Turn off Power, including Power Supply, if there is one. * * This code should ALWAYS be available for EMERGENCY SHUTDOWN! */ inline void gcode_M81() { disable_all_heaters(); st_synchronize(); disable_e0(); disable_e1(); disable_e2(); disable_e3(); finishAndDisableSteppers(); fanSpeed = 0; delay(1000); // Wait 1 second before switching off #if HAS_SUICIDE st_synchronize(); suicide(); #elif HAS_POWER_SWITCH OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP); #endif #ifdef ULTIPANEL #if HAS_POWER_SWITCH powersupply = false; #endif LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF "."); lcd_update(); #endif } /** * M82: Set E codes absolute (default) */ inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; } /** * M82: Set E codes relative while in Absolute Coordinates (G90) mode */ inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; } /** * M18, M84: Disable all stepper motors */ inline void gcode_M18_M84() { if (code_seen('S')) { stepper_inactive_time = code_value() * 1000; } else { bool all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS]))|| (code_seen(axis_codes[E_AXIS]))); if (all_axis) { st_synchronize(); disable_e0(); disable_e1(); disable_e2(); disable_e3(); finishAndDisableSteppers(); } else { st_synchronize(); if (code_seen('X')) disable_x(); if (code_seen('Y')) disable_y(); if (code_seen('Z')) disable_z(); #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS if (code_seen('E')) { disable_e0(); disable_e1(); disable_e2(); disable_e3(); } #endif } } } /** * M85: Set inactivity shutdown timer with parameter S. To disable set zero (default) */ inline void gcode_M85() { if (code_seen('S')) max_inactive_time = code_value() * 1000; } /** * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E. * (Follows the same syntax as G92) */ inline void gcode_M92() { for(int8_t i=0; i < NUM_AXIS; i++) { if (code_seen(axis_codes[i])) { if (i == E_AXIS) { float value = code_value(); if (value < 20.0) { float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab. max_e_jerk *= factor; max_feedrate[i] *= factor; axis_steps_per_sqr_second[i] *= factor; } axis_steps_per_unit[i] = value; } else { axis_steps_per_unit[i] = code_value(); } } } } /** * M114: Output current position to serial port */ inline void gcode_M114() { SERIAL_PROTOCOLPGM("X:"); SERIAL_PROTOCOL(current_position[X_AXIS]); SERIAL_PROTOCOLPGM(" Y:"); SERIAL_PROTOCOL(current_position[Y_AXIS]); SERIAL_PROTOCOLPGM(" Z:"); SERIAL_PROTOCOL(current_position[Z_AXIS]); SERIAL_PROTOCOLPGM(" E:"); SERIAL_PROTOCOL(current_position[E_AXIS]); SERIAL_PROTOCOLPGM(MSG_COUNT_X); SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]); SERIAL_PROTOCOLPGM(" Y:"); SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]); SERIAL_PROTOCOLPGM(" Z:"); SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]); SERIAL_EOL; #ifdef SCARA SERIAL_PROTOCOLPGM("SCARA Theta:"); SERIAL_PROTOCOL(delta[X_AXIS]); SERIAL_PROTOCOLPGM(" Psi+Theta:"); SERIAL_PROTOCOL(delta[Y_AXIS]); SERIAL_EOL; SERIAL_PROTOCOLPGM("SCARA Cal - Theta:"); SERIAL_PROTOCOL(delta[X_AXIS]+home_offset[X_AXIS]); SERIAL_PROTOCOLPGM(" Psi+Theta (90):"); SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+home_offset[Y_AXIS]); SERIAL_EOL; SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:"); SERIAL_PROTOCOL(delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]); SERIAL_PROTOCOLPGM(" Psi+Theta:"); SERIAL_PROTOCOL((delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]); SERIAL_EOL; SERIAL_EOL; #endif } /** * M115: Capabilities string */ inline void gcode_M115() { SERIAL_PROTOCOLPGM(MSG_M115_REPORT); } /** * M117: Set LCD Status Message */ inline void gcode_M117() { char* codepos = strchr_pointer + 5; char* starpos = strchr(codepos, '*'); if (starpos) *starpos = '\0'; lcd_setstatus(codepos); } /** * M119: Output endstop states to serial output */ inline void gcode_M119() { SERIAL_PROTOCOLLN(MSG_M119_REPORT); #if HAS_X_MIN SERIAL_PROTOCOLPGM(MSG_X_MIN); SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); #endif #if HAS_X_MAX SERIAL_PROTOCOLPGM(MSG_X_MAX); SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); #endif #if HAS_Y_MIN SERIAL_PROTOCOLPGM(MSG_Y_MIN); SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); #endif #if HAS_Y_MAX SERIAL_PROTOCOLPGM(MSG_Y_MAX); SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); #endif #if HAS_Z_MIN SERIAL_PROTOCOLPGM(MSG_Z_MIN); SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); #endif #if HAS_Z_MAX SERIAL_PROTOCOLPGM(MSG_Z_MAX); SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); #endif #if HAS_Z2_MAX SERIAL_PROTOCOLPGM(MSG_Z2_MAX); SERIAL_PROTOCOLLN(((READ(Z2_MAX_PIN)^Z2_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); #endif #if HAS_Z_PROBE SERIAL_PROTOCOLPGM(MSG_Z_PROBE); SERIAL_PROTOCOLLN(((READ(Z_PROBE_PIN)^Z_PROBE_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); #endif } /** * M120: Enable endstops */ inline void gcode_M120() { enable_endstops(false); } /** * M121: Disable endstops */ inline void gcode_M121() { enable_endstops(true); } #ifdef BLINKM /** * M150: Set Status LED Color - Use R-U-B for R-G-B */ inline void gcode_M150() { SendColors( code_seen('R') ? (byte)code_value_short() : 0, code_seen('U') ? (byte)code_value_short() : 0, code_seen('B') ? (byte)code_value_short() : 0 ); } #endif // BLINKM /** * M200: Set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters). * T * D */ inline void gcode_M200() { int tmp_extruder = active_extruder; if (code_seen('T')) { tmp_extruder = code_value_short(); if (tmp_extruder >= EXTRUDERS) { SERIAL_ECHO_START; SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER); return; } } if (code_seen('D')) { float diameter = code_value(); // setting any extruder filament size disables volumetric on the assumption that // slicers either generate in extruder values as cubic mm or as as filament feeds // for all extruders volumetric_enabled = (diameter != 0.0); if (volumetric_enabled) { filament_size[tmp_extruder] = diameter; // make sure all extruders have some sane value for the filament size for (int i=0; i 1 if (code_seen('W')) retract_length_swap = code_value(); #endif } /** * M208: Set firmware un-retraction values * * S[+mm] retract_recover_length (in addition to M207 S*) * W[+mm] retract_recover_length_swap (multi-extruder) * F[mm/min] retract_recover_feedrate */ inline void gcode_M208() { if (code_seen('S')) retract_recover_length = code_value(); if (code_seen('F')) retract_recover_feedrate = code_value() / 60; #if EXTRUDERS > 1 if (code_seen('W')) retract_recover_length_swap = code_value(); #endif } /** * M209: Enable automatic retract (M209 S1) * detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction. */ inline void gcode_M209() { if (code_seen('S')) { int t = code_value_short(); switch(t) { case 0: autoretract_enabled = false; break; case 1: autoretract_enabled = true; break; default: SERIAL_ECHO_START; SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND); SERIAL_ECHO(command_queue[cmd_queue_index_r]); SERIAL_ECHOLNPGM("\""); return; } for (int i=0; i 1 /** * M218 - set hotend offset (in mm), T X Y */ inline void gcode_M218() { if (setTargetedHotend(218)) return; if (code_seen('X')) extruder_offset[X_AXIS][target_extruder] = code_value(); if (code_seen('Y')) extruder_offset[Y_AXIS][target_extruder] = code_value(); #ifdef DUAL_X_CARRIAGE if (code_seen('Z')) extruder_offset[Z_AXIS][target_extruder] = code_value(); #endif SERIAL_ECHO_START; SERIAL_ECHOPGM(MSG_HOTEND_OFFSET); for (int e = 0; e < EXTRUDERS; e++) { SERIAL_CHAR(' '); SERIAL_ECHO(extruder_offset[X_AXIS][e]); SERIAL_CHAR(','); SERIAL_ECHO(extruder_offset[Y_AXIS][e]); #ifdef DUAL_X_CARRIAGE SERIAL_CHAR(','); SERIAL_ECHO(extruder_offset[Z_AXIS][e]); #endif } SERIAL_EOL; } #endif // EXTRUDERS > 1 /** * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95) */ inline void gcode_M220() { if (code_seen('S')) feedrate_multiplier = code_value(); } /** * M221: Set extrusion percentage (M221 T0 S95) */ inline void gcode_M221() { if (code_seen('S')) { int sval = code_value(); if (code_seen('T')) { if (setTargetedHotend(221)) return; extruder_multiply[target_extruder] = sval; } else { extruder_multiply[active_extruder] = sval; } } } /** * M226: Wait until the specified pin reaches the state required (M226 P S) */ inline void gcode_M226() { if (code_seen('P')) { int pin_number = code_value(); int pin_state = code_seen('S') ? code_value() : -1; // required pin state - default is inverted if (pin_state >= -1 && pin_state <= 1) { for (int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(*sensitive_pins)); i++) { if (sensitive_pins[i] == pin_number) { pin_number = -1; break; } } if (pin_number > -1) { int target = LOW; st_synchronize(); pinMode(pin_number, INPUT); switch(pin_state){ case 1: target = HIGH; break; case 0: target = LOW; break; case -1: target = !digitalRead(pin_number); break; } while(digitalRead(pin_number) != target) { manage_heater(); manage_inactivity(); lcd_update(); } } // pin_number > -1 } // pin_state -1 0 1 } // code_seen('P') } #if NUM_SERVOS > 0 /** * M280: Set servo position absolute. P: servo index, S: angle or microseconds */ inline void gcode_M280() { int servo_index = code_seen('P') ? code_value() : -1; int servo_position = 0; if (code_seen('S')) { servo_position = code_value(); if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) { Servo *srv = &servo[servo_index]; #if SERVO_LEVELING srv->attach(0); #endif srv->write(servo_position); #if SERVO_LEVELING delay(PROBE_SERVO_DEACTIVATION_DELAY); srv->detach(); #endif } else { SERIAL_ECHO_START; SERIAL_ECHO("Servo "); SERIAL_ECHO(servo_index); SERIAL_ECHOLN(" out of range"); } } else if (servo_index >= 0) { SERIAL_PROTOCOL(MSG_OK); SERIAL_PROTOCOL(" Servo "); SERIAL_PROTOCOL(servo_index); SERIAL_PROTOCOL(": "); SERIAL_PROTOCOL(servo[servo_index].read()); SERIAL_EOL; } } #endif // NUM_SERVOS > 0 #if HAS_LCD_BUZZ /** * M300: Play beep sound S P */ inline void gcode_M300() { uint16_t beepS = code_seen('S') ? code_value_short() : 110; uint32_t beepP = code_seen('P') ? code_value_long() : 1000; if (beepP > 5000) beepP = 5000; // limit to 5 seconds lcd_buzz(beepP, beepS); } #endif // HAS_LCD_BUZZ #ifdef PIDTEMP /** * M301: Set PID parameters P I D (and optionally C) */ inline void gcode_M301() { // multi-extruder PID patch: M301 updates or prints a single extruder's PID values // default behaviour (omitting E parameter) is to update for extruder 0 only int e = code_seen('E') ? code_value() : 0; // extruder being updated if (e < EXTRUDERS) { // catch bad input value if (code_seen('P')) PID_PARAM(Kp, e) = code_value(); if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value()); if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value()); #ifdef PID_ADD_EXTRUSION_RATE if (code_seen('C')) PID_PARAM(Kc, e) = code_value(); #endif updatePID(); SERIAL_PROTOCOL(MSG_OK); #ifdef PID_PARAMS_PER_EXTRUDER SERIAL_PROTOCOL(" e:"); // specify extruder in serial output SERIAL_PROTOCOL(e); #endif // PID_PARAMS_PER_EXTRUDER SERIAL_PROTOCOL(" p:"); SERIAL_PROTOCOL(PID_PARAM(Kp, e)); SERIAL_PROTOCOL(" i:"); SERIAL_PROTOCOL(unscalePID_i(PID_PARAM(Ki, e))); SERIAL_PROTOCOL(" d:"); SERIAL_PROTOCOL(unscalePID_d(PID_PARAM(Kd, e))); #ifdef PID_ADD_EXTRUSION_RATE SERIAL_PROTOCOL(" c:"); //Kc does not have scaling applied above, or in resetting defaults SERIAL_PROTOCOL(PID_PARAM(Kc, e)); #endif SERIAL_EOL; } else { SERIAL_ECHO_START; SERIAL_ECHOLN(MSG_INVALID_EXTRUDER); } } #endif // PIDTEMP #ifdef PIDTEMPBED inline void gcode_M304() { if (code_seen('P')) bedKp = code_value(); if (code_seen('I')) bedKi = scalePID_i(code_value()); if (code_seen('D')) bedKd = scalePID_d(code_value()); updatePID(); SERIAL_PROTOCOL(MSG_OK); SERIAL_PROTOCOL(" p:"); SERIAL_PROTOCOL(bedKp); SERIAL_PROTOCOL(" i:"); SERIAL_PROTOCOL(unscalePID_i(bedKi)); SERIAL_PROTOCOL(" d:"); SERIAL_PROTOCOL(unscalePID_d(bedKd)); SERIAL_EOL; } #endif // PIDTEMPBED #if defined(CHDK) || HAS_PHOTOGRAPH /** * M240: Trigger a camera by emulating a Canon RC-1 * See http://www.doc-diy.net/photo/rc-1_hacked/ */ inline void gcode_M240() { #ifdef CHDK OUT_WRITE(CHDK, HIGH); chdkHigh = millis(); chdkActive = true; #elif HAS_PHOTOGRAPH const uint8_t NUM_PULSES = 16; const float PULSE_LENGTH = 0.01524; for (int i = 0; i < NUM_PULSES; i++) { WRITE(PHOTOGRAPH_PIN, HIGH); _delay_ms(PULSE_LENGTH); WRITE(PHOTOGRAPH_PIN, LOW); _delay_ms(PULSE_LENGTH); } delay(7.33); for (int i = 0; i < NUM_PULSES; i++) { WRITE(PHOTOGRAPH_PIN, HIGH); _delay_ms(PULSE_LENGTH); WRITE(PHOTOGRAPH_PIN, LOW); _delay_ms(PULSE_LENGTH); } #endif // !CHDK && HAS_PHOTOGRAPH } #endif // CHDK || PHOTOGRAPH_PIN #ifdef HAS_LCD_CONTRAST /** * M250: Read and optionally set the LCD contrast */ inline void gcode_M250() { if (code_seen('C')) lcd_setcontrast(code_value_short() & 0x3F); SERIAL_PROTOCOLPGM("lcd contrast value: "); SERIAL_PROTOCOL(lcd_contrast); SERIAL_EOL; } #endif // HAS_LCD_CONTRAST #ifdef PREVENT_DANGEROUS_EXTRUDE void set_extrude_min_temp(float temp) { extrude_min_temp = temp; } /** * M302: Allow cold extrudes, or set the minimum extrude S. */ inline void gcode_M302() { set_extrude_min_temp(code_seen('S') ? code_value() : 0); } #endif // PREVENT_DANGEROUS_EXTRUDE /** * M303: PID relay autotune * S sets the target temperature. (default target temperature = 150C) * E (-1 for the bed) * C */ inline void gcode_M303() { int e = code_seen('E') ? code_value_short() : 0; int c = code_seen('C') ? code_value_short() : 5; float temp = code_seen('S') ? code_value() : (e < 0 ? 70.0 : 150.0); PID_autotune(temp, e, c); } #ifdef SCARA bool SCARA_move_to_cal(uint8_t delta_x, uint8_t delta_y) { //SoftEndsEnabled = false; // Ignore soft endstops during calibration //SERIAL_ECHOLN(" Soft endstops disabled "); if (IsRunning()) { //get_coordinates(); // For X Y Z E F delta[X_AXIS] = delta_x; delta[Y_AXIS] = delta_y; calculate_SCARA_forward_Transform(delta); destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS]; destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS]; prepare_move(); //ClearToSend(); return true; } return false; } /** * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration) */ inline bool gcode_M360() { SERIAL_ECHOLN(" Cal: Theta 0 "); return SCARA_move_to_cal(0, 120); } /** * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree) */ inline bool gcode_M361() { SERIAL_ECHOLN(" Cal: Theta 90 "); return SCARA_move_to_cal(90, 130); } /** * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration) */ inline bool gcode_M362() { SERIAL_ECHOLN(" Cal: Psi 0 "); return SCARA_move_to_cal(60, 180); } /** * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree) */ inline bool gcode_M363() { SERIAL_ECHOLN(" Cal: Psi 90 "); return SCARA_move_to_cal(50, 90); } /** * M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position) */ inline bool gcode_M364() { SERIAL_ECHOLN(" Cal: Theta-Psi 90 "); return SCARA_move_to_cal(45, 135); } /** * M365: SCARA calibration: Scaling factor, X, Y, Z axis */ inline void gcode_M365() { for (int8_t i = X_AXIS; i <= Z_AXIS; i++) { if (code_seen(axis_codes[i])) { axis_scaling[i] = code_value(); } } } #endif // SCARA #ifdef EXT_SOLENOID void enable_solenoid(uint8_t num) { switch(num) { case 0: OUT_WRITE(SOL0_PIN, HIGH); break; #if HAS_SOLENOID_1 case 1: OUT_WRITE(SOL1_PIN, HIGH); break; #endif #if HAS_SOLENOID_2 case 2: OUT_WRITE(SOL2_PIN, HIGH); break; #endif #if HAS_SOLENOID_3 case 3: OUT_WRITE(SOL3_PIN, HIGH); break; #endif default: SERIAL_ECHO_START; SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID); break; } } void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); } void disable_all_solenoids() { OUT_WRITE(SOL0_PIN, LOW); OUT_WRITE(SOL1_PIN, LOW); OUT_WRITE(SOL2_PIN, LOW); OUT_WRITE(SOL3_PIN, LOW); } /** * M380: Enable solenoid on the active extruder */ inline void gcode_M380() { enable_solenoid_on_active_extruder(); } /** * M381: Disable all solenoids */ inline void gcode_M381() { disable_all_solenoids(); } #endif // EXT_SOLENOID /** * M400: Finish all moves */ inline void gcode_M400() { st_synchronize(); } #if defined(ENABLE_AUTO_BED_LEVELING) && !defined(Z_PROBE_SLED) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY)) #ifdef SERVO_ENDSTOPS void raise_z_for_servo() { float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_HOMING; z_dest += axis_known_position[Z_AXIS] ? -zprobe_zoffset : zpos; if (zpos < z_dest) do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_dest); // also updates current_position } #endif /** * M401: Engage Z Servo endstop if available */ inline void gcode_M401() { #ifdef SERVO_ENDSTOPS raise_z_for_servo(); #endif deploy_z_probe(); } /** * M402: Retract Z Servo endstop if enabled */ inline void gcode_M402() { #ifdef SERVO_ENDSTOPS raise_z_for_servo(); #endif stow_z_probe(false); } #endif #ifdef FILAMENT_SENSOR /** * M404: Display or set the nominal filament width (3mm, 1.75mm ) W<3.0> */ inline void gcode_M404() { #if HAS_FILWIDTH if (code_seen('W')) { filament_width_nominal = code_value(); } else { SERIAL_PROTOCOLPGM("Filament dia (nominal mm):"); SERIAL_PROTOCOLLN(filament_width_nominal); } #endif } /** * M405: Turn on filament sensor for control */ inline void gcode_M405() { if (code_seen('D')) meas_delay_cm = code_value(); if (meas_delay_cm > MAX_MEASUREMENT_DELAY) meas_delay_cm = MAX_MEASUREMENT_DELAY; if (delay_index2 == -1) { //initialize the ring buffer if it has not been done since startup int temp_ratio = widthFil_to_size_ratio(); for (delay_index1 = 0; delay_index1 < MAX_MEASUREMENT_DELAY + 1; ++delay_index1) measurement_delay[delay_index1] = temp_ratio - 100; //subtract 100 to scale within a signed byte delay_index1 = delay_index2 = 0; } filament_sensor = true; //SERIAL_PROTOCOLPGM("Filament dia (measured mm):"); //SERIAL_PROTOCOL(filament_width_meas); //SERIAL_PROTOCOLPGM("Extrusion ratio(%):"); //SERIAL_PROTOCOL(extruder_multiply[active_extruder]); } /** * M406: Turn off filament sensor for control */ inline void gcode_M406() { filament_sensor = false; } /** * M407: Get measured filament diameter on serial output */ inline void gcode_M407() { SERIAL_PROTOCOLPGM("Filament dia (measured mm):"); SERIAL_PROTOCOLLN(filament_width_meas); } #endif // FILAMENT_SENSOR /** * M410: Quickstop - Abort all planned moves * * This will stop the carriages mid-move, so most likely they * will be out of sync with the stepper position after this. */ inline void gcode_M410() { quickStop(); } #ifdef MESH_BED_LEVELING /** * M420: Enable/Disable Mesh Bed Leveling */ inline void gcode_M420() { if (code_seen('S') && code_has_value()) mbl.active = !!code_value_short(); } /** * M421: Set a single Mesh Bed Leveling Z coordinate */ inline void gcode_M421() { float x, y, z; bool err = false, hasX, hasY, hasZ; if ((hasX = code_seen('X'))) x = code_value(); if ((hasY = code_seen('Y'))) y = code_value(); if ((hasZ = code_seen('Z'))) z = code_value(); if (!hasX || !hasY || !hasZ) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM(MSG_ERR_M421_REQUIRES_XYZ); err = true; } if (x >= MESH_NUM_X_POINTS || y >= MESH_NUM_Y_POINTS) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM(MSG_ERR_MESH_INDEX_OOB); err = true; } if (!err) mbl.set_z(mbl.select_x_index(x), mbl.select_y_index(y), z); } #endif /** * M428: Set home_offset based on the distance between the * current_position and the nearest "reference point." * If an axis is past center its endstop position * is the reference-point. Otherwise it uses 0. This allows * the Z offset to be set near the bed when using a max endstop. * * M428 can't be used more than 2cm away from 0 or an endstop. * * Use M206 to set these values directly. */ inline void gcode_M428() { bool err = false; float new_offs[3], new_pos[3]; memcpy(new_pos, current_position, sizeof(new_pos)); memcpy(new_offs, home_offset, sizeof(new_offs)); for (int8_t i = X_AXIS; i <= Z_AXIS; i++) { if (axis_known_position[i]) { float base = (new_pos[i] > (min_pos[i] + max_pos[i]) / 2) ? base_home_pos(i) : 0, diff = new_pos[i] - base; if (diff > -20 && diff < 20) { new_offs[i] -= diff; new_pos[i] = base; } else { SERIAL_ERROR_START; SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR); LCD_ALERTMESSAGEPGM("Err: Too far!"); #if HAS_LCD_BUZZ enqueuecommands_P(PSTR("M300 S40 P200")); #endif err = true; break; } } } if (!err) { memcpy(current_position, new_pos, sizeof(new_pos)); memcpy(home_offset, new_offs, sizeof(new_offs)); sync_plan_position(); LCD_ALERTMESSAGEPGM("Offset applied."); #if HAS_LCD_BUZZ enqueuecommands_P(PSTR("M300 S659 P200\nM300 S698 P200")); #endif } } /** * M500: Store settings in EEPROM */ inline void gcode_M500() { Config_StoreSettings(); } /** * M501: Read settings from EEPROM */ inline void gcode_M501() { Config_RetrieveSettings(); } /** * M502: Revert to default settings */ inline void gcode_M502() { Config_ResetDefault(); } /** * M503: print settings currently in memory */ inline void gcode_M503() { Config_PrintSettings(code_seen('S') && code_value() == 0); } #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED /** * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>) */ inline void gcode_M540() { if (code_seen('S')) abort_on_endstop_hit = (code_value() > 0); } #endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET inline void gcode_SET_Z_PROBE_OFFSET() { float value; if (code_seen('Z')) { value = code_value(); if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) { zprobe_zoffset = -value; // compare w/ line 278 of configuration_store.cpp SERIAL_ECHO_START; SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK); SERIAL_EOL; } else { SERIAL_ECHO_START; SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET); SERIAL_ECHOPGM(MSG_Z_MIN); SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN); SERIAL_ECHOPGM(MSG_Z_MAX); SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX); SERIAL_EOL; } } else { SERIAL_ECHO_START; SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " : "); SERIAL_ECHO(-zprobe_zoffset); SERIAL_EOL; } } #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET #ifdef FILAMENTCHANGEENABLE /** * M600: Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal] */ inline void gcode_M600() { float target[NUM_AXIS], lastpos[NUM_AXIS], fr60 = feedrate / 60; for (int i=0; i S) */ inline void gcode_M908() { digitalPotWrite( code_seen('P') ? code_value() : 0, code_seen('S') ? code_value() : 0 ); } #endif // HAS_DIGIPOTSS #if HAS_MICROSTEPS // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers. inline void gcode_M350() { if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value()); for(int i=0;i= EXTRUDERS) { SERIAL_ECHO_START; SERIAL_CHAR('T'); SERIAL_ECHO(tmp_extruder); SERIAL_ECHOLN(MSG_INVALID_EXTRUDER); } else { target_extruder = tmp_extruder; #if EXTRUDERS > 1 bool make_move = false; #endif if (code_seen('F')) { #if EXTRUDERS > 1 make_move = true; #endif next_feedrate = code_value(); if (next_feedrate > 0.0) feedrate = next_feedrate; } #if EXTRUDERS > 1 if (tmp_extruder != active_extruder) { // Save current position to return to after applying extruder offset set_destination_to_current(); #ifdef DUAL_X_CARRIAGE if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() && (delayed_move_time != 0 || current_position[X_AXIS] != x_home_pos(active_extruder))) { // Park old head: 1) raise 2) move to park position 3) lower plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT, current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder); plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT, current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder); plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder); st_synchronize(); } // apply Y & Z extruder offset (x offset is already used in determining home pos) current_position[Y_AXIS] = current_position[Y_AXIS] - extruder_offset[Y_AXIS][active_extruder] + extruder_offset[Y_AXIS][tmp_extruder]; current_position[Z_AXIS] = current_position[Z_AXIS] - extruder_offset[Z_AXIS][active_extruder] + extruder_offset[Z_AXIS][tmp_extruder]; active_extruder = tmp_extruder; // This function resets the max/min values - the current position may be overwritten below. axis_is_at_home(X_AXIS); if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE) { current_position[X_AXIS] = inactive_extruder_x_pos; inactive_extruder_x_pos = destination[X_AXIS]; } else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) { active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position if (active_extruder == 0 || active_extruder_parked) current_position[X_AXIS] = inactive_extruder_x_pos; else current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset; inactive_extruder_x_pos = destination[X_AXIS]; extruder_duplication_enabled = false; } else { // record raised toolhead position for use by unpark memcpy(raised_parked_position, current_position, sizeof(raised_parked_position)); raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT; active_extruder_parked = true; delayed_move_time = 0; } #else // !DUAL_X_CARRIAGE // Offset extruder (only by XY) for (int i=X_AXIS; i<=Y_AXIS; i++) current_position[i] += extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder]; // Set the new active extruder and position active_extruder = tmp_extruder; #endif // !DUAL_X_CARRIAGE #ifdef DELTA sync_plan_position_delta(); #else sync_plan_position(); #endif // Move to the old position if 'F' was in the parameters if (make_move && IsRunning()) prepare_move(); } #ifdef EXT_SOLENOID st_synchronize(); disable_all_solenoids(); enable_solenoid_on_active_extruder(); #endif // EXT_SOLENOID #endif // EXTRUDERS > 1 SERIAL_ECHO_START; SERIAL_ECHO(MSG_ACTIVE_EXTRUDER); SERIAL_PROTOCOLLN((int)active_extruder); } } /** * Process Commands and dispatch them to handlers * This is called from the main loop() */ void process_commands() { if ((marlin_debug_flags & DEBUG_ECHO)) { SERIAL_ECHO_START; SERIAL_ECHOLN(command_queue[cmd_queue_index_r]); } if (code_seen('G')) { int gCode = code_value_short(); switch(gCode) { // G0, G1 case 0: case 1: gcode_G0_G1(); break; // G2, G3 #ifndef SCARA case 2: // G2 - CW ARC case 3: // G3 - CCW ARC gcode_G2_G3(gCode == 2); break; #endif // G4 Dwell case 4: gcode_G4(); break; #ifdef FWRETRACT case 10: // G10: retract case 11: // G11: retract_recover gcode_G10_G11(gCode == 10); break; #endif //FWRETRACT case 28: // G28: Home all axes, one at a time gcode_G28(); break; #if defined(ENABLE_AUTO_BED_LEVELING) || defined(MESH_BED_LEVELING) case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points. gcode_G29(); break; #endif #ifdef ENABLE_AUTO_BED_LEVELING #ifndef Z_PROBE_SLED case 30: // G30 Single Z Probe gcode_G30(); break; #else // Z_PROBE_SLED case 31: // G31: dock the sled case 32: // G32: undock the sled dock_sled(gCode == 31); break; #endif // Z_PROBE_SLED #endif // ENABLE_AUTO_BED_LEVELING case 90: // G90 relative_mode = false; break; case 91: // G91 relative_mode = true; break; case 92: // G92 gcode_G92(); break; } } else if (code_seen('M')) { switch(code_value_short()) { #ifdef ULTIPANEL case 0: // M0 - Unconditional stop - Wait for user button press on LCD case 1: // M1 - Conditional stop - Wait for user button press on LCD gcode_M0_M1(); break; #endif // ULTIPANEL case 17: gcode_M17(); break; #ifdef SDSUPPORT case 20: // M20 - list SD card gcode_M20(); break; case 21: // M21 - init SD card gcode_M21(); break; case 22: //M22 - release SD card gcode_M22(); break; case 23: //M23 - Select file gcode_M23(); break; case 24: //M24 - Start SD print gcode_M24(); break; case 25: //M25 - Pause SD print gcode_M25(); break; case 26: //M26 - Set SD index gcode_M26(); break; case 27: //M27 - Get SD status gcode_M27(); break; case 28: //M28 - Start SD write gcode_M28(); break; case 29: //M29 - Stop SD write gcode_M29(); break; case 30: //M30 Delete File gcode_M30(); break; case 32: //M32 - Select file and start SD print gcode_M32(); break; case 928: //M928 - Start SD write gcode_M928(); break; #endif //SDSUPPORT case 31: //M31 take time since the start of the SD print or an M109 command gcode_M31(); break; case 42: //M42 -Change pin status via gcode gcode_M42(); break; #if defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST) case 48: // M48 Z-Probe repeatability gcode_M48(); break; #endif // ENABLE_AUTO_BED_LEVELING && Z_PROBE_REPEATABILITY_TEST case 104: // M104 gcode_M104(); break; case 111: // M111: Set debug level gcode_M111(); break; case 112: // M112: Emergency Stop gcode_M112(); break; case 140: // M140: Set bed temp gcode_M140(); break; case 105: // M105: Read current temperature gcode_M105(); return; break; case 109: // M109: Wait for temperature gcode_M109(); break; #if HAS_TEMP_BED case 190: // M190: Wait for bed heater to reach target gcode_M190(); break; #endif // HAS_TEMP_BED #if HAS_FAN case 106: // M106: Fan On gcode_M106(); break; case 107: // M107: Fan Off gcode_M107(); break; #endif // HAS_FAN #ifdef BARICUDA // PWM for HEATER_1_PIN #if HAS_HEATER_1 case 126: // M126: valve open gcode_M126(); break; case 127: // M127: valve closed gcode_M127(); break; #endif // HAS_HEATER_1 // PWM for HEATER_2_PIN #if HAS_HEATER_2 case 128: // M128: valve open gcode_M128(); break; case 129: // M129: valve closed gcode_M129(); break; #endif // HAS_HEATER_2 #endif // BARICUDA #if HAS_POWER_SWITCH case 80: // M80: Turn on Power Supply gcode_M80(); break; #endif // HAS_POWER_SWITCH case 81: // M81: Turn off Power, including Power Supply, if possible gcode_M81(); break; case 82: gcode_M82(); break; case 83: gcode_M83(); break; case 18: // (for compatibility) case 84: // M84 gcode_M18_M84(); break; case 85: // M85 gcode_M85(); break; case 92: // M92: Set the steps-per-unit for one or more axes gcode_M92(); break; case 115: // M115: Report capabilities gcode_M115(); break; case 117: // M117: Set LCD message text gcode_M117(); break; case 114: // M114: Report current position gcode_M114(); break; case 120: // M120: Enable endstops gcode_M120(); break; case 121: // M121: Disable endstops gcode_M121(); break; case 119: // M119: Report endstop states gcode_M119(); break; #ifdef ULTIPANEL case 145: // M145: Set material heatup parameters gcode_M145(); break; #endif #ifdef BLINKM case 150: // M150 gcode_M150(); break; #endif //BLINKM case 200: // M200 D set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters). gcode_M200(); break; case 201: // M201 gcode_M201(); break; #if 0 // Not used for Sprinter/grbl gen6 case 202: // M202 gcode_M202(); break; #endif case 203: // M203 max feedrate mm/sec gcode_M203(); break; case 204: // M204 acclereration S normal moves T filmanent only moves gcode_M204(); break; case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk gcode_M205(); break; case 206: // M206 additional homing offset gcode_M206(); break; #ifdef DELTA case 665: // M665 set delta configurations L R S gcode_M665(); break; #endif #if defined(DELTA) || defined(Z_DUAL_ENDSTOPS) case 666: // M666 set delta / dual endstop adjustment gcode_M666(); break; #endif #ifdef FWRETRACT case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop] gcode_M207(); break; case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min] gcode_M208(); break; case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction. gcode_M209(); break; #endif // FWRETRACT #if EXTRUDERS > 1 case 218: // M218 - set hotend offset (in mm), T X Y gcode_M218(); break; #endif case 220: // M220 S- set speed factor override percentage gcode_M220(); break; case 221: // M221 S- set extrude factor override percentage gcode_M221(); break; case 226: // M226 P S- Wait until the specified pin reaches the state required gcode_M226(); break; #if NUM_SERVOS > 0 case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds gcode_M280(); break; #endif // NUM_SERVOS > 0 #if HAS_LCD_BUZZ case 300: // M300 - Play beep tone gcode_M300(); break; #endif // HAS_LCD_BUZZ #ifdef PIDTEMP case 301: // M301 gcode_M301(); break; #endif // PIDTEMP #ifdef PIDTEMPBED case 304: // M304 gcode_M304(); break; #endif // PIDTEMPBED #if defined(CHDK) || HAS_PHOTOGRAPH case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/ gcode_M240(); break; #endif // CHDK || PHOTOGRAPH_PIN #ifdef HAS_LCD_CONTRAST case 250: // M250 Set LCD contrast value: C (value 0..63) gcode_M250(); break; #endif // HAS_LCD_CONTRAST #ifdef PREVENT_DANGEROUS_EXTRUDE case 302: // allow cold extrudes, or set the minimum extrude temperature gcode_M302(); break; #endif // PREVENT_DANGEROUS_EXTRUDE case 303: // M303 PID autotune gcode_M303(); break; #ifdef SCARA case 360: // M360 SCARA Theta pos1 if (gcode_M360()) return; break; case 361: // M361 SCARA Theta pos2 if (gcode_M361()) return; break; case 362: // M362 SCARA Psi pos1 if (gcode_M362()) return; break; case 363: // M363 SCARA Psi pos2 if (gcode_M363()) return; break; case 364: // M364 SCARA Psi pos3 (90 deg to Theta) if (gcode_M364()) return; break; case 365: // M365 Set SCARA scaling for X Y Z gcode_M365(); break; #endif // SCARA case 400: // M400 finish all moves gcode_M400(); break; #if defined(ENABLE_AUTO_BED_LEVELING) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY)) && not defined(Z_PROBE_SLED) case 401: gcode_M401(); break; case 402: gcode_M402(); break; #endif #ifdef FILAMENT_SENSOR case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width gcode_M404(); break; case 405: //M405 Turn on filament sensor for control gcode_M405(); break; case 406: //M406 Turn off filament sensor for control gcode_M406(); break; case 407: //M407 Display measured filament diameter gcode_M407(); break; #endif // FILAMENT_SENSOR case 410: // M410 quickstop - Abort all the planned moves. gcode_M410(); break; #ifdef MESH_BED_LEVELING case 420: // M420 Enable/Disable Mesh Bed Leveling gcode_M420(); break; case 421: // M421 Set a Mesh Bed Leveling Z coordinate gcode_M421(); break; #endif case 428: // M428 Apply current_position to home_offset gcode_M428(); break; case 500: // M500 Store settings in EEPROM gcode_M500(); break; case 501: // M501 Read settings from EEPROM gcode_M501(); break; case 502: // M502 Revert to default settings gcode_M502(); break; case 503: // M503 print settings currently in memory gcode_M503(); break; #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED case 540: gcode_M540(); break; #endif #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET: gcode_SET_Z_PROBE_OFFSET(); break; #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET #ifdef FILAMENTCHANGEENABLE case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal] gcode_M600(); break; #endif // FILAMENTCHANGEENABLE #ifdef DUAL_X_CARRIAGE case 605: gcode_M605(); break; #endif // DUAL_X_CARRIAGE case 907: // M907 Set digital trimpot motor current using axis codes. gcode_M907(); break; #if HAS_DIGIPOTSS case 908: // M908 Control digital trimpot directly. gcode_M908(); break; #endif // HAS_DIGIPOTSS #if HAS_MICROSTEPS case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers. gcode_M350(); break; case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low. gcode_M351(); break; #endif // HAS_MICROSTEPS case 999: // M999: Restart after being Stopped gcode_M999(); break; } } else if (code_seen('T')) { gcode_T(); } else { SERIAL_ECHO_START; SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND); SERIAL_ECHO(command_queue[cmd_queue_index_r]); SERIAL_ECHOLNPGM("\""); } ClearToSend(); } void FlushSerialRequestResend() { //char command_queue[cmd_queue_index_r][100]="Resend:"; MYSERIAL.flush(); SERIAL_PROTOCOLPGM(MSG_RESEND); SERIAL_PROTOCOLLN(gcode_LastN + 1); ClearToSend(); } void ClearToSend() { refresh_cmd_timeout(); #ifdef SDSUPPORT if (fromsd[cmd_queue_index_r]) return; #endif SERIAL_PROTOCOLLNPGM(MSG_OK); } void get_coordinates() { for (int i = 0; i < NUM_AXIS; i++) { if (code_seen(axis_codes[i])) destination[i] = code_value() + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0); else destination[i] = current_position[i]; } if (code_seen('F')) { next_feedrate = code_value(); if (next_feedrate > 0.0) feedrate = next_feedrate; } } void get_arc_coordinates() { #ifdef SF_ARC_FIX bool relative_mode_backup = relative_mode; relative_mode = true; #endif get_coordinates(); #ifdef SF_ARC_FIX relative_mode = relative_mode_backup; #endif offset[0] = code_seen('I') ? code_value() : 0; offset[1] = code_seen('J') ? code_value() : 0; } void clamp_to_software_endstops(float target[3]) { if (min_software_endstops) { NOLESS(target[X_AXIS], min_pos[X_AXIS]); NOLESS(target[Y_AXIS], min_pos[Y_AXIS]); float negative_z_offset = 0; #ifdef ENABLE_AUTO_BED_LEVELING if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset += Z_PROBE_OFFSET_FROM_EXTRUDER; if (home_offset[Z_AXIS] < 0) negative_z_offset += home_offset[Z_AXIS]; #endif NOLESS(target[Z_AXIS], min_pos[Z_AXIS] + negative_z_offset); } if (max_software_endstops) { NOMORE(target[X_AXIS], max_pos[X_AXIS]); NOMORE(target[Y_AXIS], max_pos[Y_AXIS]); NOMORE(target[Z_AXIS], max_pos[Z_AXIS]); } } #ifdef DELTA void recalc_delta_settings(float radius, float diagonal_rod) { delta_tower1_x = -SIN_60 * radius; // front left tower delta_tower1_y = -COS_60 * radius; delta_tower2_x = SIN_60 * radius; // front right tower delta_tower2_y = -COS_60 * radius; delta_tower3_x = 0.0; // back middle tower delta_tower3_y = radius; delta_diagonal_rod_2 = sq(diagonal_rod); } void calculate_delta(float cartesian[3]) { delta[X_AXIS] = sqrt(delta_diagonal_rod_2 - sq(delta_tower1_x-cartesian[X_AXIS]) - sq(delta_tower1_y-cartesian[Y_AXIS]) ) + cartesian[Z_AXIS]; delta[Y_AXIS] = sqrt(delta_diagonal_rod_2 - sq(delta_tower2_x-cartesian[X_AXIS]) - sq(delta_tower2_y-cartesian[Y_AXIS]) ) + cartesian[Z_AXIS]; delta[Z_AXIS] = sqrt(delta_diagonal_rod_2 - sq(delta_tower3_x-cartesian[X_AXIS]) - sq(delta_tower3_y-cartesian[Y_AXIS]) ) + cartesian[Z_AXIS]; /* SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]); SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]); SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]); SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]); SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]); SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]); */ } #ifdef ENABLE_AUTO_BED_LEVELING // Adjust print surface height by linear interpolation over the bed_level array. void adjust_delta(float cartesian[3]) { if (delta_grid_spacing[0] == 0 || delta_grid_spacing[1] == 0) return; // G29 not done! int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2; float h1 = 0.001 - half, h2 = half - 0.001, grid_x = max(h1, min(h2, cartesian[X_AXIS] / delta_grid_spacing[0])), grid_y = max(h1, min(h2, cartesian[Y_AXIS] / delta_grid_spacing[1])); int floor_x = floor(grid_x), floor_y = floor(grid_y); float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y, z1 = bed_level[floor_x + half][floor_y + half], z2 = bed_level[floor_x + half][floor_y + half + 1], z3 = bed_level[floor_x + half + 1][floor_y + half], z4 = bed_level[floor_x + half + 1][floor_y + half + 1], left = (1 - ratio_y) * z1 + ratio_y * z2, right = (1 - ratio_y) * z3 + ratio_y * z4, offset = (1 - ratio_x) * left + ratio_x * right; delta[X_AXIS] += offset; delta[Y_AXIS] += offset; delta[Z_AXIS] += offset; /* SERIAL_ECHOPGM("grid_x="); SERIAL_ECHO(grid_x); SERIAL_ECHOPGM(" grid_y="); SERIAL_ECHO(grid_y); SERIAL_ECHOPGM(" floor_x="); SERIAL_ECHO(floor_x); SERIAL_ECHOPGM(" floor_y="); SERIAL_ECHO(floor_y); SERIAL_ECHOPGM(" ratio_x="); SERIAL_ECHO(ratio_x); SERIAL_ECHOPGM(" ratio_y="); SERIAL_ECHO(ratio_y); SERIAL_ECHOPGM(" z1="); SERIAL_ECHO(z1); SERIAL_ECHOPGM(" z2="); SERIAL_ECHO(z2); SERIAL_ECHOPGM(" z3="); SERIAL_ECHO(z3); SERIAL_ECHOPGM(" z4="); SERIAL_ECHO(z4); SERIAL_ECHOPGM(" left="); SERIAL_ECHO(left); SERIAL_ECHOPGM(" right="); SERIAL_ECHO(right); SERIAL_ECHOPGM(" offset="); SERIAL_ECHOLN(offset); */ } #endif // ENABLE_AUTO_BED_LEVELING #endif // DELTA #ifdef MESH_BED_LEVELING #if !defined(MIN) #define MIN(_v1, _v2) (((_v1) < (_v2)) ? (_v1) : (_v2)) #endif // ! MIN // This function is used to split lines on mesh borders so each segment is only part of one mesh area void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_rate, const uint8_t &extruder, uint8_t x_splits=0xff, uint8_t y_splits=0xff) { if (!mbl.active) { plan_buffer_line(x, y, z, e, feed_rate, extruder); set_current_to_destination(); return; } int pix = mbl.select_x_index(current_position[X_AXIS]); int piy = mbl.select_y_index(current_position[Y_AXIS]); int ix = mbl.select_x_index(x); int iy = mbl.select_y_index(y); pix = MIN(pix, MESH_NUM_X_POINTS-2); piy = MIN(piy, MESH_NUM_Y_POINTS-2); ix = MIN(ix, MESH_NUM_X_POINTS-2); iy = MIN(iy, MESH_NUM_Y_POINTS-2); if (pix == ix && piy == iy) { // Start and end on same mesh square plan_buffer_line(x, y, z, e, feed_rate, extruder); set_current_to_destination(); return; } float nx, ny, ne, normalized_dist; if (ix > pix && (x_splits) & BIT(ix)) { nx = mbl.get_x(ix); normalized_dist = (nx - current_position[X_AXIS])/(x - current_position[X_AXIS]); ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist; ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist; x_splits ^= BIT(ix); } else if (ix < pix && (x_splits) & BIT(pix)) { nx = mbl.get_x(pix); normalized_dist = (nx - current_position[X_AXIS])/(x - current_position[X_AXIS]); ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist; ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist; x_splits ^= BIT(pix); } else if (iy > piy && (y_splits) & BIT(iy)) { ny = mbl.get_y(iy); normalized_dist = (ny - current_position[Y_AXIS])/(y - current_position[Y_AXIS]); nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist; ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist; y_splits ^= BIT(iy); } else if (iy < piy && (y_splits) & BIT(piy)) { ny = mbl.get_y(piy); normalized_dist = (ny - current_position[Y_AXIS])/(y - current_position[Y_AXIS]); nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist; ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist; y_splits ^= BIT(piy); } else { // Already split on a border plan_buffer_line(x, y, z, e, feed_rate, extruder); set_current_to_destination(); return; } // Do the split and look for more borders destination[X_AXIS] = nx; destination[Y_AXIS] = ny; destination[E_AXIS] = ne; mesh_plan_buffer_line(nx, ny, z, ne, feed_rate, extruder, x_splits, y_splits); destination[X_AXIS] = x; destination[Y_AXIS] = y; destination[E_AXIS] = e; mesh_plan_buffer_line(x, y, z, e, feed_rate, extruder, x_splits, y_splits); } #endif // MESH_BED_LEVELING #ifdef PREVENT_DANGEROUS_EXTRUDE inline float prevent_dangerous_extrude(float &curr_e, float &dest_e) { float de = dest_e - curr_e; if (de) { if (degHotend(active_extruder) < extrude_min_temp) { curr_e = dest_e; // Behave as if the move really took place, but ignore E part SERIAL_ECHO_START; SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP); return 0; } #ifdef PREVENT_LENGTHY_EXTRUDE if (labs(de) > EXTRUDE_MAXLENGTH) { curr_e = dest_e; // Behave as if the move really took place, but ignore E part SERIAL_ECHO_START; SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP); return 0; } #endif } return de; } #endif // PREVENT_DANGEROUS_EXTRUDE void prepare_move() { clamp_to_software_endstops(destination); refresh_cmd_timeout(); #ifdef PREVENT_DANGEROUS_EXTRUDE (void)prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]); #endif #ifdef SCARA //for now same as delta-code float difference[NUM_AXIS]; for (int8_t i = 0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i]; float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS])); if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); } if (cartesian_mm < 0.000001) { return; } float seconds = 6000 * cartesian_mm / feedrate / feedrate_multiplier; int steps = max(1, int(scara_segments_per_second * seconds)); //SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm); //SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds); //SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps); for (int s = 1; s <= steps; s++) { float fraction = float(s) / float(steps); for (int8_t i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i] + difference[i] * fraction; calculate_delta(destination); //SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]); //SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]); //SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]); //SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]); //SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]); //SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]); plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], feedrate/60*feedrate_multiplier/100.0, active_extruder); } #endif // SCARA #ifdef DELTA float difference[NUM_AXIS]; for (int8_t i=0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i]; float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS])); if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]); if (cartesian_mm < 0.000001) return; float seconds = 6000 * cartesian_mm / feedrate / feedrate_multiplier; int steps = max(1, int(delta_segments_per_second * seconds)); // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm); // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds); // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps); for (int s = 1; s <= steps; s++) { float fraction = float(s) / float(steps); for (int8_t i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i] + difference[i] * fraction; calculate_delta(destination); #ifdef ENABLE_AUTO_BED_LEVELING adjust_delta(destination); #endif plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], feedrate/60*feedrate_multiplier/100.0, active_extruder); } #endif // DELTA #ifdef DUAL_X_CARRIAGE if (active_extruder_parked) { if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) { // move duplicate extruder into correct duplication position. plan_set_position(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], max_feedrate[X_AXIS], 1); sync_plan_position(); st_synchronize(); extruder_duplication_enabled = true; active_extruder_parked = false; } else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) { // handle unparking of head if (current_position[E_AXIS] == destination[E_AXIS]) { // This is a travel move (with no extrusion) // Skip it, but keep track of the current position // (so it can be used as the start of the next non-travel move) if (delayed_move_time != 0xFFFFFFFFUL) { set_current_to_destination(); NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]); delayed_move_time = millis(); return; } } delayed_move_time = 0; // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower plan_buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder); plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], min(max_feedrate[X_AXIS], max_feedrate[Y_AXIS]), active_extruder); plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder); active_extruder_parked = false; } } #endif // DUAL_X_CARRIAGE #if !defined(DELTA) && !defined(SCARA) // Do not use feedrate_multiplier for E or Z only moves if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) { line_to_destination(); } else { #ifdef MESH_BED_LEVELING mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedrate_multiplier/100.0), active_extruder); return; #else line_to_destination(feedrate * feedrate_multiplier / 100.0); #endif // MESH_BED_LEVELING } #endif // !(DELTA || SCARA) set_current_to_destination(); } void prepare_arc_move(char isclockwise) { float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc // Trace the arc mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedrate_multiplier/60/100.0, r, isclockwise, active_extruder); // As far as the parser is concerned, the position is now == target. In reality the // motion control system might still be processing the action and the real tool position // in any intermediate location. set_current_to_destination(); refresh_cmd_timeout(); } #if HAS_CONTROLLERFAN millis_t lastMotor = 0; // Last time a motor was turned on millis_t lastMotorCheck = 0; // Last time the state was checked void controllerFan() { millis_t ms = millis(); if (ms >= lastMotorCheck + 2500) { // Not a time critical function, so we only check every 2500ms lastMotorCheck = ms; if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || soft_pwm_bed > 0 || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled... #if EXTRUDERS > 1 || E1_ENABLE_READ == E_ENABLE_ON #if HAS_X2_ENABLE || X2_ENABLE_READ == X_ENABLE_ON #endif #if EXTRUDERS > 2 || E2_ENABLE_READ == E_ENABLE_ON #if EXTRUDERS > 3 || E3_ENABLE_READ == E_ENABLE_ON #endif #endif #endif ) { lastMotor = ms; //... set time to NOW so the fan will turn on } uint8_t speed = (lastMotor == 0 || ms >= lastMotor + (CONTROLLERFAN_SECS * 1000UL)) ? 0 : CONTROLLERFAN_SPEED; // allows digital or PWM fan output to be used (see M42 handling) digitalWrite(CONTROLLERFAN_PIN, speed); analogWrite(CONTROLLERFAN_PIN, speed); } } #endif #ifdef SCARA void calculate_SCARA_forward_Transform(float f_scara[3]) { // Perform forward kinematics, and place results in delta[3] // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014 float x_sin, x_cos, y_sin, y_cos; //SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]); //SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]); x_sin = sin(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1; x_cos = cos(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1; y_sin = sin(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2; y_cos = cos(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2; // SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin); // SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos); // SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin); // SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos); delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi //SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]); //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]); } void calculate_delta(float cartesian[3]){ //reverse kinematics. // Perform reversed kinematics, and place results in delta[3] // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014 float SCARA_pos[2]; static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi; SCARA_pos[X_AXIS] = cartesian[X_AXIS] * axis_scaling[X_AXIS] - SCARA_offset_x; //Translate SCARA to standard X Y SCARA_pos[Y_AXIS] = cartesian[Y_AXIS] * axis_scaling[Y_AXIS] - SCARA_offset_y; // With scaling factor. #if (Linkage_1 == Linkage_2) SCARA_C2 = ( ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) ) / (2 * (float)L1_2) ) - 1; #else SCARA_C2 = ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2 ) / 45000; #endif SCARA_S2 = sqrt( 1 - sq(SCARA_C2) ); SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2; SCARA_K2 = Linkage_2 * SCARA_S2; SCARA_theta = ( atan2(SCARA_pos[X_AXIS],SCARA_pos[Y_AXIS])-atan2(SCARA_K1, SCARA_K2) ) * -1; SCARA_psi = atan2(SCARA_S2,SCARA_C2); delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG; // Multiply by 180/Pi - theta is support arm angle delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG; // - equal to sub arm angle (inverted motor) delta[Z_AXIS] = cartesian[Z_AXIS]; /* SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]); SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]); SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]); SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]); SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]); SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]); SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]); SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]); SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2); SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2); SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta); SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi); SERIAL_ECHOLN(" ");*/ } #endif #ifdef TEMP_STAT_LEDS static bool red_led = false; static millis_t next_status_led_update_ms = 0; void handle_status_leds(void) { float max_temp = 0.0; if (millis() > next_status_led_update_ms) { next_status_led_update_ms += 500; // Update every 0.5s for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) max_temp = max(max(max_temp, degHotend(cur_extruder)), degTargetHotend(cur_extruder)); #if HAS_TEMP_BED max_temp = max(max(max_temp, degTargetBed()), degBed()); #endif bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led; if (new_led != red_led) { red_led = new_led; digitalWrite(STAT_LED_RED, new_led ? HIGH : LOW); digitalWrite(STAT_LED_BLUE, new_led ? LOW : HIGH); } } } #endif void enable_all_steppers() { enable_x(); enable_y(); enable_z(); enable_e0(); enable_e1(); enable_e2(); enable_e3(); } void disable_all_steppers() { disable_x(); disable_y(); disable_z(); disable_e0(); disable_e1(); disable_e2(); disable_e3(); } /** * Manage several activities: * - Check for Filament Runout * - Keep the command buffer full * - Check for maximum inactive time between commands * - Check for maximum inactive time between stepper commands * - Check if pin CHDK needs to go LOW * - Check for KILL button held down * - Check for HOME button held down * - Check if cooling fan needs to be switched on * - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT) */ void manage_inactivity(bool ignore_stepper_queue/*=false*/) { #if HAS_FILRUNOUT if (IS_SD_PRINTING && !(READ(FILRUNOUT_PIN) ^ FIL_RUNOUT_INVERTING)) filrunout(); #endif if (commands_in_queue < BUFSIZE - 1) get_command(); millis_t ms = millis(); if (max_inactive_time && ms > previous_cmd_ms + max_inactive_time) kill(); if (stepper_inactive_time && ms > previous_cmd_ms + stepper_inactive_time && !ignore_stepper_queue && !blocks_queued()) disable_all_steppers(); #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH if (chdkActive && ms > chdkHigh + CHDK_DELAY) { chdkActive = false; WRITE(CHDK, LOW); } #endif #if HAS_KILL // Check if the kill button was pressed and wait just in case it was an accidental // key kill key press // ------------------------------------------------------------------------------- static int killCount = 0; // make the inactivity button a bit less responsive const int KILL_DELAY = 750; if (!READ(KILL_PIN)) killCount++; else if (killCount > 0) killCount--; // Exceeded threshold and we can confirm that it was not accidental // KILL the machine // ---------------------------------------------------------------- if (killCount >= KILL_DELAY) kill(); #endif #if HAS_HOME // Check to see if we have to home, use poor man's debouncer // --------------------------------------------------------- static int homeDebounceCount = 0; // poor man's debouncing count const int HOME_DEBOUNCE_DELAY = 750; if (!READ(HOME_PIN)) { if (!homeDebounceCount) { enqueuecommands_P(PSTR("G28")); LCD_MESSAGEPGM(MSG_AUTO_HOME); } if (homeDebounceCount < HOME_DEBOUNCE_DELAY) homeDebounceCount++; else homeDebounceCount = 0; } #endif #if HAS_CONTROLLERFAN controllerFan(); // Check if fan should be turned on to cool stepper drivers down #endif #ifdef EXTRUDER_RUNOUT_PREVENT if (ms > previous_cmd_ms + EXTRUDER_RUNOUT_SECONDS * 1000) if (degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) { bool oldstatus; switch(active_extruder) { case 0: oldstatus = E0_ENABLE_READ; enable_e0(); break; #if EXTRUDERS > 1 case 1: oldstatus = E1_ENABLE_READ; enable_e1(); break; #if EXTRUDERS > 2 case 2: oldstatus = E2_ENABLE_READ; enable_e2(); break; #if EXTRUDERS > 3 case 3: oldstatus = E3_ENABLE_READ; enable_e3(); break; #endif #endif #endif } float oldepos = current_position[E_AXIS], oldedes = destination[E_AXIS]; plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS] + EXTRUDER_RUNOUT_EXTRUDE * EXTRUDER_RUNOUT_ESTEPS / axis_steps_per_unit[E_AXIS], EXTRUDER_RUNOUT_SPEED / 60. * EXTRUDER_RUNOUT_ESTEPS / axis_steps_per_unit[E_AXIS], active_extruder); current_position[E_AXIS] = oldepos; destination[E_AXIS] = oldedes; plan_set_e_position(oldepos); previous_cmd_ms = ms; // refresh_cmd_timeout() st_synchronize(); switch(active_extruder) { case 0: E0_ENABLE_WRITE(oldstatus); break; #if EXTRUDERS > 1 case 1: E1_ENABLE_WRITE(oldstatus); break; #if EXTRUDERS > 2 case 2: E2_ENABLE_WRITE(oldstatus); break; #if EXTRUDERS > 3 case 3: E3_ENABLE_WRITE(oldstatus); break; #endif #endif #endif } } #endif #ifdef DUAL_X_CARRIAGE // handle delayed move timeout if (delayed_move_time && ms > delayed_move_time + 1000 && IsRunning()) { // travel moves have been received so enact them delayed_move_time = 0xFFFFFFFFUL; // force moves to be done set_destination_to_current(); prepare_move(); } #endif #ifdef TEMP_STAT_LEDS handle_status_leds(); #endif check_axes_activity(); } void kill() { cli(); // Stop interrupts disable_all_heaters(); disable_all_steppers(); #if HAS_POWER_SWITCH pinMode(PS_ON_PIN, INPUT); #endif SERIAL_ERROR_START; SERIAL_ERRORLNPGM(MSG_ERR_KILLED); LCD_ALERTMESSAGEPGM(MSG_KILLED); // FMC small patch to update the LCD before ending sei(); // enable interrupts for (int i = 5; i--; lcd_update()) delay(200); // Wait a short time cli(); // disable interrupts suicide(); while(1) { /* Intentionally left empty */ } // Wait for reset } #ifdef FILAMENT_RUNOUT_SENSOR void filrunout() { if (!filrunoutEnqueued) { filrunoutEnqueued = true; enqueuecommands_P(PSTR(FILAMENT_RUNOUT_SCRIPT)); st_synchronize(); } } #endif void Stop() { disable_all_heaters(); if (IsRunning()) { Running = false; Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart SERIAL_ERROR_START; SERIAL_ERRORLNPGM(MSG_ERR_STOPPED); LCD_MESSAGEPGM(MSG_STOPPED); } } #ifdef FAST_PWM_FAN void setPwmFrequency(uint8_t pin, int val) { val &= 0x07; switch(digitalPinToTimer(pin)) { #if defined(TCCR0A) case TIMER0A: case TIMER0B: // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02)); // TCCR0B |= val; break; #endif #if defined(TCCR1A) case TIMER1A: case TIMER1B: // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12)); // TCCR1B |= val; break; #endif #if defined(TCCR2) case TIMER2: case TIMER2: TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12)); TCCR2 |= val; break; #endif #if defined(TCCR2A) case TIMER2A: case TIMER2B: TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22)); TCCR2B |= val; break; #endif #if defined(TCCR3A) case TIMER3A: case TIMER3B: case TIMER3C: TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32)); TCCR3B |= val; break; #endif #if defined(TCCR4A) case TIMER4A: case TIMER4B: case TIMER4C: TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42)); TCCR4B |= val; break; #endif #if defined(TCCR5A) case TIMER5A: case TIMER5B: case TIMER5C: TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52)); TCCR5B |= val; break; #endif } } #endif //FAST_PWM_FAN bool setTargetedHotend(int code){ target_extruder = active_extruder; if (code_seen('T')) { target_extruder = code_value_short(); if (target_extruder >= EXTRUDERS) { SERIAL_ECHO_START; switch(code){ case 104: SERIAL_ECHO(MSG_M104_INVALID_EXTRUDER); break; case 105: SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER); break; case 109: SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER); break; case 218: SERIAL_ECHO(MSG_M218_INVALID_EXTRUDER); break; case 221: SERIAL_ECHO(MSG_M221_INVALID_EXTRUDER); break; } SERIAL_ECHOLN(target_extruder); return true; } } return false; } float calculate_volumetric_multiplier(float diameter) { if (!volumetric_enabled || diameter == 0) return 1.0; float d2 = diameter * 0.5; return 1.0 / (M_PI * d2 * d2); } void calculate_volumetric_multipliers() { for (int i=0; i